Siemens MICROMASTER 420 Operating Instructions Manual page 94

Information for the CANopen master
Receive the three PDOs:
R0 00:01:59,1942: 0x183
R0 00:01:59,2027: 0x283
R0 00:01:59,2103: 0x383
The drive is now in the "operational" state
Enter velocity 1000 and control word 7F using PDO4
-> the drive rotates
T0 00:01:59,3084: 0x303
Receive the three PDOs:
R0 00:01:59,3574: 0x183
R0 00:01:59,3658: 0x283
R0 00:01:59,3732: 0x383
Receive the following three PDOs if the target velocity is reached and the "Target
reached bit" is set by the drive:
R0 00:02:05,4193: 0x183
R0 00:02:05,4278: 0x283
R0 00:02:05,4354: 0x383
94
2-Data: 37 fe
4-Data: 37 fe 00 00
3-Data: 37 fe 02
4-Data: 7f 00 e8 03
2-Data: 37 fa
4-Data: 37 fa 00 00
3-Data: 37 fa 02
2-Data: 37 fe
4-Data: 37 fe 00 00
3-Data: 37 fe 02
CANopen Option Module
Issue 01/05
Operating Instructions
6SE6400-5BC00-0BP0