Siemens MICROMASTER 420 Operating Instructions Manual page 30

Data transfer using CANopen
O-Ind S- Object name
Ind
6076H Motor rated
torque
6077H Actual_torque Actual torque
6087H Torque_slope Torque change as a
6088H Torque_profil
e _type
Object not available in MICROMASTER 420/430.
Additional BICO connections must be established in order to use the object
NOTE
CANopen will always write to the active data set. If the drive data set should
change, then relevant objects in the object dictionary will be updated from the new
data set, and the stored powerup values of parameters will be updated from the
new data set.
(If the contents of parameters r0050 or r0051 are changed, the objects are updated
automatically.)
30
Description Transf.
using
Used to define actual SDO
torque equivalent to
1000 in objects
6071H and 6077H
SDO/
PDO
SDO
per mille of the rated
torque per s
Selecting the ramp SDO
shape of the torque
profile
D-type / Default value / comment
access
U32 / ?/
rw
Corresponds to 27D3H*(P2003) /
(1000 = 1 Nm)
note that by default P2003 = 2 x nominal
torque so therefore by default a target torque
of 1000 in object 6071H will give 2 x nominal
torque.
I16 / 0 % /
Displays the actual torque as per mille of the
ro
rated motor torque. r0080 must be connected
to P2051.04 through a BICO connection.
Up until now, this BICO connection can only
be established with the BOP or using the start-
up tool.
U32 / - /
rw This object is used to enter the change of the
torque as a per mille of the rated torque per s.
In order to use this object, several BICO
connections must be set. Refer to Section
6.3.2.
I16 / - /
rw This object is used to enter the ramp shape
which is then used to transfer a new torque
setpoint to the torque controller. In order to
use this object, several BICO connections
must be set. Refer to Section 6.3.2.
CANopen Option Module
Issue 01/05
.
Operating Instructions
6SE6400-5BC00-0BP0