Access To Sinamics Parameters Via Sdo - Siemens SINAMICS G120 Operating Instructions Manual

Configuring the fieldbus
7.8 Communication over CANopen
Byte 0 (CS = command specifier) contains the access type of the protocol:
• 2F hex:
• 2B hex:
• 27 hex:
• 23 hex:
• 40 hex:
• 4F hex:
7.8.1.3

Access to SINAMICS parameters via SDO

If you wish to change inverter parameters in CANopen using the controller, use the SDO
service.
You also configure RPDO and TPDO telegrams via SDO. You can find the objects that are
available to do this in Section Object directories (Page 198).
Object numbers for SDO jobs
In CAN, access the inverter parameters with the SDO service via manufacturer-specific
objects in the range from 2000 hex to 470F hex of the CANopen object directory.
Because you cannot directly address all of the parameters using this area, you require for an
SDO job always the parameter number itself and the offset dependent on the parameter
number.
Selection of parameter range and the associated offset
Parameter range
0 < parameter number < 10000
10000 ≤ parameter number < 20000
20000 ≤ parameter number < 20000
30000 ≤ parameter number < 20000
Calculate object number for an SDO job
The object number for the SDO job is calculated as follows:
object number hex = (number of the inverter parameter - offset value) hex + 2000 hex
Examples of object numbers
Parameter
● p0010:
● p11000:
● r20001:
● p31020:
184
Write 4 bytes
Write 3 bytes
Write 2 bytes
Write 1 byte
Read request
Read 4 bytes
Number of the inverter parameter - offset value
Decimal
10 dec
1000 dec
1 dec
1020 dec
• 4B hex:
• 47 hex:
• 43 hex:
• 60 hex:
• 80 hex:
Offset
p8630[2] = 0
p8630[2] = 1
p8630[2] = 2
p8630[2] = 3
Hexadecimal
A hex
3E8 hex
1 hex
3FC hex
Converter with the CU250S-2 Control Unit (vector)
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB
Read 3 bytes
Read 2 bytes
Read 1 byte
Write confirmation
Error
Offset value
0
10000
20000
30000
Object number
⇒ 200A hex
⇒ 23E8 hex
⇒ 2001 hex
⇒ 23FC hex