Information for the CANopen master Issue 01/05
CANopen Option Module Operating Instructions
104 6SE6400-5BC00-0BP0
The following tables contain the specific parameters which are used to connect
process data for the CANopen option module:
Table 6-1 BICO connections for P2050 (PZD from CB)
Parameter Data Comment BICO connection
2050.00 Control word 1 From CANopen control word in object
6040H
Is copied to r2090 in the
MICROMASTER. Parameter P0700 to
6 sets all BICO connections.
2050.01 Vl_target_velocity/
vl_nominal
_percentage
From CANopen vl_target_velocity in
object 6042H or from CANopen
vl_nominal_percentage in 6052H
(depends on mapping selection, see
5.6 )
BICO connection to P1070.
Parameter 1000 to 6 sets the required
BICO connection
2050.02 User defined From CANopen free object 2802H
subindex 3
BICO connection can be made user-
specific
2050.03 User defined From CANopen free object 2802H
subindex 4
or from CANopen object Modes of
Operation (MICROMASTER 440)
NOTE
If Modes of Operation is mapped, only
Bit12 of 2050.03 is affected. All the
other bits can be freely used. User can
map free object 2802H subindex 4
AND Modes of Operation. In this case,
user can freely change bits 0 to 11 and
bits 13 to 15 in the free object but bit
12 will only be affected by Modes of
Operation.
BICO connection can be made user-
specific. Is copied to P2091 in the
MICROMASTER.
In the case of the MICROMASTER
440 and use of the Modes_of
_operation object, bit 12 must be BICO
connected with P1501. All other bits
can be connected freely in BICO.
Next entries (only for MICROMASTER 440)
2050.04 Target torque From CANopen Target_Torque
(6071H)
BICO connection to the momentary
target value source (see 0)
2050.05 User defined Map to Free Object
(2802H subindex 6)
BICO connection can be made user-
specific
2050.03 Modes of operation From CANopen object modes of
operation (6060H)
When using the object
Modes_of_operation, bit 12 must be
BICO connected with P1501.
NOTE
P2050.00 (Control word 1) is internally copied to parameter r2090 and that
P2050.03 (Free Object) is internally copied into parameter r2091. This is to enable
the BICO connections to be made to the individual bits within these control words.
Note also that modes of operation operates on bit 12 of r2050.03.
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