Commissioning Canopen; Setting The Node Id And Baud Rate - Siemens SINAMICS G120 Operating Instructions Manual

COB ID
A communication object includes data – which is transferred – and an 11 bit COB-ID, which
uniquely identifies it. The priority when executing the communication objects is controlled
using the COB-ID. The communication object with the lowest COB-ID always has the highest
priority.
COB ID for individual communication objects
You will find the specifications for the COB IDs of the individual communication objects
below
 COB ID
 COB ID
 COB ID
 COB-ID
 COB-ID
 COB ID
 COB ID
 COB ID
*) COB-ID for RPDO and TPDO for the "Predefined Connection Set", seePage (Page 143).
8.5.3

Commissioning CANopen

8.5.3.1

Setting the node ID and baud rate

In the converter you must set the node ID and the baud rate to permit communication.
CAUTION
Changes made to the node ID or baud rate only become effective after switching off and on
again. It is particularly important that any external 24 V supply is switched off.
Note that before turning off, you must save the changes using RAM -> ROM (
The currently active Node ID is displayed in parameter r8621.
SINAMICS G120C frequency converter
Operating Instructions, 03/2012, FW V4.5, A5E02999804B AB
cannot be changed
= 0
NMT
in most cases, this is preassigned with 80 hex
= free
SYNC
In most of the cases, COB ID
= free
EMCY
In the free PDO mapping *)
= free
TPDO
In the free PDO mapping *)
= free
RPDO
= 580 + Node-ID
TSDO
= 600 + Node-ID
RSDO
= 700 + Node-ID
Node Guarding/Heartbeat
Configuring the fieldbus
8.5 Communication via CANopen
+ node-ID = COB-ID
SYNC EMCY
).
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