Table Of Contents - Siemens SINAMICS S120 Installation And Start-Up Manual

Table 2-1 CAN bus interface X451 ............................................................................................................ 2-3
Table 2-2 CAN bus interface X452 ............................................................................................................ 2-3
Table 2-3 Diagnostics LED OPT -> red (CANopen error LED).................................................................. 2-6
Table 2-4 Diagnostics LED -> green (CANopen RUN LED)...................................................................... 2-7
Table 3-1 CANopen initial commissioning ................................................................................................. 3-2
Table 3-2 CANopen initial commissioning ................................................................................................. 3-4
Table 3-3 2-pin SMD DIL switch ................................................................................................................ 3-5
Table 3-4 CANopen initial commissioning ................................................................................................. 3-6
Table 3-5 CANopen initial commissioning ............................................................................................... 3-25
Table 3-6 Values for RPDO1 ................................................................................................................... 3-32
Table 3-7 Values for RPDO2 ................................................................................................................... 3-33
Table 3-8 Values for RPDO3 ................................................................................................................... 3-33
Table 3-9 Values for RPDO4 ................................................................................................................... 3-34
Table 3-10 Values for TPDO1 .................................................................................................................... 3-34
Table 3-11 Values for TPDO2 .................................................................................................................... 3-35
Table 3-12 Values for TPDO3 .................................................................................................................... 3-35
Table 3-13 Values for TPDO4 .................................................................................................................... 3-36
Table 3-14 CANopen initial commissioning ............................................................................................... 3-37
Table 3-15 Excerpt of "Objects in drive profile DSP402" ........................................................................... 3-42
Table 3-16 Interconnect set velocity .......................................................................................................... 3-44
Table 3-17 Interconnect the set torque ...................................................................................................... 3-44
Table 3-18 Excerpt of "Objects in drive profile DSP402" ........................................................................... 3-45
Table 3-19 Interconnect the CBC status word ........................................................................................... 3-47
Table 3-20 Interconnect the actual velocity................................................................................................ 3-47
Table 3-21 Interconnect the actual torque ................................................................................................. 3-48
Table 3-22 Interconnect the actual position value ..................................................................................... 3-48
Table 3-23 CANopen initial commissioning ............................................................................................... 3-49
Table 4-1 Structure of the emergency message frame.............................................................................. 4-2
Table 5-1 Drive-independent CU320 communication objects.................................................................... 5-2
Table 5-2 Drive-dependent communication objects for receive PDOs ...................................................... 5-6
Table 5-3 Drive-dependent communication objects for transmit PDOs ................................................... 5-11
Table 5-4 Objects in drive profile DSP402 ............................................................................................... 5-17
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1

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