Table Of Contents - Siemens Sinamics S120 Commissioning Manual

Table of contents

Preface ................................................................................................................................................... 5
1 Fundamental safety instructions ............................................................................................................ 17
1.1 General safety instructions ..................................................................................................... 17
1.2 Equipment damage due to electric fields or electrostatic discharge ...................................... 22
1.3 Warranty and liability for application examples ...................................................................... 23
1.4 Industrial security .................................................................................................................... 24
1.5 Residual risks of power drive systems .................................................................................... 25
2 Add infeed ............................................................................................................................................ 27
2.1 Previous knowledge ................................................................................................................ 27
2.2 CAN bus structure for SINAMICS ........................................................................................... 28
2.3 CANopen functions that are supported ................................................................................... 29
2.4 Network management ............................................................................................................. 30
2.4.1 Overview ................................................................................................................................. 30
2.4.2 Bootup protocol ....................................................................................................................... 31
2.4.3 NMT state after power up ....................................................................................................... 31
2.4.4 NMT services - Node Control Services................................................................................... 31
2.4.5 NMT services - Error Control Services ................................................................................... 33
2.5 CANopen object directory ....................................................................................................... 34
2.5.1 Control Unit communication objects independent of the drive ............................................... 36
2.5.2 Drive-dependent communication objects................................................................................ 38
2.5.2.1 Communication objects receive PDO ..................................................................................... 39
2.5.2.2 Communication objects send PDO ......................................................................................... 44
2.5.2.3 Other communication objects ................................................................................................. 50
2.5.3 Manufacturer-specific objects ................................................................................................. 51
2.5.3.1 Objects to access SINAMICS parameters .............................................................................. 52
2.5.3.2 Free objects ............................................................................................................................ 54
2.5.4 CANopen objects of the drive profile DSP402 ........................................................................ 55
2.6 SDO (Service Data Object) ..................................................................................................... 58
2.6.1 General ................................................................................................................................... 58
2.6.2 SDO server for each drive object ............................................................................................ 58
2.6.2.1 Mapping models ...................................................................................................................... 58
2.6.2.2 EDS files ................................................................................................................................. 61
2.6.2.3 SDO server ............................................................................................................................. 64
2.6.2.4 Objects of the manufacturer-specific EDS files ...................................................................... 65
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
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