Lenze 931M-931W - Manual (Page 62)

Commissioning
Speed control
Parameterising of a process data object (TPDO and RPDO)
6

62 KHB 13.0003-EN 2.0
No. Description Identifier Control
field
Command
code
Index Subindex Data 1 Data 2 Data 3 Data 4
Data
length
Low
byte
High
byte
1 Network management (NMT)
For parameterising the PDO, the
network management is set to
Pre-operational (80
h
).
00 2 80 00 00 00 00 00 00 00
2 Deactivating the RPDO
The RPDO is deactivated by
setting bit 31.
601 8 23 00 14 01 01 02 00 80
3 Deleting the number of objects
For changing the object
mapping, the number of objects
(number_of_mapped_objects)
must be set to zero.
601 5 2F 00 16 00 00 00 00 00
4 Parameterising the first object
to be mapped
Here, the index of the object to
be mapped (first_mapped_
object) and the length of the
corresponding variable type
must be indicated. The first
object to be mapped is the
setpoint speed (index 60FF_00
h
)
with a length of 32 bits (20
h
).
601 8 23 00 16 01 20 00 FF 60
5 Defining the number of objects
In this example, one mapped
object (setpoint speed) is to be
transmitted (number_of_
mapped_objects).
601 5 2F 00 16 00 01 00 00 00
6 Parameterising the transmission
mode
The PDO transmission is
event-controlled and depends
on the transmission cycle time
(entry FF
h
in the transmission_
type).
601 5 2F 00 14 02 FF 00 00 00
7 Activating the RPDO
The PDO is activated by
resetting bit 31.
601 8 23 00 14 01 01 02 00 00
8 Network management (NMT)
For parameterising the PDO, the
network management is set to
Operational (01
h
).
00 2 01 00 00 00 00 00 00 00
Tab. 3 Example parameterisation of a receive PDO