Canopen Object Directory - Siemens Sinamics S120 Commissioning Manual

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2.5 CANopen object directory

2.5 CANopen object directory
When the drive objects are initialized, the CANopen objects are initialized in the object
directory for the SINAMICS drive line-up (CANopen slave software).
Object directory
The following diagram shows the distribution of CANopen objects involved in the
communications (the values are hexadecimal values):
● Control Unit communication objects independent of the drive
● Drive-dependent communication objects
● Manufacturer-specific objects
● Drive-dependent objects of the drive profile "DSP 402"
CANopen supports a maximum of 8 drive objects.
A maximum of 8 logical CANopen device modules are supported. One CANopen device
module corresponds to one drive object of the "MOTION CONTROL" category. The r8743
parameter "CAN assignment of device module/drive object" shows the assignment of these
SINAMICS drive objects to the CANopen device modules via the SINAMICS drive object
number. As such, the index number corresponds to the CANopen device module number.
Notes:
● The CANopen device module number cannot be selected via online PDO mapping.
Assignment of CANopen device modules to the SINAMICS drive objects is performed
during commissioning or run-up and cannot be changed online.
● The CANopen device modules must be configured in ascending order without any gaps
from 0 to 7. Incomplete configuration of the CANopen device modules is not permitted.
During download, it results in refusal of writing the PDO communication or PDO mapping
parameters and PDO configuration warnings.
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Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
CANopen interface