Engineering Example - Siemens SINAMICS G120 Operating Instructions Manual

7.4.6

Engineering example

The following example describes how you can integrate the converter into a CANopen bus
system using STARTER in two steps.
In the first step, the converter is integrated into the communication via the CAN bus using the
Predefined Connection Set. In this case, the control word, the speed setpoint as well the
status word and speed actual value are transferred.
In the second step, using the free PDO mapping, the torque setpoint as well as the current
actual value are mapped and the BiCo wiring established.
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 61) 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 158)).
SINAMICS G120C Inverter
Operating Instructions, 01/2011, FW 4.4, A5E02999804A 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 135) - (in the example, Node ID = 50, transmission rate
= 500 kbit/s).
(Page 146): p8744 = 1 and accept with p8744 = 1 (p8744 jumps back to 0 again after a
few seconds).
Configuring the fieldbus
7.4 Communication via CANopen
159