Siemens SINAMICS G120 Original Instructions Manual page 9

7.3.1.5 Slave-to-slave communication ................................................................................................... 129
7.3.2 Acyclic communication ............................................................................................................... 130
7.4 PROFIenergy profile for PROFINET .......................................................................................... 135
7.5 Communication via EtherNet/IP ................................................................................................. 137
7.5.1 Connect converter to Ethernet/IP............................................................................................... 137
7.5.2 What do you need for communication via Ethernet/IP?............................................................. 138
7.5.3 Communication settings for Ethernet/IP .................................................................................... 138
7.5.4 Additional settings if you are working with the AC/DC profile .................................................... 139
7.5.5 Supported objects ...................................................................................................................... 140
7.5.6 Create generic I/O module ......................................................................................................... 147
7.6 Communication via RS485 ........................................................................................................ 148
7.6.1 Integrating inverters into a bus system via the RS485 interface ............................................... 148
7.6.2 Communication via USS ............................................................................................................ 149
7.6.2.1 Basic settings for communication .............................................................................................. 149
7.6.2.2 Telegram structure ..................................................................................................................... 151
7.6.2.3 User data range of the USS telegram ........................................................................................ 152
7.6.2.4 USS parameter channel (PIV) ................................................................................................... 153
7.6.2.5 USS process data channel (PZD) .............................................................................................. 158
7.6.2.6 Time-out and other errors .......................................................................................................... 158
7.6.3 Communication over Modbus RTU ............................................................................................ 161
7.6.3.1 Basic settings for communication .............................................................................................. 162
7.6.3.2 Modbus RTU telegram ............................................................................................................... 164
7.6.3.3 Baud rates and mapping tables ................................................................................................. 164
7.6.3.4 Write and read access via FC 03 and FC 06 ............................................................................. 168
7.6.3.5 Communication procedure ......................................................................................................... 170
7.6.4 Communication via BACnet MS/TP ........................................................................................... 172
7.6.4.1 Basic settings for communication .............................................................................................. 173
7.6.4.2 Supported services and objects ................................................................................................. 174
7.6.5 Communication via P1 ............................................................................................................... 183
7.7 Communication over CANopen ................................................................................................. 188
7.7.1 CANopen functions of the converter .......................................................................................... 188
7.7.1.1 Network management (NMT service) ........................................................................................ 190
7.7.1.2 SDO services ............................................................................................................................. 192
7.7.1.3 Access to SINAMICS parameters via SDO ............................................................................... 193
7.7.1.4 Access PZD objects via SDO .................................................................................................... 195
7.7.1.5 PDO and PDO services ............................................................................................................. 197
7.7.1.6 Predefined connection set ......................................................................................................... 201
7.7.1.7 Free PDO mapping .................................................................................................................... 202
7.7.1.8 Interconnect objects from the receive and transmit buffers ....................................................... 205
7.7.1.9 CANopen operating modes ........................................................................................................ 207
7.7.2 Object directories ....................................................................................................................... 207
7.7.2.1 General objects from the CiA 301 communication profile.......................................................... 207
7.7.2.2 Free objects ............................................................................................................................... 216
7.7.2.3 Objects from the CiA 402 drive profile ....................................................................................... 217
7.7.3 Integrating the converter into CANopen .................................................................................... 219
7.7.3.1 Connecting inverter to CAN bus ................................................................................................ 220
7.7.3.2 Setting the node ID and baud rate ............................................................................................. 220
7.7.3.3 Setting the monitoring of the communication ............................................................................. 221
7.7.4 Free PDO mapping for example of the actual current value and torque limit ............................ 223
Inverter with CU230P-2 Control Units
Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG
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