Siemens MICROMASTER 430 - MICROMASTER Control and Status Word 2

Data transfer using CANopen Issue 01/05
CANopen Option Module Operating Instructions
60 6SE6400-5BC00-0BP0
3.3.3 MICROMASTER control and status word 2
In addition to the CANopen control and status word, for Micromaster, there are also
the so-called control and status words 2. If so required, these can be used to
enable additional Micromaster functions.
In order to be able to address control word 2 of the MICROMASTER via CANopen,
parameter r2050 .3 (object 0x2802* subindex 4) must be connected via the
appropriate BICO connection!
Status word 2 can also be connected as checkback signals to control word 2 via
parameter P 2051.3 (object 0x2803* subindex 4).
This is possible using the BICO connection from r0053 to r2051.03.
Bit 12 of control word 2 (torque control) is additionally changed by the CANopen
object 0x6060 "modes_of_operation", in order to change between closed-loop
speed and torque control and/or between "velocity mode" and" profile torque
mode" (refer to Section 3.1). Object 0x6060 only becomes available if this BICO
connection has been established from bit 12 of control word 2. This can be realized
either via CAN, BOP or the start-up tool.
Note that the free object 0x2802* subindex 4 in the drive corresponds to parameter
r2050.3 and that parameter r2050.3 is internally connected to parameter r2091.
The bits of r2091 can be connected appropriately via BICO to provide the functions
defined below (see Table 3-19 "Manually setting").