Siemens MICROMASTER 420 Operating Instructions Manual

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Data transfer using CANopen Issue 01/05CANopen Option Module Operating Instructions60 6SE6400-5BC00-0BP03.3.3 MICROMASTER control and status word 2In addition to the CANopen control and status word, for Micromaster, there are alsothe so-called control and status words 2. If so required, these can be used toenable 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 theappropriate BICO connection!Status word 2 can also be connected as checkback signals to control word 2 viaparameter 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 CANopenobject 0x6060 "modes_of_operation", in order to change between closed-loopspeed and torque control and/or between "velocity mode" and" profile torquemode" (refer to Section 3.1). Object 0x6060 only becomes available if this BICOconnection has been established from bit 12 of control word 2. This can be realizedeither via CAN, BOP or the start-up tool.Note that the free object 0x2802* subindex 4 in the drive corresponds to parameterr2050.3 and that parameter r2050.3 is internally connected to parameter r2091.The bits of r2091 can be connected appropriately via BICO to provide the functionsdefined below (see Table 3-19 "Manually setting").