Siemens SINAMICS G120 - Objects from the Cia 402 Drive Profile

Configuring the fieldbus
7.7 Communication over CANopen
Inverter with CU230P-2 Control Units
Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG
217
7.7.2.3
Objects from the CiA 402 drive profile
The following table lists the object directory with the index of the individual objects for the
drives. The "SINAMICS parameters" column shows the parameter numbers assigned in the
converter.
OD index
(hex)
Sub-
index
(hex)
Name of the object
SINAMICS
parameters
Trans-
mission
Data
type
Default
setting
Can be
read/
written
Predefinitions
67FF
Single device type
SDO
U32
r
Common entries in the object dictionary
6007
Abort connection option code
p8641
SDO
I16
3
r/w
6502
Supported drive modes
SDO
I32
r
6504
Drive manufacturer
SDO
String
SIEMENS
r
Device control
6040 Control word r8795 PDO/
SDO
U16 – r/w
6041 Status word r8784 PDO/
SDO
U16 – r
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