MICROMASTER 420/430/440

CANopen Option Module

Operating Instructions Issue 01/05

User Documentation
6SE6400-5BC00-0BP0
 Description 1

General
CAN/CANopen 2
definitions

Data transfer using

CANopen 3

MICROMASTER 420/430/440
Connecting to
CANopen Option Module
CANopen 4

Commissioning with
CANopen 5

Commissioning using
a commissioning 6
(start-up) tool

Diagnostics and
troubleshooting 7

Attachment 8

Valid for Issue 01/05

Drive converter type

MICROMASTER 420/430/440

Issue 01/05
 Definitionen und Warnhinweise Issue 01/05

Additional information can be found in the Internet under:

http://www.siemens.de/micromaster

The certified Siemens Quality for Software And Training It is possible that other functions are available which are not
corresponds to DIN ISO 9001, Reg. No. 2160-01 described in this documentation. However, this does not
mean that we are responsible in providing such functions with
The reproduction, transmission or use of this document or its a new control system or when servicing the equipment.
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Offenders will be liable for damages. All rights, including rights that they coincide with the described hardware and software.
created by patent grant or registration of a utility model or However, differences cannot be completely excluded, so that
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However, the information in this document is regularly
© Siemens AG 2002, 2004. All rights reserved. checked and necessary corrections will be included in
subsequent editions. We are grateful for any
MICROMASTER® is a registered trademark of Siemens AG. recommendations for improvement.
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Changes to this documentation can be made without prior
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Order No.: 6SE6400-5BC00-0BP0 Siemens-Aktiengesellschaft.

Printed in Germany

CANopen Option Module Operating Instructions

4 6SE6400-5BC00-0BP0
Issue 01/05 Definitions and Warning Information

Definitions and Warning Information

Safety Guidelines
This documentation contains notes which you should observe to ensure your own
personal safety and also to prevent material damage. The information and
instructions for your personal safety are identified by a warning triangle. Information
and instructions on general material damage do not have a warning triangle.
depending on the degree of danger, they are indicated as follows:

DANGER
For the purpose of this documentation and on the warning label of the product
itself, "Danger" indicates that death, grievous injury or extensive damage to
property will occur if the appropriate precautions are not taken.

WARNING
For the purpose of this documentation and on the warning label of the product
itself, "Warning" indicates that death, grievous injury or extensive damage to
property may occur if the appropriate precautions are not taken.

CAUTION
"Caution" with a warning triangle, means that minor personal injury may occur if the
appropriate precautions are not taken.

CAUTION
"Caution" without a warning triangle, means that damage to property may occur if
the appropriate precautions are not taken.

NOTICE
means that an undesirable situation or condition can occur if the appropriate
information/instruction is not observed.

NOTE
For this purpose of this documentation, "Note” highlights an important item of
information about the product or a section of the instructions which requires careful
attention.

CANopen Option Module Operating Instructions

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Definitionen und Warnhinweise Issue 01/05

Qualified personnel
For the purpose of these Operating Instructions and on the product label, "qualified
personnel" are those familiar with the installation, mounting, start-up and operation
of the equipment and the hazards involved. He or she must have the following
qualifications:
Trained and authorized to energize, de-energize, clear, ground and tag circuits and
equipment in accordance with established safety procedures.
Trained in the proper care and use of protective equipment in accordance with
established safety procedures.
Trained in rendering first aid.

User Documentation
WARNING
Before installing and commissioning the equipment, please carefully read the
safety-related information/instructions and warnings as well as the warning labels
on the equipment itself. Please ensure that the warning labels are kept in a
condition where they can be easily read and missing or damaged
labels/information are replaced.

Intended use
WARNING
When in operation, electrical equipment contains components that are under
dangerous voltage.
Failure to adhere to these instructions can result in death, severe bodily injury or
property damage!
Only appropriately qualified personnel may work on this equipment or be in its
vicinity. These personnel must be completely knowledgeable about all warnings
and service measures as specified in these Operating Instructions.
The successful and safe operation of this equipment is dependent on proper
handling, installation, operation and service.
National safety guidelines and regulations must be carefully observed.

CANopen Option Module Operating Instructions

6 6SE6400-5BC00-0BP0
Issue 01/05 List of contents

List of contents
1 Description .............................................................................................................. 9

2 General CAN/CANopen definitions ..................................................................... 11

2.1 CAN (Controller-Area-Network) .............................................................................. 11
2.2 CANopen ................................................................................................................ 13

3 Data transfer using CANopen.............................................................................. 17

3.1 MICROMASTER object directory ........................................................................... 17
3.2 CANopen communication services......................................................................... 31
3.2.1 NMT (Network Management) services ................................................................... 31
3.2.2 Communication monitoring services....................................................................... 34
3.2.3 Boot up telegram..................................................................................................... 36
3.2.4 SDO (Service Data Object) services ...................................................................... 37
3.2.5 PDO (Process Data Object) services ..................................................................... 45
3.2.6 Synchronization service .......................................................................................... 49
3.2.7 EMERGENCY object service.................................................................................. 50
3.3 Controlling MICROMASTER drive converters via CANopen ................................. 55
3.3.1 CANopen control word............................................................................................ 56
3.3.2 CANopen status word ............................................................................................. 57
3.3.3 MICROMASTER control and status word 2 ........................................................... 60
3.3.4 Modes of Operation and Modes of Operation display ............................................ 62

4 Connecting to CANopen ...................................................................................... 65

4.1 Installing the CANopen module for Sizes A, B, C................................................... 65
4.2 Installing the CANopen module for Sizes D, E, F................................................... 67
4.3 Installing the CANopen module for Sizes FX, GX .................................................. 69
4.4 Bus connection ....................................................................................................... 70

5 Commissioning with CANopen ........................................................................... 73

5.1 Electronic Data Sheet (EDS) .................................................................................. 73
5.2 Important parameters when commissioning the system for the first time .............. 74
5.3 Parameter "P2040" (object 0x27F8*), telegram failure time................................... 75
5.4 Setting-up the PDOs ............................................................................................... 76
5.5 Timing of the PDOs................................................................................................. 79
5.6 PDO properties in parameter "P2041".................................................................... 79
5.7 First commissioning in the velocity mode ............................................................... 89
5.7.1 Additional commissioning via CANopen ................................................................. 89
5.7.2 Additional helpful commands for the velocity mode ............................................... 95
5.8 First commissioning in the Profile Torque Mode .................................................... 96
5.8.1 Additional commissioning via CANopen ................................................................. 96
5.8.2 Additional helpful commands for the profile torque mode .................................... 102

CANopen Option Module Operating Instructions

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6 Commissioning using a commissioning (start-up) tool ................................. 103

6.1 Assigning process data......................................................................................... 103
6.2 Parameter "P0927" – change source for parameters........................................... 106
6.3 Parameter settings for the modes......................................................................... 107
6.3.1 Velocity Mode ....................................................................................................... 107
6.3.2 Profile Torque Mode ............................................................................................. 110

7 Diagnostics and troubleshooting...................................................................... 113

7.1 LED display........................................................................................................... 113
7.2 Alarms (warnings and faults) ................................................................................ 115
7.3 Diagnostic parameters .......................................................................................... 119
7.4 Software release and information ......................................................................... 121

8 Attachment .......................................................................................................... 123

8.1 Technical data....................................................................................................... 123
8.2 EMC information ................................................................................................... 124
8.3 List of Abbriviations............................................................................................... 125

CANopen Option Module Operating Instructions

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Issue 01/05 Description

1 Description

The CANopen communications module (CANopen option module) is used to

connect MICROMASTER 420/430/440 drives to higher-level automation systems
with a CAN-bus.

DIP switch (OFF)

only for internal use

ON
LED Inverter status
1 2 see Operating Instructions
for inverter

CANopen-/
Module status
LED

SUB-D9/
CAN connector

Fig. 1-1 View of the CANopen option module

Technical data
The user can obtain all of the necessary information about the instantaneous
status of the CANopen option module using an LED which displays the status of
both the module and communications. More detailed diagnostics information can
be directly read-out of the diagnostic memory of the CANopen option module using
the diagnostics parameters.
The CANopen option module uses a 9-pin sub-D connector to connect to the CAN
bus system.
The following baud rates are supported: 10, 20, 50, 125, 250, 500, 800 kbaud and
1 Mbaud.

CANopen Option Module Operating Instructions

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Functionality of CANopen
• The CANopen option module for MICROMASTER 420/430/440 supports the
CANopen data transfer types with SDOs (Service Data Objects) as well as with
PDOs (Process Data Objects)
• Further, the CANopen option module supports PDO mapping – with certain
restrictions.
• The CANopen option module for MICROMASTER 420/430/440 supports the
CANopen communications profile DS 301 Version 4.0, the device profile DSP
402 (Drives and Motion Control) Version 1.1 and the indicator profile DR303-3
Version 1.0.
• For communication monitoring, the CANopen option module supports the Node
Guarding/Life Guarding as well as the Heartbeat protocol (Heartbeat Producer)
and SYNC loss detection (using communication cycle time.
• The CANopen option module offers an SDO->parameter channel with which all
of the MICROMASTER 420/430/440 parameters can be read or written into. In
this case, it does not involve CANopen objects, as the numbering of the sub-
indices differs with respect to CAN-open (subindex 0 does not contain the
number of objects, but already the first object). However, the objects from the
parameter channel can, just like CANopen objects, be read and written using
SDO access operations - they are designated with a * in the following.
• The CANopen option module supports free process data objects in order to be
able to read or write all of the process data, available in the drive, via the CAN
bus.
• With the CANopen option module, MICROMASTER 440 supports the Profile
Torque Mode and the Velocity Mode; whilst the MICROMASTER 420/430 only
supports the Velocity Mode.
• The default settings of the drive are as follows: NodeID=3, baud rate=10kbit/s

CANopen Option Module Operating Instructions

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2 General CAN/CANopen definitions

2.1 CAN (Controller-Area-Network)

Apart from its use in mobile systems, the Controller-Area-Network (CAN) protocol
is also deployed in other applications when allied to additional specific and
standardized higher protocol and profile specifications. Alongside its use as an
internal bus in mobile systems, its other main applications are in internal
communication between plant and machinery.
The major performance features and characteristics of the CAN protocol
standardized to ISO-WS 11898 parts I, 2 and 3 are described below.

Message-oriented protocol
The CAN protocol does not exchange data by addressing the recipient of the
message, but rather marks each transmitted message with a message identifier. All
nodes in the network check the identifier when they receive a message to see
whether it is relevant to them. Messages can therefore be accepted by none, one,
several or all participants (multicasting, broadcasting).

Prioritization of messages
As the identifier on a message also determines its priority for accessing the bus, it
is possible to specify a correspondingly rapid bus access for messages according
to their importance. Especially important messages can thus gain access to the
bus without a prolonged wait-time, regardless of the loading on the bus at that
moment. This characteristic means that especially important messages are
transmitted with priority even in exceptional situations (e.g. in the case of longer-
lasting disturbances), thereby ensuring proper functioning of a system even during
phases of restricted transmission capacity.

CANopen Option Module Operating Instructions

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Multi-Master capability
Bus access rights are not issued by a meta-level control unit (bus master) per
network. Each participant can rather start to send a message with equal rights as
soon as the bus has become free. If several participants access the bus at the
same time, an arbitration process allocates each participant the bus access right in
line with the priority of the message they want to send at that particular moment.
Each participant can therefore communicate directly with every other participant.
As the transmission of a message can be initiated by the message source itself,
then in the case of event-controlled transmission of messages, the bus is only
occupied when a new message is on-hand.

No-loss bus arbitration

As the bus is accessed at random under the CAN protocol, it is possible that
several participants want to occupy the bus at the same time. In other random bus
access routines (e.g. CSMA/CD), this causes the destruction of the suppressed
messages. In order to solve such a bus access conflict, a repeated occupation of
the bus is required using an appropriate triggering strategy. The CAN protocol
therefore deploys a routine to ensure that the message with the highest priority at
any given time is sent without any destruction of message contents.

Short block lengths

The maximum data length of a CAN message (CAN communication object) is
limited to 8 bytes. This data length is usually sufficient to transmit the information
occurring in the lowest field area in a CAN message.
The maximum possible latency for the highest priority message in a CAN network
based on 8 byte-long messages is 130 bit times.

Structure of a data telegram

A CAN data telegram consists of a header containing the CAN identifier which is a
utility data area, this can contain zero to eights bytes of utility data, and a trailer.

Header Frame
Useful Data (max. 8 Byte) Trailer Frame
COB-ID

CANopen Option Module Operating Instructions

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2.2 CANopen

CANopen is a standardized application for distributed industrial automation

systems based on CAN as well as the CAL communication Standards. CANopen is
a CAN Standard in automation (CiA), and just shortly after it became available,
enjoyed widespread use.
In Europe, CANopen can be considered as one of the essential Standards to
implement industrial CAN-based system solutions.
CANopen is based on a so-called "communications profile", which specifies the
communication mechanisms, used as basis, and their description [CiA DS 301].
The most important device types, used in industrial automation technology, include
for example
• Digital and analog I/O modules [CiA DS 401]
• Drive and MotionControl [CiA DSP 402]
• Operator control devices [CiA DSP 403]
• Controllers [CiA DSP 404]
• Programmable control systems [CiA DSP 405]
• Encoders [CiA DSP 406]
are described in so-called "Device profiles".
The functionality of standard devices of the particular type are defined in the device
profiles.
The central element of the CANopen Standard is the description of the device
functionality using an "Object directory" (OD).
The object directory is sub-divided into an area which contains general data about
the device – such as device identification, manufacturer's name and
communication partners – and also defines part of the device functionality.
A 16-bit index and an 8-bit subindex are used to identify an entry ("Object") of the
object directory.
Using the entries in this object directory, the "Application objects“ of a device, e.g.
input and output signals, device parameters, device functions or network variables
are made accessible, in a standardized form via the network.
Just the same as other fieldbus systems, CANopen differentiates between two
basic data transfer mechanisms: The fast data transfer of short process data via
so-called "Process data objects" (PDOs, Process Data Objects) as well as access
to entries of the object directory via so-called "Service data objects" (SDOs,
Service Data Objects). The latter are predominantly used to transfer parameters
while configuring the device as well as generally transferring longer data areas.
Generally, process data objects are event-orientated, cyclic or are transferred
when requested as broadcast object without any additional protocol overhead.

CANopen Option Module Operating Instructions

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A maximum of 8 bytes of data can be transferred in a PDO. In conjunction with a

synchronization message, sending as well as accepting PDOs can be
synchronized throughout the network, ("synchronous PDOs"). The assignment of
application objects to a particular PDO (transfer object) can be set using a structure
description ("PDO-Mapping") saved in the OD. This means it can be adapted to the
particular application requirements of a specific device.
SDOs are transferred as acknowledged data transfer between two CAN objects in
the form of a peer-to-peer coupling between two network nodes. The object
directory entry is addressed by specifying the index and subindex of the OD entry.
When SDO messages are transferred, this involves an additional overhead.
Standardized, event-orientated alarm messages ("Emergency_Messages") with a
high priority are provided for messages associated with device faults/errors.
The functionality required to prepare and to start a distributed automation system in
a coordinated fashion corresponds to the mechanisms defined under CAL network
management (NMT) as well as the "Node-Guarding" principles or heartbeat which
are used as basis for cyclic node monitoring.
CAN message identifiers can be allocated to PDOs and SDOs by directly entering
identifiers in the data structures of the object directory or, for simple system
structures, by using pre-defined identifiers.

General information
MICROMASTER, in conjunction with the CANopen option module, also provides,
for the various MICROMASTER types, different CANopen modes from the DSP
402 profile (Drives and Motion Control).
For MICROMASTER 420/430), only the Velocity Mode is available. The
MICROMASTER 440 supports the Velocity Mode and Profile Torque Mode modes.
When transferring net data via CANopen, a differentiation is made between
process data (PDO) and parameter data (SDO).
In order to transfer process data, CAN telegrams can be set using so-called PDO
mapping. After being powered-up, MICROMASTER has the following default
settings:
• Receive PDO1 6040H control_word
• Receive PDO5 not mapped
• Receive PDO6 not mapped
• Send PDO1 6041H status_word
• Send PDO5 not mapped
• Send PDO6 not mapped
The mapping for PDO1 is fixed. Free PDO mapping in compliance with CANopen
is not possible using MICROMASTER for this PDO.
The mapping for PDO5 and PDO6 can be modified using CANopen.
The mapping is subject to several restrictions that are described in more detail in
Section 5.4.

CANopen Option Module Operating Instructions

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The COB IDs of the PDOs can be changed by changing the node address or by
writing into the communication objects. If the COB ID is changed in a
communications object, then this is only saved in the volatile memory. This means
that if the MICROMASTER drive unit is isolated from the supply voltage, these
settings are lost and, after run-up, must be re-set via the bus. If you wish to
permanently save the change to the COBID, then this must be written via the
CANopen object 1010H (refer to Section 3.1).

An object of the object directory is accessed via the SDO channel. However, the
communication objects (DS301) and the profile-specific objects of the drive profile
(DSP402) are saved in the object directory of the CANopen option module. In order
to be able to access additional objects in MICROMASTER, there is an SDO ->
parameter mechanism. In this case, it does not involve CANopen objects, as the
numbering of the sub-indices differs with respect to CAN-open (subindex 0 does
not contain the number of objects, but already the first object). However, the
objects from the parameter channel can, just like CANopen objects, be read and
written using SDO access operations - they are designated with a * in the following.

• Summary of Data transfer via CANopen

The messages associated with the CANopen option module can be sub-divided
into three major areas:
• Network management – this means starting and stopping the network as well as
cyclic node monitoring (using NMT commands)
• Process data – this means control words, setpoints, status information and
actual values (generally use PDO messages)
• Object data in order to read/write objects of the object directory or parameter
values of the drive converter/drive inverter (using SDO messages)

CANopen Option Module Operating Instructions

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CANopen Option Module Operating Instructions

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3 Data transfer using CANopen

3.1 MICROMASTER object directory

All of the objects of the object directory are listed in the following table. The table
contains the index and subindex of the object as well as a brief description of the
functionality and the data type as well as the default value.
For each object, it is defined as to how it can be transferred. In this case, a
differentiation is made between the two possibilities - SDO and PDO transfer. In
addition, the parameters or connectors, in which the object data are located, are
also listed. If both possibilities are specified in the table, then data transfer can
either be realized as SDO or as PDO.
For more detailed information about the objects, please refer to the CANopen
profiles DS 301 V4.0 and DSP 402 V1.1.

Comment to the following table:

O-Ind = Object index
S-Ind = Subindex
Access ro = read only
Access wo = write only
Access rw = read / write

O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
1000H Device Type Device type SDO U32 / 10129H for MICROMASTER /
ro -
1001H Error One bit for each type SDO U8 / ro 0 /
Register of error as defined for bit 0 generic error
CANopen bit 1 current
bit 2 voltage
bit 3 temperature
bit 4 communication error
bit 5 not used
bit 6 reserved
bit 7 other errors
1003H Pre-defined Display, parameters SDO
error field for the error code
.0 Number of Number of errors SDO 0/
errors which have occurred -
.1 Standard Error code of the last SDO 0/
error field error which occurred This value is not the same as in
MICROMASTER r0947 (refer to Table 3-14)
.2 Standard Error code of the last SDO 0/
error field but one error which -
occurred

CANopen Option Module Operating Instructions

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O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
.3 Standard Error code of the SDO 0/
error field previous error which -
occurred
1005H COB-ID Identifier of the SYNC SDO U32 / COB_ID = 8000080H /
SYNC telegram rw Changes can be permanently saved in the
Message MICROMASTER using object 1010H
1006H Communicati Time between two SDO U32 / 0/
on cycle SYNC signals rw Is activated by inputting a value > 0 (unit µs)
period and after receipt of the first SYNC signal.
Triggers an error telegram "Synchronisation
lost“ after 1.5 x the value in 1006H. The
MICROMASTER's reaction to this error is the
same as that which was set by the Guarding
node.
1008H Manufacturer Manufacturer, device SDO MICROMASTER 4 /
Device Name name -
100A Manufacturer Software version of SDO U32 / -/
H Software the CANopen module ro Example:
Version 102 = SW1.02
100C Guard Time Time between two SDO U16 / 10 ms /
H guarding telegrams rw Object 27F8* contains the product of object
100CH x 100DH
100D Life Time Number of SDO U8 / 2/
H Factor permissible guarding rw Object 27F8* contains the product of object
telegram failures until 100CH x 100DH
a life time event is
received
1010H Store Object to save the
parameters values written into the
RAM.
.0 Number of No. of sub-indices SDO U32 / 1/
entries ro -
.1 Save all All objects are saved SDO U32 / 200E*/
parameters in the non-volatile rw
memory using the In addition, the following can be set using
instruction "save" parameter 200E*: 200E*=1
65766173H Subindex 1 = 00000003H (device saves
parameters autonomously and objects which
have not yet been saved can, if necessary, be
stored with the "save" command)
Parameter 200E* = 0, subindex 1 =
00000001H (device only saves parameters on
command)
1011H Restore Object to reset SDO
parameters (restore) all objects to
their factory settings
(only in RAM).
.0 Number of No. of sub-indices SDO U32 / 1/
entries ro -

CANopen Option Module Operating Instructions

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O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
.1 Restore all All of the parameters SDO U32 / 1/ /
default are reset to the rw
parameters factory setting using Device sets values back to the factory setting..
the command "load"
64616F6CH.
1014H COB-ID Identifier for SDO U32 / 80H + node-ID /
Emergency EMERGENCY rw Changes can be permanently set in
Message messages MICROMASTER using object 1010H.
1015H Inhibit Time Delay time for error SDO U16 / 0/
Emergency telegrams rw
Message Changes can be permanently set in
MICROMASTER using object 1010H.
1017H Producer This is the cycle time SDO U16 / 0/
Heartbeat in which the rw
time MICROMASTER Changes can be permanently set in
sends Heartbeat MICROMASTER using object 1010H.
telegrams
1018 Identity Identification object
Object
.0 Number of No. of sub-indices SDO U8 / ro 4 /
entries -
.1 Vendor-ID CiA assigns the SDO U32 / 6000053H /
manufacturer's ro Siemens A&D Drives
(vendor) number
.2 Product code Drive SDO U32 / -/
converter/inverter ro Value from r0203
type
.3 Revision Revision number with SDO U32 / -/
number software version ro Low word = CAN module Software Version,
number of the e.g. 205H = 2.05.
CANopen option
High byte = CANopen Software stack Version,
module and
e.g. 43H = 4.3
CANopen software
stack number
.4 Serial Serial number of the SDO U32 / -/
number option module ro -
1029H Error Behavior of the SDO
Behavior communication status
engine in case of
error
.0 No. Of error Number of error SDO U8 / ro 1 / -
classes classes
.1 Communicati Behavior in case of a SDO U8 / -/
on error communication error rw 0 Pre-Operational
(only if current state is
operational)
1 no state change
2 Pre-Operational with OFF2
(pulses disabled)
1200H SDO- Identifier of the SDO
Parameters telegram
.0 Number of No. of sub-indices SDO U8 / ro 2 /
entries -

CANopen Option Module Operating Instructions

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O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
.1 COB-ID Identifier of the SDO SDO U32 / 600H + node-ID /
Client>Server task (CANopen ro The default node number is 3
master to
MICROMASTER)
.2 COB-ID Identifier of the SDO SDO U32 / 580H + node-ID /
Server>Client response ro The default node number is 3
(MICROMASTER to
CANopen master)
1400H Receive PDO Setting parameter of
Communicati the data transfer
on properties of the
Parameters receive PDOs 1
.0 Number of No. of sub-indices SDO U8 / ro 2 /
entries -
.1 COB-ID PDO Identifier of the PDOs SDO U32 / 200H + node-ID /
rw
Changes can be permanently set in
MICROMASTER using object 1010H.
.2 Transmission Setting parameter of SDO U8 / 0/
Type the data transfer type rw (value also corresponds to object 27F9*.01 bit
8)
Caution! After power-up, under certain
circumstances, the value of this CAN
parameter does not correspond to the value in
the converter. After powering-up, this
parameter should always be set again to the
required value.
1404H Receive PDO Setting parameter of
Communicati the data transfer
on properties of the
Parameters receive PDOs 5
.0 Number of No. of sub-indices SDO U8 / ro 2 /
entries -
.1 COB-ID PDO Identifier of the PDOs SDO U32 / 300H + node-I /
rw Changes can be permanently set in
MICROMASTER using object 1010H.
.2 Transmission Setting parameter of SDO U32 / 0/
Type the data transfer type rw (value also corresponds to object 27F9*.01 bit
9)
Caution! After power-up, under certain
circumstances, the value of this CAN
parameter does not correspond to the value in
the converter. After powering-up, this
parameter should always be set again to the
required value.
1405H Receive PDO Setting parameter of
Communicati the data transfer
on properties of the
Parameters receive PDOs 6
.0 Number of No. of sub-indices SDO U8 / ro 2 /
entries -
.1 COB-ID PDO Identifier of the PDOs SDO U32 / 400H + node-ID /
rw Changes can be permanently set in
MICROMASTER using object 1010H.

