Commissioning
Speed control
Parameterising of a process data object (TPDO and RPDO)
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KHB 13.0003-EN 2.0
6.2
Speed control
The purpose of this example is to show how a speed control can be commissioned via the
CAN bus.
1. Use/activation of the transmit PDO1 (transmission of actual speed and status word)
and of the receive PDO1 (setpoint speed)
2. Control of the network management
3. Parameterisation of the motor, current and speed controller
4. Definition of the operating mode (speed control)
5. Selection of a speed setpoint
6. Commissioning of the speed controller via the state machine
6.2.1
Parameterising of a process data object (TPDO and RPDO)
This example shows the adaptation and activation of a transmit PDO (TPDO) and a receive
PDO (RPDO). The TPDO transfers the actual speed and the status word. Via the RPDO a
higher-level control specifies the speed setpoint.
The following table lists and explains the different SDO accesses for parameterising the
TPDO. When the network state is ’operational’, the PDO is set to the identifier 181
h
. The
actual speed and the status word are transferred with a cycle time of 10 ms.
