Integrating The Converter Into Canopen - Siemens Sinamics G120P Operating Instructions Manual

Operation
6.9 Communication over CANopen
OD index Sub- Name of the object
(hex) index
(hex)
Velocity mode
6042 vl target velocity
6043 vl velocity demand
6044 vl velocity actual value
6046 0 vl velocity min./max. amount
1 vl velocity min. amount
2 vl velocity max. amount
6048 0 vl velocity acceleration
1 Delta speed
2 Delta time
Without ramp-function generator
1)
With ramp-function generator
2)
The inverter processes the objects of profile velocity mode and profile torque mode. But they cannot be set nor selected
3)
in inverters.
6.9.3

Integrating the converter into CANopen

Commissioning
Precondition
• STARTER ≥ version 4.2, is installed on the computer
used to commission the system.
• The inverter is connected to a CANopen master.
• The EDS (Electronic Data Sheet)
(http://support.automation.siemens.com/WW/view/en/4
8351511)is installed on your CANopen master.
• In the basic commissioning you have set the inverter
interfaces to the CANopen fieldbus.
This means that the following signals in the inverter are
interconnected corresponding to the Predefined
Connection Sets:
– Speed setpoint and control word
– Actual speed value and status word
288
SINAMICS Trans- Data
parameters mission type
r8792 SDO/ I16
PDO
r1170 SDO/ I16
PDO
r0063 SDO/ I16
PDO
SDO U8
p1080 SDO U32
p1082 SDO U32
SDO U8
p1082 SDO U32
p1120 SDO U16
Operating Instructions, 12/2014, A5E32923362A
Default Can be
setting read/
written
– r/w
– r
– r
– r
– r/w
– r/w
– r
– r/w
– r/w
Inverter cabinet units