Issue 01/05 Data transfer using CANopen
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
27
O-Ind S-
Ind
Object name Description Transf.
using
D-type /
access
Default value / comment
6040H Control word CANopen control
word
SDO/
PDO
U16 /
wo
0 /
This is converted and mapped to the
MICROMASTER control word 1 (r0054) when
being transferred to the MICROMASTER.
Parameter 22BCH* must be set to 6 so that
the CANopen control word can control the
MICROMASTER.
6041H Status word CANopen status word SDO/
PDO
U16 /
ro
0 /
MICROMASTER status word 1 (r0052) is
converted when being transferred from
MICROMASTER and is mapped onto the
CANopen status word. Parameter 22BCH*
must be set to 6 so that the CANopen status
word can send MICROMASTER status onto
the CAN bus.
6042H Vl_target_vel
ocity
Reference (target)
velocity of the velocity
mode
SDO/
PDO
I16 /
rw
0 RPM /
Parameter 23E8H* must first be set to 6 (via
CAN), or a BICO connection must be
established from P2050.1 to the speed
setpoint. Up until now, this BICO connection
can only be established with the BOP or using
the start-up tool.
6043H Vl_velocity
_demand
Velocity, controlled
quantity
SDO/
PDO
I16 /
ro
0 RPM /
Parameter 23E8H* must first be set to 6 (via
CAN) or a BICO connection must be
established from r0021 to P2051.1.
Up until now, this BICO connection can only
be established with the BOP or using the start-
up tool.
6044H
Vl_control_eff
ort
Velocity actual value SDO/
PDO
I16 /
ro
0 RPM /
A BICO connection must be established from
r0063 to P2051.
Up until now, this BICO connection can only
be established with the BOP or using the start-
up tool.
6046H Vl_velocity_m
in_max_amo
unt
Minimum and
maximum absolute
value for the velocity
limiting
.0 Number of
entries
No. of sub-indices SDO U8 / ro 2 /
-
.1 Vl_velocity_m
in_amount
Absolute value of the
minimum velocity
limiting
SDO U32 /
rw
0 /
(P1080
.
60 / r0313) RPM /
Acts on P1080 (2438H*). When this object
changes, this effects the gradient (rate-of-rise)
of the up ramp.
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