12
ENGLISH
Commissioning
Code
Possible Settings
IMPORTANT
No.
Name
Default Selection
RPDO#1 configuration parameters
P440
(2)
RPDO#1 COB ID
513
0
2047 If P413 = 0, 2: Setting will change to
512 + Node ID during power-up or P418
reset.
P441
RPDO#1
enable/disable
1
0 Disable
1 Enable
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.
P442
RPDO#1
transmission type
255
0
255
•
P442 = 0...240: transfer on every SYNC
received.
•
P442 = 254, 255: immediate transfer
P444
RPDO#1 event
monitoring timer
0
0
{ms}
65535 P444 = 0: monitoring disabled
P445
RPDO#1 time out
reaction
0
0 Not active
Only active when in Network Control
(
n.
xxx)
1 STOP (see
P111
)
2 Quick stop
3 Inhibit
4 Trip fault
F.nF3
P446
(2)
RPDO#1 mapping
(see RPDO
mapping details)
2
0 DSP402 (Drives & Motion Control):
PDO Control Word 0x6040
1 DSP402 (Drives & Motion Control):
PDO Control Word
vl target velocity 0x6042
•
vl target velocity units = signed RPM.
•
RPM calculation based on P304 and
P305
2 Drive Control Word + Network
Speed
Network Control Frequency Scaling:
10 = 1.0 Hz
3 Drive Control Word + PID
Setpoint
Signed PID Setpoint: -999 … 31,000
4 Drive Control Word + Torque
Setpoint
Torque Setpoint: 0…400%
P449
RPDO#1 counter
0
255
•
Read-only
•
Number of received RPDO#1 messages
•
Above 255, starts over at 0
(2)
These parameters take effect only after power-up, P418 reset, P441 transition from disable to enable, “NMT reset node”, or “NMT reset communication services”
