Siemens MICROMASTER 430 - Page 101

Issue 01/05 Information for the CANopen master
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
101
Run-through the drive state machine:
Send 6 using PDO 1
T0 00:01:58,9832: 0x203 2-Data: 06 00
Send 7 using PDO 1
T0 00:01:59,0533: 0x203 2-Data: 07 00
Receive the three PDOs:
R0 00:01:59,0953: 0x183 2-Data: 33 fe
R0 00:01:59,1038: 0x283 4-Data: 33 fe 00 00
R0 00:01:59,1113: 0x383 3-Data: 33 fe 04
Send F using PDO 1
T0 00:01:59,1569: 0x203 2-Data: 0f 00
Receive the three PDOs:
R0 00:01:59,1942: 0x183 2-Data: 37 fe
R0 00:01:59,2027: 0x283 4-Data: 37 fe 00 00
R0 00:01:59,2103: 0x383 3-Data: 37 fe 04
The drive is now in the "operational" state
Enter torque 200 and control word 7F using PDO4
-> the drive rotates T0 00:02:21,0924: 0x303 4-Data: 7f 00
c8 00
Receive e.g. the following PDOs: R0 00:02:21,0954: 0x283 4-
Data: 37 fe 00 00
R0 00:02:21,1035: 0x283 4-Data: 37 fe 00 00
R0 00:02:21,1115: 0x283 4-Data: 37 fe 00 00
R0 00:02:21,1196: 0x283 4-Data: 37 fe ff ff
R0 00:02:21,1277: 0x283 4-Data: 37 fe b5 00
R0 00:02:21,1357: 0x283 4-Data: 37 fe fb 00 R0
00:02:21,1438: 0x283 4-Data: 37 fe 08 01
R0 00:02:21,1518: 0x183 2-Data: 37 fa
R0 00:02:21,1520: 0x283 4-Data: 37 fa 10 01
R0 00:02:21,1523: 0x383 3-Data: 37 fa 04