Siemens MICROMASTER 420 Operating Instructions Manual page 112

Information for the CANopen master
Typical parameter edits for the Profile Torque Mode allowing switchover between
speed and torque control
Parameter Value
2041.0
2041.1
2041.2
P1503
P1501
P2051.4
P2051.5
P2051.6
NOTE
Changes to CAN configuration parameters using BOP, AOP, start-up tool
(STARTER, DriveMonitor) will only take effect after a powercycle.
Changes to CAN configuration parameters made over the CAN network via the
object dictionary will take immediate effect (powercycle not necessary).
112
Comment
65535 PDO1, PDO5
Transmit if data changes
0 * 0 = default value on powerup, so user does not need to change
no change required this.
by user RPDO1, 5 and 6 are asynchronous
TPDO6 = Acyclic, synchronised, but not mapped (not needed
for minimal system)
01110010 RPDO5 :
01010010 hex = Setpoint in RPM
7252H = 29266 Torque setpoint
decimal Modes of operation
2050.4 Connect torque setpoint from CAN
2091.12 Connect modes of operation to allow switching between speed
control and torque control
80 Connect actual torque
63 Connect actual drive speed. This is not necessary for torque
profile, but it does give the actual motor speed as shown by an
(optional) attached encoder
2091 Connection for modes of operation display
TDO5:
Actual speed in RPM
Actual torque
Actual speed in RPM
Modes of operation display
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
Issue 01/05