CANopen Option Module Operating Instructions

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O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
.2 Transmission Setting parameter of SDO U8 / 0/
Type the data transfer type rw (value also corresponds to object 27F9*.01 bit
10)
Caution! After power-up, under certain
circumstances, the value of this CAN
parameter does not correspond to the value in
the converter. After powering-up, this
parameter should always be set again to the
required value.
1600H Receive PDO Object to enter the
Mapping mapped objects into
Parameters receive PDO1
.0 Number of No. of the mapped SDO U8 / ro 1 /
mapped objects Mapping cannot be changed
objects in
PDO
.1 First mapped First mapped object. SDO U32 / 60400010H /
object The object is ro Control word permanently mapped.
permanently mapped
in the PDO.
1604H Receive PDO Object to enter the
Mapping mapped objects into
Parameters receive PDO5
.0 Number of No. of the mapped SDO U8 / 0/
mapped objects rw If the mapping is to be changed via the CAN
objects in bus, subindex 0 according to CANopen profile
PDO DS 3.01 must first be set to 0.
.1 First mapped First mapped object. SDO U32 / 0H /
object rw Mapping can be changed via CANopen (can
also be set using the low byte of parameter
27F9.03 H)
.2 Second Second mapped SDO U32 / 0H /
mapped object rw Mapping can be changed via CANopen (can
object also be set using the low byte of parameter
27F9.03 H)
.3 Third mapped Third mapped object. SDO U32 / 0H /
object rw Mapping can be changed via CANopen (can
also be set using the low byte of parameter
27F9.03 H)
4. Fourth Fourth mapped SDO U32 / 0H /
mapped object. rw Mapping can be changed via CANopen (can
object also be set using the low byte of parameter
27F9.03 H)
1605H Receive PDO Object to enter the
Mapping mapped objects into
Parameters receive PDO6
.0 Number of No. of the mapped SDO U8 / 0/
mapped objects rw If the mapping is to be changed via CAN bus,
objects in then the subindex 0 according to the CANopen
PDO profile DS 4.01 must first be set to 0.

CANopen Option Module Operating Instructions

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O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
.1 First mapped First mapped object. SDO U32 / 0/
object rw Mapping can be changed via CANopen (can
also be set using the low byte of parameter
27F9.04 H)
.2 Second Second mapped SDO U32 / 0/
mapped object. rw Mapping can be changed via CANopen (can
object also be set using the low byte of parameter
27F9.04 H)
.3 Third mapped Third mapped object. SDO U32 / 0/
object rw Mapping can be changed via CANopen (can
also be set using the low byte of parameter
27F9.04 H)
4. Fourth Fourth mapped object SDO U32 / 0/
mapped rw Mapping can be changed via CANopen (can
object also be set using the low byte of parameter
27F9.04 H)
1800H Transmit Setting parameter for
PDO the data transfer
Communicati properties of the
on transmit PDOs 1
Parameters
.0 Number of No. of sub-indices SDO U8 / ro 2 /
entries -
.1 COB-ID PDO Identifier of the PDOs SDO U32 / 180H + node-ID /
rw Changes can be permanently set in
MICROMASTER using object 1010H.
.2 Transmission Setting parameter for SDO U8 / 0/
Type the data transfer type rw
(can also be set using the low byte of
parameter 27F9.00 H)
.3 Inhibit time Delay time SDO U16 / 0/
rw Changes can be permanently set in
MICROMASTER using object 1010H.
.4 Reserved Not used SDO U8 / ro 0 /
-
.5 Event timer Timer after which the SDO U16 / 0/
PDO is always sent rw Changes can be permanently set in
even if the value has MICROMASTER using object 1010H.
not changed
1804H Transmit Setting parameter of
PDO the data transfer
Communicati properties of transmit
on PDOs 5
Parameters
.0 Number of No. of sub-indices SDO U8 / ro 2 /
entries -
.1 COB-ID PDO Identifier of the PDOs SDO U32 / 280H + node-ID /
rw Changes can be permanently set in
MICROMASTER using object 1010H.

CANopen Option Module Operating Instructions

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O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
.2 Transmission Setting parameter for SDO U8 / 0/
Type the data transfer type rw
(can also be set using the high byte of
parameter 27F9.00 H)

Caution! After power-up, under certain

circumstances, the value of this CAN
parameter does not correspond to the value in
the converter. After powering-up, this
parameter should always be set again to the
required value.
.3 Inhibit time Delay time SDO U16 / 0/
rw Changes can be permanently set in
MICROMASTER using object 1010H.
.4 Reserved Not used SDO U8 / ro 0 /
-
.5 Event timer Timer after which the SDO U16 / 0/
PDO is always sent rw Changes can be permanently set in
even if the value has MICROMASTER using object 1010H.
not changed
1805H Transmit Setting parameter of
PDO the data transfer
Communicati properties of transmit
on PDOs 6
Parameters
.0 Number of No. of sub-indices SDO U8 / ro 2 /
entries -
.1 COB-ID PDO Identifier of the PDOs SDO U32 / 380H + node-ID /
rw Changes can be permanently set in
MICROMASTER using object 1010H.
.2 Transmission Setting parameter for SDO U8 / 0/
Type the data transfer type rw (can also be set using the low byte of
parameter 27F9.01 H)
Caution! After power-up, under certain
circumstances, the value of this CAN
parameter does not correspond to the value in
the converter. After powering-up, this
parameter should always be set again to the
required value.

.3 Inhibit time Delay time SDO U16 / 0/

rw Changes can be permanently set in
MICROMASTER using object 1010H.
.4 Reserved Not used SDO U8 / ro 0 /
-
.5 Event timer Timer after which the SDO U16 / 0/
PDO is always sent rw Changes can be permanently set in
even if the value has MICROMASTER using object 1010H.
not changed

CANopen Option Module Operating Instructions

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O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
1A00H Transmit Object to enter
PDO mapped objects into
Mapping transmit PDO1
Parameters
.0 Number of No. of the mapped SDO U8 / ro 1 /
mapped objects Mapping cannot be changed
objects in
PDO
.1 First mapped First mapped object. SDO U32 / 60410010H /
object The object is ro Status word, permanently mapped.
permanently mapped
in the PDO.
1A04 Transmit Object to enter
H PDO mapped objects into
Mapping transmit PDO5
Parameters
.0 Number of No. of the mapped SDO U8 / 2/
mapped objects rw If the mapping is changed via the CAN bus,
objects in then subindex 0 according to the CANopen
PDO profile DS 4.01 must be first be set to 0.
.1 First mapped First mapped object. SDO U32 / 0H /
object rw Mapping can be changed via CANopen (can
also be set using the high byte of parameter
27F9.02 H)
.2 Second Second mapped SDO U32 / 0H /
mapped object. rw Mapping can be changed via CANopen (can
object also be set using the high byte of parameter
27F9.02 H)
.3 Third mapped Third mapped object. SDO U32 / 0H /
object rw Mapping can be changed via CANopen (can
also be set using the high byte of parameter
27F9.02 H)
4. Fourth Fourth mapped SDO U32 / 0H /
mapped object. rw Mapping can be changed via CANopen (can
object also be set using the high byte of parameter
27F9.02 H)
1A05 Transmit Object to enter
H PDO mapped objects in
Mapping transmit PDO6
Parameters
.0 Number of No. of the mapped SDO U8 / 2/
mapped objects rw If the mapping is changed via the CAN bus,
objects in then subindex 0 according to the CANopen
PDO profile DS 4.01 must be first be set to 0.
.1 First mapped First mapped object. SDO U32 / 0H /
object rw Mapping can be changed via CANopen (can
also be set using the high byte of parameter
27F9.03 H)
.2 Second Second mapped SDO U32 / 0H /
mapped object. rw Mapping can be changed via CANopen (can
object also be set using the high byte of parameter
27F9.03 H)

CANopen Option Module Operating Instructions

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O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
.3 Third mapped Third mapped object. SDO U32 / 0H /
object rw Mapping can be changed via CANopen (can
also be set using the high byte of parameter
27F9.03 H)
4. Fourth Fourth mapped SDO U32 / 0H /
mapped object. rw Mapping can be changed via CANopen (can
object also be set using the high byte of parameter
27F9.03 H)
2000H SDO- Objects of the SDO SDO -/
* >Parameter -> parameter channel Using these objects, it is possible to access all
- Channel of the parameters in the MICROMASTER
2801H according to the formula MICROMASTER
* parameter number in hex + 2000H = SDO
number. In this case, it does not involve
CANopen objects, as the numbering of the
sub-indices differs with respect to CAN-open
(subindex 0 does not contain the number of
objects, but already the first object). However,
the objects from the parameter channel can,
just like CANopen objects, be read and written
using SDO access operations - they are
designated with a * in the following.
2396H Node ID ID or address of the SDO U16 / These objects set the NodeID of the
* MICROMASTER rw MICROMASTER.
If this value is changed on the CAN bus it
takes effect after a reset communication or
reset node network command.
27DAH Baudrate Baudrate SDO U16 / 10 /
* rw Baud rate in kbit/s
2802H Free Objects Free objects, with These objects directly write process data into
* into drive which non-defined parameters P2050.2, P2050.3 and P2050.5.
process data can be The gaps in the sub-indices are due to the
sent from the mirroring of the object directly to parameter
CANopen master to P2050 (PZD from CB). All other receive
the MICROMASTER channels of the P2050 are occupied with the
objects of the device profile. An error message
is output if an attempt is made to map other
sub-indices or to read/write using an SDO.
.3 Free Object Free object which can SDO/ I16 / 0/
into drive be used to send non- PDO rw Values are directly written into P2050.2.
defined process data
to the
MICROMASTER
P2050.2
.4 Free Object Free object which can SDO/ I16 / 0/
into drive be used to send non- PDO rw Values are directly written into P2050.3.
defined process data
to the
MICROMASTER
P2050.3

CANopen Option Module Operating Instructions

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O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
.6 Free Object Free object which can SDO/ I16 / 0/
into drive be used to send non- PDO rw Values are directly written into P2050.5.
(only defined process data
MICROMAST to the
ER 440) MICROMASTER
P2050.5
2803H Free Objects Free objects, with -/
* from drive which non-defined
These objects read process data from the
process data can be parameters which are connected with P2051.2
sent from the
and P2051.3 via BICO and transmit these on
CANopen master to
the CAN bus. The gaps in the sub-indices are
the MICROMASTER. due to the mirroring of the object directly onto
parameter P2051. All other send channels of
the P2051 are occupied with the objects of the
device profile. An error message is output if an
attempt is made to map the other sub-indices.
A zero is displayed when reading-out the other
sub-indices.
.3 Free Object Free object which can SDO/ I16 / 0/
from drive be used to send non- PDO rw Values are directly sent from parameter BICO
defined process data connected to P2051.2.
to the
MICROMASTER
P2051.2.
.4 Free Object Free object which can SDO/ I16 / 0/
from drive be used to send non- PDO rw Values are directly sent from parameter BICO
defined process data connected to P2051.3.
to the
MICROMASTER
P2051.3.
2804H SDO- Objects of the SDO-> SDO -/
* >Parameter parameter channel Using these objects, it is possible to access all
- Channel of the parameters in the MICROMASTER
5FFF according to the formula MICROMASTER
H* parameter number in hex + 2000H = SDO
number. In this case, it does not involve
CANopen objects, as the numbering of the
sub-indices differs with respect to CAN-open
(subindex 0 does not contain the number of
objects, but already the first object). However,
the objects from the parameter channel can,
just like CANopen objects, be read and written
using SDO access operations - they are
designated with a * in the following.
6007H Abort Behaviour of the SDO I16 / 0/
connection MICROMASTER- rw 0 no action
option code status engine in case 1 malfunction
of communication 2 Device control command
errors “disable voltage”
3 Device control command
“quick stop”
4 ramped stop
603FH Error code The MICROMASTER SDO U16 / 0/
error from parameter ro -
P0947 is displayed in
this object

CANopen Option Module Operating Instructions

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O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
6040H Control word CANopen control SDO/ U16 / 0/
word PDO wo This is converted and mapped to the
MICROMASTER control word 1 (r0054) when
being transferred to the MICROMASTER.
Parameter 22BCH* must be set to 6 so that
the CANopen control word can control the
MICROMASTER.
6041H Status word CANopen status word SDO/ U16 / 0/
PDO ro MICROMASTER status word 1 (r0052) is
converted when being transferred from
MICROMASTER and is mapped onto the
CANopen status word. Parameter 22BCH*
must be set to 6 so that the CANopen status
word can send MICROMASTER status onto
the CAN bus.
6042H Vl_target_vel Reference (target) SDO/ I16 / 0 RPM /
ocity velocity of the velocity PDO rw
mode Parameter 23E8H* must first be set to 6 (via
CAN), or a BICO connection must be
established from P2050.1 to the speed
setpoint. Up until now, this BICO connection
can only be established with the BOP or using
the start-up tool.
6043H Vl_velocity Velocity, controlled SDO/ I16 / 0 RPM /
_demand quantity PDO ro
Parameter 23E8H* must first be set to 6 (via
CAN) or a BICO connection must be
established from r0021 to P2051.1.
Up until now, this BICO connection can only
be established with the BOP or using the start-
up tool.
6044H Vl_control_eff Velocity actual value SDO/ I16 / 0 RPM /
ort PDO ro A BICO connection must be established from
r0063 to P2051.
Up until now, this BICO connection can only
be established with the BOP or using the start-
up tool.
6046H Vl_velocity_m Minimum and
in_max_amo maximum absolute
unt value for the velocity
limiting
.0 Number of No. of sub-indices SDO U8 / ro 2 /
entries -
.1 Vl_velocity_m Absolute value of the SDO U32 / 0/
in_amount minimum velocity rw (P1080 . 60 / r0313) RPM /
limiting Acts on P1080 (2438H*). When this object
changes, this effects the gradient (rate-of-rise)
of the up ramp.

CANopen Option Module Operating Instructions

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O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
.2 Vl_velocity_m Absolute value of the SDO U32 / 1500 /
ax_amount maximum velocity rw
(P1082 . 60 / r0313) RPM /
limiting Acts on P1082 (243AH*). When this object
changes, this effects the gradient (rate-of-fall)
of the down ramp.
6048H Vl_velocity_ Acceleration
acceleration
.1 Delta_speed Velocity change SDO U32 / 15 000/
which is used to rw
RPM in 100 s /
calculate the
When reading-out the object the value in
acceleration subindex 1 is calculated using P1120, P1082
and the pole pair number according to the
following formula:

∆n = P1082 ⋅ 100 s ⋅ 60 s
P1120 ⋅ r0313
After each power-up, this subindex is set to
the speed at which the drive rotates in 100 s. If
subindex 1 or 2 are changed, then this effects
P1120.
(2070H*)
.2 Delta_time Time change which is SDO U16 / 100 s /
used to calculate the rw After every power-up, this subindex is set to
acceleration the default value of 100 s.
6049H Vl_velocity_ Deceleration
deceleration
.1 Delta_speed Velocity change SDO U32 / 15 000/
which is used to rw RPM in 100 s /
calculate the When reading-out the object the value in
deceleration subindex 1 is calculated using P1121, P1082
and the pole pair number according to the
following formula:

∆n = P1082 ⋅ 100 s ⋅ 60 s
P1121⋅ r0313
After each power-up, this subindex is set to
the speed at which the drive rotates in 100 s. If
subindex 1 or 2 are changed, then this effects
P1121
(2071H*)
.2 Delta_time Time change which is SDO U16 / 100 s /
used to calculate the rw After every power-up, this subindex is set to
deceleration the default value of 100 s.
604EH Vl_velocity Reference velocity SDO U32 / 1500/
_reference rw P2000 ⋅ 60
/
r 0313
Using this object, the reference velocity to
convert the process quantities is set. This
object writes or reads from P2000 (27D0H*),
converted to RPM.

CANopen Option Module Operating Instructions

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O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
6052H Vl_nominal Velocity setpoint as a SDO/ I16 / 0/
_percentage percentage PDO rw The velocity is entered as a percentage
referred to 604EH (P2000). 4000H = 100 %

Parameter 23E8H* must first be set to 6 (via

CAN) or a BICO connection must be
established from P2050.1 to the speed
setpoint. Up until now, this BICO connection
can only be established with the BOP or using
the start-up tool.
6053H Vl_percentag Setpoint generator SDO/ I16 / 0/
e _demand output as a PDO rw Velocity controlled variable as a % referred to
percentage 604EH (P2000) or: 4000H = 100 %. Must be
connected from r0021 to P2051.1 through a
BICO connection.
6054H Vl_actual Actual velocity as a % SDO/ I16 / 0/
_percentage PDO rw Actual velocity as a % referred to 604EH
(P2000). 4000H = 100 %.
A connection must be made from r0063 to
P2051.5 through a BICO connection.
Up until now, this BICO connection can only
be established with the BOP or using the start-
up tool.
6060H Modes_of_ Object to select the SDO/ I8 / wo 2 /
operation operating mode. PDO MICROMASTER 420/430 only supports the
Velocity Mode. MICROMASTER 440 can
support the Velocity Mode and the Profile
Torque Mode.
(It is possible to toggle, for MICROMASTER
440, between the Profile Torque Mode and
Velocity Mode by setting or resetting bit 12 in
r2091.) P1501 must be connected to r2091.12
through a BICO connection.
6061H Modes_of Object to display the SDO/ I8 / ro 2/
_operation operating mode PDO Displays the mode selected in object 6060H.
_display (This is realized by reading-out bit 12 of
parameter P2051.6 (r2091).
Must be connected using a BICO connection
from P2051.06 with r0055.
Up until now, this BICO connection can only
be established with the BOP or using the start-
up tool.
6071H Target_torqu Torque setpoint SDO/ I16 / 0%/
e PDO rw This is entered as a per mille of the rated
motor torque. Must be connected from
r2050.04 to the torque setpoint through a
BICO connection.
Must do BICO connection P2050.04 = P1503.

CANopen Option Module Operating Instructions

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O-Ind S- Object name Description Transf. D-type / Default value / comment

Ind using access
6076H Motor rated Used to define actual SDO U32 / ?/
torque torque equivalent to rw
Corresponds to 27D3H*(P2003) /
1000 in objects
(1000 = 1 Nm)
6071H and 6077H note that by default P2003 = 2 x nominal
torque so therefore by default a target torque
of 1000 in object 6071H will give 2 x nominal
torque.
6077H Actual_torque Actual torque SDO/ I16 / 0%/
PDO ro Displays the actual torque as per mille of the
rated motor torque. r0080 must be connected
to P2051.04 through a BICO connection.
Up until now, this BICO connection can only
be established with the BOP or using the start-
up tool.
6087H Torque_slope Torque change as a SDO U32 / -/
per mille of the rated rw This object is used to enter the change of the
torque per s torque as a per mille of the rated torque per s.
In order to use this object, several BICO
connections must be set. Refer to Section
6.3.2.
6088H Torque_profil Selecting the ramp SDO I16 / -/
e _type shape of the torque rw This object is used to enter the ramp shape
profile which is then used to transfer a new torque
setpoint to the torque controller. In order to
use this object, several BICO connections
must be set. Refer to Section 6.3.2.

Object not available in MICROMASTER 420/430.

Additional BICO connections must be established in order to use the object.

NOTE
CANopen will always write to the active data set. If the drive data set should
change, then relevant objects in the object dictionary will be updated from the new
data set, and the stored powerup values of parameters will be updated from the
new data set.
(If the contents of parameters r0050 or r0051 are changed, the objects are updated
automatically.)

CANopen Option Module Operating Instructions

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3.2 CANopen communication services

3.2.1 NMT (Network Management) services

The Network Management is structured according to nodes and follows a master-

slave structure.

NMT Master NMT Slave(s)

Indication(s)

Request 0 1 2
CS Node-ID
Indication
COB-ID = 0 Indication
Indication

Fig. 3-1 NMT protocol

Nodes are initialized, started, monitored, reset or stopped using the NMT services.
MICROMASTER is an NMT slave.
The following sketch shows the switched communications network of the option
module CANopen.

Power On or Hardware Reset

(1)

Initalisation

(2)
(14)
(11)
Pre-Operational

(7)
(5) (10)
(13)
Stopped
(4) (3) (8)
(6)
(12) (9)
Operational

Fig. 3-2 CANopen switched communications network

CANopen Option Module Operating Instructions

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Transition points of the switched communications network

Start Remote Node
This is an instruction to transition from the Pre-Operational to Operational
communications state. The drive can only send and receive process data when it is
in the Operational state.
Stop Remote Node
This is an instruction to transition from Pre-Operational into Stopped or Operational
into Stopped. In the Stopped state, the nodes can only process NMT instructions.
Enter Pre-Operational
This is an instruction to transition from Operational or Stopped into Pre-
Operational. In the Pre-Operational state, the node cannot process any PDOs.
However, it can be parameterized or operated via SDOs.
Reset Node
This is an instruction to transition from Operational, Pre-Operational or Stopped to
Initialization. The Reset Node instruction resets all objects (1000H - 9FFFH) into
the state after power-up. This instruction/command is used, e.g. after changing-
over the NodeID in order to make the new setting effective.
Reset Communication
This is an instruction to transition from Operational, Pre-Operational or Stopped to
Initialization. After the Reset Communication instruction, all communication objects
(1000H - 1FFFH) are reset into the state after power-on.

