Information for the CANopen master Issue 01/05
CANopen Option Module Operating Instructions
112 6SE6400-5BC00-0BP0
Typical parameter edits for the Profile Torque Mode allowing switchover between
speed and torque control
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 01110010
01010010 hex =
7252H = 29266
decimal
RPDO5 :
Setpoint in RPM
Torque setpoint
Modes of operation
TDO5:
Actual speed in RPM
Actual torque
Actual speed in RPM
Modes of operation display
P1503 2050.4 Connect torque setpoint from CAN
P1501 2091.12 Connect modes of operation to allow switching between speed
control and torque control
P2051.4 80 Connect actual torque
P2051.5 63 Connect actual drive speed. This is not necessary for torque
profile, but it does give the actual motor speed as shown by an
(optional) attached encoder
P2051.6 2091 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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