Data transfer using CANopen Issue 01/05
CANopen Option Module Operating Instructions
56 6SE6400-5BC00-0BP0
3.3.1 CANopen control word
The CANopen control word is used in order to execute the state transitions
described in the previous Chapter.
Parameter P0700 (object:0x22BC*) must be set to 6 in order to transfer the
CANopen control word to the appropriate internal parameters.
The CANopen control word is then written into the inverter at P2050.00 (object
0x2802*) and is then internally copied into parameter r2090. The CANopen control
word is converted to the MICROMASTER control word in the option module. The
assignment of the bits of the CANopen control word to the MICROMASTER control
word are shown in the following table.
Table 3-15 Assignment of CANopen control word bits to MICROMASTER control word bits
Bit
Pos.
CANopen Control Word Drive Control Word
00 Switch ON 0 = NO
1 = switch ON
ON/OFF1 0 = OFF1
1 = RUN
01 Disable Voltage (OFF2) 1 = NO
0 = disable voltage
Do OFF2 0 = YES
1 = NO
02 Quick Stop (OFF3) 1 = NO
0 = quick stop
Do OFF3 0 = YES
1 = NO
03 Enable Operation 0 = NO
1 = enable operation
Pulse Enable 0 = NO
1 = YES
04 Operation Mode Specific:
RFG disable
0 = disable RFG
1 = enable RFG
RFG Enable 0 = NO
1 = YES
05 Operation Mode Specific
RFG Stop
0 = stop RFG
1 = start RFG
RFG Start 0 = NO
1 = YES
06 Operation Mode Specific
RFG Zero
0 = Zero RFG
1 = RFG not zeroed
Setpoint Enable 0 = NO
1 = YES
07 Reset Fault Fault Acknowledge 0 = NO
1 = YES
08 Halt Not used in CAN (forced to 0)
09 Reserved (0) No connection (forced to 0)
10 Reserved (always 1) Control from PLC (forced to 1) 0 = NO
1 = YES
11 Manufacturer Specific Reverse 0 = NO
1 = YES
12 Manufacturer Specific Not used
13 Manufacturer Specific Motor pot. UP 0 = NO
1 = YES
14 Manufacturer Specific Motor pot. DOWN 0 = NO
1 = YES
15 Manufacturer Specific CDS Bit 0 (Local / Remote)
(needs manually setting of
P0810.0 = 2090.15)
0 = NO
1 = YES
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