Siemens SINAMICS G120 Operating Instructions Manual page 200

Configuring the fieldbus
7.8 Communication over CANopen
OD index Subindex Object name
(hex) (hex)
1027 Module list
0 Number of entries
1-8 Module ID
1029 Error behavior
0 Number of error classes
1 Communication Error
2 Device profile or
manufacturer-specific
error
1200 1st server SDO
parameter
0 Number of entries
1 COB ID client -> server
(rx)
2 COB ID server -> client
(tx)
RPDO configuration objects
The following tables list the communication and mapping parameters together with the
indexes for the individual RPDO configuration objects. The configuration objects are
established via SDO. The "SINAMICS parameters" column shows the parameter numbers
assigned in the converter.
Table 7- 27 RPDO configuration objects - communication parameters
OD Subi Name of the object
Index ndex
(hex) (hex)
1400 Receive PDO 1 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
1401 Receive PDO 2 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
1402 Receive PDO 3 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
1403 Receive PDO 4 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
200
SINAMICS Transmis
parameters sion
r0102 SDO
p0107[0...15] SDO
SDO
p8609.0 SDO
p8609.1 SDO
SDO
r8610.0 SDO
r8610.1 SDO
SINAMICS
parameters
p8700.0
p8700.1
p8701.0
p8701.1
p8702.0
p8702.1
p8703.0
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB
Data Default
type values
U16 –
I16 0
U32 1
U32 1
U32 –
U32 –
Data Predefined
type connection set
U8 2
U32 200 hex + node ID
U8 FE hex
U8 2
U32 300 hex + node ID
U8 FE hex
U8 2
U32 8000 06DF hex
U8 FE hex
U8 2
U32 8000 06DF hex
Converter with the CU250S-2 Control Unit (vector)
Can be read/
written
r
rw
rw
rw
r
r
Can be
read/
written to
r
r/w
r/w
r
r/w
r/w
r
r/w
r/w
r
r/w