Siemens SINAMICS G120 - Access PZD Objects Via SDO

Configuring the fieldbus
7.7 Communication over CANopen
Inverter with CU230P-2 Control Units
Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG
195
7.7.1.4
Access PZD objects via SDO
Access to mapped PZD objects
When you access objects mapped via transmit or receive telegrams, you can access the
process data without additional settings.
Figure 7-19 Access to the process data
Access to non-mapped PZD objects
When you access objects that are not interconnected via the receive or transmit telegram,
you must also establish the interconnection with the corresponding CANopen parameters.
There follows an example for switching the control word with the CANopen parameters:
ON/OFF1
p840[0] = r8795.0
No coast down activated
p0844[0] = r8795.1
No fast stop activated
p0848[0] = r8795.2
Enable operation
p0852[0] = r8795.3
Enable ramp-function generator
p1140[0] = r8795.4
Continue ramp-function generator
p1141[0] = r8795.5
Enable speed setpoint
p1142[0] = r8795.6
Acknowledge fault
p2103[0] = r8795.7
Stop
p8791 = r8795.8