Siemens SINAMICS G120 - Page 209

Configuring the fieldbus
7.7 Communication over CANopen
Inverter with CU230P-2 Control Units
Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG
209
OD index
(hex)
Subindex
(hex)
Object name
SINAMICS
parameters
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
manufacturer-specific
error
p8609.1 SDO U32 1 rw
1200 1st server SDO
parameter
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 converter.
Table 7- 27 RPDO configuration objects - communication parameters
OD
Index
(hex)
Sub-
index
(hex)
Name of the object
SINAMICS
parameters
Data
type
Predefined
connection set
Can be
read/
written to
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