Siemens MICROMASTER 430 - Page 26

Data transfer using CANopen Issue 01/05
CANopen Option Module Operating Instructions
26 6SE6400-5BC00-0BP0
O-Ind S-
Ind
Object name Description Transf.
using
D-type /
access
Default value / comment
.6 Free Object
into drive
(only
MICROMAST
ER 440)
Free object which can
be used to send non-
defined process data
to the
MICROMASTER
P2050.5
SDO/
PDO
I16 /
rw
0 /
Values are directly written into P2050.5.
2803H
*
Free Objects
from drive
Free objects, with
which non-defined
process data can be
sent from the
CANopen master to
the MICROMASTER.
-/
These objects read process data from the
parameters which are connected with P2051.2
and P2051.3 via BICO and transmit these on
the CAN bus. The gaps in the sub-indices are
due to the mirroring of the object directly onto
parameter P2051. All other send channels of
the P2051 are occupied with the objects of the
device profile. An error message is output if an
attempt is made to map the other sub-indices.
A zero is displayed when reading-out the other
sub-indices.
.3 Free Object
from drive
Free object which can
be used to send non-
defined process data
to the
MICROMASTER
P2051.2.
SDO/
PDO
I16 /
rw
0 /
Values are directly sent from parameter BICO
connected to P2051.2.
.4 Free Object
from drive
Free object which can
be used to send non-
defined process data
to the
MICROMASTER
P2051.3.
SDO/
PDO
I16 /
rw
0 /
Values are directly sent from parameter BICO
connected to P2051.3.
2804H
*
-
5FFF
H*
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.
6007H Abort
connection
option code
Behaviour of the
MICROMASTER-
status engine in case
of communication
errors
SDO I16 /
rw
0 /
0 no action
1 malfunction
2 Device control command
“disable voltage”
3 Device control command
“quick stop”
4 ramped stop
603FH Error code The MICROMASTER
error from parameter
P0947 is displayed in
this object
SDO U16 /
ro
0 /
-