Profile Torque Mode - Siemens MICROMASTER 420 Operating Instructions Manual

Information for the CANopen master
6.3.2

Profile Torque Mode

RPDO5 P2041.2 bit 05
RPDO6 P2041.3 bit 05
free object to
0
MICROMASTER
2802.6H
1
RPDO5 P2041.2 bit 06
RPDO6 P2041.3 bit 06
0
modes of operation
6060H
1
RPDO5 P2041.2 bit 03
RPDO6 P2041.3 bit 03
free object to
0
MICROMASTER
2802.3H
1
motor rated torque
Note this = P2003 which by
default = 2 x nominal torque
6076H
CANopen
target torque
Note: 4000H corresponds
6071H
to torque in 6076H.
Note that 6076H = P2003
Fig. 6-3 Process Data transfer from CAN object dictionary to MICROMASTER 440 using
RPDO5 or RPDO6
110
Modify bit 12
If 6060H = 2 bit 12 = 0
If 6060H = 4 bit 12 = 1
Modify bit 12
If object 6060H is
mapped
Speed control setpoint
Convert to torque
RPDO5 P2041.2 bit 04
4000H
RPDO6 P2041.3 bit 04
1000
which by default =
2 x nominal torque
Free connection
P2050.5
Free connection
P2050.3
BICO connection:
r2091
P1501 = r2091.12
Bit 12
Torque
setpoint
0
BICO connection:
P2050.4
P1503 = P2050.4
1
CANopen Option Module
Issue 01/05
Select speed control
or torque control
0
Speed or Torque
setpoint
1
Torque control
setpoint
Operating Instructions
6SE6400-5BC00-0BP0