Canopen - Siemens SINAMICS G120 Operating Instructions Manual
Low voltage converters, chassis and wall/panel mounted devices with cu230p-2 control units
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Also See for SINAMICS G120:
- List manual (1256 pages) ,
- Manual (732 pages) ,
- Operating instructions manual (550 pages)
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6.2.11.3
CANopen
The most important settings for CANopen
Parameter Explanation
p8620
p8622
p8700 ...
p8707
p8710 ...
p8717
p8720 ...
p8727
p8730 ...
p8737
p8744
r8784
r8795
Further information
You can find additional information about CANopen in the "Fieldbuses" Function Manual:
Manuals for the Control Unit
(http://support.automation.siemens.com/WW/view/en/30563628/133300).
Converter with CU230P-2 Control Units
Operating Instructions, 04/2015, FW V4.7 SP3, A5E34257946B AB
CAN Node ID (Factory setting: 126)
Valid USS addresses: 1 ... 247.
The parameter is only active if address 0 is set at the Control Unit address switch.
A change only becomes effective after the inverter power supply has been switched off
and switched on again.
CAN Bit rate
(Factory setting: 6)
CAN Receive PDO n
(n = 1 ... 8)
CAN Receive Mapping for
RPDO n (n = 1 ... 8)
CAN Transmit PDO n
(n = 1 ... 8)
CAN Transmit Mapping for
TPDO n (n = 1 ... 8)
CAN PDO Mapping Kon-
figuration
(Factory setting: 2)
CAN status
.00 Ready to switch on
word
.01 Ready
.02 Operation enabled
.03 Fault active
.04 No coast down active
.05 No fast stop active
.06 Switching-on inhibited active
.07 Alarm active
CAN control
.00 ON/OFF1
word
.01 Do not activate coast down
.02 Do not activate quick stop
.03 Enable operation
.04 Enable ramp-function generator
.05 Freeze ramp-function generator
continuation
0: 1 Mbit/s
3: 250 kbit/s
1: 800 kbit/s
4: 125 kbit/s
2: 500 kbit/s
5: 50 kbit/s
[0] = COB-ID of the PDO
[1] = Transmission Type of the PDO
[0] = Mapped object 1 ... [3] = Mapped object 4
[0] = COB-ID of the PDO
[1] = Transmission Type of the PDO
[2] = Inhibit Time (in 100 μs)
[3] = reserved
[4] = Event Timer (in ms)
[0] = Mapped object 1 ... [3] = Mapped object 4
1: Predefined connection set
2: Free PDO mapping
.08 Can be freely interconnected
(p8785)
.09 Control requested
.10 Target reached
.11 Torque limit reached
.12 Velocity equal to zero
.14 Can be freely interconnected
(p8786)
.15 Can be freely interconnected
(p8787)
.06 Enable speed setpoint
.07 Acknowledge fault
.08 Stop
.11 Can be freely interconnected
...
.15 Can be freely interconnected
Advanced commissioning
6.2 Inverter control
6: 20 kbit/s
7: 10 kbit/s
195
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