Canopen Status Word - Siemens MICROMASTER 420 Operating Instructions Manual

Issue 01/05
This means that it is not possible to stop the drive using the stop bit of the
CANopen control word. Bits 4, 5 and 6 are specific to the operation mode and only
exist in the velocity mode.
The bit combinations which result in the various state machine transitions are
shown in the following table.
Table 3-16
Command/ Bit
of the control
word
Shutdown
Switch on
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset
3.3.2

CANopen status word

The CANopen status word is used to define the drive status according to the state
machine described above. Especially after a transition, by sending the CANopen
control word from the master to the drive, it can be identified as to whether the
change (transition) was correctly executed.
In order to transfer the CANopen status word to the appropriate internal
parameters, parameter P0700 (object:0x22BC*) must be set to 6.
The MICROMASTER status word (r0052, corresponds to object 0x20034*) is sent
to the CANopen option module via the BICO connection with P2051.00 (object
0x2803*). There, it is converted into the CANopen status word.
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
Device control commands
Bit 7 Bit 3
Fault Enable
reset operation
0 X
0 X
0 X
0 X
0 0
0 1
⇑
X
Data transfer using CANopen
Bit 2 Bit 1 Bit 0
Quicksto Switch- Switch-
p on on
voltage
(enable
voltage)
1 1
1 1
X 0
0 1
1 1
1 1
X X
Transitions
0 2,6,8
1 3
X 7,9,10,12
X 7,10,11
1 5
1 4
X 15
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