Siemens SINAMICS G120P, Operating Instructions Manual

Page: 287 / 496

Operation
6.9 Communication over CANopen
Inverter cabinet units
Operating Instructions, 12/2014, A5E32923362A
287
OD index
(hex)
Sub-
index
(hex)
Name of the object SINAMICS
parameters
Trans-
mission
Data
type
Default
setting
Can be
read/
written
605D Halt option code p8791 PDO/
SDO
I16 – r/w
6060 Modes of operation p1300 SDO I8 – r/w
6061 Modes of operation display p1300 SDO I8 – r
Factor group
6094
Velocity encoder factor SDO U8 - r
01 Velocity encoder factor
numerator
p8798[1] SDO U32 1 r/w
02 Velocity encoder factor
denumerator
p8798[2] SDO U32 1 r/w
Profile Velocity Mode
3)
6063 Actual position value r0482 SDO/
PDO
I32 – r
6069 Velocity sensor actual value r0061 SDO/
PDO
I32 – r
606B Velocity demand value r1170 SDO/
PDO
I32 – r
606C Velocity actual value
Actual velocity r0063 SDO/
PDO
I32 – r
6083 Profile acceleration p1082/p1120 SDO I32 – r/w
6084 Profile deceleration p1082/p1121 SDO I32 0 r/w
6085 Quick stop deceleration p1082/p1135 SDO I32 0 r/w
6086 Motion profile type p1115/p1134 SDO I32 0 r/w
60FF Target velocity
Set velocity
p1155[0]
1)
p1072
2)
SDO/
PDO
I32 0 r/w
Profile Torque Mode
3)
6071 Target torque
torque setpoint
r8797 SDO/
PDO
I16 – r/w
6072 Max torque p1520 SDO 0 0
6074 Torque demand value
overall torque setpoint
r0079 SDO/
PDO
I16 – r
6077 Torque actual value r0080 SDO/
PDO
I16 – r