Free Objects - Siemens Sinamics S120 Commissioning Manual

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2.5 CANopen object directory
● A SINAMICS parameter can be an r or p parameter. The manufacturer-specific objects
contain the data values for these parameters.
● Depending on the switch position of parameter p8630[0], the data values for the modules
can be read or written.
If, for example, parameter r0062 of the setpoint velocity is to be read out from drive object
1, then:
– The switch must be set to "3" in parameter p8630[0] (see previous diagram),
– The parameter number r0062 is converted to a hexadecimal value and "2000 hex" is
2.5.3.2

Free objects

In the object directory (OD), you have the option to use free objects for process data (PZD)
in the range from "5800 hex" to "5FFF hex" (also refer to section "CANopen object directory
(Page 34)").
For each drive object, the following objects – that can be freely interconnected – are
available in the object directory:
OD index Description
(hex)
5800 to 580F 16 freely-interconnectable
receive process data
5810 to 581F 16 freely-interconnectable
transmit process data
5820 to 5827 8 freely-interconnectable
receive process data
5828 to 582F Reserved
5830 to 5837 8 freely-interconnectable
transmit process data
5838 to 5879 Reserved
Note
The object index range for each additional drive can be determined using r8743. The
parameter value corresponds to the drive object ID. The parameter index corresponds to the
factor with which the offset 80 hex must be multiplied and added to the basis object. For
instance, the drive starts with offset factor 1 from 5880 hex.
54
added. With this hexadecimal number "203E hex", which corresponds to the object
number, the parameter r0062 can be accessed via an SDO request.
SINAMICS
parameters
r8745[x]
r8746[x]
r8747[x]
–
r8748[x]
–
PDO Data type
mapping per PZD
Yes Integer16
Yes Integer16
Yes Integer32
– –
Yes Integer32
– –
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Default values SDO access
0 rw
0 ro
0 rw
– –
0 ro
– –
CANopen interface