Canopen Control Word - Siemens MICROMASTER 420 Operating Instructions Manual

Data transfer using CANopen
3.3.1

CANopen control word

The CANopen control word is used in order to execute the state transitions
described in the previous Chapter.
Parameter P0700 (object:0x22BC*) must be set to 6 in order to transfer the
CANopen control word to the appropriate internal parameters.
The CANopen control word is then written into the inverter at P2050.00 (object
0x2802*) and is then internally copied into parameter r2090. The CANopen control
word is converted to the MICROMASTER control word in the option module. The
assignment of the bits of the CANopen control word to the MICROMASTER control
word are shown in the following table.
Table 3-15 Assignment of CANopen control word bits to MICROMASTER control word bits
Bit
CANopen Control Word
Pos
.
00 Switch ON
01 Disable Voltage (OFF2)
02 Quick Stop (OFF3)
03 Enable Operation
04 Operation Mode Specific:
RFG disable
05 Operation Mode Specific
RFG Stop
06 Operation Mode Specific
RFG Zero
07 Reset Fault
08 Halt
09 Reserved (0)
10 Reserved (always 1)
11 Manufacturer Specific
12 Manufacturer Specific
13 Manufacturer Specific
14 Manufacturer Specific
15 Manufacturer Specific
56
0 = NO
1 = switch ON
1 = NO
0 = disable voltage
1 = NO
0 = quick stop
0 = NO
1 = enable operation
0 = disable RFG
1 = enable RFG
0 = stop RFG
1 = start RFG
0 = Zero RFG
1 = RFG not zeroed
CANopen Option Module
Drive Control Word
ON/OFF1
Do OFF2
Do OFF3
Pulse Enable
RFG Enable
RFG Start
Setpoint Enable
Fault Acknowledge
Not used in CAN (forced to 0)
No connection (forced to 0)
Control from PLC (forced to 1) 0 = NO
Reverse
Not used
Motor pot. UP
Motor pot. DOWN
CDS Bit 0 (Local / Remote)
(needs manually setting of
P0810.0 = 2090.15)
Operating Instructions
6SE6400-5BC00-0BP0
Issue 01/05
0 = OFF1
1 = RUN
0 = YES
1 = NO
0 = YES
1 = NO
0 = NO
1 = YES
0 = NO
1 = YES
0 = NO
1 = YES
0 = NO
1 = YES
0 = NO
1 = YES
1 = YES
0 = NO
1 = YES
0 = NO
1 = YES
0 = NO
1 = YES
0 = NO
1 = YES