Siemens MICROMASTER 430 - Page 25

Issue 01/05 Data transfer using CANopen
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
25
O-Ind S-
Ind
Object name Description Transf.
using
D-type /
access
Default value / comment
.3 Third mapped
object
Third mapped object. SDO U32 /
rw
0H /
Mapping can be changed via CANopen (can
also be set using the high byte of parameter
27F9.03 H)
4. Fourth
mapped
object
Fourth mapped
object.
SDO U32 /
rw
0H /
Mapping can be changed via CANopen (can
also be set using the high byte of parameter
27F9.03 H)
2000H
*
-
2801H
*
SDO-
>Parameter
Channel
Objects of the SDO
-> parameter channel
SDO - /
Using these objects, it is possible to access all
of the parameters in the MICROMASTER
according to the formula MICROMASTER
parameter number in hex + 2000H = SDO
number. In this case, it does not involve
CANopen objects, as the numbering of the
sub-indices differs with respect to CAN-open
(subindex 0 does not contain the number of
objects, but already the first object). However,
the objects from the parameter channel can,
just like CANopen objects, be read and written
using SDO access operations - they are
designated with a * in the following.
2396H
*
Node ID ID or address of the
MICROMASTER
SDO U16 /
rw
These objects set the NodeID of the
MICROMASTER.
If this value is changed on the CAN bus it
takes effect after a reset communication or
reset node network command.
27DAH
*
Baudrate Baudrate SDO U16 /
rw
10 /
Baud rate in kbit/s
2802H
*
Free Objects
into drive
Free objects, with
which non-defined
process data can be
sent from the
CANopen master to
the MICROMASTER
These objects directly write process data into
parameters P2050.2, P2050.3 and P2050.5.
The gaps in the sub-indices are due to the
mirroring of the object directly to parameter
P2050 (PZD from CB). All other receive
channels of the P2050 are occupied with the
objects of the device profile. An error message
is output if an attempt is made to map other
sub-indices or to read/write using an SDO.
.3 Free Object
into drive
Free object which can
be used to send non-
defined process data
to the
MICROMASTER
P2050.2
SDO/
PDO
I16 /
rw
0 /
Values are directly written into P2050.2.
.4 Free Object
into drive
Free object which can
be used to send non-
defined process data
to the
MICROMASTER
P2050.3
SDO/
PDO
I16 /
rw
0 /
Values are directly written into P2050.3.