Siemens SINAMICS G110M Function Manual page 7

5.5.3 Acyclic communication (general parameter access) via BACnet ......................................... 152
5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT........................................... 154
6 Communication over CANopen ........................................................................................................... 159
6.1 Network management (NMT service) ................................................................................... 162
6.2 SDO services ........................................................................................................................ 165
6.2.1 Access to SINAMICS parameters via SDO .......................................................................... 165
6.2.2 Access PZD objects via SDO ............................................................................................... 167
6.3 PDO services ........................................................................................................................ 169
6.3.1 Predefined connection set .................................................................................................... 172
6.3.2 Free PDO mapping ............................................................................................................... 173
6.3.3 Interconnect objects from the receive and transmit buffers .................................................. 176
6.3.4 Free PDO mapping for example of the actual current value and torque limit....................... 177
6.4 CANopen operating modes .................................................................................................. 179
6.5 RAM to ROM via the CANopen object 1010 ........................................................................ 180
6.6 Object directories .................................................................................................................. 181
6.6.1 General objects from the CiA 301 communication profile .................................................... 181
6.6.2 Free objects .......................................................................................................................... 191
6.6.3 Objects from the CiA 402 drive profile .................................................................................. 192
6.7 Integrating the inverter into CANopen .................................................................................. 194
6.7.1 Connecting inverter to CAN bus ........................................................................................... 195
6.7.2 Setting the node ID and baud rate ........................................................................................ 195
6.7.3 Setting the monitoring of the communication ....................................................................... 196
6.8 Error diagnostics ................................................................................................................... 198
7 Communication via AS-i - only for G110M ........................................................................................... 201
7.1 Setting the address ............................................................................................................... 202
7.2 Single Slave mode ................................................................................................................ 204
7.3 Dual Slave mode ................................................................................................................... 206
7.4 Assignment tables ................................................................................................................. 209
7.5 Cyclic and acyclic communication via CTT2 ........................................................................ 211
7.5.1 Cyclic communication ........................................................................................................... 212
7.5.2 Acyclic communication - standard ........................................................................................ 213
7.5.3 Acyclic communication - manufacturer-specific .................................................................... 213
A Appendix............................................................................................................................................. 215
A.1 Communication with STEP7 ................................................................................................. 215
A.1.1 Configuring PROFIBUS communication ............................................................................... 215
A.1.1.1 Creating a STEP 7 project and network ............................................................................... 215
A.1.1.2 Inserting the inverter into the project .................................................................................... 216
A.1.2 Configuring PROFINET communication ............................................................................... 218
A.1.2.1 Configuring the controller and converter in HW Config ........................................................ 218
A.1.2.2 Activate diagnostic messages via STEP 7 ........................................................................... 221
A.1.2.3 Accessing the inverter with STARTER via STEP 7 .............................................................. 222
A.1.3 STEP 7 program examples ................................................................................................... 225
A.1.3.1 Cyclic communication via standard telegram 1 with PROFIBUS or PROFINET .................. 226
Fieldbuses
Function Manual, 01/2016, FW V4.7 SP6, A5E34229197B AC
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