Issue 01/05 Information for the CANopen master
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
83
MICRO-
MASTER
Para-
meter
Content Comment
420/430 440
2041.04 Most
Significant Digit
(hundreds):
Baudrate
Baud Rate :
0 = 10 kbit/s
1 = 20 kbit/s
2 = 50 kbit/s
3 = 125 kbit/s
4 = 250 kbit/s
5 = 500 kbit/s
6 = 800 kbit/s
7 = 1 Mbit/s
8 – 9 = reserved, not permissable
Example:
required baudrate = 250 kbit/s
CAN state machine reaction to comm error = No state change
Drive state machine reaction to comm error = disable pulses (OFF2)
Least significant digit = 2
Middle digit = 3
Most Significant Digit = 4
P2041.04 = 432 decimal
X X
The subsequent table shows all of the possible data transfer types for Transmit
PDOs. For Receive PDOs it is only possible to set as to whether the PDO can
receive in synchronism or out of synchronism with the SYNC telegram. This can
either be set using the appropriate CANopen objects or using bits 8, 9 and 10 of
parameter 2041.01 (object 27F9*sub 1).
The power-on values of the CANopen objects, that define the data transfer type of
the PDOs, can, under certain circumstances, deviate from the true values of the
objects in the inverter. This is the reason that we urgently recommend that these
objects are not saved using a "SAVE" command via object 0x1010. In fact, after
every power-on, they should be explicitly re-defined using CAN in order to avoid an
incorrect function.
Table 5-2 Table showing the possible data transfer types
Transmission Type PDO Transmission
Cyclic Acyclic Synchronized Asynchronous RTR only
0 X X
1 - 240 X X
241 - 251 reserved
252 X X
253 X X
254 X
255 X
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