Configuring Communication To The Control; Canopen Functionality Of The Inverter - Siemens SINAMICS G120 Operating Instructions Manual

Configuring the fieldbus
7.4 Communication via CANopen
7.4.1

Configuring communication to the control

The EDS file is the description file of the SINAMICS G120 converter for CANopen networks.
If you load the EDS file into your CAN controller, you can use the objects of the DSP 402
device profile.
1. You can find the EDS file of the converter inInternet
In Section Engineering example (Page 159), you can find an example of how you can
integrate the converter into a CAN controller using the EDS.
7.4.2

CANopen functionality of the inverter

CANopen is a CAN-based communication protocol with linear topology that operates on the
basis of communication objects (COB).
Communication between the converter and control can be established via Predefined
connection set (Page 146) or via Free PDO mapping (Page 147)
Communication objects (COB)
The converter operates with communication objects from the following profiles:
● CANopen communication profile DS 301 version 4.0
● Device profile DSP 402 (drives and motion control) version 2.0
● Indicator profile DR303-3 version 1.0.
Specifically, these are:
● SDO
● PDO
● NMT
● SYNC
● EMCY
134
(http://support.automation.siemens.com/WW/view/en/48351511).
Service data objects for reading and changing parameters
Process data objects to transfer process data, TPDO to send, RPDO to receive
Network management objects (NMT) for controlling CANopen communication and for
monitoring the individual nodes on the basis of a master-slave relationship.
Synchronization objects
Time stamp and fault messages
Operating Instructions, 01/2011, FW 4.4, A5E02999804A AB
SINAMICS G120C Inverter