What Does The Canopen Slave Software Describe - Siemens SINAMICS S120 Installation And Start-Up Manual

1.5

What does the CANopen slave software describe?

Introduction
In the CANopen slave software, a separate expert list is created – among other things – for
each module in the SINAMICS S120 drive line-up. The expert list reflects – among other
things – the CANopen object directory.
Example
The data value for the control word of the object directory index from the CANopen object
directory is entered in parameter r8795 in the expert list.
Depending on how the Motor Modules are arranged in the drive line-up, they are counted as
a drive object from the point of view of CANopen.
See the following diagram:
Figure 1-2
Motor
drive o
If, for example, you want to read a value from parameter r8795 (control word for Motor
Module 1, that is, drive object 1), the value from object 6040 hex is displaye
For Motor Module 2 (drive object 2), therefore, this value is 6840 hex.
Note
Each module has a separate receive and transmit buffer for transferring message frames.
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1
Breakdown of drive objects from the point of view of CANopen
Module 1 is the first drive object for CANopen. In the description in the drive profile,
bject 2 begins with an offset of 800 hex.
1.5 What does the CANopen slave software describe?
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