Network Management (Nmt Service) - Siemens SINAMICS G120 Operating Instructions Manual

Configuring the fieldbus
7.8 Communication over CANopen
COB ID
A communication object contains the data to be transferred and a unique 11-bit COB ID. The
COB ID also defines the priority for processing the communication objects. The
communication object with the lowest COB ID always has the highest priority.
COB ID for individual communication objects
You will find the specifications for the COB IDs of the individual communication objects
below:
• COB ID
• COB ID
• COB ID
• COB ID
• COB ID
• COB ID
• COB ID
• COB ID
* ) In the "Predefined Connection Set", see SectionPredefined connection set (Page 191) .
7.8.1.1

Network management (NMT service)

Network management (NMT) is node-oriented and has a master-slave topology.
The NMT services can be used to initialize, start, monitor, reset, or stop nodes. Two data
bytes follow each NMT service. All NMT services have the fixed COB ID = 0.
The SINAMICS converter is an NMT slave and can adopt the following states in CANopen:
● Initializing
The converter initializes itself after power on. In the factory setting, the converter then
enters the "Pre-Operational" state, which also corresponds to the CANopen standard.
Using p8684, you can set that after the bus has booted, the converter does not go into
the "Pre-Operational" state, but instead, into the "Stopped" or "Operational" state.
● Pre-Operational
In this state, the node cannot process any process data (PDO). However, the controller
can use SDO parameters to change or operate the converter, which means that you can
also enter setpoints via SDO.
● Operational
In this state, the node can process both SDO and PDO.
180
Cannot be changed
= 0
NMT
Pre-assigned with 80 hex
= free
SYNC
80 hex + node ID = COB ID
= free
EMCY
In the free PDO mapping *)
= free
TPDO
In the free PDO mapping *)
= free
RPDO
= 580 + node ID
TSDO
= 600 + node ID
RSDO
= 700 + node ID
Node Guarding/Heartbeat
EMCY
Converter with the CU250S-2 Control Unit (vector)
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB