Objects In Drive Profile Dsp402 - Siemens SINAMICS S120 Commissioning Manual

Communication objects

6.4 Objects in drive profile DSP402

6.4 Objects in drive profile DSP402
Overview
The following table lists the object directory with the index of the individual objects for the
drives. The column "SINAMICS parameter" shows the parameter range in which they are
located for SINAMICS S120.
CANopen currently supports profile velocity mode for SINAMICS S120.
Table 6- 4 Objects in drive profile DSP402
OD index Sub- Object name
(hex) index
(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
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 Position Mode
6083 Profile acceleration
6084 Profile deceleration
6085 Quick stop
deceleration
6086 Motion profile type
Profile velocity mode
6069 Velocity sensor
actual value
6063 Actual position value
606B Velocity demand
value
146
SINAMICS Transmissio
parameter n
SDO
p8641 SDO
SDO
SDO
p8890 PDO/SDO
r8784 PDO/SDO
p1300 SDO
p1300 SDO
SDO
SDO
p1082/p1120 SDO
P1082/p1121 SDO
P1082/p1135 SDO
p1115/p1113 SDO
r0061 SDO/PDO
r0482 SDO/PDO
r1170 SDO/PDO
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Data type Default
values
Integer32 0
Integer32
String
Unsigned16 –
Unsigned16 –
Integer16 –
Integer16 –
Integer32
Integer32
0 0
0 0
Integer32 –
Integer32 –
Integer32 –
Read/
write
rw
rw
1)
ro
rw
rw
0
0
ro
ro
ro
CANopen interface