Siemens MICROMASTER 430 - Page 85

Issue 01/05 Information for the CANopen master
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
85
Table 5-4 Significance of the bits for MICROMASTER 440 in parameters P2041.02 and P2041.03
MICROMASTER 440
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_velocity_reference (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 if required. Note that if
modes of operation is mapped, then bit 12 of this
object will have no effect because bit 12 of 2050.3
will be set or cleared depending on the value of
modes of operation.
Bit 4 R_PDO 6071H 2050.4 Map to CANopen Target_Torque (6071H)
Bit 5 R_PDO 2802.6H 2050.5 Map to Free Object (2802H subindex 6)
Bit 6 R_PDO 6060H 2050.3
bit 12
Map to CANopen Modes_of_operation (6060H)
Bit 7 R_PDO Choose mapping from RPM or per-unit values
CLEAR: if Bit 7 clear, map to
vl_velocity_reference (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).
Note that if modes of operation display is mapped,
then bit 12 of this object will reflect the value of
P2051.06 bit 12.
Bit 12 T_PDO 6077H 2051.4 Map to CANopen actual torque (6077H)
Bit 13 T_PDO 6044H
or
6054H
2051.5 Map to CANopen
vl_control_effort (RPM, 6044H) or
vl_actual_percentage (per-unit, 6054H)
depending on Bit 15
Bit 14 T_PDO 6061H 2051.6 Map to CANopen modes of operation display
(6061H)