Siemens MICROMASTER 430 - Page 99

Issue 01/05 Information for the CANopen master
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
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5.8.1.1 Execute the mapping for TPDO 4
Set the number of mapped objects to 0
Write 0 into object 0x1A04 sub 0
T0 00:01:52,5891: 0x603 8-Data: 2f 04 1a 00 00 00 00 00
R0 00:01:52,6020: 0x583 8-Data: 60 04 1a 00 00 00 00 00
The status word is the first mapped object:
Write 0x60410010 into object 0x1A04 sub 1
T0 00:01:52,6976: 0x603 8-Data: 23 04 1a 01 10 00 41 60
R0 00:01:52,7110: 0x583 8-Data: 60 04 1a 01 00 00 00 00
The actual torque is the second mapped object:
Write 0x60770010 into object 0x1A04 sub 2
T0 00:02:14,5797: 0x603 8-Data: 23 04 1a 02 10 00 77 60
R0 00:02:14,5805: 0x583 8-Data: 60 04 1a 02 00 00 00 00
Set the number of mapped objects to 2
Write 2 into object 0x1A04 sub 0
T0 00:01:52,9377: 0x603 8-Data: 2f 04 1a 00 02 00 00 00
R0 00:01:54,5864: 0x583 8-Data: 60 04 1a 00 00 00 00 00
5.8.1.2 Execute the mapping for RPDO 5
Set the number of mapped objects to 0
Write 0 into object 0x1605 sub 0
T0 00:01:54,6741: 0x603 8-Data: 2f 05 16 00 00 00 00 00
R0 00:01:54,6864: 0x583 8-Data: 60 05 16 00 00 00 00 00
The control word is the first mapped object:
Write 0x60400010 into object 0x1605 sub 1
T0 00:01:54,7770: 0x603 8-Data: 23 05 16 01 10 00 40 60
R0 00:01:54,7894: 0x583 8-Data: 60 05 16 01 00 00 00 00
Modes of operation is the second mapped object:
Write 0x60600008 into object 0x1605 sub 2
T0 00:01:54,8523: 0x603 8-Data: 23 05 16 02 08 00 60 60
R0 00:01:54,8659: 0x583 8-Data: 60 05 16 02 00 00 00 00