Table 3-1 Transitions of the switched communication network

(1) After Power On, the MICROMASTER and the CANopen option module automatically go into the
initialized state
(2) After initialization, transition to PRE-OPERATIONAL
(3), (6) Start_Remote_Node instruction (CS = 1)
(4), (7) Enter_PRE-OPERATIONAL_State instruction (CS = 128)
(5), (8) Stop_Remote_Node instruction (CS = 2)
(9), (10), (11) Reset_Node instruction (CS = 129)
(12), (13), (14) Reset_Communication instruction (CS = 130)

With a Reset Node instruction, all objects of the node are reset to the state after
power-up. For MICROMASTER 420/430/440, this function is only available
with some restrictions. MICROMASTER only resets the objects from the
communications profile (1000H - 1FFFH) as well as from the device profile
(6000H - 9FFFH). The Reset Node instruction can only be executed if the object
changes were only saved in the RAM (P0014 = 0) and no "save" instruction was
sent to object 1010H. As soon as changes were saved in the EEPROM, as a
result of the settings of parameter P0014 or by writing into the object 1010H, the
values, saved in the EEPROM for a Reset Node instruction, are set. The Reset
Node is, also, acknowledged by an emergency message in order to inform the
user of this fact.
After a data set change, it is also no longer possible to reset values of the initial
data set back to their Power On values. After a Reset Node, the actual data set
is reset to the values it had, when it was first changed. The command "load"

CANopen Option Module Operating Instructions

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sent to object 1011H is available in CANopen to reset to the original Power On

values (refer to Page 95 DS301 V4.02).
For a Reset Communication instruction, all of the communication objects
(1000H - 1FFFH) are reset to the state after power-up. The Reset
Communication instruction can only be executed if the object changes were
only saved in the RAM (P0014=0) and no "save" instruction was sent to object
1010H. As soon as changes were saved in the EEPROM, either due to the
settings of parameter P0014, or by writing into the object 1010H, it is no longer
possible to reset the Power On values. The Reset Communication instruction is
then acknowledged using an EMERGENCY message. The command "load"
sent to object 1011H is available in CANopen to reset to the original Power On
values (refer to Page 95 DS301 V4.02).

Properties in the various communication states

In the various communication states, nodes can only be accessed via CANopen
using specific communication services. Further, the nodes in the various states
only send specific telegrams. This is clearly shown in the following table.

Table 3-2 CANopen services which are available in the various states

INITIALIZING PRE-OPERATIONAL OPERATIONAL STOPPED

PDO X
SDO X X
Synchronization Object X X
Emergency Object X X
Boot-Up Object X
Network Management Object X X X

CANopen Option Module Operating Instructions

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3.2.2 Communication monitoring services

There are three communication monitoring services in CANopen:

• Node Guarding / Life Guarding

• Heartbeat
• Sync loss detection

Node Guarding:
MICROMASTER 420/430/440 supports Node Guarding and Life Guarding. With
Node Guarding, the CANopen master sends, to each slave, an RTR telegram with
the COB-ID 700H + node-ID. The slave responds, with the same COB-ID, with its
communications state. This means either Pre-Operational, Operational or Stopped.
Further, the message that is sent contains a toggle bit - using the Object Guard
Time, the time between two RTR messages, received at the slave, is set.

Life Guarding:
The CANopen slave monitors the incoming RTR messages from the master. The
number of RTR telegrams which can fail as a maximum before the slave initiates a
Life Guarding event is defined using the Life Time Factor object. The lifetime of the
master is calculated from the product of the Guard Time (refer to Node Guarding)
and Life Time Factor. This is the maximum time that the slave waits for an RTR
telegram (message) before it initiates a Life Guarding Event.

COB-ID = 700H + Node-ID

Request Remote transmit request Indication

Confirmation Response
7 6 ... 0
t s
Node Node
Life Guard
time time
COB-ID = 700H + Node-ID
Request Remote transmit request Indication

Confirmation Response
7 6 ... 0
t s

Node Guarding Life Guarding

Event Event

Indication Indication

Fig. 3-3 Node Guarding/ Life Guarding protocols

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Heartbeat:
The MICROMASTER 420/430/440 also supports the Heartbeat protocol as
Heartbeat Producer. With the Heartbeat protocol, a Heartbeat Producer cyclically
sends its NMT state to the CAN bus. The message does not contain a Toggle bit.
The Heartbeat Producer object is used to define the time between two heartbeat
messages. One or several Heartbeat Consumers expect the telegram of the
Heartbeat Producer after the Heartbeat Consumer Time. If this message is not
received, then the consumer initiates a Heartbeat event. The error message sent
(EMCY) is the same as for Node Guarding/ Life Guarding.

NOTE
Only one communication monitoring service may be activated. This is either Node
Guarding/Life Guarding or Heartbeat.

Heartbeat Producer COB-ID = 700H + Node-ID Heartbeat Consumer

Request 7 6 ... 0 Indication

r s
Heartbeat Heartbeat
Producer time Consumer time
7 6 ... 0
Request r s Indication
Heartbeat
Consumer time

Heartbeat Event

Fig. 3-4 Heartbeat protocol

SYNC Loss Detection:

The third communication monitoring is the SYNC loss detection.
The SYNC Producer sends cyclic SYNC telegram (this does not contain any data)
with the SYNC producer time (object 1006H Communication cycle period) and the
COB-ID 80H. The MICROMASTER 420/430/440, as SYNC consumer, monitors
whether the SYNC telegram is sent in the SYNC Consumer time (object 1006H
Communication cycle period multiplied by 1.5). If the SYNC producer doesn’t send
the SYNC telegram within the defined time (SYNC loss event), then
MICROMASTER responds the same as for a Heartbeat- or a Life Guarding Event.

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SYNC Producer COB-ID = 80H SYNC Consumer

Request Indication
L=0

SYNC SYNC
Producer time Consumer time

L=0
Request Indication
SYNC
Consumer time

SYNC loss Event

Fig. 3-5 SYNC monitoring protocol

NOTE
After powerup, Node Guarding and SYNC loss detection only become active after
reception of the first Node-Guarding message and/or the first SYNC message.
The Node-Guarding or SYNC loss warning and the displayed LED error condition
will be cleared immediately after the first Node-Guarding message or SYNC
message was received. That means the first SYNC starts SYNC checking and the
first Node-Guard message starts Node-Guarding.
If a Node-Guarding fault or a SYNC loss has caused the inverter to trip, then it is
possible to reset the trip in the inverter via CAN. However, the inverter cannot go
into run as long as a communications error is still present (Node-Guarding, SYNC,
Busoff or Overrun).

3.2.3 Boot up telegram

After the initialization phase, a CANopen slave logs-on with a boot-up telegram.
This telegrams contains the COB-ID 700 plus NODE-ID. The COB-ID can be taken
from the node address of the slave. This allows a CANopen master to know which
slaves are connected to the bus.

NMT Master NMT Slave

COB-ID = 700H + Node-ID
Indication Request
0

Fig. 3-6 Boot up protocol

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3.2.4 SDO (Service Data Object) services

SDO services are used to access the object directory of the connected device. An
SDO connection is a peer-to-peer coupling between an SDO client and a server.
The MICROMASTER with its object directory is, in this sense, an SDO server. The
identifiers of the Micromaster are defined according to CANopen. For
communications between the client => server, then COB-ID 600H + node ID and
for the server => client, COB-ID 580H + node ID apply.

Properties/features of SDOs
• Confirmed transfer of objects
• Data transfer/exchange is always asynchronous (non-synchronous)
• Values greater than 4 bytes can be transferred (normal transfer)
• Values not more than 4 bytes can be transferred (expedited transfer)

All variables of the drive can be addressed via SDO transfer.

Note
For MICROMASTER, SDO transfer is only possible by specifying the length of the
data bytes contained. If another device uses the transfer mechanism without length
data, then problems can occur.

Downloading SDO protocol

The download SDO protocol is used to write the values of the object directory into
the drive. MICROMASTER 420/430/440 only supports the "expedited SDO
download" for up to 4 bytes of data (e =1,s = 1).

CLIENT SERVER
0 1 2 3 4 7
7 ... 5 4 3 ... 2 1 0 Sub-
Index Data
Request ccs = 1 x n e s index Indication

0 1 2 3 4 7
Confirm 7 ... 5 4 ... 0 Response
Sub-
Index reserved
scs = 3 x index

Fig. 3-7 Download SDO protocol

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In order to be able to write parameters, a CANopen master must send a download

protocol according to the following table

Table 3-3 Significance of the bytes in the SDO download protocol (CANopen master to
MICROMASTER)

Byte 0: Bytes 1,2 Byte 3 Bytes 4,5 Bytes 6,7

Bits 7-5 Bit 4 = 0 Bits 3,2 e=1 s=1 Object Object Word data
CCS = 1 n = 0 (Dword) Dictionary Dictionary Dword data Dword data
n = 2 (Word) Index Subindex

If the MICROMASTER 420/430/440 cannot correctly process the task, it

acknowledges the download SDO protocol with a response telegram according to
the following table:

Table 3-4 Significance of the bytes in the SDO download protocol (MICROMASTER to CANopen
master)

Byte 0: Bytes 1,2 Byte 3 Bytes 4,5 Bytes 6,7

Bits 7-5 Bit 4 - 0 = 0 Object Object Reserved = 0
SCS = 3 Dictionary Dictionary
Index Subindex

The SDO download is either realized directly in the RAM or directly in the
EEPROM. This can be controlled using parameter P0014 (object 200EH). If
parameter P0014 (object 200EH) is set so that the download is saved in the RAM,
data can be saved to object 1010H to save in the EEPROM using the "save"
instruction.

Upload SDO protocol

The upload SDO protocol is used to read the values of the object directory of the
drive. MICROMASTER 420/430/440 only supports the "expedited SDO upload" for
up to 4 bytes of data (e =1,s = 1).

CLIENT SERVER
0 1 2 3 4 7
7 ... 5 4 ... 0 Sub-
Index reserved
Request ccs = 2 x index Indication

0 1 2 3 4 7
Confirm Response
7 ... 5 4 3 ... 2 1 0 Sub-
Index Data
scs = 2 x n e s index

Fig. 3-8 Upload SDO protocol

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In order to read objects from the MICROMASTER 420/430/440, a CANopen

master must send an SDO upload protocol according to the following table.

Table 3-5 Significance of the bytes in the SDO upload protocol (CANopen master to MICROMASTER)

Byte 0: Control Word Bytes 1,2 Byte 3 Bytes 4,5 Bytes 6,7
Bits 7-5 Bit 4 - 0 = 0 Object Object Reserved = 0
CCS = 2 Dictionary Dictionary
Index Subindex

If the MICROMASTER 420/430/440 cannot correctly process the task, it

acknowledges the upload SDO protocol using a response telegram according to
the following table:
Table 3-6 Significance of the bytes in the SDO upload protocol (MICROMASTER to CANopen master)

Byte 0: Bytes 1,2 Byte 3 Bytes 4,5 Bytes 6,7

Bits 7-5 Bit 4 = 0 Bits 3,2 e=1 s=1 Object Object Word data
SCS = 2 n = 0 (Dword) Dictionary Dictionary Dword data Dword data
Index Subindex
n = 2 (Word)

Abort SDO transfer protocol

SDO tasks, which the MICROMASTER 420/430/440 cannot process are
responded to using an abort SDO protocol. If the MICROMASTER does not
respond in the expected time, the CANopen master sends an abort SDO protocol.

CLIENT/SERVER SERVER/CLIENT
0 1 2 3 4 7
7 ... 5 4 ... 0 Sub-
Index Abortcode
Request cs = 4 x index Indication

Fig. 3-9 Abort SDO transfer protocol

In this case, there are various abort codes. The abort codes, which occur in the
MICROMASTER 420/430/440, are listed in the following table. Most of the faults
occur due to communication errors between the CANopen option module and
MICROMASTER. In order to be able to access the parameters in the
MICROMASTER, SDO tasks must be re-coded into parameter tasks and then sent
to the MICROMASTER via the SOL. If the MICROMASTER cannot correctly
process the parameter task which it was issued, then it signals this in the form of a
response to the option module. In turn, the option module transforms this response
into the abort codes listed in the table. If the MICROMASTER sends an abort code,
the parameter request issued must be re-checked and repeated.

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Abort Name Abort Code Description

SDO protocol time 05040000H MICROMASTER had not responded within xxxs to a parameter task of
overflow the option module.
The CANopen module cancels the request.
Illegal access 06010001H This parameter can only be write accessed (write only)
(parameter value cannot be read)
Illegal access 06010002H Parameter is a read-only parameter
(parameter value cannot be changed)
Object not available in the 06020000H Access to a non-existing object
object directory (parameter number does not exist)
General parameter 06040043H Illegal parameter value
incompatibility (the parameter only permits specific values)
Data type does not match 06070010H Mixture between word and double word
the length of the SDO (incorrect data type)
value, SDO value too
high or too low
Subindex does not exist 06090011H SDO access to a non-existing subindex of an object
(erroneous subindex, no array)
For tasks from "indexed parameter to non-indexed parameter" type
Example: Task: 'Change parameter value (word, array)' for non-indexed
parameters
Parameter value 06090030H Upper or lower limit value exceeded (write only)
exceeded
General error 08000000H Incorrect parameter status:
Parameter, read or write buffer simultaneously used in both directions
New parameter task is sent before the previous has been responded to.
Data transfer error 08000020H Data cannot be transferred to the application or cannot be saved.
Data not able to be 08000021H Change request without having status as higher-level control (refer
transferred or saved due to P0927, corresponds to object 0x239F*)
to local control Drive converter parameter: 'Access code' and/or 'Special parameter
access' presently not set
(the operator has no change authorization
for the PKW interface)
Service error 08000022H The drive converter does not permit the presently output task
(the task cannot be executed due to the operating state)

Working with the SDO<->parameter channel

The CANopen option module offers an SDO->parameter channel, which can be
used to read or write all parameters (PKW objects) of the MICROMASTER
420/430/440. In this case, it does not involve CANopen objects in the true sense.
The reason for this is that the numbering of the sub-indices with respect to CAN-
open differs (subindex 0 does not contain the number of objects, but already the
first object). However, the objects from the parameter channel can be read and
written just like CANopen objects using SDO access operations. Their object
number must be appropriately converted. They are designated by a * in this
document.

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You must proceed as follows to write into a MICROMASTER parameter via the
SDO<->parameter channel:
Firstly, the parameter number of the PKW object, specified as a decimal number,
must be converted into a hexadecimal value.
After this, 2000H must be added to the hexadecimal parameter value. This is then
the object number that is used for the SDO access operation (reading or writing).
The numerical sequence after the point in the specification of the PKW object
generally corresponds to the subindex number of the CANopen object. It only has
to be converted from a decimal number into a hexadecimal number. In order to be
able to write into the parameter, in addition, the data type - e.g. unsigned 16 (U16)
- must be taken from the MICROMASTER parameter list.
The following diagram again clearly shows how to work with the SDO parameter
channel:

Reading
Write
Reading
objects via SDO Writing
objects via SDO

Reading an
NO object from YES Writing an
NO object from the YES
the object list
Section 3.1 object list,
? Section 3.1
?

Take a parameter Object index,

number from the Take a parameter Object index,
sub-index
MICROMASTER number from the sub-index
from the list,
parameter list MICROMASTER from the list,
Section 3.1
parameter list Section 3.1

Convert Access type

Convert Access type
parameter number from list,
parameter number from list,
into a hexadecimal value Section 3.1
into a hexadecimal value Section 3.1

Add 2000H
Add 2000H
to the converter
from the converted
hexadecimal value
hexadecimal value

Take the access type

Take the access type
from the
from the
MICROMASTER
MICROMASTER
parameter list
parameter list

Object can Object can

Object can be Object can
be read acc. to the NO be written into acc.
read acc. to list, NO be written
MICROMASTER to the MICROMASTER
Section 3.1 into acc. to list,
parameter list parameter list
? Section 3.1
? ? ?
Object cannot Object cannot
YES be read YES be written into
YES YES

Enter the object index

(parameter No. in hex Telegram structure Telegram structure
Telegram structure acc. to Table 3-3 acc. to Table 3-3
+ 2000H) and sub-index
acc. to Table 3-5
in the telegram acc. to
Table 3-5

Fig. 3-10 Reading / writing PKW objects via SDO

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Using two examples, the following two sections show the read and write access
operations using SDO on two PKW objects.

Example 1: Reading parameter r0964.02

Parameter number (964) must be converted into a hexadecimal number in order to
read the value of parameter r0964.02:
964dec = 3C4H.
After this, 2000H must be added:
03C4H + 2000H = 23C4H.
The numerical sequence after the point in the specification of the PKW object (in
this case: 2 in r0964.02) corresponds to the subindex number of the CANopen
object. This must be converted from a decimal number into a hexadecimal number:
02 dec =2H
Now, an SDO read task is defined for the object that was determined:
• Byte 0
− Bit 5 - 7 (CCS) = 2H ->initiate upload request
− Bit 0 - 4 = 0H ->always for initiate SDO-upload request

• Byte 1
− Bit 0 - 7 = C4H ->index of the object, part 2

• Byte 2
− Bit 0 - 7 = 23H ->index of the object, part 1

• Byte 3
− Bit 0 - 7 = 02H ->subindex of the object

• Byte 4-7
− Bit 0 - 7 = 00H ->always for initiate SDO-upload request

CANopen telegram of the master:

Table 3-7 SDO read request to parameter r0964.02 (object 0x23C4* sub2)

Byte 0: Bytes 1 Byte 2 Byte 3 Bytes 4,5 Bytes 6,7

Bits 7-5 Bit 4-0 = 0 C4H 23H 02H reserved = 0
CCS = 2

CANopen MICROMASTER response telegram

Table 3-8 MICROMASTER response to the SDO read request

Byte 0: Bytes 1,2 Byte 3 Bytes 4,5 Bytes 6,7

Bits 7-5 Bit 4 = 0 Bits 3,2 e=1 s=1 23C4H 02H Word data 0H
SCS = 2 n= 2 (word) expedi (data (index) (subindex) (2 bytes (two bytes,
(initiate (number of ted size is data) no data as
upload bytes that do transfe indicat specified in
respons not contain r) ed) n)
e) any data)

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Example 2: Writing into parameter P1203

In order to write the value 99 (decimal) into parameter P1203.00, the parameter
number must first be converted into a hexadecimal number:
1203dec = 4B3H
Then, 2000H must be added:
04B3H + 2000H = 24B3H
The numerical sequence after the point in the specification of the PKW object (in
this case: 0 in P1203.00) corresponds to the subindex number of the CANopen
object. It must be converted from a decimal number into a hexadecimal number:
00 dec =0H
The data type of the parameter must now be taken from the MICROMASTER
parameter list. This is for parameter P1203 unsigned 16 (U16).
The value to be written (in this case, 99 decimal) must be specified in the CANopen
telegram as hexadecimal number:
99dec = 63H
Now, an SDO write request is defined for the object that was determined:
• Byte 0
− Bit 5 - 7 (CCS) = 1H ->initiate download request
− Bit 4 = 0H ->always for initiate download request
− Bit 2 - 3 = 2H ->n=number of bytes that do not contain any data
− Bit 1 = 1H ->e=1 expedited transfer
− Bit 0 = 1H ->s=1 data size is indicated
• Byte 1
− Bit 0 - 7 = B3H ->index of the object, part 2
• Byte 2
− Bit 0 - 7 = 24H ->index of the object, part 1
• Byte 3
− Bit 0 - 7 = 00H ->subindex of the object
• Byte 4-5
− Bit 0 - 7 = 63H ->data that is to be written into
• Byte 6-7
− Bit 0 - 7 = 00H ->data that is to be written into, in this case empty

CANopen telegram of the master

Table 3-9 SDO write request for parameter (object 0x24B3* sub0)

Byte 0: Bytes 1,2 Byte 3 Bytes 4,5 Bytes 6,7

Bits 7-5 Bit 4 = 0 Bits 3,2 e=1 s=1 24B3H 0H 63H 0H
CCS = 1 n = 2 (Word)

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CANopen MICROMASTER response telegram

Table 3-10 MICROMASTER response to the issued SDO write request

Byte 0: Bytes 1,2 Byte 3 Bytes 4,5 Bytes 6,7

Bits 7-5 Bit 4-0 = 0 24B3H 0H reserved = 0
SCS = 3 (index) (sub-index)
(initiate
download
response
)

Additional comments regarding this Chapter:

• A request (SDO request) or a response (SDO Response) always refers to one
parameter value.
• The slave only sends the response if data is available in the MICROMASTER
420/430/440. For specific objects, the appropriate BICO connections must first
be generated. This takes approximately 50 ms under normal operating
conditions.
If the inverter cannot respond to the task that was issued, then it sends an abort
telegram.
• The master may only issue a new SDO request if the response to the previous
request was received.

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3.2.5 PDO (Process Data Object) services

PDO services are used to transfer data which are critical from a time perspective.
PDO connections follow the Producer/Consumer model. Whereby a normal PDO
connection follows the Push model and an RTR connection, the Pull model.
Several objects are mapped in a PDO. This mapping is an agreement between the
sender and receiver as to which object is located at which position in the PDO. This
means that the sender knows at which position in the PDO it should write data and
the receiver knows to where it should transfer data which it received. A more
detailed description of the PDO mapping is provided in Sections 2.2 and 5.4.

Properties and features of PDOs

• Generally unconfirmed data transfer (only confirmed for RTR queries)
• For fast data transfer of up to 8 bytes of net data without protocol overhead
• Data transfer types: Cyclic, synchronously, non-cyclically, synchronously, RTR
synchronously, RTR non-synchronously, non-synchronously

PDO services
Write PDO service
The Write PDO service is unacknowledged. There is a PDO producer which sends
its PDO to the PDO consumer. There can be 0 or more consumers in the network -
but always only one Producer. This service is used for the normal process data
transfer between MICROMASTER 420/430/440 and one of the other CANopen
nodes (e.g. CANopen master). Regarding Receive PDOs, MICROMASTER is the
consumer and regarding Transmit PDOs, is the Producer.

PDO Producer Write PDO PDO Consumers

Request 0 L = 0 ... 8 Indication

Process Data

Fig. 3-11 Write PDO service

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Read PDO service

The read PDO service is an acknowledged service. One or several PDO
consumers send a Remote Transmission Request (RTR) message to the network.
After it has received the RTR message, the PDO producer sends the requested
PDO.
This service is used for RTR queries. Using this service, actual values can be
interrogated independently of the selected cycle time.

