Configuring the fieldbus
6.3 Communication over CANopen
Frequency inverters with Control Units CU230P-2 HVAC, CU230P-2 DP, CU230P-2 CAN
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Operating Instructions, 01/2011, FW 4.4, A5E02430659B AD
6.3.2.3
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:
Server <= Client:
COB ID = 600 hex + node ID
Transmitting:
Server => Client:
COB ID = 580 hex + node ID
Properties
The SDOs have the following properties:
●
SDO are transferred in the Preoperational and Operational states
●
The transfer is confirmed
●
Transfer is asynchronous (corresponds to acyclic data exchange for PROFIBUS DB)
●
Transmission of values > 4 bytes (normal transfer)
●
Transmission of values ≤ 4 bytes (expedited transfer)
●
All drive unit parameters can be addressed via SDO.
Summary of Contents for SINAMICS G120 CU230P-2
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