Siemens Sinamics G120P Operating Instructions Manual page 12

Table of contents
6.8.2.3 User data range of the USS telegram .................................................................................. 221
6.8.2.4 USS parameter channel (PIV) ............................................................................................. 222
6.8.2.5 USS process data channel (PZD) ........................................................................................ 227
6.8.2.6 Time-out and other errors .................................................................................................... 227
6.8.3 Communication over Modbus RTU ...................................................................................... 230
6.8.3.1 Basic settings for communication ........................................................................................ 231
6.8.3.2 Modbus RTU telegram ......................................................................................................... 233
6.8.3.3 Baud rates and mapping tables ........................................................................................... 233
6.8.3.4 Write and read access via FC 03 and FC 06 ....................................................................... 237
6.8.3.5 Communication procedure ................................................................................................... 239
6.8.4 Communication via BACnet MS/TP ..................................................................................... 241
6.8.4.1 Basic settings for communication ........................................................................................ 242
6.8.4.2 Supported services and objects ........................................................................................... 244
6.8.5 Communication via P1 ......................................................................................................... 252
6.9 Communication over CANopen ........................................................................................... 257
6.9.1 CANopen functions of the converter .................................................................................... 257
6.9.1.1 Network management (NMT service) .................................................................................. 258
6.9.1.2 SDO services ....................................................................................................................... 261
6.9.1.3 Access to SINAMICS parameters via SDO ......................................................................... 262
6.9.1.4 Access PZD objects via SDO .............................................................................................. 264
6.9.1.5 PDO and PDO services ....................................................................................................... 266
6.9.1.6 Predefined connection set ................................................................................................... 270
6.9.1.7 Free PDO mapping .............................................................................................................. 271
6.9.1.8 Interconnect objects from the receive and transmit buffers ................................................. 274
6.9.1.9 CANopen operating modes .................................................................................................. 276
6.9.2 Object directories ................................................................................................................. 276
6.9.2.1 General objects from the CiA 301 communication profile.................................................... 276
6.9.2.2 Free objects ......................................................................................................................... 286
6.9.2.3 Objects from the CiA 402 drive profile ................................................................................. 286
6.9.3 Integrating the converter into CANopen .............................................................................. 288
6.9.3.1 Connecting inverter to CAN bus .......................................................................................... 289
6.9.3.2 Setting the node ID and baud rate ....................................................................................... 289
6.9.3.3 Setting the monitoring of the communication ....................................................................... 290
6.9.4 Free PDO mapping for example of the actual current value and torque limit ...................... 292
6.10 Operation with the IOP ......................................................................................................... 294
6.10.1 Overview .............................................................................................................................. 294
6.10.1.1 Introduction .......................................................................................................................... 294
6.10.1.2 Screen icons ........................................................................................................................ 294
6.10.1.3 Menu structure ..................................................................................................................... 296
6.10.2 Wizards ................................................................................................................................ 297
6.10.2.1 Wiring diagrams ................................................................................................................... 304
6.10.3 Control .................................................................................................................................. 308
6.10.4 Menu .................................................................................................................................... 311
6.10.4.1 Overview .............................................................................................................................. 311
6.10.4.2 Diagnostics ........................................................................................................................... 312
6.10.4.3 Parameters ........................................................................................................................... 316
6.10.4.4 Up/Download ........................................................................................................................ 321
6.10.4.5 Extras ................................................................................................................................... 322
6.10.4.6 Write Protection.................................................................................................................... 333
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Inverter cabinet units
Operating Instructions, 12/2014, A5E32923362A