Siemens MICROMASTER 420 Operating Instructions Manual page 111

Issue 01/05
Control word 2
from CB
BICO connection:
r0055
P2051.6 = P2091
Drive
Actual Frequency
BICO connection:
r0063
P2051.5 = 63
Drive
Actual Torque
BICO connection:
r0080
P2051.4 = 80
Fig. 6-4 Process Data transfer from MICROMASTER 440 to CAN object dictionary using
TPDO5 or TPDO6
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
TPDO5 P2041.2 bit 14
TPDO6 P2041.3 bit 14
0
P2051.6 (0)
KK
1
TPDO5 P2041.2 bit 13
TPDO6 P2041.3 bit 13
TPDO5 P2041.2 bit 15
TPDO6 P2041.3 bit 15
Drive
Actual Frequency
0
P2051.5 (0)
KK
1
TPDO5 P2041.2 bit 12
TPDO6 P2041.3 bit 12
Actual Torque
0
P2051.4 (0)
KK
1
Information for the CANopen master
Convert to Modes of
Modes of operation
Operation Display
If bit 12 = 0, 6061H = 2
= velocity mode
if bit 12 = 1, 6061H = 4
= torque profile mode
V1_velocity_reference
Convert V1_control_effort
to RPM
604EH
4000H
0
V1_actual_percentage
1
Convert to
CAN per-unit torque
1000
4000H
Note that
4000H corresponds to
torque in 6076H
6076H = P2003 = 2 x
nominal torque by default
display
6061H
604EH
6044H
6054H
Actual torque
6077H
111