Siemens SINAMICS G120 - Page 218

Configuring the fieldbus
7.7 Communication over CANopen
Inverter with CU230P-2 Control Units
218 Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG
OD index
(hex)
Sub-
index
(hex)
Name of the object
SINAMICS
parameters
Trans-
mission
Data
type
Default
setting
Can be
read/
written
Profile Torque Mode
3)
6071 Target torque
torque setpoint
r8797 SDO/
PDO
I16 – r/w
6072
Max. torque
p1520
SDO
0
0
6074 Torque demand value
overall torque setpoint
r0079 SDO/
PDO
I16 – r
6077 Torque actual value r0080 SDO/
PDO
I16 – r
Velocity mode
6042 vl target velocity r8792 SDO/
PDO
I16 – r/w
6043 vl velocity demand r1170 SDO/
PDO
I16 – r
6044 vl velocity actual value r0063 SDO/
PDO
I16 – r
6046
0
vl velocity min./max. amount
SDO
U8
–
r
1 vl velocity min. amount p1080 SDO U32 – r/w
2
vl velocity max. amount
p1082
SDO
U32
–
r/w
6048 0 vl velocity acceleration SDO U8 – r
1
Delta speed
p1082
SDO
U32
–
r/w
2
Delta time
p1120
SDO
U16
–
r/w
1)
Without ramp-function generator
2)
With ramp-function generator
3)
The converter processes the objects of profile velocity mode and profile torque mode. But they cannot be set nor
selected in converters.