Canopen Objects Of The Drive Profile Dsp402 - Siemens Sinamics S120 Commissioning Manual

You can interconnect any process data objects using receive/transmit words/double words of
the receive and transmit buffer.
Scaling the process data of the free objects for percentage values:
● 16 bit (word): 4000 hex corresponds to 100 %
● 32 bit (double word): 4000000 hex corresponds to 100 %
Scaling the process data of the free objects for unit-deficient values:
● 16-bit (word): 4000 hex corresponds to the value of the corresponding reference
parameter p200x
● 32 bit (double word): 4000000 hex corresponds to the value of the corresponding
reference parameter p200x
Example:
If the process data is a temperature value, the scaling of the free objects appears as follows:
● 16 bit (word): 4000 hex corresponds to p2006
● 32 bit (double word): 4000000 hex corresponds to p2006
2.5.4

CANopen objects of the drive profile DSP402

Overview
The following table lists the object directory with the index of the individual objects for the
drives.
CANopen for SINAMICS S120 supports the following modes:
● Profile Velocity Mode
● Profile Torque Mode
● Velocity Mode
Table 2- 6 Objects in drive profile DSP402
OD index Subin- Object name
(hex) dex
(hex)
Device control
6007 – Abort connection option code
6040 – Control word
6041 – Status word
605D – Stop option code
6060 – Modes of operation
6061 – Modes of operation display
6502 – Supported drive modes
6504 – Drive manufacturer
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
SINAMICS PDO
parameters mapping
p8641 No
r8795 Yes
r8784 Yes
p8791 No
p1300 Yes
r8762 Yes
– No
– No
2.5 CANopen object directory
Data type Default
values
Integer16 3
Unsigned16 –
Unsigned16 –
Integer16 –
Integer8 –
Integer8 –
Unsigned32 –
String –
Add infeed
SDO ac-
cess
rw
rw
ro
rw
rw
ro
ro
ro
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