Communication Over Canopen; Canopen Functions Of The Converter - Siemens SINAMICS G120 Original Instructions Manual

Configuring the fieldbus

7.7 Communication over CANopen

7.7 Communication over CANopen
General information on CAN
You can find general information on CAN in the CAN Internet pages (http://www.can-cia.org);
you can obtain an explanation of CAN terminology in the CANdictionary under CAN
downloads (http://www.can-cia.org/index.php?id=6).
Integrating a converter in a CANopen network
To integrate a converter in a CANopen network, we recommend the EDS file on the Internet
(http://support.automation.siemens.com/WW/view/en/48351511). This file is the description
file of the SINAMICS G120 converter for CANopen networks. In this way, you can use the
objects of the DSP 402 device profile.
7.7.1

CANopen functions of the converter

CANopen is a CAN-based communication protocol with linear topology that operates on the
basis of communication objects (COB).
There are two ways you can setup the communication between the inverter and the
controller:
● Via the Predefined connection set (Page 201)
● Via Free PDO mapping (Page 202)
Communication objects (COB)
The inverter operates with communication objects from the following profiles:
● CANopen communication profile CiA 301
● Device profile CiA 402 (Drives And Motion Control)
● Indicator profile DR 303-3
Specifically, these are:
● NMT Network management (NMT service) (Page 190)
● SDO SDO services (Page 192)
● PDO PDO and PDO services (Page 197)
Process data objects to transfer process data; TPDO to send, RPDO to receive
● SYNC
Synchronization objects
● EMCY
Time stamp and fault messages
188
Network management objects for controlling CANopen communication and for monitoring
the individual nodes on the basis of a master-slave relationship
Service data objects for reading and changing parameters
Inverter with CU230P-2 Control Units
Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG