Owner's manual

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 z ero.
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
)
withalengthof32bits(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
)
withalengthof16bits(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 μs).
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