Drive-Dependent Communication Objects - Siemens Sinamics S120 Commissioning Manual

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2.5 CANopen object directory
OD index Sub Object name
(hex) index
(hex)
1027 Module list
0 Number of entries
1-8 Module ID
1029 Error behavior
0 No. of error classes
1 Communication Error p8609.0
2 Device profile or
manufacturer-specific
error
1200 1st server SDO pa-
rameter
0 Number of entries
1 COB ID client ->
server (rx)
2 COB ID server ->
client (tx)
1201 Drive object server
SDO parameter
0 Number of entries
1 COB ID client ->
server (rx)
2 COB ID server ->
client (tx)
2.5.2

Drive-dependent communication objects

Eight PDOs per drive can be parameterized for transmitting and receiving.
Each PDO contains:
● Communication parameters
● Mapping parameters (max. 8 bytes/4 words/64 bits).
Rule
In the following tables, as example, the 1st PDO is highlighted in bold to indicate that the
communication and mapping parameters for one PDO are associated with one another.
The "predefined connection set" column contains the predefined values for the "predefined
connection set".
38
SINAMICS PDO
parameters Mapping
– –
r0102 No
p0107[0...15] No
– –
– No
No
p8609.1 No
– –
– No
r8610.0 No
r8610.1 No
– –
– No
p8612.0 No
p8612.1 No
Data type Default
values
– –
Unsigned16 –
Integer16 0
– –
– –
Unsigned32 1
Unsigned32 1
– –
– –
Unsigned32 –
Unsigned32 –
– –
– –
Unsigned32 0x8000000
0
Unsigned32 0x8000000
0
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
SDO access
–
ro
rw
–
–
rw
rw
–
–
ro
ro
–
ro
rw
rw
CANopen interface