Information for the CANopen master Issue 01/05
CANopen Option Module Operating Instructions
96 6SE6400-5BC00-0BP0
5.8 First commissioning in the Profile Torque Mode
A first commissioning in the velocity mode is described in this Chapter. All of the
necessary settings and CAN messages are documented here in order to move the
drive:
When commissioning in the Profile Torque Mode, the baud rate for CANbus
communications must be set to 500kbit/s:
Write 500 into object 0x27DA sub 0
T0 00:00:36,4500: 0x603 8-Data: 2b da 27 00 f4 01 00 00
R0 00:00:38,2083: 0x583 8-Data: 60 da 27 00 00 00 00 00
The new baud rate becomes active after the drive is re-started
Initially, the following BICO connections must be set using the BOP or
commissioning (start-up) tool:
Parameter P2051.6 = 55 - connecting 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
Parameter P2051.4 = 80 - torque
CAN object 0x6077 is active
Caution! It is not possible to set these connections via CAN as object 0x2803*
(P2051) is a read-only object.
5.8.1 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
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