Issue 01/05 Information for the CANopen master
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
109
Typical parameter edits for the Velocity Mode
Parameter Value Comment
2041.0 65535 PDO1, PDO5
Transmit if data changes
2041.1 0 *
no change required
by user
0 = default value on powerup, so user does not need to change
this.
RPDO1, 5 and 6 are asynchronous
TPDO6 = Acyclic, synchronised, but not mapped (not needed
for minimal system)
2041.2 0x0303H = 771
decimal
RPDO5:
Control Word
Setpoint in RPM
TPDO5:
Status Word
Actual Speed in RPM
2041.3 0 *
no change required
by user
0 = default value on powerup, so user does not need to change
this.
No mapping for pdo6 (not needed for minimum system)
2041.4 110 decimal Baudrate 20 kb/s
On comm loss, trip drive if possible
On comm loss, switch to pre-operational state.
P0918 Set to drive address
Default = 3
Each drive on the network must have a unique address
BICO Connections
P0700 6 Control from CAN
P1000 6 Setpoint from CAN
P2051.1 21 Read back actual speed
P2051.6 55 Connection for modes of operation display
NOTE
Changes to CAN configuration parameters using BOP, AOP, Start-up Tool
(STARTER, DriveMonitor) will only take effect after a powercycle.
Changes to CAN configuration parameters made over the CAN network via the
object dictionary will take immediate effect (powercycle not necessary).
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