PDO Producer Read PDO PDO Consumer

Indication Request
Remote transmit request

Response 0 L = 0 ... 8 Confirmation

Process Data

Fig. 3-12 Read PDO service

PDO identifier
It is recommended that an identifier is allocated to the PDOs in the CANopen
profile for the first four transmit and receive PDOs. However, this can always be
changed by writing into the appropriate communication objects. In Micromaster 440
the COBIDs are pre-set as follows:
Receive PDOs 1. 200H + Node ID
5. 300H + Node ID
(corresponds to the pre-setting [default] for 2. after
DS301, however, the second RPDO does not exist for
the Micromaster, this is the reason that COBID was
assigned here for the next existing PDO)
6. 400H + Node ID
(corresponds to the pre-setting for 3. after DS301)

Transmit PDOs 1. 180H + Node ID

5. 280H + Node ID
(corresponds to the pre-setting [default] for 2. after
DS301. However, the second TPDO does not exist for
the Micromaster; this is the reason that the COBID was
assigned here for the next existing PDO)
6. 380H + Node ID
(corresponds to the pre-setting [default] for 3. after
DS301)

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PDO data transfer types

CANopen makes a differentiation between various data transfer types (trigger
events for the PDOs).
The various data transfer types for PDOs is shown in the following table:

Table 3-11 PDO data transfer types

Data transfer type PDO data transfer

Cyclic Non-cyclic Synchronous Non- RTR
synchronous
0 X X
1 - 240 X X
241 - 251 Reserved
252 X X
253 X X
254 X
255 X

Significance of the various data transfer types:

Non-cyclic synchronous transfer ⇒ If a value has changed, it is sent after
each SYNC telegram
Cyclic synchronous data transfer ⇒ A value is sent (n = 1 - 240) after each
nth SYNC telegram
RTR, synchronous data transfer ⇒ After an RTR query has been received,
after the next received SYNC message,
the value is sent.
RTR, non-synchronous data transfer ⇒ The value is immediately sent after an
RTR query has been received.
Non-synchronous ⇒ Non-synchronous PDOs are always sent
if an event has occurred (the value has
changed). Data transfer types 254 and
255 differ as follows: For 254, the trigger
has a manufacturer-specific origin. For
255, the trigger is received from an event
defined in the profile. In order to receive
the PDO in a specific cycle, in spite of
the non-synchronous data transfer, even
if the value did not change, in the
communication objects event timers can
be set which means that PDOs are sent
after the selected time.

Synchronous PDOs are transferred using the standardized SYNC object. The
SYNC Producer sends these periodically.

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The Transmission Type (operating mode) specifies the data transfer type and the
trigger initiation for a PDO. For synchronous Transmit PDOs, the Transmission
Type also defines the data transfer rate in the form of a factor. For a factor of 0, the
PDO is transferred after each SYNC object if an additional event has occurred (a
value has changed). For a factor of 1, the PDO is transferred after every SYNC
object. For a factor n (n = 1 - 240), the PDO is sent after every nth SYNC signal.
Non-synchronous PDOs are sent independently of the SYNC object. Data of a
synchronous Receive PDO, that is received after a SYNC object, is processed by
the application after the next received SYNC object - independently of the value of
the factor for the Transmission Type. The data of an asynchronous PDO are
always directly transferred to the application.

For receive PDOs, the MICROMASTER 420/430/440 only makes a differentiation

between synchronous and non-synchronous PDOs. The factor is not saved in the
MICROMASTER. This means that after power on, the MICROMASTER only
displays in the communication objects as to whether it received the PDO
synchronously or non-synchronously. The Power-On value of CANopen objects,
that can define the data transfer type of the PDOs, can, under certain
circumstances, deviate from the true values of the objects in the drive inverter. This
is the reason that we urgently recommend that these objects are not saved using a
"SAVE" command via object 0x1010. In fact, after every Power-On command they
should be explicitly re-defined by CAN in order to avoid an incorrect function.

SYNC object SYNC object SYNC object

Cicle time Cicle time

Synchronous Window Length Synchronous Window Length

Act. value Act. value

Setpoints Text_8pt_e Setpoints

zweizeilig
Synchronous PDOs Synchronous PDOs Synchronous PDOs time

Fig. 3-13 Data transfer types

Fault: PDO data transfer type:

If these objects are at 255, and were saved with "Save", then they can no longer be
set back to a synchronous data transfer type. Or, the CAN display remains at the
value 255, even if the inverter is reset to 0 using the commissioning (start-up) tool
and this is also displayed.

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3.2.6 Synchronization service

A SYNC producer sends the synchronization object cyclically as broadcast

telegram. The SYNC telegram defines the basic clock cycle of the network. The
time between the SYNC telegrams is set using the object Communication Cycle
Period (1006H). In order to obtain a precise (accurate) cycle between the SYNC
signals, the SYNC telegram is sent with a high-priority identifier (generally 80H).
This can be modified using the object 1005H. The SYNC transfer applies the
Producer/Consumer Push model and is non-confirmed.

SYNC Producer Write SYNC SYNC Consumer

Request Indication
L=0

Fig. 3-14 Synchronization service

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3.2.7 EMERGENCY object service

The EMERGENCY object is used to transfer an error message to the CANopen

master, or also to another node which can process the error message.
The node fault which last occurred is indicated in the object 1003H Predefined
Error Field. In addition, an 8 byte EMERGENCY telegram is sent non-
synchronously.
The EMERGENCY telegram structure is shown in the following table:

Table 3-12 Structure of the EMERGENCY telegram

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

CANopen CANopen CANopen MICRO- MICRO- Reserved Reserved Reserved
Error code Error code Error MASTER MASTER
register Error Error
number number

Significance of the individual bytes

Byte 0/1 CANopen error code. This corresponds to an MICROMASTER fault. The
interrelationship between the CANopen error number and the
MICROMASTER error number is shown in Table 3-14.
Byte 2 Error register. In the error register it is indicated as to which error class
the error belongs. This fault code is also used for display in object 1001H.
Bit 0: General error
Bit 1: Current error
Bit 2: Voltage error
Bit 3: Temperature error
Bit 4: Communications error
Bit 5: Device profile-specific
Bit 6: Reserved (always 0)
Bit 7: Manufacturer-specific
Byte 3/4 MICROMASTER fault number. Using this fault number it is possible to
directly view the MICROMASTER documentation to identify the error
involved and possibly initiate counter-measures.
Byte 5-7 Not used. These bytes are always zero.

NOTE
Warnings do not initiate EMERGENCY telegrams – they are indicated by the
warning bit in the status word. The CANopen master can read-out the warning
number from object 283EH.

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Optimizing EMERGENCY telegrams

In order to better handle Emergency telegram that are sent non-synchronously
when high bus load levels exist, there are various optimization methods.
Emergency messages can be suppressed by setting bit 31 in object 1014H (COB-
ID EMCY). Then, faults that occur are only displayed in the status word and can be
read-out of object 1003H.
Object 1014H also allows the COB-ID to be changed, which can then be used to
modify the priority of the message. Using the object 1015H (Inhibit Time EMCY), it
is possible to set a delay time for sending the EMCY message.
MICROMASTER 420/430/440 sends an Emergency message if an fault has
occurred in either the option module or in the inverter.

Table 3-13 EMERGENCY messages that are not generated by the drive

Error Code Meaning Additional Description

(Bytes 1/ 2) code
(Hex) (Bytes 3/4)
6300H Dataset update failed 1 Failed to change to new drive dataset. Further
information in diagnostic parameter P2054[0].
Note that this message does not have a
corresponding reset-emergency message!!!
7600H ResetCommunication 2 Tried to execute ResetNode, or ResetCommunication
or after data has been saved to EEPROM.
ResetNode failed Note that this message does not have a
corresponding reset-emergency message!!!
7600H ResetCommunication 2 ResetNode, or resetCommunication failed. Further
or information in diagnostic parameter P2054[0].
ResetNode not possible Note that this message does not have a
corresponding reset-emergency message!!!
8000H CAN sync error 0 CAN sync object not received within communication
cycle period 1006H x 1.5
8000H Drive running 1 Tried to execute ResetNode, or ResetCommunication
whilst drive running.
Note that this message does not have a
corresponding reset-emergency message!!!
8110H CAN overrun 0 Data Overrun has occurred
(unable to process data before next message arrived).
8130H CAN lifeguarding failure 0 RTR frame was not received within the time: Node
Guard time x Node Lifetime factor
8140H Busoff cleared 0 Busoff condition has been cleared.
Note that this message does not have a
corresponding reset-emergency message!!!

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The following table indicates all CANopen error codes and the associated
MICROMASTER faults. A precise description is provided in the MICROMASTER
documentation.

Table 3-14 Assignment of the CANopen error codes to MICROMASTER errors. Comment: Additional
error numbers were introduced here that are not defined in CANopen in order to be able to
more precisely specify the fault/error.

Error Meaning Fault Sub Fault Description

Code number number
(Bytes 1/2) (Bytes 3/4) (Bytes
(Hex) Dec/Hex 5/6)
1000 Undecoded error 0000 0000 Read the error number from Byte 4
2120 Earth leakage F0021/0015H 0000 Earth fault (output)
2300 Current on device output side F0005/0005H 0000 Inverter I2T
2301 Current on device output side F0011/000BH 0000 Motor Overload
2310 Current on Device output side F0001/0001H 0000 Overcurrent
3120 Mains undervoltage F0020/0014H 0000 Mains Phase Missing
3130 Phase failure F0023/0017H 0000 Output phase disconnected
3210 DC link overvoltage F0002/0002H 0000 Overvoltage (DC link)
3220 DC link under voltage F0003/0003H 0000 Undervoltage (DC link)
4110 Excess ambient temp F0004/0004H 0000 r0949/0 Inverter overtemp
4111 Excess ambient temp F0004/0004H 0002/0002H r0949/2 Ambient overtemp
4210 Excess temp device F0004/0004H 0001/0001H r0949/1 Rectifier overtemp
4211 Excess temp device F0004/0004H 0003/0003H r0949/3 Ebox overtemp
4212 Excess temp device F0024/0018H 0000 Rectifier overtemp (input)
5220 Control/Computing circuit F0060/003C 0000 Asic Timeout
H
5400 Power section F0022/0016H 0001/0001H r0949/1
Powerstack fault
IGBT short
Chopper short
Earth fault
IO board not plugged in proper
5401 Power section F0022/0016H 0012/000C r0949/12
H UCE failure
5401 Power section F0022/0016H 0013/000D r0949/13
H UCE failure
5401 Power section F0022/0016H 0014/000E r0949/14
H UCE failure
5402 Power section F0022/0016H 0021/0015H r0949/21
I2C bus read error
5510 Data storage/RAM F0101/0065H 0000 Stack overflow

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Error Meaning Fault Sub Fault Description

Code number number
(Bytes 1/2) (Bytes 3/4) (Bytes
(Hex) Dec/Hex 5/6)
5530 Data storage/EEPROM F0051/0033H 0000 Parameter EEPROM fault
5531 Data storage/EEPROM F0052/0034H 0000 Powerstack fault (I2C read / invalid
data)
5532 Data storage/EEPROM F0053/0035H 0000 IO EEPROM fault
7000 Additional modules F0054/0036H 0000 Wrong IO board
7001 Additional modules F0070/0046H 0000 Control board setpoint timeout
Motor ID failure F0041/0029H 0000 Motor ID failure
See additional word for further
information
7125 0000 Alarm Load missing
value = 0:
7126 0001/0001H Alarm value Current limit level reached
= 1: during identification.
7127 0002/0002H Alarm value Identified stator resistance
= 2: less than 0.1 % or greater
than 100 %.
7128 0003/0003H Alarm value Identified rotor resistance
= 3: less than 0.1 % or greater
than 100 %.
7129 0004/0004H Alarm value Identified stator reactance
= 4: less than 50 % and
greater than 500 %
7130 0005/0005H Alarm value Identified main reactance
= 5: less than 50 % and
greater than 500 %
7131 0006/0006H Alarm value Identified rotor time
= 6: constant less than 10 ms
or greater than 5 s
7132 0007/0007H Alarm value Identified total leakage
= 7: reactance less than 5 %
and greater than 50 %
7133 0008/0008H Alarm value Identified stator leakage
= 8: reactance less than 25 %
and greater than 250 %
7134 0009/0009H Alarm value Identified rotor leakage
= 9: inductance less than 25 %
and greater than 250 %
7135 0020/0014H Alarm value Identified IGBT on-voltage
= 20: less than 0.5 or greater
than 10 V
7136 0030/001EH Alarm value Current controller at
= 30: voltage limit
7137 0040/0028H Alarm value Inconsistence of identified
= 40: data set, at least one
identification failed
7305 Sensor/incremental sensor 1 F0090/005AH 0000 Encoder feedback loss
fault
7330 Inverter temp signal lost F0012/000CH 0000 Inverter temp signal lost
7331 Motor temp signal lost F0015/000FH 0000 Motor temp signal lost

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Error Meaning Fault Sub Fault Description

Code number number
(Bytes 1/2) (Bytes 3/4) (Bytes
(Hex) Dec/Hex 5/6)
7332 FAN failure F0030/0029H 0000 FAN failure
7510 Communication/serial F0071/0047H 0000 USS/BOP link setpoint timeout
interface No. 1
7520 Communication/serial F0072/0048H 0000 USS/COMM link setpoint timeout
interface No. 2
FF22 PID f/b above max value F0222/00DEH 0000 PID f/b above max value
FF35 Restart after fault retries F0035/0023H 0000 Restart after fault retries
FF40 Auto Cal failure F0040/0028H 0000 Auto Cal failure
FF42 Speed optimization failure F0042/002AH 0000 Speed optimisation failure
FF52 Belt failure detected F0452/01C4H 0000 Belt failure detected
FF80 ADC lost input signal F0080/0050H 0000 ADC lost input signal
FF85 External Fault F0085/0055H 0000 External Fault

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3.3 Controlling MICROMASTER drive converters via

CANopen

The state machine for drives - as is supported by MICROMASTER - is shown in

the diagram below. The state machine defines the various stati of the drives and
the possible transitions between them. In order to speed-up the drive run-up, the
drive does not require a second command to progress (advance) from Ready to
power-up to operation enable. If the control has set the two relevant bits, that are
required for these transitions, then the MICROMASTER only displays the powered-
up (switched-on) state in the status word and then automatically changes into the
Operation Enable state.

CANopen state machine

Power Fault 13
Disabled
Fault
Start
Reaction Active

0 14

Not Ready to
Fault
Switch On

15
Switch On
Disabled

2 7 Statusword
Bit 3 (Fault)
Ready to
Switch On

9 8 3 6 10 12

Switch On

4 5

Operation Quick Stop

Enable 11 Active
Power
Enabled

Fig. 3-15 State machine for drives

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3.3.1 CANopen control word

The CANopen control word is used in order to execute the state transitions
described in the previous Chapter.
Parameter P0700 (object:0x22BC*) must be set to 6 in order to transfer the
CANopen control word to the appropriate internal parameters.
The CANopen control word is then written into the inverter at P2050.00 (object
0x2802*) and is then internally copied into parameter r2090. The CANopen control
word is converted to the MICROMASTER control word in the option module. The
assignment of the bits of the CANopen control word to the MICROMASTER control
word are shown in the following table.

Table 3-15 Assignment of CANopen control word bits to MICROMASTER control word bits

Bit CANopen Control Word Drive Control Word

Pos.
00 Switch ON 0 = NO ON/OFF1 0 = OFF1
1 = switch ON 1 = RUN
01 Disable Voltage (OFF2) 1 = NO Do OFF2 0 = YES
0 = disable voltage 1 = NO
02 Quick Stop (OFF3) 1 = NO Do OFF3 0 = YES
0 = quick stop 1 = NO
03 Enable Operation 0 = NO Pulse Enable 0 = NO
1 = enable operation 1 = YES
04 Operation Mode Specific: 0 = disable RFG RFG Enable 0 = NO
RFG disable 1 = enable RFG 1 = YES
05 Operation Mode Specific 0 = stop RFG RFG Start 0 = NO
RFG Stop 1 = start RFG 1 = YES
06 Operation Mode Specific 0 = Zero RFG Setpoint Enable 0 = NO
RFG Zero 1 = RFG not zeroed 1 = YES
07 Reset Fault Fault Acknowledge 0 = NO
1 = YES
08 Halt Not used in CAN (forced to 0)
09 Reserved (0) No connection (forced to 0)
10 Reserved (always 1) Control from PLC (forced to 1) 0 = NO
1 = YES
11 Manufacturer Specific Reverse 0 = NO
1 = YES
12 Manufacturer Specific Not used
13 Manufacturer Specific Motor pot. UP 0 = NO
1 = YES
14 Manufacturer Specific Motor pot. DOWN 0 = NO
1 = YES
15 Manufacturer Specific CDS Bit 0 (Local / Remote) 0 = NO
(needs manually setting of 1 = YES
P0810.0 = 2090.15)

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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 Device control commands

Command/ Bit Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Transitions

of the control Fault Enable Quicksto Switch- Switch-
word reset operation p on on
voltage
(enable
voltage)
Shutdown 0 X 1 1 0 2,6,8
Switch on 0 X 1 1 1 3
Disable voltage 0 X X 0 X 7,9,10,12
Quick stop 0 X 0 1 X 7,10,11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4
Fault reset ⇑ X X X X 15

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.

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The assignment of the bits of the CANopen status word to the MICROMASTER
status word are shown in the following table.

Table 3-17 Assignment of CANopen status word bits to MICROMASTER status word bits

Bit CANopen Status Word Bit Drive Status Word

00 Ready to Switch ON 0 = NO 00 Drive READY 0 = NO
1 = YES 1 = YES
01 Switched ON 0 = NO 01 Drive READY to RUN 0 = NO
1 = YES 1 = YES
02 Operation Enabled 0 = NO 02 Drive RUNNING 0 = NO
1 = YES 1 = YES
03 Fault 0 = NO 03 Drive FAULT ACTIVE 0 = NO
1 = YES 1 = YES
04 Voltage Disabled 0 = NO 04 OFF 2 active 0 = NO
1 = YES 1 = YES
05 Quick Stop: 0 = YES 05 OFF3 Active: 0 = NO
1 = NO 1 = YES
06 Switch on Disabled 0 = NO 06 ON INHIBIT active 0 = NO
1 = YES 1 = YES
07 Warning 0 = NO 07 Drive WARNING active 0 = NO
1 = YES 1 = YES
08 Manufacturer specific 0 = NO 10 Max Frequency Reached 0 = NO
1 = YES 1 = YES
09 Remote Control 0 = NO 09 PZD Control 0 = NO
1 = YES 1 = YES
10 Target Reached: 0 = NO 08 Deviation present:
1 = YES Deviation between 0 = YES
Setpoint / Act. Value 1 = NO
11 Internal limit active 0 = NO 11 Warning: Motor 0 = NO
1 = YES Current Limit 1 = YES
12 Operation Mode Specific 12 Motor Holding 0 = NO
Brake Active 1 = YES
13 Operation Mode Specific 13 Motor Overload 0 = NO
1 = YES
14 Manufacturer specific 14 Motor runs 0 = NO
Direction right 1 = YES
15 Manufacturer specific 15 Inverter Overload 0 = NO
1 = YES

Note inversion between Drive status word and CANopen Status word.

These bits are defined as “reserved” for velocity mode in the CANopen Spec so
these definitions may not be possible

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The status messages of the CANopen status word are listed in the following table.

Table 3-18 Status word bits in the various states

State Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit1 Bit 0

Switch on Quick Voltage Fault Operation Switched Ready to
disabled stop disabled enabled on switch on
Not ready to switch on 0 X X 0 0 0 0
Switch on disabled 1 X X 0 0 0 0
Ready to switch on 0 1 X 0 0 0 1
Switched on 0 1 X 0 0 1 1
Operation Enabled 0 1 X 0 1 1 1
Fault 0 X X 1 0 0 0
Fault Reaction active 0 X X 1 1 1 1
Quick stop active 0 0 X 0 1 1 1

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3.3.3 MICROMASTER control and status word 2

In addition to the CANopen control and status word, for Micromaster, there are also
the so-called control and status words 2. If so required, these can be used to
enable additional Micromaster functions.
In order to be able to address control word 2 of the MICROMASTER via CANopen,
parameter r2050 .3 (object 0x2802* subindex 4) must be connected via the
appropriate BICO connection!
Status word 2 can also be connected as checkback signals to control word 2 via
parameter P 2051.3 (object 0x2803* subindex 4).
This is possible using the BICO connection from r0053 to r2051.03.
Bit 12 of control word 2 (torque control) is additionally changed by the CANopen
object 0x6060 "modes_of_operation", in order to change between closed-loop
speed and torque control and/or between "velocity mode" and" profile torque
mode" (refer to Section 3.1). Object 0x6060 only becomes available if this BICO
connection has been established from bit 12 of control word 2. This can be realized
either via CAN, BOP or the start-up tool.
Note that the free object 0x2802* subindex 4 in the drive corresponds to parameter
r2050.3 and that parameter r2050.3 is internally connected to parameter r2091.
The bits of r2091 can be connected appropriately via BICO to provide the functions
defined below (see Table 3-19 "Manually setting").

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The meaning of the bits in control word 2 and status word 2 are as follows:

Table 3-19 Significance of the bits in control word 2 and status word 2

Bit Control Word 2 Manually setting Status Word 2

Pos.
00 Fixed Frequency Bit 0 0 = NO P1020.0 = 2091.0 DC Brake Active 0 = NO
1 = YES 1 = YES
01 Fixed Frequency Bit 1 0 = NO P1021.0 = 2091.1 Act Freq > freq.off 0 = NO
1 = YES 1 = YES
02 Fixed Frequency Bit 2 0 = NO P1022.0 = 2091.2 Act Freq > f_min 0 = NO
1 = YES 1 = YES
03 Fixed Frequency Bit 3 0 = NO P1023.0 = 2091.3 Act Curr. >= P2170 0 = NO
(not MICROMASTER 420) 1 = YES 1 = YES
04 Drive data set (DDS) Bit 0 0 = NO P0820.0 = 2091.4 Act Freq > P2155 0 = NO
1 = YES 1 = YES
05 Drive data set (DDS) Bit 1 0 = NO P0821.0 = 2091.5 Act Freq <= P2155 0 = NO
1 = YES 1 = YES
06 Not used Not Used Act Freq >= setpoint 0 = NO
1 = YES
07 Not Used Not Used Act Vdc < P2172 0 = NO
1 = YES
08 Enable PID 0 = NO P2200.0 = 2091.8 Act Vdc > P2172 0 = NO
1 = YES 1 = YES
09 Enable DC Brake 0 = NO P1230.0 = 2091.9 Ramping finished
1 = YES (setpoint reached)
10 Not Used Not Used PID output == PID min 0 = NO
1 = YES
11 Enable Droop 0 = NO Not Used PID output == PID max 0 = NO
1 = YES 1 = YES
12 Torque Control 0 = Speed Control P1501.0 = 2091.12 Not Used
(only 440) 1 = Torque Control
13 External Fault 0 = NO P2106.0 = 2091.13 Not Used
1 = External Fault
14 Not Used Not Used Download Data set 0 from 0 = NO
AOP 1 = YES
15 Command Data Set (CDS) 0 = NO P0811.0 = 2091.15 Download Data set 1 from 0 = NO
1 = YES AOP 1 = YES

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3.3.4 Modes of Operation and Modes of Operation display

The CANopen object 0x6060 "modes-of-operation" is used to instruct devices to

change their modes.
Whether the mode of operation of the device was actually changed is indicated in
the object 0x6061 "modes of operation display".
In order to be able to address the CANopen object 0x6060, beforehand, a BICO
connection must be established between P1501 and r2091.12. In CANopen this
means writing the value 282B00C into object 0x25DD*.
MICROMASTER 420/430 only supports the Velocity Mode; MICROMASTER 440
additionally supports the Profile Torque Mode. The definition and the interpretation
of the option module for this object is as follows:

Table 3-20 Significance of the settings in the object Modes of Operation

Modes of Meaning MICROMASTER reaction

operation
–1 to –128 Manufacturer specific Ignored by MICROMASTER
Return emergency Message
0 Reserved Ignored by MICROMASTER
Return emergency Message
1 Profile position mode Ignored by MICROMASTER
Return emergency Message
2 Velocity Mode Velocity Mode (MICROMASTER 420/430/440)
Profile velocity mode Ignored by MICROMASTER
3
Return emergency Message
4 Profile Torque Mode Profile Torque Mode (MICROMASTER 440)
5 Reserved Ignored by MICROMASTER
Return emergency Message
6 Homing mode Ignored by MICROMASTER
Return emergency Message
7 Interpolation position Ignored by MICROMASTER
mode Return emergency Message
8 – 127 Reserved Ignored by MICROMASTER
Return emergency Message

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If "modes-of-operation" is set to the value 4, then, bit 12 (Torque Control) is

automatically SET from control word 2 - and a transition made into the Torque
Control Mode. If the value of "modes-of-operation" is set to 2, bit 12 (Torque
Control) is RESET and a change/transition made to closed-loop speed control
(Velocity mode). See Section 3.3.3 for the definition of control word 2. If the mode
changeover is to be displayed in the CAN object 0x6061 "modes of operation
display", then in addition, a BICO connection must be established from P2051.06
to r0055. Up until now, this connection can only be established using the BOP or
the start-up (commissioning) tool.

