Siemens SINAMICS G120 Operating Instructions Manual page 159

Preconditions for integrating in CAN
The following preconditions must be fulfilled in order to be
able to integrate the converter into a CAN bus:
 The converter and motor must have been completely
 STARTER V4.2 or higher has been installed on your
 You have a CAN controller via which you can control the
 The converter is connected online with Starter.
 The EDS file has been installed on your CAN controller.
Integrate the converter into a CAN bus system using the Predefined Connection Set
● Carry out the commissioning (Page 64) using the wizards and for the I/O configuration
● In STARTER, in the screen form ".../Control_Unit/Communication/CAN" set the node ID
● Using the Expert List, in Starter set the mapping via the Predefined connection set
As a consequence, you have established communication with CAN via the "Predifined
Connection Set" (speed setpoint/control word as well as the actual value/status word, also
see Objects in drive profile DSP402 (Page 156)).
Integrate the current actual value and torque limit into the communication via the free PDO mapping
In order to integrate the current actual value and torque limit into the communication, you
must switch over from the Predefined Connection Set to the free PDO mapping. The current
actual value and torque limit are integrated as free objects.
In the example, the actual current value is transferred in TPDO1 and the torque limit in
RPDO1, i.e. it is not necessary to create new communication parameters (node ID and
transmission mode). However, you must map the OD indices for the current actual value and
the torque limits and adapt to the BiCo interconnection.
1. Switching over from the Predefined Connection Set to free PDO mapping
In the expert list, set p8744 to 1.
SINAMICS G120C frequency converter
Operating Instructions, 03/2012, FW V4.5, A5E02999804B AB
installed
computer.
converter.
(second commissioning step) select the setting "22 CAN fieldbus" (macro 15 = 22). As a
consequence, you establish the BICO interconnection of the speed setpoint/control word
as well as speed actual value/status word corresponding to the Predefined Connections
Set.
and data transmission rate (Page 133) - (in the example, Node ID = 50, transmission rate
= 500 kbit/s).
(Page 143): p8744 = 1 and accept with p8744 = 1 (p8744 jumps back to 0 again after a
few seconds).
Configuring the fieldbus
8.5 Communication via CANopen
157