Issue 01/05 Information for the CANopen master
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
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5.7 First commissioning in the velocity mode
The first commissioning in the velocity mode is described in this Chapter. All of the
necessary settings and CAN messages are documented here in order that the
drive can be moved:
Firstly, the following BICO connections must be set using the BOP link or
commissioning (start-up) tool:
Parameter P2051.6 = 55 - connection to display the operating modes
CAN object modes of operation display 0x6061 is active
Parameter P2051.5 = 63 - the actual speed is repeatedly read
CAN object 0x6044 is active
Caution! It is not possible to set this connection via CAN, as object 0x2803*
(P2051) is a read-only object.
5.7.1 Additional commissioning via CANopen
Set the process data failure time to zero:
Write 0 into object 0x27F8 sub 0
T0 00:01:43,9766: 0x603 8-Data: 2b f8 27 00 00 00 00 00
R0 00:01:44,0105: 0x583 8-Data: 60 f8 27 00 00 00 00 00
Select the command source, P700=6
Write 6 into object 0x22BC* sub 0
T0 00:01:44,0716: 0x603 8-Data: 2b bc 22 00 06 00 00 00
R0 00:01:44,1494: 0x583 8-Data: 60 bc 22 00 00 00 00 00
Select the frequency setpoint, P1000=6
Write 6 into object 0x23E8* sub 0
T0 00:01:44,2375: 0x603 8-Data: 2b e8 23 00 06 00 00 00
R0 00:01:44,2642: 0x583 8-Data: 60 e8 23 00 00 00 00 00
Parameter P719 =0 so that P700 and P1000 can be used
Write 0 into object 0x22CF* sub 0
T0 00:01:44,3815: 0x603 8-Data: 2b cf 22 00 00 00 00 00
R0 00:01:44,4114: 0x583 8-Data: 60 cf 22 00 00 00 00 00
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