CAUTION
Note that for mode selection to work control bit 12 of control word 2 must be BICO-
linked to torque-control / speed-control selection bit via P1501 as follows:
P1501 = r2091.12
(i.e. 082B000C must be written into CAN object 0x25DD sub 0)
For the CAN object 0x6061 "modes of operation display", in addition, a BICO
connection must be established from P2051.06 to r0055. Up until now, this
connection can only be established using the BOP or the start-up (commissioning)
tool.

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CANopen Option Module Operating Instructions

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4 Connecting to CANopen

4.1 Installing the CANopen module for Sizes A, B, C

WARNING
The drive converter/drive inverter must be powered-down (brought into a no-
voltage condition) before installing or removing the CANopen communications
module from a MICROMASTER 420/430/440.

Installing the module

Introduce the CANopen communications module at the lower end and engage the
guide lugs in the unit and then move the top of the module towards the unit until it
latches into place.

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Fig. 4-1 Installing the communications module on MICROMASTER 4 Sizes A, B, C

CANopen Option Module Operating Instructions

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4.2 Installing the CANopen module for Sizes D, E, F

WARNING
The drive converter/drive inverter must be powered-down (brought into a no-
voltage condition) before the CANopen communications module is installed or
withdrawn from a MICROMASTER 430/440.

Installing the communications module

For these Sizes, the CANopen communications module is installed in the drive
converter/drive inverter housing.
To do this, the Standard Display Panel (SDP) and the front cover must be
removed.

Fig. 4-2 Removing the covers for MICROMASTER 4, Sizes D, E, F

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We recommend the following procedure when installing the communications

module:
First insert the bus cable through the appropriate cable gland (the cable should not
have a connector).
Then assemble the CANopen connector
Mount the connector on the communications module
Remove the Display Interface Module (DIM)
Snap the communications module onto the drive converter/drive inverter (into the
appropriate recess)
Insert the Display Interface Module (DIM) into the installed communications module

Fig. 4-3 Installing the communications module for MICROMASTER 4, Sizes D, E, F

Then re-locate the front cover and Standard Display Panel (SDP) on the drive.

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4.3 Installing the CANopen module for Sizes FX, GX

WARNING
The drive converter/drive inverter must be powered-down (brought into a no-
voltage condition) before the CANopen communications module is installed or
withdrawn from a MICROMASTER 430/440.

Installing the communications module

For these Sizes, the CANopen communications module is installed in the drive
converter/drive inverter housing.
To do this, the panel must be removed.

Fig. 4-4 Installing the communications module for MICROMASTER 4, Sizes FX, GX

The communications module is installed essentially the same as for Size A (refer to
Section 4.1). Then re-locate the covers on the drive converter/drive inverter.

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4.4 Bus connection

Pin assignment of the bus connection

9-pin SUB-D plug connectors are used to connect the CANopen option module to
the CAN bus.

Table 4-1 Assignment of CANopen sub-D9 connector

Pin Function Description
1 – Reserved
2 CAN_L CAN_L bus line (dominant low)
1
6 3 CAN_GND CAN Ground
2
7 4 - Reserved
3
8 5 CAN_SHLD Optional CAN Shield
4
9
5 6 GND Optional Ground
7 CAN_H CAN_H bus line (dominant high)
8 - Reserved
9 CAN_V+ Optional CAN external positive supply
(not MICROMASTER)

CAN-bus cables
The CANopen DRP 301-1 profile recommends cables with the following
properties/features:

Table 4-2 Recommended bus cable according to CiA

Bus length [m] Bus cable (1) Termination

Baud rate
Length-related Cross-section resistance
[kbit/s]
resistance [mΩ/m] [mm2] [Ω]

0 ... 40 70 0.25 ... 0.34 124 1000 at 40 m

40 ... 300 < 60 0.34 ... 0.6 150 ... 300 > 500 at 100 m
300 ... 600 < 40 0.5 ... 0.6 150 ... 300 > 100 at 500 m
600 ... 1000 < 26 0.75 ... 0.8 150 ... 300 > 50 at 1 km

(1) Recommended cable AC parameters: 120-Ω impedance and 5-ns/m specific line delay

Bus termination
In order to guarantee perfect operation of the CAN bus, bus terminating resistors
must be provided at both ends of the bus cable (refer to Table 4-2).

Ground connection
Generally, the CAN ground can be connected. However, in completely electrically
isolated CANopen networks the CAN connection does not have to be grounded.

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Cable lengths
The lengths of the bus cables in a CANopen network depend on the baud rate and
the delay times of the various nodes.
The maximum cable lengths for a CANopen network with a CANopen master and a
MICROMASTER 420/430/440 are calculated in the following example. It is as-
sumed that the CANopen MASTER has the same delay times as MICROMASTER
420/430/440.
When calculating the maximum cable lengths between the two nodes located the
farthest away from each other, it is decisive that the nodes with the highest delay
are also located at the start and at the end of the network. Another calculation must
be made if a node with even higher delay times is to be located in a network.

Lmax

CAN bus cable

TLtg

TOptocoupler Optocoupler TOptocoupler

TTransceiver TTransceiver
Transceiver

TCAN TCAN
CAN-Controller

Node 1 Node 2

Fig. 4-5 CANopen network with delay times

TCAN Time lag of the CAN interface chip

TTransceiver Time lag of the transceiver element
TOptocoupler Time lag of the opto-coupler
TLtg Time lag of the cable
Lmax Maximum length of cable

The maximum length of cable between two nodes is calculated using the formula
below:
0,85 - Tel
Lmax = 2 ⋅ Baudrate =
TLtg
0,85 - ([TCAN In+out] +[TTransceive r Tx +Rx]+[2 ⋅ TOptocouple r ])
2 ⋅ Baudrate
TLtg

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The following values must be taken into account for the maximum cable length
between a MICROMASTER and a CANopen-Master with the same values:
CAN interface chip = TCAN = In+out 26 ns
Line driver = TTransceiver (Tx) = 80 ns
Line driver = TTransceiver (Rx) = 150 ns
Opto-coupler = TOptocouler = 40 ns
Cable time lag = TLtg = 5 ns/m

Signal propagation time = 0,85 . TBit = 0,85

Baudrate
(The value 0.85 is permanently set in the MICROMASTER)
This produces the following equation:
0,85 - ([TCAN In+out] +[TTransceive r Tx +Rx]+[2 ⋅ TOptocouple r ])
2 ⋅ Baudrate =
TLtg

0,85 - ([26 ns] +[80 ns + 150 ns] +[2 ⋅ 40 ns])

2 ⋅ Baudrate
5 ns
m
The following approximate cable lengths are obtained from this formula:

Table 4-3 Maximum cable lengths between two bus nodes with the delay times of
MICROMASTER 420/430/440

Baud rate (kbit/s) Maximum network range (m)

1000 18
800 39
500 103
250 273
125 613
50 1633
20 4183
10 8433

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5 Commissioning with CANopen

When commissioning a system for the first time via CANopen, it is important for the
master that it knows the default values of the Node ID (in this case: 3) and the
baud rate (in this case: 10kbit/s) of a new node. This then allows the master to
configure it corresponding to the specified requirements. Further, there must be an
EDS file, to provide information about its default, highest and lowest values as well
as its data type via existing CANopen objects. Practical examples for
commissioning a system for the first time are provided in the Chapters:
"Commissioning in the velocity mode" and "Commissioning in the profile torque
mode".

5.1 Electronic Data Sheet (EDS)

The information required for the existing object of a node are saved in the EDS file.
This EDS file is provided on the CD that is included in the scope of supply of the
CANopen module.

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5.2 Important parameters when commissioning the system

for the first time

NOTE
The CANopen option module can only be connected if the inverter was previously
disconnected/isolated from the power supply.

When commissioning the CANopen option module for the first time, the settings of
the following parameters must be checked:

PKW CANopen Description

object object
P0918 0x2396* CANopen node-ID (network node address of the inverter)
Default value: 3
P2010 0x27DA* CANopen baud rate (baud rate in kbit/s)
Default value: 10
P2040 0x27F8* Process data telegram failure time, refer to Section 5.3
Default value > 0, should be set to 0 when commissioning for the first time
P2041 0x27F9* Communication-module functions
(to set other CANopen features), refer to Section 5.6
P0700 0x22BC* Selects the command source (for complex applications)
Must be set to 6 for CANopen
P1000 0x23E8* Selects the frequency setpoint (for complex applications)
Must be set to 6 for CANopen
P0719 0x22CF* Must be set to 0 in order that P700 and P1000 can be used
r2050 0x2802* Selects the process data setpoint (BICO) (for complex applications)
P2051 0x2803* Selects the process data actual values (BICO). Corresponding to the CAN
parameter, is "read-only". The BICO connection can only be established
using the BOP or commissioning tool
P0927 0x239F* Modification source for parameters
r2053 0x2805* Software release and other software information of the CANopen option
module. (refer to Section 7.4)
r2054 0x2806* Communication module diagnostics (refer to Section 7.3)

NOTE
If the CAN parameters - baud rate and NodeID - were changed, then it is either
necessary to run-up again or send the "reset node" command of the CAN master in
order to make the changes in the drive effective. The run-up must be initiated by
powering-OFF/ON the inverter (powering-down and powering-up again).

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5.3 Parameter "P2040" (object 0x27F8*), telegram failure

time

Parameter "P2040" (object 0x27F8*) is used to activate the monitoring of the

telegram failure time. This parameter is used to set the time for cyclic monitoring of
the master (life guarding and SYNC ). Fault F0070 is activated if the CANopen
option module does not receive a new telegram within the telegram failure time
(this depends on the setting of P2041.04, (or object 0x27F9* sub 4) and then
specifies the response to this fault).
If one of two telegrams fails, the particular alarm (refer to Section 7.2) and a fault
telegram are activated.
The monitoring function is activated as standard (default setting). If the master
does not immediately start with node guarding, then this results in a fault state of
the drive..

"P2040" = 0 no monitoring
"P2040" > 0 telegram failure time in milliseconds (as standard > 0 !)

Caution!
When commissioning the system for the first time, we recommend that
parameter "P2040" (object 0x27F8*) is set to zero in order to prevent the drive
going into a fault state.

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5.4 Setting-up the PDOs

The PDOs can either be configured using a CANopen master or using a

commissioning (start-up) tool. There are several restrictions when it comes to using
and configuring the PDOs due to the fact that the configuration parameters of the
CAN module are not available..
Section 5.6 discusses how parameters 2041.02 and P2041.03 are used to define
the mapping of PDOs 5 and 6 using a commissioning (start-up) tool.
It should be ensured, that at power-up of the PDOs, the default COB_Ids - as they
are described in the CANopen specification DS301, are set. It is not possible to
modify the 4 most significant bits of these COB_IDs. However, the drive can
change the 7 least significant bits of the COB_IDs as these comprise the CANopen
node ID.
The power-on values of the CANopen objects, that define the data transfer type of
the PDOs, can, under certain circumstances, deviate from the true values of the
objects in the inverter. This is the reason that we urgently recommend that these
objects are not saved using a "SAVE" command via object 0x1010. In fact, after
every power-on, they should be explicitly re-defined using CAN in order to avoid an
incorrect function.

The supported PDOs with their default values are as follows:

PDO COB_ID Default mapping Comment

number
R_PDO_1 200H + node ID Control_word Cannot be mapped
Fixed mapping
T_PDO_1 180H + node ID Status_word Cannot be mapped
Fixed mapping
R_PDO_5 300H + node ID MICROMASTER 420/430: Mapping via CANopen master
Default: No mapping or with the low byte from parameter P2041.02
Refer to Section 5.6
T_PDO_5 280H + node ID MICROMASTER 420/430: Mapping via CANopen master
Default: No mapping or with the low byte from parameter P2041.02
Refer to Section 5.6
R_PDO_6 400H + node ID MICROMASTER 420/430/440: Mapping via CANopen master
Default: No mapping or with the low byte from parameter P2041.02
Refer to Section 5.6
T_PDO_6 380H + node ID MICROMASTER 420/430/440: Mapping via CANopen master
Default: No mapping or with the low byte from parameter P2041.02
Refer to Section 5.6

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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 Saved Mapping sequence Bit number in

mapping value P2041.02 or
P2041.03
R_PDO Control word 60400010 1 (lowest mapping index) Bit 0
R_PDO Setpoint (reference) speed 60420010H or 2 Bit 1
60520010H
R_PDO Free object 2802 subindex 3 28020310H 3 Bit 2
R_PDO Free object 2802 subindex 3 28020410H 4 Bit 3
R_PDO Setpoint (reference) torque 60710010H 5 Bit 4
R_PDO Free object 2802 subindex 3 28020610H 6 Bit 5
R_PDO Modes of operation 60600008H 7 (highest mapping index) Bit 6
R_PDO Select RPM or per unit - - Bit 7
T_PDO Status word 60410010H 1 (lowest mapping index) Bit 8
T_PDO Speed control quantity 60430010H or 2 Bit 9
60530010H
T_PDO Free object 2803 index 3 28030310H 3 Bit 10
T_PDO Free object 2803 index 4 28030410H 4 Bit 11
T_PDO Actual torque 60770010H 5 Bit 12
T_PDO Actual speed 60440010H or 6 Bit 13
60540010H
T_PDO Displays the operating mode 60610008H 7 (highest mapping index) Bit 14
T_PDO Select RPM or per unit - - Bit 15

Objects can only be mapped in MICROMASTER 440

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Initially, values that correspond to the lowest bit numbers must be mapped.
As example, here, the following mapping should be set for RPDO_5:
Control word, free object 2802.03, setpoint (reference) torque and modes of
operation.

The following entries are written into the objects of RPDO5:

Set the number of mapping entries to 0 (write 0 to 1604H subindex zero).

1604H index 01 = control word = 60400010H Mapping sequence from list = 1

1604H index 02 = free object 2802.03 = 28020310H Mapping sequence from
list = 3
1604H index 03 = setpoint (reference) torque = 60710010H Mapping sequence
from list = 5
1604H index 04 = modes of operation = 60600008H Mapping sequence from
list = 7
Set the number of mapping entries to 4 (write 4 to 1604H subindex 0) in order to
enable the PDO
This would be correct and the mapping entry would be used in RPDO5.

However, if the entries are written as follows:

Set the number of mapping entries to 0 (write 0 to 1604H subindex zero).

1604H index 01 = control word = 60400010H Mapping sequence from list = 1

1604H index 02 = setpoint (reference) torque = 60710010H Mapping sequence
from list = 5
1604H index 03 = free object 2802.03 = 28020310H Mapping sequence from
list = 3
1604H index 04 = modes of operation = 60600008H Mapping sequence from
list = 7
Set the number of mapping entries to 4 (write 4 to 1601H subindex 0), in order to
enable PDO.
This mapping sequence would result in an error!
The free object 2802.03 must be mapped in a lower object directory subindex than
the setpoint (reference) torque. This error would then have been sent as EMCY
message to the CANopen master - the mapping would not have been used.

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5.5 Timing of the PDOs

The process data of the CANopen option module are updated approx. every 8 ms.
This means, on one hand, that the CANopen master should only send a new
setpoint (reference) value telegram every 8 ms - but, on the other hand, for a non-
synchronous PDO transfer type, actual values are only updated and sent every 8
ms. Setpoints, that are sent in a shorter cycle than the 8ms, can be overwritten.
Only the last setpoint telegram before the data transfer between the CANopen
option module and MICROMASTER 420/430/440 is valid.

5.6 PDO properties in parameter "P2041"

Instead of using the usual CANopen mechanisms, the properties of the PDOs can
be set and checked using the indexed parameter P2041(object 27F9*).This
includes the PDO mapping and the PDO data transfer type. Further, in this
parameter, the behavior of the bus node for a Live Guarding Event, the baud rate,
the response of the CAN state machine to loss of communications (using object
1029H) and the response of the drive status machine to communications loss
(using object 6007H) are defined.
The possible settings are listed in the following tables.

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Table 5-1 Parameterizing the communications module using parameter

(object 27F9*)

Para- Content Comment MICRO-

meter MASTER
420/430 440
2041.00 Low Byte = Transmission Type for T_PDO_1 and T_PDO_5 X X
Transmission See Table 5-2 for definition of Transmission Type.
Type for Example. T_PDO_1 must be transmitted asynchronously. T_PDO_5
T_PDO_1
must be transmitted cyclically and synchronously every sync pulse.
High Byte =
High byte = 1H, Low byte = FFH
Transmission
Type for Convert 1FFH to decimal = 511
T_PDO_5 Enter 511 into P2041.00
Example setup :
2041.00 = 65535
T_PDO_1 = 255
T_PDO_5 = 255
2041.01 Low Byte = Transmission Type for T_PDO_6 and R_PDO_1, R_PDO_5 and X X
Transmission R_PDO_6
Type for See Table 5-2 for definition of Transmission Type.
T_PDO_6
Transmission Type for T_PDO_6 has the same definition as the
High Byte = Transmission Types described in 2041.00.
Transmission
Transmission Type for R_PDO_1, R_PDO_5 and R_PDO_6:
Type for
R_PDO_1, Note that for a node receiving a PDO, it is only necessary to know
R_PDO_5 and whether the received PDO data is transferred immediately to the
R_PDO_6 Drive (asynchronous transfer), or whether the PDO is transferred to
the Drive on the next sync pulse (synchronous transfer). For this
reason for most efficient parameter storage the Transmission Types
for R_PDO_1, R_PDO_5 and R_PDO_6 are stored as single bits:
Bit 8 = 0 means R_PDO_1 is asynchronous and 255 is stored as
the Transmission Type for R_PDO_1
Bit 8 = 1 means R_PDO_1 is synchronous and 0 is stored as the
Transmission Type for R_PDO_1
Bit 9 = 0 means R_PDO_5 is asynchronous and 255 is stored as
the Transmission Type for R_PDO_5
Bit 9 = 1 means R_PDO_5 is synchronous and 0 is stored as the
Transmission Type for R_PDO_5
Bit 10 = 0 means R_PDO_6 is asynchronous and 255 is Stored as
the Transmission Type for R_PDO_6
Bit 10 = 1 means R_PDO_6 is asynchronous and 255 is Stored as
the Transmission Type for R_PDO_6
Note that a CANopen configurator can change the values for the
R_PDO_1, R_PDO_5 and R_PDO_6 Transmission Types to
anything within the allowable range, but only one bit will be used
within the Drive to store this information for each R_PDO. After a
power cycle, because only one bit is used for each R_PDO
Transmission Type, the R_PDO Transmission Types will be set to
either 255 (asynchronous) or 0 (synchronous) and the configurator
can write in the exact values if required. However, note that as far as
a CANopen slave is concerned, it is only necessary to know whether
the R_PDO is synchronous or asynchronous and overwriting by the
CANopen configurator with exact values of Transmission Type is not
really necessary.
Example setup:
2041.01 = 2047
T_PDO_6 = 255
R_PDO_1 = asynchronous = 255
R_PDO_5 = asynchronous = 255
R_PDO_6 = asynchronous = 255

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Para- Content Comment MICRO-

meter MASTER
420/430 440
2041.02 Least Individual bits in these bytes are used select objects to be mapped. X X
Significant Byte The mapping is outlined below in the mapping Table 5-3
= Mapping for (MICROMASTER 420/430) and Table 5-4 (MICROMASTER 440).
R_PDO_5
As an example, it is necessary to map PDO 5 so that it : X
Most
Significant Byte • receives the control word and target torque
= Mapping for • transmits the actual torque and the modes of operation display.
T_PDO_5 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: X
P2041.02 = 0303H = 771:
R_PDO_5 = control_word (6040H), vl_target_velocity (6042H)
T_PDO_5 = Status_word (6041H), Vl_velocity_demand (6043H)
2041.03 Least Individual bits in these bytes are used select objects to be mapped. X X
Significant Byte The mapping is outlined below in the mapping Table 5-3 and Table
= Mapping for 5-4 (MICROMASTER 440).
R_PDO_6
As an example, it is necessary to map PDO 6 so that it : X
Most
• receives the control word, speed reference (in per-unit), target
Significant Byte
torque, and modes of operation
= Mapping for
T_PDO_6 • 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 X X
P2041.02 = 0303H = 771:
R_PDO_6 = control_word (6040H), vl_target_velocity (6042H)
T_PDO_6 = Status_word (6041H), Vl_velocity_demand (6043H)

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Para- Content Comment MICRO-

meter MASTER
420/430 440
2041.04 Least Reaction to Comm Error: X X
Significant Digit If CAN Overflow, bus-off, node guarding error or Sync
(ones) loss go to the following state:
= CAN 0 = Pre-operational
Statemachine 1 = No state change
Reaction to
Comm Error 2 = Pre-operational with an OFF2
3 to 9 = reserved / not permissible
Also the following action will be taken:
− Warning will be generated in Drive.
− Emcy message will be generated.
− Error LED will be updated
Middle Digit: Response to Lifeguarding Event
(tens) If CAN Overflow, bus-off, nodeguarding error or Sync
= Drive loss go to the following state:
Statemachine 0 = remains in current state
to Comm Error − Warning will be generated in Drive.
− No Emcy message will be generated unless 1029H = 0 or 2.
− Error LED will be updated
1 = malfunction
− TRIP the Drive. This is achieved by forcing a comms
timeout which will generate a trip F0070. If P2040 = 0, then
time out is not possible and an OFF2 is generated instead.
− Emcy message will be sent.
− Error LED will be updated
− Warning will be generated in Drive.
2 = disable voltage to switch on disabled
− OFF 2
− Emcy message will be sent.
− Error LED will be updated
− Warning will be generated in Drive.
3 = quick stop to switch on disabled
− OFF 3
− Emcy message will be sent.
− Error LED will be updated
− Warning will be generated in Drive.
4 = quick stop to switch on disabled
− OFF 1
− Emcy message will be sent.
− Error LED will be updated
− Warning will be generated in Drive.
5 - 9 = reserved / not permissible

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Para- Content Comment MICRO-

meter MASTER
420/430 440
2041.04 Most Baud Rate : X X
Significant Digit 0 = 10 kbit/s
(hundreds): 1 = 20 kbit/s
Baudrate
2 = 50 kbit/s
3 = 125 kbit/s
4 = 250 kbit/s
5 = 500 kbit/s
6 = 800 kbit/s
7 = 1 Mbit/s
8 – 9 = reserved, not permissable
Example:
required baudrate = 250 kbit/s
CAN state machine reaction to comm error = No state change
Drive state machine reaction to comm error = disable pulses (OFF2)
Least significant digit = 2
Middle digit = 3
Most Significant Digit = 4
P2041.04 = 432 decimal

The subsequent table shows all of the possible data transfer types for Transmit
PDOs. For Receive PDOs it is only possible to set as to whether the PDO can
receive in synchronism or out of synchronism with the SYNC telegram. This can
either be set using the appropriate CANopen objects or using bits 8, 9 and 10 of
parameter 2041.01 (object 27F9*sub 1).
The power-on values of the CANopen objects, that define the data transfer type of
the PDOs, can, under certain circumstances, deviate from the true values of the
objects in the inverter. This is the reason that we urgently recommend that these
objects are not saved using a "SAVE" command via object 0x1010. In fact, after
every power-on, they should be explicitly re-defined using CAN in order to avoid an
incorrect function.

