Communication Via Canopen - Siemens SINAMICS G120 Operating Instructions Manual

8.5

Communication via CANopen

Connecting an inverter to a CAN bus
Connect the inverter to the fieldbus via the 9-pin SUB-D pin connector.
The connections of this pin connector are short-circuit proof and isolated. If the inverter
forms the first or last slave in the CANopen network, then you must switch-in the bus
terminating resistor.
For additional information on the SUB-D pin connector and on the bus terminating resistor,
please refer to Section Interfaces, connectors, switches, terminal blocks and LEDs of the
converter (Page 42).
Integrating the converter into CANopen
We recommend the following procedure to integrate the converter into CANopen:
1. Setting the node ID and baud rate
2. Monitoring the communication and response of the inverter (Page 134) set
3. Integrating the converter into CAN using the Predefined Connection Set
4. if required, make additional specific changes using the free PDO mapping.
5. Adapting the BiCo interconnection
General information on CAN
You can find general information on CAN in the CAN Internet pages (http://www.can-cia.org);
you can obtain an explanation of CAN terminology in the CANdictionary under CAN
downloads (http://www.can-cia.org/index.php?id=6).
SINAMICS G120C frequency converter
Operating Instructions, 03/2012, FW V4.5, A5E02999804B AB
Note
In the configuration example (Page 156) you can find a detailed description of how you
integrate the converter into a CANopen system.
More information about how to configure the communication is provided in Sections
Further CANopen functions (Page 145) and List of objects (Page 148).
Configuring the fieldbus
8.5 Communication via CANopen
131