Table Of Contents - Siemens SINAMICS S120 Commissioning Manual

Table of contents

Preface ...................................................................................................................................................... 5
1 Add infeed ............................................................................................................................................... 15
1.1 Previous knowledge.....................................................................................................................15
1.2 Commissioning options................................................................................................................15
1.3 Terminology .................................................................................................................................15
1.4 CAN bus structure for SINAMICS ................................................................................................19
1.5 CANopen slave software .............................................................................................................20
1.6 CANopen object directory ............................................................................................................22
1.7 Manufacturer-specific objects ......................................................................................................25
1.7.1 Objects to access SINAMICS parameters...................................................................................25
1.7.2 Free objects .................................................................................................................................28
1.8 Number of PDOs that can be set up (channels) ..........................................................................30
1.9 Send and receive message frames for process data ..................................................................30
1.10 PDO mapping...............................................................................................................................32
1.11 COB-ID.........................................................................................................................................33
1.12 SDO services ...............................................................................................................................36
1.13 PDO services ...............................................................................................................................39
1.14 BICO interconnection in conjunction with CANopen ...................................................................43
1.15 Behavior of SINAMICS when booting with the CANopen communications board ......................44
1.16 Bootup protocol ............................................................................................................................44
1.17 Network management (NMT service) ..........................................................................................45
1.18 CANopen device state machine...................................................................................................48
1.19 Fault monitoring ...........................................................................................................................50
1.20 Parameters, save, restore factory settings ..................................................................................53
1.21 CAN bus sampling time ...............................................................................................................55
1.22 Number of controllable drives via CAN bus .................................................................................55
2 Prerequisites for commissioning .............................................................................................................. 57
2.1 Prerequisites for commissioning ..................................................................................................57
2.2 CBC10 Communication Board for CAN Bus (SINAMICS S120) .................................................58
2.2.1 CBC10 Installation .......................................................................................................................60
2.2.2 CANopen functionality .................................................................................................................60
2.2.3 Diagnostics LED "OPT" ...............................................................................................................61
2.3 CU305 CAN (SINAMICS S110) ...................................................................................................63
2.3.1 CAN bus on the CU305 ...............................................................................................................63
2.3.2 CANopen functionality CU305 CAN ............................................................................................64
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
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