Siemens MICROMASTER 430 - Page 97

Issue 01/05 Information for the CANopen master
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
97
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 are 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
Parameter P1501.0 = P2091.12 (12
th
bit of parameter 2091)
BICO connection allows the operating modes to be changed-over (selected)
CANopen object 0x6060 is activated
Write 082B000C into object 0x25DD* sub 0
T0 00:01:44,4977: 0x603 8-Data: 22 dd 25 00 0c 00 2b 08
R0 00:01:44,5263: 0x583 8-Data: 60 dd 25 00 00 00 00 00
Set parameter P1300 (control type) to 22 (closed-loop control without encoder)
Write 22 into object 0x2514* sub 0
T0 00:02:06,2779: 0x603 8-Data: 2b 14 25 00 16 00 00 00
R0 00:02:06,2977: 0x583 8-Data: 60 14 25 00 00 00 00 00
Parameter P2050.4 = P1503.0 BICO connection to the torque setpoint source
CANopen object 0x6071 is activated
Write 08020004 into object 0x25DF* sub 0
T0 00:02:06,3982: 0x603 8-Data: 22 df 25 00 04 00 02 08 R0
00:02:06,4125: 0x583 8-Data: 60 df 25 00 00 00 00 00
Changeover into the Profile Torque Mode:
Write 4 into object 0x6060 sub 0
T0 00:02:06,4915: 0x603 8-Data: 2f 60 60 00 04 00 00 00
R0 00:02:06,4925: 0x583 8-Data: 60 60 60 00 00 00 00 00
Check whether the changeover was successful...
Read 4 from object 0x6061 sub 0
T0 00:02:06,5915: 0x603 8-Data: 40 61 60 00 00 00 00 00
R0 00:02:06,5932: 0x583 8-Data: 4f 61 60 00 04 00 bf 84