Siemens MICROMASTER 420 Operating Instructions Manual page 63

Issue 01/05
If "modes-of-operation" is set to the value 4, then, bit 12 (Torque Control) is
automatically SET from control word 2 - and a transition made into the Torque
Control Mode. If the value of "modes-of-operation" is set to 2, bit 12 (Torque
Control) is RESET and a change/transition made to closed-loop speed control
(Velocity mode). See Section 3.3.3 for the definition of control word 2. If the mode
changeover is to be displayed in the CAN object 0x6061 "modes of operation
display", then in addition, a BICO connection must be established from P2051.06
to r0055. Up until now, this connection can only be established using the BOP or
the start-up (commissioning) tool.
CAUTION
Note that for mode selection to work control bit 12 of control word 2 must be BICO-
linked to torque-control / speed-control selection bit via P1501 as follows:
P1501 = r2091.12
(i.e. 082B000C must be written into CAN object 0x25DD sub 0)
For the CAN object 0x6061 "modes of operation display", in addition, a BICO
connection must be established from P2051.06 to r0055. Up until now, this
connection can only be established using the BOP or the start-up (commissioning)
tool.
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
Data transfer using CANopen
63