Objects From The Cia 402 Drive Profile - Siemens SINAMICS G120 Operating Instructions Manual

Configuring the fieldbus
7.8 Communication over CANopen
7.8.2.3

Objects from the CiA 402 drive profile

The following table lists the object directory with the index of the individual objects for the
drives. The "SINAMICS parameters" column shows the parameter numbers assigned in the
converter.
OD index Subi Name of the object
(hex) ndex
(hex)
Predefinitions
67FF Single device type
Common entries in the object dictionary
6007 Abort connection option code
6502 Supported drive modes
6504 Drive manufacturer
Device control
6040 Control word
6041 Status word
605D Halt option code
6060 Modes of operation
6061 Modes of operation display
Factor group
6094 Velocity encoder factor
01 velocity encoder factor
numerator
02 velocity encoder factor
denumerator
Profile velocity mode
6063 Actual position value
6069 Velocity sensor actual value
606B Velocity demand value
606C Velocity actual value
Actual velocity
6083 Profile acceleration
6084 Profile deceleration
6085 Quick stop deceleration
6086 Motion profile type
60FF Target velocity
Set velocity
208
SINAMICS Transmi
parameters ssion
SDO
p8641 SDO
SDO
SDO
r8795 PDO/S
DO
r8784 PDO/S
DO
p8791 PDO/S
DO
p1300 SDO
p1300 SDO
SDO
p8798[1] SDO
p8798[2] SDO
r0482 SDO/P
DO
r0061 SDO/P
DO
r1170 SDO/P
DO
r0063 SDO/P
DO
p1082/p1120 SDO
p1082/p1121 SDO
p1082/p1135 SDO
p1115/p1134 SDO
p1155[0] SDO/P
1)
DO
p1072
2)
Converter with the CU250S-2 Control Unit (vector)
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB
Data Default Can be
type setting read/
written
U32 r
I16 3 r/w
I32 r
String SIEMENS r
U16 – r/w
U16 – r
I16 – r/w
I8 – r/w
I8 – r
U8 - r
U32 1 r/w
U32 1 r/w
I32 – r
I32 – r
I32 – r
I32 – r
I32 – r/w
I32 0 r/w
I32 0 r/w
I32 0 r/w
I32 0 r/w