Siemens MICROMASTER 420 Operating Instructions Manual page 77

Issue 01/05
In order to set the mapping for PDO 5 or PDO 6 via the CANopen master, the
usual sequence must be maintained (also refer to DS 301):
1/ Set the number of mapping entries in the subindex 0 to 0
2/ Write new mapping entries - one after the other - into sub-indices 1 to 4
3/ Set the number of mapping entries in subindex 0 to the number of the now newly
mapped objects (2 for 2 mapping entries, 4 for 4 mapping entries...)
NOTE
The internal MICROMASTER parameters only use a single bit in order to specify a
mapping parameter. This is the reason that in CANopen, a specific sequence must
be maintained when writing the mapping values. The connection between drive
parameters and mapping entry is specified in the following table:
Direction Mapping
R_PDO Control word
R_PDO Setpoint (reference) speed
R_PDO Free object 2802 subindex 3
R_PDO Free object 2802 subindex 3
R_PDO Setpoint (reference) torque
R_PDO Free object 2802 subindex 3
R_PDO Modes of operation
R_PDO Select RPM or per unit
T_PDO Status word
T_PDO Speed control quantity
T_PDO Free object 2803 index 3
T_PDO Free object 2803 index 4
T_PDO Actual torque
T_PDO Actual speed
T_PDO Displays the operating mode
T_PDO Select RPM or per unit
Objects can only be mapped in MICROMASTER 440
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
Information for the CANopen master
Saved Mapping sequence
mapping value
60400010 1 (lowest mapping index)
60420010H or 2
60520010H
28020310H 3
28020410H 4
60710010H 5
28020610H 6
60600008H 7 (highest mapping index)
- -
60410010H 1 (lowest mapping index)
60430010H or 2
60530010H
28030310H 3
28030410H 4
60770010H 5
60440010H or 6
60540010H
60610008H 7 (highest mapping index)
- -
Bit number in
P2041.02 or
P2041.03
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12
Bit 13
Bit 14
Bit 15
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