Siemens MICROMASTER 420 Operating Instructions Manual page 84

Information for the CANopen master
The following tables indicate the significance of the various bits in parameters
P2041.02 (object 27F9*sub 2) and P2041.03 (object 27F9*sub 3).
Table 5-3 Significance of the bits for MICROMASTER 420/430 in parameters P2041.02 and P2041.03
MICROMASTER 420/430
SET Bit Direction
Number
Data into Drive : Transferred from CANopen bus to CANopen objects to Drive parameters 2050.x
Bit 0 R_PDO
Bit 1 R_PDO
Bit 2 R_PDO
Bit 3 R_PDO
Bit 4 Not used
Bit 5 Not used
Bit 6 Not used
Bit 7 R_PDO
Data out of Drive : Transferred from Drive parameters 2051.x to CANopen objects to CANopen bus
Bit 8 T_PDO
Bit 9 T_PDO
Bit 10 T_PDO
Bit 11 T_PDO
Bit 12 Not used
Bit 13 Not used
Bit 14 Not used
Bit 15 T_PDO
84
Object Dictionary Drive
Index Table
6040H 2050.0
6042H or 2050.1
6052H
2802.3H 2050.2
2802.4H 2050.3
6041H 2051.0
6043H or 2051.1
6053H
2803.3H 2051.2
2803.4H 2051.3
Description
Map to CANopen control word (6040H). Note that
this object is mapped internally in the Drive to
Parameter P2090 which is bit-addressable.
Map to CANopen
vl_target_velocity (RPM, 6042H) or
vl_nominal_percentage (per-unit, 6052H)
Depending on Bit 7.
Map to Free Object (2802H subindex 3).
Map to Free Object (2802H subindex 4). Note that
this object is mapped internally in the Drive to
Parameter P2091 which is bit-addressable. This
therefore allows CANopen to change control word
2 or other control words (through appropriate
BICO connections) if required.
Choose mapping from from RPM or per-unit
values.
CLEAR: If Bit 7 clear, map to vl_target_velocity
(RPM, 6042H)
SET: If Bit 7 set, map to vl_nominal_percentage
(Per-unit, 6052H)
Map to CANopen status word (6041H)
Map to CANopen ....
vl_velocity_demand (RPM, 6043H) or
vl_percentage_demand (per-unit, 6053H)
depending on bit 15
Map to Free Object (2803H subindex 3)
Map to Free Object (2803H subindex 4)
Choose mapping from RPM or per-unit values.
CLEAR: if Bit 15 clear, map to vl_velocity_demand
(RPM, 6043H)
SET: if bit 15 set, map to vl_nominal_percentage
(Per-unit, 6053H)
CANopen Option Module
Issue 01/05
Operating Instructions
6SE6400-5BC00-0BP0