Table 5-2 Table showing the possible data transfer types

Transmission Type PDO Transmission
Cyclic Acyclic Synchronized Asynchronous RTR only
0 X X
1 - 240 X X
241 - 251 reserved
252 X X
253 X X
254 X
255 X

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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 Object Dictionary Drive Description
Number Index Table
Data into Drive : Transferred from CANopen bus to CANopen objects to Drive parameters 2050.x
Bit 0 R_PDO 6040H 2050.0 Map to CANopen control word (6040H). Note that
this object is mapped internally in the Drive to
Parameter P2090 which is bit-addressable.
Bit 1 R_PDO 6042H or 2050.1 Map to CANopen
6052H vl_target_velocity (RPM, 6042H) or
vl_nominal_percentage (per-unit, 6052H)
Depending on Bit 7.
Bit 2 R_PDO 2802.3H 2050.2 Map to Free Object (2802H subindex 3).
Bit 3 R_PDO 2802.4H 2050.3 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.
Bit 4 Not used
Bit 5 Not used
Bit 6 Not used
Bit 7 R_PDO 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)
Data out of Drive : Transferred from Drive parameters 2051.x to CANopen objects to CANopen bus
Bit 8 T_PDO 6041H 2051.0 Map to CANopen status word (6041H)
Bit 9 T_PDO 6043H or 2051.1 Map to CANopen ….
6053H vl_velocity_demand (RPM, 6043H) or
vl_percentage_demand (per-unit, 6053H)
depending on bit 15
Bit 10 T_PDO 2803.3H 2051.2 Map to Free Object (2803H subindex 3)
Bit 11 T_PDO 2803.4H 2051.3 Map to Free Object (2803H subindex 4)
Bit 12 Not used
Bit 13 Not used
Bit 14 Not used
Bit 15 T_PDO 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)

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Table 5-4 Significance of the bits for MICROMASTER 440 in parameters P2041.02 and P2041.03

MICROMASTER 440
SET Bit Direction Object Dictionary Drive Description
Number Index Table
Data into Drive : Transferred from CANopen bus to CANopen objects to Drive parameters 2050.x
Bit 0 R_PDO 6040H 2050.0 Map to CANopen control word (6040H). Note that
this object is mapped internally in the Drive to
Parameter P2090 which is bit-addressable.
Bit 1 R_PDO 6042H 2050.1 Map to CANopen….
or vl_velocity_reference (RPM, 6042H) or
6052H vl_nominal_percentage (per-unit, 6052H)
depending on Bit 7.
Bit 2 R_PDO 2802.3H 2050.2 Map to Free Object (2802H subindex 3)
Bit 3 R_PDO 2802.4H 2050.3 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.
Bit 4 R_PDO 6071H 2050.4 Map to CANopen Target_Torque (6071H)
Bit 5 R_PDO 2802.6H 2050.5 Map to Free Object (2802H subindex 6)
Bit 6 R_PDO 6060H 2050.3 Map to CANopen Modes_of_operation (6060H)
bit 12
Bit 7 R_PDO 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)
Data out of Drive : Transferred from Drive parameters 2051.x to CANopen objects to CANopen bus
Bit 8 T_PDO 6041H 2051.0 Map to CANopen status word (6041H)
Bit 9 T_PDO 6043H 2051.1 Map to CANopen
or vl_velocity_demand (RPM, 6043H) or
6053H vl_percentage_demand (per-unit, 6053H)
depending on Bit 15
Bit 10 T_PDO 2803.3H 2051.2 Map to Free Object (2803H subindex 3)
Bit 11 T_PDO 2803.4H 2051.3 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.
Bit 12 T_PDO 6077H 2051.4 Map to CANopen actual torque (6077H)
Bit 13 T_PDO 6044H 2051.5 Map to CANopen
or vl_control_effort (RPM, 6044H) or
6054H vl_actual_percentage (per-unit, 6054H)
depending on Bit 15
Bit 14 T_PDO 6061H 2051.6 Map to CANopen modes of operation display
(6061H)

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MICROMASTER 440
SET Bit Direction Object Dictionary Drive Description
Number Index Table
Bit 15 T_PDO Choose mapping to RPM or per-unit values
CLEAR:
if bit 9 set, map to vl_velocity_demand
(RPM, 6043H)
if bit 14 set, map to vl_control_effort
(RPM, 6044H)
SET:
if bit 9 set, map to vl_percentage_demand
(per-unit, 6053H)
if bit 14 set, map to vl_actual_percentage
(per-unit, 6054H)

MICROMASTER 420/430 MICROMASTER 420/430

PDO mapping via PDO mapping via

P2041.02 and P2041.03 P2041.02 and P2041.03

Take objects for PDO Take objects for PDO

from Table 5.3 from Table 5.4

Bit 8 (6041H) in PDO = 1 Bit 8 (6041H) in PDO = 1

Bit 9 (6043H/6053H) in PDO =1 Bit 9 (6043H/6053H) in PDO =1
Bit 10 (2803.03H) in PDO = 1 Bit 10 (2803.03H) in PDO = 1
Bit 11 (2803.04H) in PDO = 1 Bit 11 (2803.04H) in PDO = 1
Bit 12 not assigned, must be 0 Bit 12 (6077H) in PDO = 1
Bit 13 not assigned, must be 0 Bit 13 (6044H/6054H) in PDO = 1
Bit 14 not assigned, must be 0 Bit 14 (6061H) in PDO = 1
Bit 15 Sel. 6043H/6044H active (0) Bit 15 Sel. 6043H/6044H active (0)
or 6053H/6054H active (1) or 6053H/6054H active (1)
map in PDO map in PDO

Join Join
high- and low byte high- and low byte

Conversion into Conversion into

decimal value decimal value

Write down in Write down in

P2041.02 or P2041.03 P2041.02 or P2041.03

Fig. 5-1 Transmitting a PDO mapping via parameter P2041.02 (object 27F9*sub 2)
and P2041.03 (object 27F9*sub 3)

CANopen Option Module Operating Instructions

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MICROMASTER 420/430 MICROMASTER 420/430

PDO mapping via PDO mapping via

P2041.02 and P2041.03 P2041.02 and P2041.03

Take objects for PDO Take objects for PDO

from Table 5.3 from Table 5.4

Bit 0 (6040H) in PDO = 1 Bit 0 (6040H) in PDO = 1

Bit 1 (6042H/6052H) in PDO = 1 Bit 1 (6042H/6052H) in PDO = 1
Bit 2 (2802.03H) in PDO = 1 Bit 2 (2802.03H) in PDO = 1
Bit 3 (2802.04H) in PDO = 1 Bit 3 (2802.04H) in PDO = 1
Bit 4 not assigned, must be 0 Bit 4 (6071H) in PDO = 1
Bit 5 not assigned, must be 0 Bit 5 (2802.06H) in PDO = 1
Bit 6 not assigned, must be 0 Bit 6 (6060H) in PDO = 1
Bit 7 Map selection 6042H (0) or Bit 7 Map selection 6042H (0) or
6052H (1) in PDO 6052H (1) in PDO

Join Join
high- and low byte high- and low byte

Conversion into Conversion into

decimal value decimal value

Write down in Write down in

P2041.02 or P2041.03 P2041.02 or P2041.03

Fig. 5-2 Reading the set PDO mapping via parameters P2041.02 and P2041.03

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Example of a PDO configuration via parameter P2041

The TPDO 5 is to be configured for the MICROMASTER 440. To do this, the PDO
mapping must be set, the data transfer type selected and the COB-ID set with
which the PDO is to be transferred.
The default value of the TPDO 5 looks like this:
COB-ID: 280H + node ID
PDO mapping: 0
Data transfer type: 0, i.e. non-cyclic synchronous - this means that if data has
changed, it is sent after the next SYNC telegram.
These settings should now be changed to the following settings:
COB-ID should be 570H + node ID
PDO mapping: free_object 2803.03, torque_actual_value (6077H),
vl_actual_percentage (6054H), modes_of_operation_display (6061H)
DData transfer type: Cyclic synchronous, i.e. data is, independently of a change,
sent after each tenth SYNC telegram. This is realized as follows:
PDO mapping:
The appropriate parameters are taken from Table 5-1. In this case: Parameter
P2041.02.
The significance of the individual bits that must be set in this parameter for the
PDO mapping are shown in Table 5-4: Bit 10 for object 2803.03, bit 12 for object
6077H, bit 13 for object 6054H and bit 14 for object 6061H.
Bit 15 must be additionally set so that object 6054H is mapped and not object
6044H.
Data transfer type:
From Table 5-1 it can be seen that this is specified in the high byte of parameter
P2041.00. Here, the value 10 must be entered for synchronous data transfer after
each tenth value. The low byte of parameter P2041.00 specifies the data transfer
type of TPDO 1. This means that the value for parameter P2041.00 is obtained as
follows:
Data transfer type TPDO 1 in hex + data transfer type TPDO 5 in hex * 100H =
parameter value in hex.
Then, the value must be converted into a decimal number and entered into
parameter P2041.00.
COB-ID:
COB-ID can only be changed via the CAN bus (SDO access to object: 0x1404 sub
1). This value can be saved in a non-volatile fashion in EEPROM using CANopen
object 0x1010.

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5.7 First commissioning in the velocity mode

The first commissioning in the velocity mode is described in this Chapter. All of the
necessary settings and CAN messages are documented here in order that the
drive can be moved:

Firstly, the following BICO connections must be set using the BOP link or
commissioning (start-up) tool:
Parameter P2051.6 = 55 - connection to display the operating modes
CAN object modes of operation display 0x6061 is active
Parameter P2051.5 = 63 - the actual speed is repeatedly read
CAN object 0x6044 is active
Caution! It is not possible to set this connection via CAN, as object 0x2803*
(P2051) is a read-only object.

5.7.1 Additional commissioning via CANopen

Set the process data failure time to zero:

Write 0 into object 0x27F8 sub 0
T0 00:01:43,9766: 0x603 8-Data: 2b f8 27 00 00 00 00 00
R0 00:01:44,0105: 0x583 8-Data: 60 f8 27 00 00 00 00 00

Select the command source, P700=6

Write 6 into object 0x22BC* sub 0
T0 00:01:44,0716: 0x603 8-Data: 2b bc 22 00 06 00 00 00
R0 00:01:44,1494: 0x583 8-Data: 60 bc 22 00 00 00 00 00

Select the frequency setpoint, P1000=6

Write 6 into object 0x23E8* sub 0
T0 00:01:44,2375: 0x603 8-Data: 2b e8 23 00 06 00 00 00
R0 00:01:44,2642: 0x583 8-Data: 60 e8 23 00 00 00 00 00

Parameter P719 =0 so that P700 and P1000 can be used

Write 0 into object 0x22CF* sub 0
T0 00:01:44,3815: 0x603 8-Data: 2b cf 22 00 00 00 00 00
R0 00:01:44,4114: 0x583 8-Data: 60 cf 22 00 00 00 00 00

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Parameter P1501.0 = P2091.12 (12th bit from parameter 2091)

BICO connection allows the operating modes to be changed-over (selected)
CANopen object 0x6060 is activated
Write 082B000C into object 0x25DD* sub 0
T0 00:01:44,4977: 0x603 8-Data: 22 dd 25 00 0c 00 2b 08
R0 00:01:44,5263: 0x583 8-Data: 60 dd 25 00 00 00 00 00

Set parameter P1300 (control type) to 0 for V/f operation (closed-loop speed
control)
Write 0 into object 0x2514* sub 0
T0 00:01:44,6277: 0x603 8-Data: 2b 14 25 00 00 00 00 00
R0 00:01:44,6573: 0x583 8-Data: 60 14 25 00 00 00 00 00

Set the data transfer type of all PDOs to non-synchronous data transfer:
Write FF into object 0x1400 sub 2
T0 00:01:44,7392: 0x603 8-Data: 2f 00 14 02 ff 00 00 00
R0 00:01:46,4598: 0x583 8-Data: 60 00 14 02 00 00 00 00

Write FF into object 0x1404 sub 2

T0 00:01:46,5702: 0x603 8-Data: 2f 04 14 02 ff 00 00 00
R0 00:01:46,5988: 0x583 8-Data: 60 04 14 02 00 00 00 00

Write FF into object 0x1405 sub 2

T0 00:01:46,6895: 0x603 8-Data: 2f 05 14 02 ff 00 00 00
R0 00:01:46,7217: 0x583 8-Data: 60 05 14 02 00 00 00 00

Write FF into object 0x1800 sub 2

T0 00:01:46,7989: 0x603 8-Data: 2f 00 18 02 ff 00 00 00
R0 00:01:48,4259: 0x583 8-Data: 60 00 18 02 00 00 00 00

Write FF into object 0x1804 sub 2

T0 00:01:48,5405: 0x603 8-Data: 2f 04 18 02 ff 00 00 00
R0 00:01:50,2609: 0x583 8-Data: 60 04 18 02 00 00 00 00

Write FF into object 0x1805 sub 2

T0 00:01:50,3706: 0x603 8-Data: 2f 05 18 02 ff 00 00 00
R0 00:01:50,4000: 0x583 8-Data: 60 05 18 02 00 00 00 00

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5.7.1.1 Execute the mapping for RPDO 4

Set the number of mapped objects to 0

Write 0 into object 0x1604 sub 0
T0 00:01:50,4900: 0x603 8-Data: 2f 04 16 00 00 00 00 00
R0 00:01:50,5034: 0x583 8-Data: 60 04 16 00 00 00 00 00

The control word is the first mapped object:

Write 0x60400010 into object 0x1604 sub 1
T0 00:01:50,6068: 0x603 8-Data: 23 04 16 01 10 00 40 60
R0 00:01:50,6205: 0x583 8-Data: 60 04 16 01 00 00 00 00

Target velocity is the second mapped object:

Write 0x60420010 into object 0x1604 sub 2
T0 00:01:50,7267: 0x603 8-Data: 23 04 16 02 10 00 42 60
R0 00:01:50,7394: 0x583 8-Data: 60 04 16 02 00 00 00 00

Set the number of mapped objects to 2

Write 2 into object 0x1604 sub 0
T0 00:01:50,8290: 0x603 8-Data: 2f 04 16 00 02 00 00 00
R0 00:01:52,4893: 0x583 8-Data: 60 04 16 00 00 00 00 00

5.7.1.2 Execute the mapping for TPDO 4

Set the number of mapped objects to 0

Write 0 into object 0x1A04 sub 0
T0 00:01:52,5891: 0x603 8-Data: 2f 04 1a 00 00 00 00 00
R0 00:01:52,6020: 0x583 8-Data: 60 04 1a 00 00 00 00 00

The status word is the first mapped object:

Write 0x60410010 into object 0x1A04 sub 1
T0 00:01:52,6976: 0x603 8-Data: 23 04 1a 01 10 00 41 60
R0 00:01:52,7110: 0x583 8-Data: 60 04 1a 01 00 00 00 00

The velocity-control effort is the second mapped object:

Write 0x60440010 into object 0x1A04 sub 2
T0 00:01:52,7920: 0x603 8-Data: 23 04 1a 02 10 00 44 60
R0 00:01:52,8058: 0x583 8-Data: 60 04 1a 02 00 00 00 00

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Set the number of mapped objects to 2

Write 2 into object 0x1A04 sub 0
T0 00:01:52,9377: 0x603 8-Data: 2f 04 1a 00 02 00 00 00
R0 00:01:54,5864: 0x583 8-Data: 60 04 1a 00 00 00 00 00

5.7.1.3 Execute the mapping for RPDO 5

Set the number of mapped objects to 0

Write 0 into object 0x1605 sub 0
T0 00:01:54,6741: 0x603 8-Data: 2f 05 16 00 00 00 00 00
R0 00:01:54,6864: 0x583 8-Data: 60 05 16 00 00 00 00 00

The control word is the first mapped object:

Write 0x60400010 into object 0x1605 sub 1
T0 00:01:54,7770: 0x603 8-Data: 23 05 16 01 10 00 40 60
R0 00:01:54,7894: 0x583 8-Data: 60 05 16 01 00 00 00 00

Modes of operation is the second mapped object:

Write 0x60600008 into object 0x1605 sub 2
T0 00:01:54,8523: 0x603 8-Data: 23 05 16 02 08 00 60 60
R0 00:01:54,8659: 0x583 8-Data: 60 05 16 02 00 00 00 00

Set the number of mapped objects to 2

Write 2 into object 0x1605 sub 0
T0 00:01:54,9624: 0x603 8-Data: 2f 05 16 00 02 00 00 00
R0 00:01:56,6833: 0x583 8-Data: 60 05 16 00 00 00 00 00

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5.7.1.4 Execute the mapping for TPDO 5

Set the number of mapped objects to 0

Write 0 into object 0x1A05 sub 0
T0 00:01:56,7626: 0x603 8-Data: 2f 05 1a 00 00 00 00 00
R0 00:01:56,7748: 0x583 8-Data: 60 05 1a 00 00 00 00 00

The status word is the first mapped object:

Write 0x60410010 into object 0x1A05 sub 1
T0 00:01:56,8695: 0x603 8-Data: 23 05 1a 01 10 00 41 60
R0 00:01:56,8819: 0x583 8-Data: 60 05 1a 01 00 00 00 00

Modes of operation display is the second mapped object:

Write 0x60610008 into object 0x1605 sub 2
T0 00:01:56,9977: 0x603 8-Data: 23 05 1a 02 08 00 61 60
R0 00:01:57,0108: 0x583 8-Data: 60 05 1a 02 00 00 00 00

Set the number of mapped objects to 2

Write 2 into object 0x1A05 sub 0
T0 00:01:57,1004: 0x603 8-Data: 2f 05 1a 00 02 00 00 00
R0 00:01:58,7806: 0x583 8-Data: 60 05 1a 00 00 00 00 00

Set the nodes into the operational mode:

T0 00:01:58,8546: 0x000 2-Data: 01 03

Receive the three PDOs:

R0 00:01:58,8655: 0x183 2-Data: 31 fe
R0 00:01:58,8741: 0x283 4-Data: 31 fe 00 00
R0 00:01:58,8816: 0x383 3-Data: 31 fe 02

Run-through the state machine of the drive:

Send 6 using PDO 1
T0 00:01:58,9832: 0x203 2-Data: 06 00

Send 7 using PDO 1

T0 00:01:59,0533: 0x203 2-Data: 07 00

Receive the three PDOs:

R0 00:01:59,0953: 0x183 2-Data: 33 fe
R0 00:01:59,1038: 0x283 4-Data: 33 fe 00 00
R0 00:01:59,1113: 0x383 3-Data: 33 fe 02

Send F using PDO 1

T0 00:01:59,1569: 0x203 2-Data: 0f 00

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Receive the three PDOs:

R0 00:01:59,1942: 0x183 2-Data: 37 fe
R0 00:01:59,2027: 0x283 4-Data: 37 fe 00 00
R0 00:01:59,2103: 0x383 3-Data: 37 fe 02

The drive is now in the "operational“ state

Enter velocity 1000 and control word 7F using PDO4

-> the drive rotates
T0 00:01:59,3084: 0x303 4-Data: 7f 00 e8 03
Receive the three PDOs:

R0 00:01:59,3574: 0x183 2-Data: 37 fa

R0 00:01:59,3658: 0x283 4-Data: 37 fa 00 00
R0 00:01:59,3732: 0x383 3-Data: 37 fa 02

Receive the following three PDOs if the target velocity is reached and the "Target
reached bit" is set by the drive:

R0 00:02:05,4193: 0x183 2-Data: 37 fe

R0 00:02:05,4278: 0x283 4-Data: 37 fe 00 00
R0 00:02:05,4354: 0x383 3-Data: 37 fe 02

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5.7.2 Additional helpful commands for the velocity mode

Setting the baud rate to 500 kbit/s:

Write 500 into object 0x27DA sub 0:
T0 00:00:36,4500: 0x603 8-Data: 2b da 27 00 f4 01 00 00
R0 00:00:38,2083: 0x583 8-Data: 60 da 27 00 00 00 00 00
The new baud rate becomes active after the drive is re-started

Changing the NodeID (CANopen node name):

Write 4 for NodeID=4 into object 0x2396 sub 0
T0 00:00:19,0341: 0x603 8-Data: 2f 96 23 00 04 00 00 00
R0 00:00:19,0540: 0x583 8-Data: 60 96 23 00 00 00 00 00
After the drive re-starts, the new NodeID becomes active

Save the CANopen parameter with "SAVE", object 0x1010:

Write 0x65766173 into object 0x1010 sub 1
T0 00:00:19,1443: 0x603 8-Data: 23 10 10 01 73 61 76 65
R0 00:00:38,1658: 0x583 8-Data: 60 10 10 01 00 00 00 00

Check the PDO mapping using MICROMASTER parameter P2041 (0x27F9*):

The data apply to the mapping set above:

Read FF FF from object 0x27F9 sub 0:

T0 00:00:54,8671: 0x603 8-Data: 40 f9 27 00 00 00 00 00
R0 00:00:54,8856: 0x583 8-Data: 4b f9 27 00 ff ff 00 00

Read 00 FF from object 0x27F9 sub 1:

T0 00:00:54,9398: 0x603 8-Data: 40 f9 27 01 00 00 00 00
R0 00:00:54,9593: 0x583 8-Data: 4b f9 27 01 ff 00 00 00

Read 2103 from object 0x27F9 sub 2:

T0 00:00:55,0574: 0x603 8-Data: 40 f9 27 02 00 00 00 00
R0 00:00:55,0740: 0x583 8-Data: 4b f9 27 02 03 21 00 00

Read 41 41 from object 0x27F9 sub 3:

T0 00:00:55,1647: 0x603 8-Data: 40 f9 27 03 00 00 00 00
R0 00:00:55,1805: 0x583 8-Data: 4b f9 27 03 41 41 00 00

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5.8 First commissioning in the Profile Torque Mode

A first commissioning in the velocity mode is described in this Chapter. All of the
necessary settings and CAN messages are documented here in order to move the
drive:

When commissioning in the Profile Torque Mode, the baud rate for CANbus
communications must be set to 500kbit/s:
Write 500 into object 0x27DA sub 0
T0 00:00:36,4500: 0x603 8-Data: 2b da 27 00 f4 01 00 00
R0 00:00:38,2083: 0x583 8-Data: 60 da 27 00 00 00 00 00
The new baud rate becomes active after the drive is re-started

Initially, the following BICO connections must be set using the BOP or
commissioning (start-up) tool:
Parameter P2051.6 = 55 - connecting to display the operating modes
CAN object modes of operation display 0x6061 is active
Parameter P2051.5 = 63 - the actual speed is repeatedly read
CAN object 0x6044 is active
Parameter P2051.4 = 80 - torque
CAN object 0x6077 is active

Caution! It is not possible to set these connections via CAN as object 0x2803*
(P2051) is a read-only object.

