Siemens MICROMASTER 420 Operating Instructions Manual page 88

Information for the CANopen master
Example of a PDO configuration via parameter P2041
The TPDO 5 is to be configured for the MICROMASTER 440. To do this, the PDO
mapping must be set, the data transfer type selected and the COB-ID set with
which the PDO is to be transferred.
The default value of the TPDO 5 looks like this:
COB-ID: 280H + node ID
PDO mapping: 0
Data transfer type: 0, i.e. non-cyclic synchronous - this means that if data has
changed, it is sent after the next SYNC telegram.
These settings should now be changed to the following settings:
COB-ID should be 570H + node ID
PDO mapping: free_object 2803.03, torque_actual_value (6077H),
vl_actual_percentage (6054H), modes_of_operation_display (6061H)
DData transfer type: Cyclic synchronous, i.e. data is, independently of a change,
sent after each tenth SYNC telegram. This is realized as follows:
PDO mapping:
The appropriate parameters are taken from Table 5-1. In this case: Parameter
P2041.02.
The significance of the individual bits that must be set in this parameter for the
PDO mapping are shown in Table 5-4: Bit 10 for object 2803.03, bit 12 for object
6077H, bit 13 for object 6054H and bit 14 for object 6061H.
Bit 15 must be additionally set so that object 6054H is mapped and not object
6044H.
Data transfer type:
From Table 5-1 it can be seen that this is specified in the high byte of parameter
P2041.00. Here, the value 10 must be entered for synchronous data transfer after
each tenth value. The low byte of parameter P2041.00 specifies the data transfer
type of TPDO 1. This means that the value for parameter P2041.00 is obtained as
follows:
Data transfer type TPDO 1 in hex + data transfer type TPDO 5 in hex * 100H =
parameter value in hex.
Then, the value must be converted into a decimal number and entered into
parameter P2041.00.
COB-ID:
COB-ID can only be changed via the CAN bus (SDO access to object: 0x1404 sub
1). This value can be saved in a non-volatile fashion in EEPROM using CANopen
object 0x1010.
88
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
Issue 01/05