Issue 01/05 Information for the CANopen master
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
105
Process data is sent from the drive to the network in parameter P2051 as follows:
Table 6-2 BICO connections for P2051 (PZD to CB)
Parameter Data Comment BICO connection
2051.00 Status word 1 To CANopen status word object
6041H
BICO connection from r0052.
Parameter 700 to 6 sets the required
BICO connection
2051.01 Vl_velocity_demand To CANopen vl_velocity_demand
object 6043H and to CANopen
vl_percentage_demand object 6053H
(depends on mapping selection, see
5.6 )
BICO connection from r0021.
Parameter 1000 to 6 sets the required
BICO connection
2051.02 User defined To CANopen free object 2803H
subindex 3
BICO connection can be made user-
specific
2051.03 User defined To CANopen free object 2803H
subindex 4
BICO connection can be made user-
specific
Next entries (only for MICROMASTER 440)
2051.04 Actual_torque To CANopen object torque actual
value 6077H
BICO connection from r0080.
2051.05 Actual speed To CANopen vl_control_effort in object
6044H and to vl_actual_percentage in
object 6054H
(depends on mapping selection, see
5.6 )
Read from r0063 in VC and SLVC
modes. Read from r0021 in VF modes.
Default = 0
2051.06 Modes of operation
display
To CANopen modes of operation
display 6061H
BICO connection from r0055
NOTE
r2050 also acts as a display parameter with which the setpoints, received from the
CANopen master, can be checked. These displays always have a decimal format –
if, e.g. r2050.00 = 1150, then this would be 047EH in the hexadecimal format.
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