5.8.1 Additional commissioning via CANopen

Set the process data failure time to zero:

Write 0 into object 0x27F8 sub 0
T0 00:01:43,9766: 0x603 8-Data: 2b f8 27 00 00 00 00 00
R0 00:01:44,0105: 0x583 8-Data: 60 f8 27 00 00 00 00 00

Select the command source, P700=6

Write 6 into object 0x22BC* sub 0
T0 00:01:44,0716: 0x603 8-Data: 2b bc 22 00 06 00 00 00
R0 00:01:44,1494: 0x583 8-Data: 60 bc 22 00 00 00 00 00

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Select the frequency setpoint, P1000=6

Write 6 into object 0x23E8* sub 0
T0 00:01:44,2375: 0x603 8-Data: 2b e8 23 00 06 00 00 00
R0 00:01:44,2642: 0x583 8-Data: 60 e8 23 00 00 00 00 00

Parameter P719 =0 so that P700 and P1000 are used

Write 0 into object 0x22CF* sub 0
T0 00:01:44,3815: 0x603 8-Data: 2b cf 22 00 00 00 00 00
R0 00:01:44,4114: 0x583 8-Data: 60 cf 22 00 00 00 00 00

Parameter P1501.0 = P2091.12 (12th bit of parameter 2091)

BICO connection allows the operating modes to be changed-over (selected)
CANopen object 0x6060 is activated
Write 082B000C into object 0x25DD* sub 0
T0 00:01:44,4977: 0x603 8-Data: 22 dd 25 00 0c 00 2b 08
R0 00:01:44,5263: 0x583 8-Data: 60 dd 25 00 00 00 00 00

Set parameter P1300 (control type) to 22 (closed-loop control without encoder)

Write 22 into object 0x2514* sub 0
T0 00:02:06,2779: 0x603 8-Data: 2b 14 25 00 16 00 00 00
R0 00:02:06,2977: 0x583 8-Data: 60 14 25 00 00 00 00 00

Parameter P2050.4 = P1503.0 BICO connection to the torque setpoint source

CANopen object 0x6071 is activated
Write 08020004 into object 0x25DF* sub 0
T0 00:02:06,3982: 0x603 8-Data: 22 df 25 00 04 00 02 08 R0
00:02:06,4125: 0x583 8-Data: 60 df 25 00 00 00 00 00

Changeover into the Profile Torque Mode:

Write 4 into object 0x6060 sub 0
T0 00:02:06,4915: 0x603 8-Data: 2f 60 60 00 04 00 00 00
R0 00:02:06,4925: 0x583 8-Data: 60 60 60 00 00 00 00 00

Check whether the changeover was successful...

Read 4 from object 0x6061 sub 0
T0 00:02:06,5915: 0x603 8-Data: 40 61 60 00 00 00 00 00
R0 00:02:06,5932: 0x583 8-Data: 4f 61 60 00 04 00 bf 84

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Set the data transfer type of all PDOs to non-synchronous data transfer:
Write FF into object 0x1400 sub 2
T0 00:01:44,7392: 0x603 8-Data: 2f 00 14 02 ff 00 00 00
R0 00:01:46,4598: 0x583 8-Data: 60 00 14 02 00 00 00 00

Write FF into object 0x1404 sub 2

T0 00:01:46,5702: 0x603 8-Data: 2f 04 14 02 ff 00 00 00
R0 00:01:46,5988: 0x583 8-Data: 60 04 14 02 00 00 00 00

Write FF into object 0x1405 sub 2

T0 00:01:46,6895: 0x603 8-Data: 2f 05 14 02 ff 00 00 00
R0 00:01:46,7217: 0x583 8-Data: 60 05 14 02 00 00 00 00

Write FF into object 0x1800 sub 2

T0 00:01:46,7989: 0x603 8-Data: 2f 00 18 02 ff 00 00 00
R0 00:01:48,4259: 0x583 8-Data: 60 00 18 02 00 00 00 00

Write FF into object 0x1804 sub 2

T0 00:01:48,5405: 0x603 8-Data: 2f 04 18 02 ff 00 00 00
R0 00:01:50,2609: 0x583 8-Data: 60 04 18 02 00 00 00 00

Write FF into object 0x1805 sub 2

T0 00:01:50,3706: 0x603 8-Data: 2f 05 18 02 ff 00 00 00
R0 00:01:50,4000: 0x583 8-Data: 60 05 18 02 00 00 00 00

Execute the mapping for RPDO 4 - set the number of mapped objects to 0
Write 0 into object 0x1604 sub 0
T0 00:01:50,4900: 0x603 8-Data: 2f 04 16 00 00 00 00 00
R0 00:01:50,5034: 0x583 8-Data: 60 04 16 00 00 00 00 00

The control word is the first mapped object:

Write 0x60400010 into object 0x1604 sub 1
T0 00:01:50,6068: 0x603 8-Data: 23 04 16 01 10 00 40 60
R0 00:01:50,6205: 0x583 8-Data: 60 04 16 01 00 00 00 00

The target torque is the second mapped object:

Write 0x60710010 into object 0x1604 sub 2
T0 00:02:12,4968: 0x603 8-Data: 23 04 16 02 10 00 71 60
R0 00:02:12,4982: 0x583 8-Data: 60 04 16 02 00 00 00 00

Set the number of mapped objects to 2

Write 2 into object 0x1604 sub 0
T0 00:01:50,8290: 0x603 8-Data: 2f 04 16 00 02 00 00 00
R0 00:01:52,4893: 0x583 8-Data: 60 04 16 00 00 00 00 00

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5.8.1.1 Execute the mapping for TPDO 4

Set the number of mapped objects to 0

Write 0 into object 0x1A04 sub 0
T0 00:01:52,5891: 0x603 8-Data: 2f 04 1a 00 00 00 00 00
R0 00:01:52,6020: 0x583 8-Data: 60 04 1a 00 00 00 00 00

The status word is the first mapped object:

Write 0x60410010 into object 0x1A04 sub 1
T0 00:01:52,6976: 0x603 8-Data: 23 04 1a 01 10 00 41 60
R0 00:01:52,7110: 0x583 8-Data: 60 04 1a 01 00 00 00 00

The actual torque is the second mapped object:

Write 0x60770010 into object 0x1A04 sub 2
T0 00:02:14,5797: 0x603 8-Data: 23 04 1a 02 10 00 77 60
R0 00:02:14,5805: 0x583 8-Data: 60 04 1a 02 00 00 00 00

Set the number of mapped objects to 2

Write 2 into object 0x1A04 sub 0
T0 00:01:52,9377: 0x603 8-Data: 2f 04 1a 00 02 00 00 00
R0 00:01:54,5864: 0x583 8-Data: 60 04 1a 00 00 00 00 00

5.8.1.2 Execute the mapping for RPDO 5

Set the number of mapped objects to 0

Write 0 into object 0x1605 sub 0
T0 00:01:54,6741: 0x603 8-Data: 2f 05 16 00 00 00 00 00
R0 00:01:54,6864: 0x583 8-Data: 60 05 16 00 00 00 00 00

The control word is the first mapped object:

Write 0x60400010 into object 0x1605 sub 1
T0 00:01:54,7770: 0x603 8-Data: 23 05 16 01 10 00 40 60
R0 00:01:54,7894: 0x583 8-Data: 60 05 16 01 00 00 00 00

Modes of operation is the second mapped object:

Write 0x60600008 into object 0x1605 sub 2
T0 00:01:54,8523: 0x603 8-Data: 23 05 16 02 08 00 60 60
R0 00:01:54,8659: 0x583 8-Data: 60 05 16 02 00 00 00 00

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Set the number of mapped objects to 2

Write 2 into object 0x1605 sub 0
T0 00:01:54,9624: 0x603 8-Data: 2f 05 16 00 02 00 00 00
R0 00:01:56,6833: 0x583 8-Data: 60 05 16 00 00 00 00 00

5.8.1.3 Execute the mapping for TPDO 5

Set the number of mapped objects to 0

Write 0 into object 0x1A05 sub 0
T0 00:01:56,7626: 0x603 8-Data: 2f 05 1a 00 00 00 00 00
R0 00:01:56,7748: 0x583 8-Data: 60 05 1a 00 00 00 00 00

The status word is the first mapped object:

Write 0x60410010 into object 0x1A05 sub 1
T0 00:01:56,8695: 0x603 8-Data: 23 05 1a 01 10 00 41 60
R0 00:01:56,8819: 0x583 8-Data: 60 05 1a 01 00 00 00 00

Modes of operation display is the second mapped object:

Write 0x60610008 into object 0x1605 sub 2
T0 00:01:56,9977: 0x603 8-Data: 23 05 1a 02 08 00 61 60
R0 00:01:57,0108: 0x583 8-Data: 60 05 1a 02 00 00 00 00

Set the number of mapped objects to 2

Write 2 into object 0x1A05 sub 0
T0 00:01:57,1004: 0x603 8-Data: 2f 05 1a 00 02 00 00 00
R0 00:01:58,7806: 0x583 8-Data: 60 05 1a 00 00 00 00 00

Set the nodes into the operational mode:

T0 00:01:58,8546: 0x000 2-Data: 01 03

Receive the three PDOs:

R0 00:01:58,8655: 0x183 2-Data: 31 fe
R0 00:01:58,8741: 0x283 4-Data: 31 fe 00 00
R0 00:01:58,8816: 0x383 3-Data: 31 fe 04

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Run-through the drive state machine:

Send 6 using PDO 1
T0 00:01:58,9832: 0x203 2-Data: 06 00

Send 7 using PDO 1

T0 00:01:59,0533: 0x203 2-Data: 07 00

Receive the three PDOs:

R0 00:01:59,0953: 0x183 2-Data: 33 fe
R0 00:01:59,1038: 0x283 4-Data: 33 fe 00 00
R0 00:01:59,1113: 0x383 3-Data: 33 fe 04

Send F using PDO 1

T0 00:01:59,1569: 0x203 2-Data: 0f 00

Receive the three PDOs:

R0 00:01:59,1942: 0x183 2-Data: 37 fe
R0 00:01:59,2027: 0x283 4-Data: 37 fe 00 00
R0 00:01:59,2103: 0x383 3-Data: 37 fe 04

The drive is now in the "operational" state

Enter torque 200 and control word 7F using PDO4

-> the drive rotates T0 00:02:21,0924: 0x303 4-Data: 7f 00
c8 00
Receive e.g. the following PDOs: R0 00:02:21,0954: 0x283 4-
Data: 37 fe 00 00
R0 00:02:21,1035: 0x283 4-Data: 37 fe 00 00
R0 00:02:21,1115: 0x283 4-Data: 37 fe 00 00
R0 00:02:21,1196: 0x283 4-Data: 37 fe ff ff
R0 00:02:21,1277: 0x283 4-Data: 37 fe b5 00
R0 00:02:21,1357: 0x283 4-Data: 37 fe fb 00 R0
00:02:21,1438: 0x283 4-Data: 37 fe 08 01
R0 00:02:21,1518: 0x183 2-Data: 37 fa
R0 00:02:21,1520: 0x283 4-Data: 37 fa 10 01
R0 00:02:21,1523: 0x383 3-Data: 37 fa 04

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5.8.2 Additional helpful commands for the profile torque mode

Setting the baud rate:

Write 500 into object 0x27DA sub 0
T0 00:00:36,4500: 0x603 8-Data: 2b da 27 00 f4 01 00 00
R0 00:00:38,2083: 0x583 8-Data: 60 da 27 00 00 00 00 00
The new baud rate becomes active after the drive has restarted

Setting the NodeID (CANopen node name):

Write 4 for NodeID=4 into object 0x2396 sub 0
T0 00:00:19,0341: 0x603 8-Data: 2f 96 23 00 04 00 00 00
R0 00:00:19,0540: 0x583 8-Data: 60 96 23 00 00 00 00 00
The new node name becomes active after the drive has restarted

Save the CANopen parameters with "SAVE", object 0x1010:

Write 0x65766173 into object 0x1010 sub 1
T0 00:00:19,1443: 0x603 8-Data: 23 10 10 01 73 61 76 65
R0 00:00:38,1658: 0x583 8-Data: 60 10 10 01 00 00 00 00

Check the PDO mapping using MICROMASTER parameter P2041 (0x27F9*):

The data apply to the mapping set above:

Read FF FF from object 0x27F9 sub 0

T0 00:02:52,5010: 0x604 8-Data: 40 f9 27 00 00 00 00 00
R0 00:02:52,5160: 0x584 8-Data: 4b f9 27 00 ff ff 00 00

Read 00 FF from object 0x27F9 sub 1:

T0 00:02:52,5946: 0x604 8-Data: 40 f9 27 01 00 00 00 00
R0 00:02:52,6144: 0x584 8-Data: 4b f9 27 01 ff 00 00 00

Read 11 11 from object 0x27F9 sub 2:

T0 00:02:52,6746: 0x604 8-Data: 40 f9 27 02 00 00 00 00
R0 00:02:52,6962: 0x584 8-Data: 4b f9 27 02 11 11 00 00

Read 41 41 from object 0x27F9 sub 3:

T0 00:02:52,7545: 0x604 8-Data: 40 f9 27 03 00 00 00 00
R0 00:02:52,7699: 0x584 8-Data: 4b f9 27 03 41 41 00 00

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6 Commissioning using a commissioning

(start-up) tool

6.1 Assigning process data

The PZD data received (consumed) from the CANopen master is located in a
specific data area in the MICROMASTER 420/430/440. For reasons of flexibility,
this incoming PZD data must be allocated a purpose of use – for instance, the
second word can be used as speed setpoint. Using parameters P0700 and P1000
to allocate, it is set so that the control word is received via P2050.00 and the main
setpoint via P2050.01. The required BICO connections are also made for this
purpose.
The PZD data, transferred back to the CANopen master (produced), come from
another data area which is specifically reserved in MICROMASTER 420/430/440
for outgoing data. This is also done for reasons of flexibility. Every outgoing PZD
data word (16 bit) must be allocated internal status words and actual value words,
which are already available in MICROMASTER 420/430/440. This means that the
second word, sent back to the CANopen master, can, for example, include the
speed actual value. The indexed parameter P2051 is used to make this selection.

NOTE
Only 4 PZD words are shown for the MICROMASTER 420 in Table 6-1. This
corresponds to the maximum capacity of the MICROMASTER 420.
MICROMASTER 430/440 have higher capacities. The CANopen option module
can process up to 6 PZD words.

Parameters "P0700" and "P1000" (selected via BICO)

As described above, control word and setpoint source can be quickly selected
using parameter P0700 (this selects the command source) and P1000 (this selects
the frequency setpoint).
P0719 must be set to 0 if the BICO technology is used with "P0700" and "P1000".

Parameters "r2050" and "P2051" (BICO)

An extremely high degree of flexibility is achieved by interconnecting the process
data using binectors/connectors. More detailed information on this is provided in
the Section "Binectors and connectors" in the Operating Instructions for
MICROMASTER 420/430/440.
The connections of the various setpoints and actual values to and from the
CANopen master via the CANopen option module are defined in "r2050" and
"P2051".

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The following tables contain the specific parameters which are used to connect
process data for the CANopen option module:

Table 6-1 BICO connections for P2050 (PZD from CB)

Parameter Data Comment BICO connection

2050.00 Control word 1 From CANopen control word in object Is copied to r2090 in the
6040H MICROMASTER. Parameter P0700 to
6 sets all BICO connections.
2050.01 Vl_target_velocity/ From CANopen vl_target_velocity in BICO connection to P1070.
vl_nominal object 6042H or from CANopen Parameter 1000 to 6 sets the required
_percentage vl_nominal_percentage in 6052H BICO connection
(depends on mapping selection, see
5.6 )
2050.02 User defined From CANopen free object 2802H BICO connection can be made user-
subindex 3 specific
2050.03 User defined From CANopen free object 2802H BICO connection can be made user-
subindex 4 specific. Is copied to P2091 in the
or from CANopen object Modes of MICROMASTER.
Operation (MICROMASTER 440) In the case of the MICROMASTER
440 and use of the Modes_of
NOTE _operation object, bit 12 must be BICO
If Modes of Operation is mapped, only connected with P1501. All other bits
Bit12 of 2050.03 is affected. All the can be connected freely in BICO.
other bits can be freely used. User can
map free object 2802H subindex 4
AND Modes of Operation. In this case,
user can freely change bits 0 to 11 and
bits 13 to 15 in the free object but bit
12 will only be affected by Modes of
Operation.
Next entries (only for MICROMASTER 440)
2050.04 Target torque From CANopen Target_Torque BICO connection to the momentary
(6071H) target value source (see 0)
2050.05 User defined Map to Free Object BICO connection can be made user-
(2802H subindex 6) specific
2050.03 Modes of operation From CANopen object modes of When using the object
operation (6060H) Modes_of_operation, bit 12 must be
BICO connected with P1501.

NOTE
P2050.00 (Control word 1) is internally copied to parameter r2090 and that
P2050.03 (Free Object) is internally copied into parameter r2091. This is to enable
the BICO connections to be made to the individual bits within these control words.
Note also that modes of operation operates on bit 12 of r2050.03.

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Process data is sent from the drive to the network in parameter P2051 as follows:

Table 6-2 BICO connections for P2051 (PZD to CB)

Parameter Data Comment BICO connection

2051.00 Status word 1 To CANopen status word object BICO connection from r0052.
6041H Parameter 700 to 6 sets the required
BICO connection
2051.01 Vl_velocity_demand To CANopen vl_velocity_demand BICO connection from r0021.
object 6043H and to CANopen Parameter 1000 to 6 sets the required
vl_percentage_demand object 6053H BICO connection
(depends on mapping selection, see
5.6 )
2051.02 User defined To CANopen free object 2803H BICO connection can be made user-
subindex 3 specific
2051.03 User defined To CANopen free object 2803H BICO connection can be made user-
subindex 4 specific
Next entries (only for MICROMASTER 440)
2051.04 Actual_torque To CANopen object torque actual BICO connection from r0080.
value 6077H
2051.05 Actual speed To CANopen vl_control_effort in object Read from r0063 in VC and SLVC
6044H and to vl_actual_percentage in modes. Read from r0021 in VF modes.
object 6054H Default = 0
(depends on mapping selection, see
5.6 )
2051.06 Modes of operation To CANopen modes of operation BICO connection from r0055
display display 6061H

NOTE
r2050 also acts as a display parameter with which the setpoints, received from the
CANopen master, can be checked. These displays always have a decimal format –
if, e.g. r2050.00 = 1150, then this would be 047EH in the hexadecimal format.

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6.2 Parameter "P0927" – change source for parameters

This parameter can be set in order to define the sources of the parameter changes.
Bit 0 CANopen master 0: No
1: Yes
Bit 1 BOP 0: No
1: Yes
Bit 2 Mounting set PC/drive converter 0: No
(USS at the BOP interface) 1: Yes
Bit 3 Local RS485 interface (terminal 14/15 0: No
(MICROMASTER 420) and 29/30 1: Yes
(MICROMASTER 440) with USS)

The pre-setting (default setting) for all bits is 1; this means that the parameters of
all of the sources can be changed.

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6.3 Parameter settings for the modes

Fig. 6-1 to Fig. 6-4 give an overview to the process data connections and show
appropriate BICO connections for velocity mode and torque profile mode.

6.3.1 Velocity Mode

RPDO5 P2041.2 bit 03

RPDO6 P2041.3 bit 03

free object to
MICROMASTER 0 Free connection
P2050.3
2802.4H 1 r2091
RPDO5 P2041.2 bit 02
RPDO6 P2041.3 bit 02

free object to
0 Free connection
MICROMASTER
P2050.2
2802.3H 1

V1_velocity_reference
604EH
RPDO5 P2041.2 bit 01
V1_target_velocity RPDO6 P2041.3 bit 01
4000H
6042H RPDO5 P2041.2 bit 07
604EH RPDO6 P2041.3 bit 07
Drive Main Setpoint
0 Frequency Setpoint P1070 (755.0)
0 BICO connection:
V1_nominal_percentage P2050.1 KK
1
P0700 = 6
6052H 1
RPDO5 P2041.2 bit 00
RPDO6 P2041.3 bit 00 Drive Control Word
r0054
CANopen Drive
control word Conversion from 0 Control Word
P2050.0
BICO connection:
CANopen control word
6040H P0700 = 6
to MICROMASTER 1
Drive
control word Control Word
r2090

Fig. 6-1 Process Data transfer from CAN object dictionary to MICROMASTER 420/430/440 using
RPDO5 or RPDO6

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TPDO5 P2041.2 bit 11

TPDO6 P2041.3 bit 11
free object from
free connection 0
MICROMASTER
P2051.3 (0) 2803.4H
KK 1

TPDO5 P2041.2 bit 10

TPDO6 P2041.3 bit 10
free object from
free connection 0 MICROMASTER
P2051.2 (0) 2803.3H
KK
1

V1_velocity_reference
604EH

TPDO5 P2041.2 bit 09

TPDO6 P2041.3 bit 09 Convert V1_velocity_demand
to RPM
TPDO5 P2041.2 bit 15 6043H
TPDO6 P2041.3 bit 15
604EH
4000H
Drive
Drive Actual Frequency 0 0
Actual Frequency P2051.1 (0)
V1_percentage_demand
BICO connection:
r0021 KK 1 6053H
P2051.1 = 21 1

TPDO5 P2041.2 bit 08

TPDO6 P2041.3 bit 08

Drive Conversion from CANopen status word

Status 0
Status Word MICROMASTER
BICO connection: P2051.0 (0) 6041H
r0052 KK status word to
P0700 = 6 1
CAN status word

Fig. 6-2 Process Data transfer from MICROMASTER 420/430/440 to CAN object dictionary using
TPDO5 or TPDO6

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Typical parameter edits for the Velocity Mode

Parameter Value Comment
2041.0 65535 PDO1, PDO5
Transmit if data changes
2041.1 0* 0 = default value on powerup, so user does not need to change
no change required this.
by user RPDO1, 5 and 6 are asynchronous
TPDO6 = Acyclic, synchronised, but not mapped (not needed
for minimal system)
2041.2 0x0303H = 771 RPDO5:
decimal Control Word
Setpoint in RPM
TPDO5:
Status Word
Actual Speed in RPM
2041.3 0* 0 = default value on powerup, so user does not need to change
no change required this.
by user No mapping for pdo6 (not needed for minimum system)
2041.4 110 decimal Baudrate 20 kb/s
On comm loss, trip drive if possible
On comm loss, switch to pre-operational state.
P0918 Set to drive address Each drive on the network must have a unique address
Default = 3
BICO Connections
P0700 6 Control from CAN
P1000 6 Setpoint from CAN
P2051.1 21 Read back actual speed
P2051.6 55 Connection for modes of operation display

NOTE
Changes to CAN configuration parameters using BOP, AOP, Start-up Tool
(STARTER, DriveMonitor) will only take effect after a powercycle.
Changes to CAN configuration parameters made over the CAN network via the
object dictionary will take immediate effect (powercycle not necessary).

