Siemens MICROMASTER 420 Operating Instructions Manual page 85

Issue 01/05
Table 5-4 Significance of the bits for MICROMASTER 440 in parameters P2041.02 and P2041.03
MICROMASTER 440
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 R_PDO
Bit 5 R_PDO
Bit 6 R_PDO
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 T_PDO
Bit 13 T_PDO
Bit 14 T_PDO
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
Object Dictionary Drive
Index Table
6040H 2050.0
6042H 2050.1
or
6052H
2802.3H 2050.2
2802.4H 2050.3
6071H 2050.4
2802.6H 2050.5
6060H 2050.3
bit 12
6041H 2051.0
6043H 2051.1
or
6053H
2803.3H 2051.2
2803.4H 2051.3
6077H 2051.4
6044H 2051.5
or
6054H
6061H 2051.6
Information for the CANopen master
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_velocity_reference (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 if required. Note that if
modes of operation is mapped, then bit 12 of this
object will have no effect because bit 12 of 2050.3
will be set or cleared depending on the value of
modes of operation.
Map to CANopen Target_Torque (6071H)
Map to Free Object (2802H subindex 6)
Map to CANopen Modes_of_operation (6060H)
Choose mapping from RPM or per-unit values
CLEAR: if Bit 7 clear, map to
vl_velocity_reference (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).
Note that if modes of operation display is mapped,
then bit 12 of this object will reflect the value of
P2051.06 bit 12.
Map to CANopen actual torque (6077H)
Map to CANopen
vl_control_effort (RPM, 6044H) or
vl_actual_percentage (per-unit, 6054H)
depending on Bit 15
Map to CANopen modes of operation display
(6061H)
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