Siemens Sinamics S120 Commissioning Manual page 56

Add infeed
2.5 CANopen object directory
OD index Subin- Object name
(hex) dex
(hex)
67FF – Single device type
Factor group
6094 00 Velocity encoder factor
01 Velocity encoder factor nu-
merator
02 Velocity encoder factor denu-
merator
Profile Velocity Mode
6063 – Actual position value
6069 – Velocity sensor actual value
606B – Velocity demand value
606C – Velocity actual value
Actual velocity
6083 – Profile acceleration
6084 – Profile deceleration
6085 – Quick stop deceleration
6086 – Motion profile type
60FF – Target velocity
Setpoint velocity
Profile Torque Mode
6071 – Target torque
Setpoint torque
6072 – Max torque
6074 – Torque demand value
Setpoint torque total
6077 – Torque actual value
Velocity Mode
6042 – vl target velocity
6043 – vl velocity demand
6044 – vl velocity actual value
6046 0 vl velocity min./max. amount
1 vl velocity min. amount
2 vl velocity max. amount
56
SINAMICS PDO
parameters mapping
– No
– No
p8798[0] No
p8798[1] No
r0482 Yes
r0061 Yes
r1170 Yes
r0063 Yes
p1082/ No
p1120
p1082/ No
p1121
p1082/ No
p1135
p1115/ No
p1134
Without Yes
ramp-
function
generator ->
p1155[0]
With ramp-
function
generator ->
p1070
r8797 Yes
p1520 No
r0079 Yes
r0080 Yes
r8792 Yes
r1170 Yes
r0063 Yes
– No
p1080 No
p1082 No
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Data type Default
values
Unsigned32 –
Unsigned8 2
Unsigned32 1
Unsigned32 1
Integer32 –
Integer32 –
Integer32 –
Integer32 –
Unsigned32 –
Unsigned32 –
Unsigned32 –
Integer16 0
Integer32 –
Integer16 –
0 0
Integer16 –
Integer16 –
Integer16 –
Integer16 –
Integer16 –
Unsigned8 –
Unsigned32 –
Unsigned32 –
CANopen interface
SDO ac-
cess
ro
ro
rw
rw
ro
ro
ro
ro
rw
rw
rw
rw
rw
rw
0
ro
ro
rw
ro
ro
ro
rw
rw