Siemens MICROMASTER 420 Operating Instructions Manual page 81

Issue 01/05
Para-
Content
meter
2041.02 Least
Significant Byte
= Mapping for
R_PDO_5
Most
Significant Byte
= Mapping for
T_PDO_5
2041.03 Least
Significant Byte
= Mapping for
R_PDO_6
Most
Significant Byte
= Mapping for
T_PDO_6
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
Comment
Individual bits in these bytes are used select objects to be mapped.
The mapping is outlined below in the mapping Table 5-3
(MICROMASTER 420/430) and Table 5-4 (MICROMASTER 440).
As an example, it is necessary to map PDO 5 so that it :
•
receives the control word and target torque
•
transmits the actual torque and the modes of operation display.
From the Table 5-4 we see that
R_PDO_5 = 11H
T_PDO_5 = 50H
P2041.02 = 5011H = 20497 decimal
Example setup for MICROMASTER 440:
P2041.02 = 1111H = 4369:
R_PDO_5 = control_word (6040H), vl_target_torque (6071H)
T_PDO_5 = Status_word (6041H), Actual_torque (6077H)
Example setup for MICROMASTER 420/430:
P2041.02 = 0303H = 771:
R_PDO_5 = control_word (6040H), vl_target_velocity (6042H)
T_PDO_5 = Status_word (6041H), Vl_velocity_demand (6043H)
Individual bits in these bytes are used select objects to be mapped.
The mapping is outlined below in the mapping Table 5-3 and Table
5-4 (MICROMASTER 440).
As an example, it is necessary to map PDO 6 so that it :
•
receives the control word, speed reference (in per-unit), target
torque, and modes of operation
•
transmits the status word, actual speed (in RPM), actual torque,
and modes of operation display
From the Table 5-4 we see that
R_PDO_6 = 11010011 = D3H
T_PDO_6 = 01110001 = 71H
P2041.02 = 71D3H = 29139 decimal
Example setup MICROMASTER 420/430/440
P2041.02 = 0303H = 771:
R_PDO_6 = control_word (6040H), vl_target_velocity (6042H)
T_PDO_6 = Status_word (6041H), Vl_velocity_demand (6043H)
Information for the CANopen master
420/430
MICRO-
MASTER
440
X X
X
X
X X
X
X X
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