23
Commissioning
WORD0 - C0135 control word
Bit h66 / h76 setting = 0
WORD0 - C0135 control word
Bit h66 / h76 setting = 1
0
JOG1, JOG2, JOG3
0 = C46 active
1 = JOG1 (C37) active
2 = JOG2 (C38) active
3 = JOG3 (C39) active
0
JOG1, JOG2, JOG3
0 = C46 active
1 = JOG1 (C37) active
2 = JOG2 (C38) active
3 = JOG3 (C39) active
1 1
2
Direction of rotation
0 = CW (forward)
1 = CCW (reverse)
2
Direction of rotation
0 = CW (forward)
1 = CCW (reverse)
3
Quick stop
0 = Quick stop not active
1 = Quick stop active
3
Quick stop
0 = Quick stop not active
1 = Quick stop active
4 reserved 4 reserved
5 reserved 5 reserved
6 reserved 6 reserved
7 reserved 7 reserved
8 reserved 8 reserved
9
Controller inhibit
0 = No controller inhibit
1 = Controller inhibit
9
Controller inhibit
0 = No controller inhibit
1 = Controller inhibit
10
reserved 10 reserved
11
TRIP reset
TRIP reset on transition from 0 to 1
11
TRIP reset
TRIP reset on transition from 0 to 1
12 reserved 12 reserved
13 reserved 13 reserved
14
DC brake
0 = DC brake not active
1 = DC brake active
14
DC brake
0 = DC brake not active
1 = DC brake active
15 reserved 15 reserved
WORD1
• Signed frequency setpoint written to C46
• Frequency setpoint [Hz] = WORD1 value / 50
• Example 1: Requested setpoint = CW at 34.5 Hz
= 34.5 x 50 = 1725 = 0x06BD
• Example 2: Requested setpoint = CCW at 44.5
Hz = - (44.5 x 50) = -2225 = 0xF74F
Note: Setpoint sign overrides Bit 2 in WORD0
WORD1
• Unsigned frequency setpoint written to C46
• Frequency setpoint [Hz] = WORD1 value / 10
• Example: Requested setpoint = CW at 34.5 Hz =
34.5 x 10 = 0x0159
• Direction is set by bit 2 in WORD0
WORD2
reserved (not evaluated)
WORD3
reserved (not evaluated)
4.4 CANopen mapping details
4.4.1 RPDO mapping details (h66 / h76)
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