Canopen Object Directory - Siemens Sinamics S110 Function Manual

4.2.2

CANopen object directory

CANopen object directory
When the drive objects are initialized,
the CANopen objects are initialized in the object directory of the SINAMICS drive line-up
(CANopen slave software).
Objects
The following SINAMICS objects are involved in communication:
1. Control Unit communication objects independent of the drive
2. Drive-dependent communication objects
3. Manufacturer-specific objects
4. Drive objects in drive profile DSP 402
Drive functions
Function Manual, 10/2008, 6SL3097-4AB10-0BP0
– include: Number and number of errors, communication addresses etc.
– Up to eight PDOs for sending and eight PDOs for receiving can be parameterized for
the drive. Each PDO contains:
- Communication and
- mapping parameters (max. 8 bytes/4 words/64 bits)
– Objects to access SINAMICS parameters.
– Free objects for sending/receiving process data, there are freely interconnectable
objects available for each drive object (max. 16) in the object directory (see CANopen
Manual for table).
– The manufacturer-specific range starts in the object directory from address 2000 hex
and ends at 5FFF hex.
– Profile Velocity Mode.
– Setpoint and actual values and comparisons.
Commissioning with CANopen
4.2 Commissioning
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