Commissioning
Speed control
Parameterising of a process data object (TPDO and RPDO)
6
61
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 TPDO
The PDO is deactivated by
setting bit 31.
601
8
23
00
18
01
81
01
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
1A
00
00
00
00
00
4
Parameterising the first object
to be mapped
Here, the index of the object to
be mapped 1A00_01
h
(first_
mapped_object) and the length
of the corresponding variable
type must be indicated. 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
Parameterising 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
Defining the number of objects
In this example, 2 mapped
objects (actual speed and status
word) are to be transmitted
(number_of_mapped_objects).
601
5
2F
00
1A
00
02
00
00
00
7
Parameterising the transmission
mode
The PDO transmission is
event-controlled and depends
on the transmission cycle time,
i.e. maximally every 10 ms.
(Entry FF
h
in the transmission_
type).
601
5
2F
00
18
02
FF
00
00
00
8
Defining the transmission cycle
time
The transmission cycle time
(inhibit_time) is to be set to 10
ms (100 × 100
μ
s).
601
6
2B
00
18
03
64
00
00
00
9
Activating the TPDO
The TPDO is activated by
resetting bit 31.
601
8
23
00
18
01
81
01
00
00
10
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. 2
Example parameterisation of a transmit PDO