Objects In Drive Profile Dsp402; Engineering Example - Siemens SINAMICS G120 Operating Instructions Manual

Configuring the fieldbus
8.5 Communication via CANopen
8.5.5.2

Objects in drive profile DSP402

The following table lists the object directory with the index of the individual objects for the
drives.
Table 8- 41 Objects in drive profile DSP402
OD index Sub- Name of the object
(hex) index
(hex)
Predefinitions
67FF Single device type
Common entries in the object dictionary
6007 Abort connection option code
6502 Supported drive modes
6504 Drive manufacturer
Device control
6040 Control word
6041 Status word
6060 Modes of operation
6061 Modes of operation display
Profile torque mode
6071 Target torque
Set torque
6072 Max. torque
6074 Torque demand value
Actual torque
Velocity mode
6042 0 vl target velocity
6044 0 vl control effort
1) SDO access is only possible after mapping the objects and the BICO interconnection to
display parameters.
2) Object cannot be written to as a CANopen device profile is not supported, only
manufacturer-specific operating data
8.5.6

Engineering example

The following example describes how you can integrate the converter into a CANopen bus
system using STARTER in two steps.
In the first step, the converter is integrated into the communication via the CAN bus using the
Predefined Connection Set. In this case, the control word, the speed setpoint as well the
status word and speed actual value are transferred.
In the second step, using the free PDO mapping, the torque setpoint as well as the current
actual value are mapped and the BiCo wiring established.
156
SINAMICS Transmission
parameters
SDO
p8641 SDO
SDO
SDO
r8795 PDO/SDO
r8784 PDO/SDO
p1300 SDO
p1300 SDO
p1513[0] SDO/PDO
p1520/p1521 SDO
r0080 SDO/PDO
r0060 SDO/PDO
r0063 SDO/PDO
Operating Instructions, 03/2012, FW V4.5, A5E02999804B AB
Data type Default
setting
Unsigned32
Integer16 3
Integer32
String SIEMENS
Unsigned16 –
Unsigned16 –
Integer8 –
Integer8 –
Integer16 –
Real32 -
Integer16 –
Integer16 -
Integer16 -
SINAMICS G120C frequency converter
Can be
read/
written to
R
R/W
R
R
R/W
1)
R
R/
2)
R
R/W
1)
R/W
R
R/W
R