Canopen Functionality - Siemens SINAMICS S120 Installation And Start-Up Manual

2.2.2

CANopen functionality

Introduction
The CBC10 supports the CANopen transfer types with SDOs (service data objects) and
PDOs (process data objects).
The CBC10 also supports free PDO mapping.
The CBC10 supports CANopen communication profile DS 301 version 4.0, device profile
DSP 402 (drives and motion control) version 2.0, and indicator profile DR303-3 version 1.0.
For communication monitoring purposes, the CBC10 supports node guarding and the
heartbeat protocol (heartbeat producer).
The CBC10 features an SDO->parameter channel that can be used to read or write all the
SINAMICS S120 parameters.
The CBC10 firmware supports profile velocity mode.
Node guarding
SINAMICS S120 waits a certain time (node life time) for message frames from the master
application and permits a specific number (life time factor) of failures within a specified time
interval (node guard time).
The node life time is calculated by multiplying the node guard time by the life time factor.
Heartbeat protocol
SINAMICS S120 (producer) cyclically transmits (heartbeat time) its communication status
(sign of life) on the CAN bus to the master application.
Profile velocity mode
This mode allows velocity setpoints to be defined and set according to variable velocity
profiles.
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1
Prerequisites for commissioning
2.2 CBC10 Communication Board for CAN bus
2-5