Information for the CANopen master Issue 01/05
CANopen Option Module Operating Instructions
102 6SE6400-5BC00-0BP0
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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