Siemens MICROMASTER 430 - Page 93

Issue 01/05 Information for the CANopen master
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
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5.7.1.4 Execute the mapping for TPDO 5
Set the number of mapped objects to 0
Write 0 into object 0x1A05 sub 0
T0 00:01:56,7626: 0x603 8-Data: 2f 05 1a 00 00 00 00 00
R0 00:01:56,7748: 0x583 8-Data: 60 05 1a 00 00 00 00 00
The status word is the first mapped object:
Write 0x60410010 into object 0x1A05 sub 1
T0 00:01:56,8695: 0x603 8-Data: 23 05 1a 01 10 00 41 60
R0 00:01:56,8819: 0x583 8-Data: 60 05 1a 01 00 00 00 00
Modes of operation display is the second mapped object:
Write 0x60610008 into object 0x1605 sub 2
T0 00:01:56,9977: 0x603 8-Data: 23 05 1a 02 08 00 61 60
R0 00:01:57,0108: 0x583 8-Data: 60 05 1a 02 00 00 00 00
Set the number of mapped objects to 2
Write 2 into object 0x1A05 sub 0
T0 00:01:57,1004: 0x603 8-Data: 2f 05 1a 00 02 00 00 00
R0 00:01:58,7806: 0x583 8-Data: 60 05 1a 00 00 00 00 00
Set the nodes into the operational mode:
T0 00:01:58,8546: 0x000 2-Data: 01 03
Receive the three PDOs:
R0 00:01:58,8655: 0x183 2-Data: 31 fe
R0 00:01:58,8741: 0x283 4-Data: 31 fe 00 00
R0 00:01:58,8816: 0x383 3-Data: 31 fe 02
Run-through the state machine of the drive:
Send 6 using PDO 1
T0 00:01:58,9832: 0x203 2-Data: 06 00
Send 7 using PDO 1
T0 00:01:59,0533: 0x203 2-Data: 07 00
Receive the three PDOs:
R0 00:01:59,0953: 0x183 2-Data: 33 fe
R0 00:01:59,1038: 0x283 4-Data: 33 fe 00 00
R0 00:01:59,1113: 0x383 3-Data: 33 fe 02
Send F using PDO 1
T0 00:01:59,1569: 0x203 2-Data: 0f 00