Objects From The Cia 402 Drive Profile - Siemens SINAMICS G110M Function Manual

Communication over CANopen
6.6 Object directories
6.6.3

Objects from the CiA 402 drive profile

The following table lists the object directory with the index of the individual objects for the
drives. The "SINAMICS parameters" column shows the parameter numbers assigned in the
inverter.
OD index Sub- Name of the object
(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
605D Halt option code
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 velocity mode
6063 Actual position value
6069 Velocity sensor actual value
606B Velocity demand value
606C Velocity actual value
Actual velocity
6083 Profile acceleration
6084 Profile deceleration
6085 Quick stop deceleration
6086 Motion profile type
60FF Target velocity
Set velocity
Profile Torque Mode
3)
6071 Target torque
torque setpoint
6072 Max. torque
6074 Torque demand value
overall torque setpoint
204
SINAMICS Transmission
parameters
SDO
p8641 SDO
SDO
SDO
r8795 PDO/SDO
r8784 PDO/SDO
p8791 PDO/SDO
p1300 SDO
r8762 SDO
SDO
p8798[1] SDO
p8798[2] SDO
r0482 SDO/PDO
r0061 SDO/PDO
r1170 SDO/PDO
r0063 SDO/PDO
p1082/p1120 SDO
p1082/p1121 SDO
p1082/p1135 SDO
p1115/p1134 SDO
p1155[0] SDO/PDO
1)
p1072
2)
r8797 SDO/PDO
p1520 SDO
r0079 SDO/PDO
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
Data Default Can be
type setting read/
written
U32 r
I16 3 r/w
I32 r
String SIEMEN r
S
U16 – r/w
U16 – r
I16 – r/w
I8 – r/w
I8 – r
U8 - r
U32 1 r/w
U32 1 r/w
I32 – r
I32 – r
I32 – r
I32 – r
I32 – r/w
I32 0 r/w
I32 0 r/w
I32 0 r/w
I32 0 r/w
I16 – r/w
0 0
I16 – r
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