Siemens Sinamics S110 Function Manual page 81

7. On the dialog screen which appears when you select this command path
Function Manual
Function Manual, 01/2011, 6SL3097-4AB10-0BP3
("SINAMICS_S110_CU305_CAN configuration - Control structure"), you can define
whether the drive object (function module) is to operate with/without an extended setpoint
channel. The commissioning procedure described here is carried out without an extended
setpoint channel (ramp-function generator). The field for the extended setpoint channel
must be clicked-out.
Note
When the ramp-function generator is activated (with setpoint channel), the
interconnection from CI: p2151 = r1119 can be changed, so that to evaluate bit 10 in
status word (r8784) the setpoint can be retrieved (taken) from in front of the ramp-
function generator.
When the ramp-function generator is active, objects 6086 hex and 6083 hex of the drive
provide are included.
Commissioning with CANopen
4.2 Commissioning
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