Siemens MICROMASTER 430 - Page 111

Issue 01/05 Information for the CANopen master
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
111
Convert
to RPM
604EH
4000H
604EH
V1_velocity_reference
6054H
V1_actual_percentage
6044H
V1_control_effort
0
1
TPDO5 P2041.2 bit 15
TPDO6 P2041.3 bit 15
0
1
TPDO5 P2041.2 bit 13
TPDO6 P2041.3 bit 13
BICO connection:
P2051.4 = 80
Convert to
CAN per-unit torque
1000
4000H
Note that
4000H corresponds to
torque in 6076H
6076H = P2003 = 2 x
nominal torque by default
6077H
Actual torque
0
1
TPDO5 P2041.2 bit 12
TPDO6 P2041.3 bit 12
BICO connection:
P2051.5 = 63
P2051.4 (0)
KK
Actual Torque
P2051.5 (0)
KK
Drive
Actual Frequency
r0063
Drive
Actual Frequency
r0080
Drive
Actual Torque
BICO connection:
P2051.6 = P2091
Convert to Modes of
Operation Display
If bit 12 = 0, 6061H = 2
= velocity mode
if bit 12 = 1, 6061H = 4
= torque profile mode
6061H
Modes of operation
display
0
1
TPDO5 P2041.2 bit 14
TPDO6 P2041.3 bit 14
P2051.6 (0)
KKr0055
Control word 2
from CB
Fig. 6-4 Process Data transfer from MICROMASTER 440 to CAN object dictionary using
TPDO5 or TPDO6