Fig. 2-186 9220 – Control word, CANopen
- 9220 -
Function diagram
87654321
fp_9220_98_eng.vsd
DO: SERVO
SINAMICS S110
14.06.12 V04.04.00
CANopen interface - Control word, CANopen
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.11
STW1.12
STW1.13
STW1.14
STW1.15
STW1.7
STW1.10
p0848[0] = r2090.2
p0852[0] = r2090.3
p1140[0] = r2090.4
p1141[0] = r2090.5
p1142[0] = r2090.6
p2103[0] = r2090.7
-
-
pxxxx[y] = r2090.11
pxxxx[y] = r2090.12
pxxxx[y] = r2090.13
pxxxx[y] = r2090.14
pxxxx[y] = r2090.15
p0840[0] = r2090.0
p0844[0] = r2090.1
= ON (pulses can be enabled)
0 = OFF1 (braking with ramp-function generator, then pulse cancellation and ready-to-power-up)
1 = No coast-down activated (enable possible)
0 = Activate coast-down (immediate pulse cancellation and power-on inhibit)
1 = No fast stop activated (enable possible)
0 = Activate fast stop (braking along an OFF3 ramp p1135, then pulse cancellation and power-on inhibit)
1 = Enable operation (pulses can be enabled)
0 = Inhibit operation (cancel pulses)
1 = Enable ramp-function generator
0 = Inhibit ramp-function generator
1 = Continue ramp-function generator
0 = Freeze ramp-function generator
1 = Enable setpoint
0 = Inhibit setpoint (the ramp-function generator input is set to zero)
= Acknowledge fault
1 = Stop
Reserved
Reserved
Can be freely connected
Can be freely connected
Can be freely connected
Can be freely connected
Can be freely connected
[2501.3]
[2501.3]
[2501.3]
[2501.3]
[2501.1]
[2546.2]
-
-
-
-
-
-
[2501.3]
[2501.3]
Signal targets for control word CANopen
[2610]
[2610]
[3060]
[3060]
[3060]
[8060]
[3060]
-
-
-
-
-
[2610]
[2610]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
internal control word
[Function diagram]
signal target
Inverted
<1>
Refer to [1020.7]
CAN bus sampling time
<1> Depending on the position of the CANopen control word in p8750, the number of the binector to be connected changes.
<2> Not valid for automatic BICO interconnection (p8790).
<2>
<2>
<2>
<2>
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