Sdo Services - Siemens Sinamics G120P Operating Instructions Manual

The current state of the node is displayed via p8685. It can also be changed directly using
this parameter:
• p8685 = 0
• p8685 = 4
• p8685 = 5
• p8685 = 127
• p8685 = 128
• p8685 = 129
You can also change the NMT state in STARTER via "Control_Unit / Communication / CAN"
under the "Network-Management" tab.
6.9.1.2

SDO services

You can access the object directory of the connected drive unit using the SDO services. An
SDO connection is a peer-to-peer coupling between an SDO client and a server.
The drive unit with its object directory is an SDO server.
The identifiers for the SDO channel of a drive unit are defined according to CANopen as
follows.
Receiving:
Sending:
Properties
The SDOs have the following properties:
● An SDO connection exists only in the Pre-Operational and Operational states
● Transmission is confirmed
● Asynchronous transmission (matches the acyclical communication via PROFIBUS DP)
● Transmission of values > 4 bytes (normal transfer)
● Transmission of values ≤ 4 bytes (expedited transfer)
● All drive unit parameters can be addressed via SDO
Inverter cabinet units
Operating Instructions, 12/2014, A5E32923362A
Initializing (display only)
Stopped
Operational
Pre-Operational (factory setting)
Reset Node
Reset Communication
Server ⇐ client:
Server ⇒ client:
6.9 Communication over CANopen
COB ID = 600 hex + node ID
COB ID = 580 hex + node ID
Operation
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