Canopen Functions That Are Supported - Siemens Sinamics S120 Commissioning Manual

2.3

CANopen functions that are supported

A SINAMICS drive is a CANopen slave. SINAMICS supports the following CANopen
functions:
CANopen functions
NMT (network management)
CANopen object directory
SDO (Service Data Object)
PDO (Process Data Object)
SYNC (Synchronization
Object)
EMCY (Emergency Object)
CANopen operating modes
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Details
Boot-up Service
•
Node Control Service
•
– Start Remote Node
– Stop Remote Node
– Enter Pre-Operational
– Reset Node
– Reset Communication
Error Control Service
•
– Life guarding
– Heartbeat
All of the obligatory CANopen objects are support-
ed. These include data, parameters and functions.
SDO transmission is supported when accessing
CANopen objects in the CANopen object directory.
The PDO transmission is supported with free PDO
mapping for real-time-capable process data ex-
change.
A PDO can be configured so that it responds to the
SYNC.
EMCY is supported for event-orientated signaling of
device faults and errors.
The following operating modes are supported:
Profile Velocity Mode
•
Profile Torque Mode
•
Velocity Mode
•
Homing mode
•
Profile Position Mode
•
2.3 CANopen functions that are supported
Detailed information
Network management (Page 30)
Bootup protocol (Page 31)
NMT services - Node Control Ser-
vices (Page 31)
NMT services - Error Control Services
(Page 33)
CANopen object directory (Page 34)
SDO (Service Data Object) (Page 58)
PDO (Process Data Object)
(Page 67)
Data transmission types (Page 68)
Alarm object (Emergency Object)
(Page 124)
Operating modes (Page 129)
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