Siemens MICROMASTER 430 - Page 86

Information for the CANopen master Issue 01/05
CANopen Option Module Operating Instructions
86 6SE6400-5BC00-0BP0
MICROMASTER 440
SET Bit
Number
Direction Object Dictionary
Index
Drive
Table
Description
Bit 15 T_PDO Choose mapping to RPM or per-unit values
CLEAR:
if bit 9 set, map to vl_velocity_demand
(RPM, 6043H)
if bit 14 set, map to vl_control_effort
(RPM, 6044H)
SET:
if bit 9 set, map to vl_percentage_demand
(per-unit, 6053H)
if bit 14 set, map to vl_actual_percentage
(per-unit, 6054H)
PDO mapping via
P2041.02 and P2041.03
Take objects for PDO
from Table 5.3
MICROMASTER 420/430
Bit 8 (6041H) in PDO = 1
Bit 9 (6043H/6053H) in PDO =1
Bit 10 (2803.03H) in PDO = 1
Bit 11 (2803.04H) in PDO = 1
Bit 12 not assigned, must be 0
Bit 13 not assigned, must be 0
Bit 14 not assigned, must be 0
or 6053H/6054H active (1)
map in PDO
Join
high- and low byte
Write down in
P2041.02 or P2041.03
Conversion into
decimal value
MICROMASTER 420/430
Bit 15 Sel. 6043H/6044H active (0)
PDO mapping via
P2041.02 and P2041.03
Take objects for PDO
from Table 5.4
Bit 8 (6041H) in PDO = 1
Bit 9 (6043H/6053H) in PDO =1
Bit 10 (2803.03H) in PDO = 1
Bit 11 (2803.04H) in PDO = 1
Bit 12 (6077H) in PDO = 1
Bit 13 (6044H/6054H) in PDO = 1
Bit 14 (6061H) in PDO = 1
or 6053H/6054H active (1)
map in PDO
Join
high- and low byte
Write down in
P2041.02 or P2041.03
Conversion into
decimal value
Bit 15 Sel. 6043H/6044H active (0)
Fig. 5-1 Transmitting a PDO mapping via parameter P2041.02 (object 27F9*sub 2)
and P2041.03 (object 27F9*sub 3)