Siemens SINAMICS G120 Operating Instructions Manual page 186

Configuring the fieldbus
7.8 Communication over CANopen
Access to non-mapped PZD objects
When you access objects that are not interconnected via the receive or transmit telegram,
you must also establish the interconnection with the corresponding CANopen parameters.
There follows an example for switching the control word with the CANopen parameters:
ON/OFF1
No coast down activated
No fast stop activated
Enable operation
Enable ramp-function
generator
Continue ramp-function
generator
Enable speed setpoint
Acknowledge fault
Stop
SDO abort codes
Abort code
0503 0000 hex
0504 0000 hex
0504 0001 hex
0504 0002 hex
0504 0003 hex
0504 0004 hex
0504 0005 hex
0601 0000 hex
0601 0001 hex
0601 0002 hex
0602 0000 hex
0604 0041 hex
0604 0042 hex
186
p840[0] = r8795.0
p0844[0] = r8795.1
p0848[0] = r8795.2
p0852[0] = r8795.3
p1140[0] = r8795.4
p1141[0] = r8795.5
p1142[0] = r8795.6
p2103[0] = r8795.7
p8791 = r8795.8
Description
Toggle bit not alternated
Toggle bit has not changed
SDO protocol timed out
Timeout for the SDO protocol
Client/server command specifier not valid or unknown
Client/server command not valid or unknown
Invalid block size (block mode only)
Invalid block size
Invalid sequence number (block mode only)
Invalid sequence number
CRC error (block mode only)
CRC error
Out of memory.
Memory overflow
Unsupported access to an object.
Access to an object that is not supported
Attempt to read a write only object.
Attempt to read a "write-only object"
Attempt to write a read only object.
Attempt to write a "read-only object"
Object does not exist in the object dictionary.
Object does not exist in the object dictionary
Object cannot be mapped to the PDO.
Object cannot be linked with the PDO
The number and length of the objects to be mapped would exceed PDO length.
The number and length of the linked objects exceeds the PDO length
Converter with the CU250S-2 Control Unit (vector)
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB