Siemens MICROMASTER 430 - Page 84

Information for the CANopen master Issue 01/05
CANopen Option Module Operating Instructions
84 6SE6400-5BC00-0BP0
The following tables indicate the significance of the various bits in parameters
P2041.02 (object 27F9*sub 2) and P2041.03 (object 27F9*sub 3).
Table 5-3 Significance of the bits for MICROMASTER 420/430 in parameters P2041.02 and P2041.03
MICROMASTER 420/430
SET Bit
Number
Direction Object Dictionary
Index
Drive
Table
Description
Data into Drive : Transferred from CANopen bus to CANopen objects to Drive parameters 2050.x
Bit 0 R_PDO 6040H 2050.0 Map to CANopen control word (6040H). Note that
this object is mapped internally in the Drive to
Parameter P2090 which is bit-addressable.
Bit 1 R_PDO 6042H or
6052H
2050.1 Map to CANopen
vl_target_velocity (RPM, 6042H) or
vl_nominal_percentage (per-unit, 6052H)
Depending on Bit 7.
Bit 2 R_PDO 2802.3H 2050.2 Map to Free Object (2802H subindex 3).
Bit 3 R_PDO 2802.4H 2050.3 Map to Free Object (2802H subindex 4). Note that
this object is mapped internally in the Drive to
Parameter P2091 which is bit-addressable. This
therefore allows CANopen to change control word
2 or other control words (through appropriate
BICO connections) if required.
Bit 4 Not used
Bit 5 Not used
Bit 6 Not used
Bit 7 R_PDO Choose mapping from from RPM or per-unit
values.
CLEAR: If Bit 7 clear, map to vl_target_velocity
(RPM, 6042H)
SET: If Bit 7 set, map to vl_nominal_percentage
(Per-unit, 6052H)
Data out of Drive : Transferred from Drive parameters 2051.x to CANopen objects to CANopen bus
Bit 8 T_PDO 6041H 2051.0 Map to CANopen status word (6041H)
Bit 9 T_PDO 6043H or
6053H
2051.1 Map to CANopen ….
vl_velocity_demand (RPM, 6043H) or
vl_percentage_demand (per-unit, 6053H)
depending on bit 15
Bit 10 T_PDO 2803.3H 2051.2 Map to Free Object (2803H subindex 3)
Bit 11 T_PDO 2803.4H 2051.3 Map to Free Object (2803H subindex 4)
Bit 12 Not used
Bit 13 Not used
Bit 14 Not used
Bit 15 T_PDO Choose mapping from RPM or per-unit values.
CLEAR: if Bit 15 clear, map to vl_velocity_demand
(RPM, 6043H)
SET: if bit 15 set, map to vl_nominal_percentage
(Per-unit, 6053H)