Canopen Functionality Cu305 Can - Siemens Sinamics S110 Function Manual

4.1.5

CANopen functionality CU305 CAN

Introduction
The CU305 CAN supports the CANopen transfer types with SDOs (service data objects) and
PDOs (process data objects).
The CU305 CAN also supports free PDO mapping.
The CU305 CAN supports CANopen communication profile DS 301 version 4.0, device
profile DSP 402 (drives and motion control) version 2.0, and indicator profile DR303-3
version 1.0.
For communication monitoring purposes, the CU305 CAN supports node guarding and the
heartbeat protocol (heartbeat producer).
The CU305 CAN features an SDO → parameter channel that can be used to read or write all
the SINAMICS parameters.
The CU305 CAN firmware supports Profile Velocity Mode.
Node guarding
SINAMICS waits a certain time (node lifetime) for message frames from the master
application and permits a specific number (lifetime factor) of failures within a specified time
interval (node guard time).
The node lifetime is calculated by multiplying the node guard time by the lifetime factor.
Heartbeat protocol
SINAMICS (producer) cyclically transmits (heartbeat time) its communication status (sign of
life) on the CAN bus to the master application.
Profile velocity mode
Velocity setpoint defaults and settings can be made in this mode.
Function Manual
Function Manual, 01/2011, 6SL3097-4AB10-0BP3
Commissioning with CANopen
4.1 Requirements for commissioning
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