Siemens MICROMASTER 420 Operating Instructions Manual page 26

Data transfer using CANopen
O-Ind S- Object name
Ind
.6 Free Object
into drive
(only
MICROMAST
ER 440)
2803H Free Objects
* from drive
.3 Free Object
from drive
.4 Free Object
from drive
2804H SDO-
* >Parameter
- Channel
5FFF
H*
6007H Abort
connection
option code
603FH Error code
26
Description Transf.
using
Free object which can SDO/
be used to send non- PDO
defined process data
to the
MICROMASTER
P2050.5
Free objects, with
which non-defined
process data can be
sent from the
CANopen master to
the MICROMASTER.
Free object which can SDO/
be used to send non- PDO
defined process data
to the
MICROMASTER
P2051.2.
Free object which can SDO/
be used to send non- PDO
defined process data
to the
MICROMASTER
P2051.3.
Objects of the SDO-> SDO
parameter channel
Behaviour of the SDO
MICROMASTER-
status engine in case
of communication
errors
The MICROMASTER SDO
error from parameter
P0947 is displayed in
this object
D-type / Default value / comment
access
I16 / 0 /
rw Values are directly written into P2050.5.
-/
These objects read process data from the
parameters which are connected with P2051.2
and P2051.3 via BICO and transmit these on
the CAN bus. The gaps in the sub-indices are
due to the mirroring of the object directly onto
parameter P2051. All other send channels of
the P2051 are occupied with the objects of the
device profile. An error message is output if an
attempt is made to map the other sub-indices.
A zero is displayed when reading-out the other
sub-indices.
I16 / 0 /
rw Values are directly sent from parameter BICO
connected to P2051.2.
I16 / 0 /
rw Values are directly sent from parameter BICO
connected to P2051.3.
- /
Using these objects, it is possible to access all
of the parameters in the MICROMASTER
according to the formula MICROMASTER
parameter number in hex + 2000H = SDO
number. In this case, it does not involve
CANopen objects, as the numbering of the
sub-indices differs with respect to CAN-open
(subindex 0 does not contain the number of
objects, but already the first object). However,
the objects from the parameter channel can,
just like CANopen objects, be read and written
using SDO access operations - they are
designated with a * in the following.
I16 / 0 /
0 no action
rw
1 malfunction
2 Device control command
"disable voltage"
3 Device control command
"quick stop"
4 ramped stop
U16 / 0 /
ro -
CANopen Option Module
Issue 01/05
Operating Instructions
6SE6400-5BC00-0BP0