Siemens SINAMICS G120P, Operating Instructions Manual

Page: 278 / 496

Operation
6.9 Communication over CANopen
Inverter cabinet units
278
Operating Instructions, 12/2014, A5E32923362A
OD index
(hex)
Subindex
(hex)
Object name SINAMICS param-
eters
Trans-
mission
Data
type
Default
values
Can be read/
written
1017 Producer heartbeat time p8606 SDO U16 0 rw
1018 Identy Object r8607[0...3] U32 – r
0 Number of entries SDO
1 Vendor ID r8607.0 SDO U32 – r
2 Product code r8607.1 SDO U32 – r
3 Revision number r8607.2 SDO U32 – r
4 Serial number r8607.3 SDO U32 0 r
1027 Module list
0 Number of entries r0102 SDO U16 – r
1-8 Module ID p0107[0...15] SDO I16 0 rw
1029 Error behavior
0 Number of error classes SDO
1 Communication error p8609.0 SDO U32 1 rw
2 Device profile or manu-
facturer-specific error
p8609.1 SDO U32 1 rw
1200 1st server SDO parame-
ter
0 Number of entries SDO
1 COB ID client -> server
(rx)
r8610.0 SDO U32 – r
2 COB ID server -> client
(tx)
r8610.1 SDO U32 – r
RPDO configuration objects
The following tables list the communication and mapping parameters together with the
indexes for the individual RPDO configuration objects. The configuration objects are
established via SDO. The "SINAMICS parameters" column shows the parameter numbers
assigned in the inverter.
Table 6- 30 RPDO configuration objects - communication parameters
OD
index
(hex)
Sub-
index
(hex)
Name of the object SINAMICS
parameters
Data
type
Predefined connec-
tion set
Can be
read/
written
1400 Receive PDO 1 communication parameter
0 Largest subindex supported U8 2 r
1 COB ID used by PDO p8700.0 U32 200 hex + node ID r/w
2 Transmission type p8700.1 U8 FE hex r/w
1401 Receive PDO 2 communication parameter
0 Largest subindex supported U8 2 r
1 COB ID used by PDO p8701.0 U32 300 hex + node ID r/w
2 Transmission type p8701.1 U8 FE hex r/w