Siemens MICROMASTER 430 - Table of Contents

Issue 01/05 List of contents
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
7
List of contents
1 Description .............................................................................................................. 9
2 General CAN/CANopen definitions ..................................................................... 11
2.1 CAN (Controller-Area-Network) .............................................................................. 11
2.2 CANopen ................................................................................................................ 13
3 Data transfer using CANopen.............................................................................. 17
3.1 MICROMASTER object directory ........................................................................... 17
3.2 CANopen communication services......................................................................... 31
3.2.1 NMT (Network Management) services ................................................................... 31
3.2.2 Communication monitoring services....................................................................... 34
3.2.3 Boot up telegram..................................................................................................... 36
3.2.4 SDO (Service Data Object) services ...................................................................... 37
3.2.5 PDO (Process Data Object) services ..................................................................... 45
3.2.6 Synchronization service .......................................................................................... 49
3.2.7 EMERGENCY object service.................................................................................. 50
3.3 Controlling MICROMASTER drive converters via CANopen ................................. 55
3.3.1 CANopen control word............................................................................................ 56
3.3.2 CANopen status word............................................................................................. 57
3.3.3 MICROMASTER control and status word 2 ........................................................... 60
3.3.4 Modes of Operation and Modes of Operation display ............................................ 62
4 Connecting to CANopen ...................................................................................... 65
4.1 Installing the CANopen module for Sizes A, B, C................................................... 65
4.2 Installing the CANopen module for Sizes D, E, F................................................... 67
4.3 Installing the CANopen module for Sizes FX, GX .................................................. 69
4.4 Bus connection ....................................................................................................... 70
5 Commissioning with CANopen ........................................................................... 73
5.1 Electronic Data Sheet (EDS) .................................................................................. 73
5.2 Important parameters when commissioning the system for the first time .............. 74
5.3 Parameter "P2040" (object 0x27F8*), telegram failure time................................... 75
5.4 Setting-up the PDOs............................................................................................... 76
5.5 Timing of the PDOs................................................................................................. 79
5.6 PDO properties in parameter "P2041".................................................................... 79
5.7 First commissioning in the velocity mode ............................................................... 89
5.7.1 Additional commissioning via CANopen................................................................. 89
5.7.2 Additional helpful commands for the velocity mode ............................................... 95
5.8 First commissioning in the Profile Torque Mode .................................................... 96
5.8.1 Additional commissioning via CANopen................................................................. 96
5.8.2 Additional helpful commands for the profile torque mode .................................... 102