Siemens SINAMICS S110 - Interface description

Commissioning with CANopen
4.2 Commissioning
Function Manual
Function Manual, 01/2011, 6SL3097-4AB10-0BP3
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4.2.2 CANopen object directory
CANopen object directory
When the drive objects are initialized, the CANopen objects are initialized in the object
directory for the SINAMICS drive line-up (CANopen slave software).
Objects
The following SINAMICS objects are involved in communication:
1. Control Unit communication objects independent of the drive
– include: Number and number of errors, communication addresses etc.
2. Drive-dependent communication objects
– Up to eight PDOs for sending and eight PDOs for receiving can be parameterized for
the drive. Each PDO contains:
- Communication and
- Mapping parameters (max. 8 bytes/4 words/64 bits)
3. Manufacturer-specific objects
– Objects for accessing SINAMICS parameters
– Free objects for sending/receiving process data, there are freely interconnectable
objects available for each drive object (max. 16) in the object directory (see CANopen
manual for table).
– The manufacturer-specific range starts in the object directory from address 2000 hex
and ends at 5FFF hex.
4. Drive objects in drive profile DSP 402
– Profile velocity mode
– Setpoint and actual values and comparisons