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6.3.2 Profile Torque Mode

RPDO5 P2041.2 bit 05

RPDO6 P2041.3 bit 05

free object to
MICROMASTER 0 Free connection
P2050.5
2802.6H 1

RPDO5 P2041.2 bit 06

RPDO6 P2041.3 bit 06

modes of operation 0 Modify bit 12

If 6060H = 2 bit 12 = 0
6060H 1 If 6060H = 4 bit 12 = 1
RPDO5 P2041.2 bit 03
RPDO6 P2041.3 bit 03

free object to
MICROMASTER 0 Modify bit 12 Free connection
If object 6060H is P2050.3
2802.3H mapped
1 BICO connection:
r2091
Bit 12 P1501 = r2091.12
motor rated torque
Note this = P2003 which by Select speed control
default = 2 x nominal torque or torque control
Speed control setpoint 0
6076H Speed or Torque
setpoint
1
Convert to torque RPDO5 P2041.2 bit 04
CANopen 4000H RPDO6 P2041.3 bit 04 Torque control
target torque 1000 setpoint
Note: 4000H corresponds Torque
6071H to torque in 6076H. 0 setpoint
BICO connection:
Note that 6076H = P2003 P2050.4
P1503 = P2050.4
which by default = 1
2 x nominal torque

Fig. 6-3 Process Data transfer from CAN object dictionary to MICROMASTER 440 using
RPDO5 or RPDO6

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TPDO5 P2041.2 bit 14

TPDO6 P2041.3 bit 14
Convert to Modes of
Operation Display Modes of operation
Control word 2 0 If bit 12 = 0, 6061H = 2 display
from CB P2051.6 (0) = velocity mode 6061H
BICO connection:
r0055 KK 1 if bit 12 = 1, 6061H = 4
P2051.6 = P2091
= torque profile mode
V1_velocity_reference
604EH
TPDO5 P2041.2 bit 13
TPDO6 P2041.3 bit 13 Convert V1_control_effort
to RPM
TPDO5 P2041.2 bit 15 6044H
TPDO6 P2041.3 bit 15 604EH
4000H
Drive
Drive Actual Frequency 0 0
Actual Frequency P2051.5 (0)
V1_actual_percentage
BICO connection:
r0063 KK 1 1 6054H
P2051.5 = 63

TPDO5 P2041.2 bit 12 Convert to

TPDO6 P2041.3 bit 12 CAN per-unit torque
1000
Drive Actual Torque 0 4000H Actual torque
Actual Torque P2051.4 (0) Note that 6077H
BICO connection: 4000H corresponds to
r0080 KK 1
P2051.4 = 80 torque in 6076H
6076H = P2003 = 2 x
nominal torque by default

Fig. 6-4 Process Data transfer from MICROMASTER 440 to CAN object dictionary using
TPDO5 or TPDO6

CANopen Option Module Operating Instructions

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Typical parameter edits for the Profile Torque Mode allowing switchover between
speed and torque control
Parameter Value Comment
2041.0 65535 PDO1, PDO5
Transmit if data changes
2041.1 0* 0 = default value on powerup, so user does not need to change
no change required this.
by user RPDO1, 5 and 6 are asynchronous
TPDO6 = Acyclic, synchronised, but not mapped (not needed
for minimal system)
2041.2 01110010 RPDO5 : TDO5:
01010010 hex = Setpoint in RPM Actual speed in RPM
7252H = 29266 Torque setpoint Actual torque
decimal Modes of operation Actual speed in RPM
Modes of operation display
P1503 2050.4 Connect torque setpoint from CAN
P1501 2091.12 Connect modes of operation to allow switching between speed
control and torque control
P2051.4 80 Connect actual torque
P2051.5 63 Connect actual drive speed. This is not necessary for torque
profile, but it does give the actual motor speed as shown by an
(optional) attached encoder
P2051.6 2091 Connection for modes of operation display

NOTE
Changes to CAN configuration parameters using BOP, AOP, start-up tool
(STARTER, DriveMonitor) will only take effect after a powercycle.
Changes to CAN configuration parameters made over the CAN network via the
object dictionary will take immediate effect (powercycle not necessary).

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7 Diagnostics and troubleshooting

A standard combi LED is provided for troubleshooting. This combi LED displays the
module/network status and, alarms generated specifically from the CANopen
module and a diagnostics display parameter.

7.1 LED display

A two-color LED is provided on the front panel of the CANopen module. This
displays the operating status of the module.
An LED test is carried-out when the module is powered-up. The test proceeds as
follows: The LED is lit green for approximately 1 second and then it is red for 1
second and then it goes dark.
The following table explains the various states of the combi LED for the
module/network status.

Table 7-1 LEDs display types

LED Action
On LED colour constantly ON
Off LED colour constantly OFF
Flickering iso phase on and off with a frequency of about 10 Hz (approximately
50 ms on / 50 ms off)
Blinking iso phase on and off with a frequency of about 2.5 Hz (approximately
200 ms on / 200 ms off)
Single flash One short 200 ms flash followed by off for 1 s
Double Flash Two short 200 ms flashes followed by off for 1 s
Triple Flash Three short 200 ms flashes followed by off for 1 s

In the CANopen specification the RED part of the LED indicates the status of the
CAN physical layer and indicates errors due to missing CAN messages (SYNC,
NODE-GUARDING, etc).
The MICROMASTER 420/430/440 will support the following mandatory states of
the RED part of the LED and an MICROMASTER 420/430/440 specific option as
follows:

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Table 7-2 Status of the red LED display

No. RED part of LED State Description

1 Off No error The device is working normally
2 Single flash Warning limit reached At least one of the error counters of the CAN
controller has reached or exceeded the warning
level (too many error frames).
3 Double flash Error control event A node-guard event
4 Triple flash Sync Error The sync message has not been received with-
in the configured communication cycle period
timeout (see object dictionary entry 1006H).
5 On Bus Off The CAN controller is Bus-Off
Or Fatal Error on option card
6 Blinking Fatal error MICROMASTER specific: Fatal error on Card.

In the CANopen specification the GREEN part of the LED indicates the status of
the CANopen network state machine.
The MICROMASTER 420/430/440 will support the following mandatory states of
the GREEN part of the LED as follows:

Table 7-3 Status of the green LED display

No. GREEN part of LED State Description

1 Off Executing a reset / The device is executing a RESET
Fatal error Or (MICROMASTER specific) option module
fatal error
2 Single flash Stopped The device is in the STOPPED state
3 Blinking Pre-operational The device is in the PRE-OPERATIONAL state
4 On Operational The device is in the OPERATIONAL state

Note that the above effects of the two colours in the LED are combined to give a
total status. For example ‘CAN warning limit reached’ during the ‘pre-operational’
state would give a 200 ms flash of the RED LED every second interspersed with a
2.5 Hz signal on the GREEN LED.

NOTE
Orange colour LED is not critical.

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7.2 Alarms (warnings and faults)

If faults/errors occur in the CANopen communications, the appropriate alarm or

fault number is output at the drive converter/drive inverter.

Warnings
Table 7-4 Warnings displayed at the drive converter

Alarm No. Description

A0700 Can Chip Passive Warning
Erroneous CAN messages are received or sent and the internal fault counter has exceeded 128.
Extra Information
The erroneous CAN messages are not used. Data which was last sent remains valid. If the erroneous
data is process data, depending on the telegram failure monitoring setting (P2040) , fault F0070 can be
initiated. There is no response in the Drive if the parameter access messages are erroneous. The red
error LED of the CANopen module is single flashing. This warning means that there are problems with
the communication through electrical noise or other problems. Note that the health of the link can be
determined by monitoring the number of message errors in the message error counter in r2054.06. See
description of r2054.06 for further information. The message error counter should only increment
occasionally. This warning will clear automatically when the number of error messages on the bus
reduces sufficiently.
Remedy:
• Check and if required correct most significant digit of P2041.04 (baud rate)
for every bus node
• check cable connection between bus nodes
• check cable shielding
• replace the CANopen module
A0701 CAN chip or CAN buffer overflow
Data has been received too quickly to be processed.
Extra Information
If the CAN chip buffer is full, or the software message buffers are full, then any further received
messages will be lost until the option module and drive have had time to process messages from the
buffers. The user has the option to ignore this warning, stop the drive, or to force a drive trip in response
to this condition. See note 2 for further information.
Remedy:
The cause of this error is that the bus loading is too high. Reduce the rate at which messages are sent
to the MICROMASTER 420/430/440. Allow at least 1ms between 2 consecutive messages to the
MICROMASTER 420/430/440. Note that within the drive CANopen module PDO message data is
transferred to the drive every 8 ms, so writing to the same location (i.e. writing the speed set point) more
often than every 8 ms will generally cause the earlier data to be overwritten. Note that PDO that write to
different objects may be sent more often than 8 ms.

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Alarm No. Description

A0702 Can Chip Bus-Off.
Erroneous CAN messages are received or sent and the internal fault counter has exceeded the error
limit.
Extra Information
The erroneous CAN messages are not used. Data which was last sent remains valid. If the erroneous
data is process data, depending on the telegram failure monitoring setting (P2040) and other
configuration settings, fault F0070 can be initiated (see note 1). There is no response in the Drive if the
parameter access messages are erroneous. The red error LED is continued on (see section 7.1). This
warning means that there are problems with the communication through electrical noise or other
problems. Note that the health of the link can be determined by monitoring the number of message
errors in the message error counter in r2054.06. See description of r2054.06 for further information. The
message error counter should only increment occasionally. The chip will automatically return to the non-
busoff state as soon as bus-conditions permit, and will send a recovered from bus-off emcy message to
the CAN network. If the drive has tripped due to the bus-off condition (see note 1) then the drive will
need to be reset before it can control the motor again.
Remedy:
• Check and if required correct most significant digit of P2041.04 (baud rate) for every bus node
• check cable connection between bus nodes
• check cable shielding
• replace the CANopen module
A0703 NodeGuarding failure
MICROMASTER 420/430/440 has not been guarded from the CAN Master within the guard time x the
lifetime factor.
Further Information:
If P2040 > 0, then node guarding is enabled. By default the guard time (object 100CH) will be set to
P2040 / 2 ms and the lifetime factor (object 100DH) will be set to 2, although these values can be
changed from CAN using SDO messages. In response to a node-guarding error the user has options to
ignore the error, trip the Drive, stop the drive, and/or send an emcy message. See note 1.
The red error LED is double flashing (see section 7.1).
Remedy:
• Check health of the bus (is error counter in r2054.06 incrementing frequently?). If bus is unhealthy,
then make checks described for A0700.
• Increase guard time in object 100CH or increase lifetime factor in 100DH
• Increase value in P2040
• Set P2040 = 0 (turn off nodeguarding)
A0704 Sync Error
MICROMASTER 420/430/440 has not received a sync signal within 1.5 times the communication cycle
period.
Further Information:
If object 1006H > 0, then sync checking is enabled on the MICROMASTER 420/430/440. If a sync is not
received within 1.5 time the communication cycle period then this warning will occur. In response to a
sync loss the user has options to ignore the error, trip the Drive, stop the drive, and/or send an emcy
message. See note 1. This warning will clear itself as soon as the software sees 2 sync signals within a
communication cycle period. If the drive has tripped due to the sync-loss condition (see note 1) then the
drive will need to be reset before it can control the motor again.
The red error LED is triple flashing (see section 7.1).
Remedy:
• Check health of the bus (is error counter in r2054.06 incrementing frequently?). If bus is unhealthy,
then make checks described for A0700.
• Increase communication time in object 1006H
• Set 1006H = 0 (turn off sync-loss check)
A0705 Cause:
The status and actual value data of the drive converter is lost
Remedy:
None (fault in the drive converter)

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Alarm No. Description

A0706 Cause:
Software error in the CANopen module
Remedy:
None (fault on the CANopen module – more detailed information is provided in Section 7.3, Diagnostic
parameters)
A0707 Cause:
Data set changed, but failed to update parameter accordingly. See also 2054[0].
Remedy:
Repeat change of dataset
A0710 Cause:
The drive converter detects an error in the communications with the CANopen module
Remedy:
None (the CANopen module must be replaced)
A0711 Cause:
The parameters of the communications module, which define the CANopen connection were incorrectly
set. The fault was detected while the CANopen module was being initialized.
Supplementary information:
Refer to the diagnostic parameters r2054.00 (Section 7.3).
Remedy:
Correct P0918 (CANopen node ID) and/or P2041 (CB parameter), indices 00 to 02.

Note 1: Objects 1029H and 6007H determine CANopen module response to most of the
alarms described above.
1029H is set up from the least significant digit of P2041.04
6007H is set up from the middle digit of P2041.04
Note 2: CAN Chip: The CAN chip is read on interrupt, and interrupt routine takes
approx. 20 to 50 µs. Therefore if 3 messages received within
40 to 100 µs will get CAN overrun.
CAN software: The CAN software has 10 buffers. These buffers are read
every 2 ms. Therefore if receive > 10 messages in 2 ms may
get a CAN overrun.
Drive Cycle Time: This is 8 ms. If the MICROMASTER 420/430/440 receives the
data for the same variable within 8 ms the previous data will
be overwritten.

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Faults
Table 7-5 Fault messages displayed at the drive converter

Fault No. Description

F0070 Cause:
The communications failure monitoring time, set in parameter P2040 has expired. The drive monitors
this time.
Supplementary information:
Also refer to alarms A0700, A0701, A0702.
Remedy:
Check whether the CANopen master has stopped operation.
Check the cable connections between the bus nodes.
Check the cable shield. Ensure that the specifications in the CAN specification have been observed.
Check whether the communications monitoring time was set too short in parameter P2040.
Replace the CANopen master.

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7.3 Diagnostic parameters

Parameter r2054
The indexed parameter r2054 provides detailed information if the MICROMASTER
displays a warning (alarm) generated by the CANopen option module.

Index Content
0 Configuration or other errors
0: no error
1: Invalid slave address (low byte of P0918)
2: Invalid PDO Transmission Type (P2041.00 - P2041.01)
3: Invalid T_PDO Transmission Type (P2041.00 - P2041.01)
4: Invalid R_PDO Transmission Type (P2041.01 high byte)
5: Invalid baud rate (P2041.04)
6: Invalid comm error response (P2041.04)
7: Invalid lifeguarding event response (P2041.04)
8 - 10: Unable to read configuration parameters : problem on comm link to Drive
12: Configuration timed out
13: Other configuration error
14 - 15: Configuration Mapping error (P2041.02 – P2041.03)
16: illegal drive type
32: wrong index passed by SDO
33: SDO wrong profile
35 - 36: Failure in writing Parameters to Drive on reset-node
64 - 66: Execution of resetCommunication command failed
67 - 69 Execution of resetNode command failed
96 - 101 Execution of “load” command failed
112 - 113 Execution of “save” failed
114 Tried to do resetcommunication or resetnode whilst drive running
128 - 129 Data set changed, but failed to update parametes accordingly
146 Tried to do resetnode or resetcommunication when data saved to eeprom or
when already executed a “load” command
CANopen errors
401: Out of RAM
402: Object does not exist
404: Operation not allowed in this state
405: No matching type
406: Inhibit time active
407: No initiate service executed
408: Service is already running
409: Datatype does not fit in telegram
410: Errortype does not fit in telegram
412: Invalid range
415: No COB database available
416: Object disabled
420: PDO Mapping error
421: No access to object dictionary
422: Object does not exist
423: Subindex doesn't exist
424: No read permission
425: No write permission
426: Value greater than upper limit
427: Value less than lower limit
428: Object has wrong size
429: Wrong trans type

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430: Hardware fault

431: Parameter incompatible
432: Unknown SDO error
433: SDO command specifier invalid
434: Invalid SDO block size
435: Invalid SDO block crc sum
436: No resources available for SDO connection
437: Bad requested error control mechanism
438: SDO timed out
439: SDO invalid togglebit
440: SDO invalid transmode
441: Bad device state
442: Bad CRC
1 Status of CAN physical layer:
Bits representing CAN errors (because there may be multiple errors)
0: no errors
Bit 0: not used
Bit 1: CAN error passive (CAN error counter(s) >=127, too many error frames)
Bit 2: CAN overflow (too many can messages in a too short time)
Bit 3: error control (Node-guarding or Heartbeat error event)
Bit 4: Sync error (Sync object not received within configured communication cycle)
Bit 5: Bus-Off (CAN controller in Bus-Off state or fatal error on option card)
2 Status of the CANopen network state-machine:
0: CANopen in initialization state
1: Executing a Reset or Fatal Error
2: CANopen in pre-operational state
3: CANopen in stopped state
4: CANopen in operational state
3 counter for PDO telegrams received error-free since power on.
4 counter for telegrams transmitted since power on.
5 counter for all telegrams received error-free since power-on.
this counter includes all CanBus messages, including those not directed to this module.
6 CAN Error counter and Fatal Code
Value > 32767: Fatal Error Code.
0 – 32767 error counter. Counter wraps around back to 1 when count > 32767. Increments
on any CAN passive error, CAN busoff error or CAN overflow error.
If this value is changing rapidly and warning = A0701 then the CAN bus is overloaded.
• Reduce Bus loading
If this value is changing rapidly and warning = A0700 or A0702 then the CAN bus is not
healthy.
Check and if required correct most significant digit of P2041.04 (baud rate) for every bus
node
• check cable connection between bus nodes
• check cable shielding
• Reduce Bus loading
• replace the CANopen option module

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7.4 Software release and information

The software release and other software information on the communications

module are displayed in the indexed parameter r2053.

Parameter Description
r2053.00 Module type (3 = CANopen)
r2053.01 Version (11 = Version 1.1); this is the same version which is output at CANopen
r2053.02 Firmware details
r2053.03 Year of the software
.
r2053.04 Day / month (2404 = 24 April) of the software

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8 Attachment

8.1 Technical data

Table 8-1 Technical data

Order No. 6SE6400-1CB00-0AA0

Size
(Height x Width x Depth) 161 mm x 73 mm x 43.5 mm
Degree of pollution Degree of pollution 2 according to IEC 60 664-1 (DIN VDE
0110/T1),
moisture condensation during operation is not permissible
Mechanical strength Acc. to DIN IEC 60 068-2-6 (with a correctly installed module)
Stationary
- deflection 0.15 mm frequency range between 10 Hz and 58 Hz
- acceleration 19.6 m/s2 frequency range from > 58 Hz to 500 Hz
During transport
- deflection 3.5 mm frequency range between 5 Hz and 9 Hz
- acceleration 9.8 m/s2 frequency range from > 9 Hz to 500 Hz
Climatic Class (in Class 3K3 according to DIN IEC 60 721-3-3
operation)
Cooling type Air self-cooling
Permissible ambient or
cooling-medium
temperature
- operation –10 °C to +50 °C (14 °F to 122 °F)
- storage –40 °C to +70 °C (–40 °F to 158 °F)
- transport –25 °C to +70 °C (–13 °F to 158 °F)
Relative air humidity
(perm. humidity class)
In operation <= 85 % rF (moisture condensation not permissible)
During transport and <= 95 % rF
storage
Power supply Power is supplied to the CAN bus from the MICROMASTER's
power supply
Output voltage None
Data transfer rate 10, 20, 50, 125, 250, 500, 800 kbaud and 1Mbaud

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8.2 EMC information

The module fulfills the following Standards regarding noise emission and noise
immunity:
Noise emission according to EN55011 (1991) Class A
Noise immunity according to IEC 60 801-3 and EN61000-4-3

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8.3 List of Abbriviations

AC Alternating current
AD Analog digital converter
ADC Analog digital converter
ADR Address
AFM Additional frequency modification
AIN Analog input
AOP Advanced operator panel
AOUT Analog output
ASP Analog setpoint
ASVM Asymmetric space vector modulation
BCC Block check character
BCD Binary-coded decimal code
BI Binector input
BICO Binector / connector
BO Binector output
BOP Basic operator panel
C Commissioning
CAL CAN Application Layer
CAN Controller Area Network
CB Communication board
CCS Client Command Specifier
CCW Counter-clockwise
CDS Command data set
CI Connector input
CiA CAN in Automation
CM Configuration management
CMD Commando
CMM Combimaster
CO Connector output
CO/BO Connector output / Binector output
COB-ID Communication Object Identifier
COM Common (terminal that is connected to NO or NC)
COM-Link Communication link
CT Commissining, ready to run
CT Constant torque
CUT Commissining, run, ready to run

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CW Clockwise
DA Digital analog converter
DAC Digital analog converter
DC Direct current
DDS Drive data set
DIN Digital input
DIP DIP switch
DOUT Digital output
DS Drive state
EEC European Economic Community
EEPROM Electrical erasable programmable read-only
ELCB Earth leakage circuit breaker
EMC Electro-magnetic compatibility
EMF Electromotive force
EMI Electro-magnetic interference
FAQ Frequently asked questions
FCC Flux current control
FCL Fast current limit
FF Fixed freqeuncy
FFB Free function block
FOC Field orientated control
FSA Frame size A
GSG Getting started guide
GUI ID Global unique identifier
HIW Main actual value
HSW Main setpoint
HTL High-threshold logic
I/O Input and output
IBN Commissioning
IGBT Insulated gate bipolar transistor
IND Subindex
JOG Jog
KIB Kinetic buffering
KTY
LCD Liguid crystal display
LED Light emitting diode
LGE Length
MHB Motor holding brake
MM4 MICROMASTER 4th. Generation

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MOP Motor potentiometer

NC Normally closed
NO Normally open
Node-ID Node address
NPN
OPI Operating instructions
PDO Process Data Object
PDS Power drive system
PID PID controller (proportional, integral, derivative)
PKE Parameter ID
PKW Parameter ID value
PLC Programmable logic controller
PLI Parameter list
PNP
PPO Parameter process data object
PTC Positive temperature coefficient
PWE Parameter value
PWM Pulse-width modulation
PNU Parameter number
PX Power extension
PZD Process data
QC Quick commissioning
RAM Random-access memory
RCCB Residual current circuit breaker
RCD Residual current device
RFG Ramp function generator
RFI Radio-frequency interference
ro read only
RPM Revolutions per minute
RTR Remote Transmission Request
rw read/write
SCL Scaling
SCS Server Command Specifier
SDO Service Data Object
SDP Status display panel
SLVC Sensorless vector control
STW Control word
STX Start of text
SVM Space vector modulation

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TTL Transistor-transistor logic

USS Universal serial interface
VC Vector control
VT Variable torque
wo write only
ZSW Status word

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CANopen Option Module Operating Instructions

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Recommendations and/or corrections

To Recommendations
Corrections
Siemens AG
For the document/Manual:
Automation & Drives Group MICROMASTER 420/430/440
SD SM 5 CANopen Option Module
P.O. Box 3269

D-91050 Erlangen
Federal Republic of Germany

Email: [email protected] User Documentation

From
Name: Order No.: 6SE6400-5BC00-0BP0
Date published: 01/05
Company/Service Department If, when reading this document, you
Address: come across printing mistakes, then
please let us know using this form.
Telephone: __________ / We would also be grateful for any
Fax: ________ / suggestions and recommendations for
improvement.

CANopen Option Module Operating Instructions

6SE6400-5BC00-0BP0 131
Siemens AG
Automation and Drives Group (A&D)
Standard Drives (SD) Division
Postfach 3269, D-91050 Erlangen © Siemens AG, 2002, 2004
Germany We reserve the right to make changes

Siemens Aktiengesellschaft Order No.: 6SE6400-5BC00-0BP0

Printed in Germany