Lenze 931K - Manual (Page 59)

Commissioning
Speed control
Parameterising of a process data object (TPDO and RPDO)
6
l
59 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 RPDO
The RPDO is deactivated by setting bit
31. 601 8 23 00 14 01 01 02 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 16 00 00 00 00 00
4 Parameterisation of the first object to be
mapped
The index of the object to be mapped
(first_mapped_object) and the length of
the corresponding variable type must be
specified here. 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 Definition of the number of objects
In this example, 1 mapped object
(setpoint speed ) is to be transferred
(number_of_mapped_objects). 601 5 2F 00 16 00 01 00 00 00
6 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 14 02 FF 00 00 00
7 Activation of the RPDO
The PDO is activated by cancelling bit
31. 601 8 23 00 14 01 01 02 00 40
8 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. 3 Example of parameterising a receive PDO