Communication / CBC CANopen Communication Board 02.2004
6SE7087-6QX70 (Version AD) Siemens AG
8.5-124 Compendium Motion Control SIMOVERT MASTERDRIVES
87654321
Setpoint and actual-value source CANopen 1st CB
MASTERDRIVES MC
01.10.01
MASTERDRIVES MC with B-Pos
- 8517 -
from V1.5
Status word1
Receive
Transmit
Con-
version of
the
status
signals
Normaliza-
tion
Conversion
of the
control
signals
Normaliza-
tion
CB
configu-
ration
CB Parameter 5
0 ... 65535
P715.01
CB Parameter 8
0 ... 65535
P718.01
CB Parameter 1
0 ... 65535
P711.01
CB/TB Tlg OFF
0 ... 6500 ms
P722.01 (10)
P722.01 =0 :
no monitoring
CB bus address
0 ... 200
P918.01 (3)
• • • • • •
• • • • • •
P734.1(32)
K
K0431
Status word
n077
from sheet
[720]
P734.2
K
K0889
Checkback signals
n862.02
from sheet
[788a]
P734.3
K
K0432
P734.4
K
K0250
Faults
Alarms
Sheet [125]
Transmit actual values
PcD1 (data word 1) PcD2 (data word 2) PcD3 (data word 3) PcD4 (data word 4)
Checkback signals
n079
from sheet
[8519]
B3115
Freely connectable
B3114
Freely connectable
B3112 D_BWD
Bit15
Bit14
B3113
Freely connectable
to sheet [180]
control word 1
r550
• • • • • •• • • • • •
B3110
PcD control
B3111 D_FWD
B3109 Reserved
P564
BB3108 Setpoint Enable
Src Setpoint
Enable
Bit7
B3106 POS_TYP
B3105 Reserved
B3104 SPV_RIE
B3103 Inv.Release
B3102 OFF3 (QStop)
B3101 OFF2 (coast)
Bit0
Bit1
B3100 ON/OFF1
P554.1
B (3100)
Src ON/OFF1
R_PDO 1
Sheet [120]
PcD1 (data word1)
Bit8
Bit9
B3209 REF_TYP
U866.10
B
REF_TYP
B3208 SPV_RIE_TYP
U866.09
B
SPV_RIE_TYP
Receive setpoints
PcD2 (data word 2)
Bit11
Bit12
B3212 Profile Velocity
U258
B
Src Enable
RFG Bypass
B3211
Master/slave drive
P587.01
B
Master/slave
Bit0
B3200
U247
B
Set position
Homing
Method 35
P566.1
B (3107)B3107
Acknowledge
Src 2 Acknowledge
CB Parameter 10
0 ... 65535
P720.01
CB Parameter 9
0 ... 65535
P719.01
CB Parameter 4
0 ... 65535
P714.01
• • • • •
T_PDO 1
T_PDO 2
T_PDO 3
T_PDO 4
PZD5-8
<1>
PZD9-12
<1>
PZD13-16
<1>
R_PDO 2
R_PDO 3
R_PDO 4
PZD5-8
<2>
PZD9-12
<2>
PZD13-16
<2>
<1>Actual values of
PcD 5-16
depend on setting in
P716-718
<2>Setpoints of PcD 5-16
depend on setting
in P712-714
Sheet [8512]
PcD1 (data word1)
Freely connectable
Freely connectable
Foll_Err
Speed=0
Overspeed
Comparison setp. reached
PcD control
Freely connectable
Alarm active
Starting lockout
OFF3 active
OFF2 active
Fault active
Run
Ready to run
Ready to start
15 0
1
Status word
Bit1
B3201
U046
B
Initialization
error F151
Bit2
B3202
U184
B
Stop for PPM,SUM
and HM
B3213 SETUP_ON
Bit13
• • •
B3214 POS_ON
B3215 REF_ON
Bit14
Bit15
U866.05
B
POS_TYP
U866.02
B
SPV_RIE
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