Access To Sinamics Parameters Via Sdo - Siemens Sinamics G120P Operating Instructions Manual

Operation
6.9 Communication over CANopen
Structure of the SDO protocols
The basic structure of the SDO protocols is shown below:
Byte 0 (CS = command specifier) contains the access type of the protocol:
• 2F hex:
• 2B hex:
• 27 hex:
• 23 hex:
• 40 hex:
• 4F hex:
6.9.1.3

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 276).
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
262
Write 4 bytes
Write 3 bytes
Write 2 bytes
Write 1 byte
Read request
Read 4 bytes
• 4B hex: Read 3 bytes
• 47 hex: Read 2 bytes
• 43 hex: Read 1 byte
• 60 hex: Write confirmation
• 80 hex: Error
Offset Offset value
p8630[2] = 0 0
p8630[2] = 1 10000
p8630[2] = 2 20000
p8630[2] = 3 30000
Operating Instructions, 12/2014, A5E32923362A
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