Siemens SINAMICS G120P, Руководство по эксплуатации

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Operation
6.9 Communication over CANopen
Inverter cabinet units
Operating Instructions, 12/2014, A5E32923362A
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The current state of the node is displayed via p8685. It can also be changed directly using
this parameter:
•
p8685 = 0 Initializing (display only)
•
p8685 = 4 Stopped
•
p8685 = 5 Operational
•
p8685 = 127 Pre-Operational (factory setting)
•
p8685 = 128 Reset Node
•
p8685 = 129 Reset Communication
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: Server ⇐ client: COB ID = 600 hex + node ID
Sending: Server ⇒ client: COB ID = 580 hex + node ID
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