Lenze 931K - Manual (Page 58)

Commissioning
Speed control
Parameterising of a process data object (TPDO and RPDO)
6
l
58 KHB 13.0002−EN 4.1
No. Description Identi
fier
Control
field
Comma
nd code
Index Subin
dex
Data 1 Data 2 Data 3 Data 4
Data
length
Low
byte
High
byte
1 Network management (NMT)
For the parameterisation of the PDO, the
network management is set to the
’pre−operational’ mode (80
h
).
00 2 80 00 00 00 00 00 00 00
2 Deactivation of the TPDO
The PDO is deactivated by setting bit 31. 601 8 23 00 18 01 81 01 00 C0
3 Deletion of the number of objects
To enable the changing of the object
mapping, the number of objects
(number_of_mapped_objects) must be
set to zero. 601 5 2F 00 1A 00 00 00 00 00
4 Parameterisation of the first object to be
mapped
The index of the object to be mapped
1A00_01
h
(first_mapped_object) and
the length of the corresponding variable
type must be specified here. The first
object to be mapped is the actual speed
(index 606C_00
h
) with a length of 32
bits (20
h
).
601 8 23 00 1A 01 20 00 6C 60
5 Parameterisation of the second object to
be mapped
The second object to be mapped
(second_mapped_object) is the status
word (index 6041_00
h
) with a length of
16 bits (10
h
).
601 8 23 00 1A 02 10 00 41 60
6 Definition of the number of objects
In this example, 2 mapped objects
(actual speed and status word) are to be
transferred
(number_of_mapped_objects). 601 5 2F 00 1A 00 02 00 00 00
7 Parameterisation of the transmission
mode
The PDO is to be transferred at cyclic
intervals (FF
h
is entered for the
transmission_type).
601 5 2F 00 18 02 FF 00 00 00
8 Definition of the transmission cycle time
The transmission cycle time
(inhibit_time) is to be set to 10 ms
(100 × 100
ms).
601 6 2B 00 18 03 64 00 00 00
9 Activation of the TPDO
The TPDO is activated by cancelling bit
31. 601 8 23 00 18 01 81 01 00 40
10 Network management (NMT)
For the parameterisation of the PDO, the
network management is set to the
’operational’ mode (01
h
).
00 2 01 00 00 00 00 00 00 00
Tab. 2 Example of parameterising a transmit PDO