Siemens SINAMICS G110M Function Manual page 180

Communication over CANopen
6.2 SDO services
Access to non-mapped PZD objects
When you access objects that are not interconnected via the receive or transmit telegram,
you must also establish the interconnection with the corresponding CANopen parameters.
Overview
Figure 6-4
Figure 6-5
Figure 6-6
Example for interconnecting the control word with CANopen parameters:
ON/OFF1
No coast down activated
No fast stop activated
Enable operation
Enable ramp-function genera-
tor
Continue ramp-function gen-
erator
Enable speed setpoint
Acknowledge fault
Stop
178
Access to non-mapped PZD setpoint objects
Access to non-mapped free PZD actual value objects
Access to non-mapped standardized PZD actual value objects
p840[0] = r8795.0
p0844[0] = r8795.1
p0848[0] = r8795.2
p0852[0] = r8795.3
p1140[0] = r8795.4
p1141[0] = r8795.5
p1142[0] = r8795.6
p2103[0] = r8795.7
p8791 = r8795.8
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
Fieldbuses