Sdo Services - Siemens SINAMICS G120 Operating Instructions Manual

Converter response to a bus fault - CAN controller state "Bus off" (converter fault F8700, fault
value 1)
If you acknowledge the bus fault using OFF/ON, the bus OFF state is also canceled and
communication is restarted.
If you acknowledge the bus fault via DI 2 or directly via p3981, then the converter remains in
the bus OFF state. To restart communication, in this case, you must set p8608 to 1.
If you acknowledge the bus fault via DI 2 or directly via p3981 - and p8641 is set to 0 (for a
bus fault, the converter does not go into a fault condition), then you must restart
communication via p8608 = 1 before you can stop the motor via the control.
7.4.3.3

SDO services

You can access the object directory of the connected drive unit using the SDO services. An
SDO connection is a peer-to-peer coupling between an SDO client and a server.
The drive unit with its object directory is an SDO server.
The identifiers for the SDO channel of a drive unit are defined according to CANopen as
follows.
Receiving:
Transmitting:
Properties
The SDOs have the following properties:
● SDO are transferred in the Preoperational and Operational states
● The transfer is confirmed
● Transfer is asynchronous (corresponds to acyclic data exchange for PROFIBUS DB)
● Transmission of values > 4 bytes (normal transfer)
● Transmission of values ≤ 4 bytes (expedited transfer)
● All drive unit parameters can be addressed via SDO.
SINAMICS G120C Inverter
Operating Instructions, 01/2011, FW 4.4, A5E02999804A AB
WARNING
Server <= Client:
Server => Client:
7.4 Communication via CANopen
COB ID = 600 hex + node ID
COB ID = 580 hex + node ID
Configuring the fieldbus
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