Sdo Services - Siemens SINAMICS G120 Operating Instructions Manual

The current state of the node is displayed via p8685. It can also be changed directly using
this parameter:
• p8685 = 0
• p8685 = 4
• p8685 = 5
• p8685 = 127
• p8685 = 128
• p8685 = 129
You can also change the NMT state in STARTER via "Control_Unit / Communication / CAN"
under the "Network-Management" tab.
7.8.1.2

SDO services

You can access the object directory of the connected drive unit using the SDO services. An
SDO connection is a peer-to-peer coupling between an SDO client and a server.
The drive unit with its object directory is an SDO server.
The identifiers for the SDO channel of a drive unit are defined according to CANopen as
follows.
Receiving:
Transmitting:
Properties
The SDOs have the following properties:
● An SDO connection exists only in the Pre-Operational and Operational states
● Transmission is confirmed
● Asynchronous transmission (matches the acyclical communication via PROFIBUS DB)
● Transmission of values > 4 bytes (normal transfer)
● Transmission of values ≤ 4 bytes (expedited transfer)
● All drive unit parameters can be addressed via SDO
Structure of the SDO protocols
The basic structure of the SDO protocols is shown below:
Converter with the CU250S-2 Control Unit (vector)
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB
Initializing (display only)
Stopped
Operational
Pre-Operational (factory setting)
Reset Node
Reset Communication
Server ⇐ client:
Server ⇒ client:
7.8 Communication over CANopen
COB ID = 600 hex + node ID
COB ID = 580 hex + node ID
Configuring the fieldbus
183