User Manual

Communication over CANopen
6.6 Object directories
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
195
OD index
(hex)
Subindex
(hex)
Object name
SINAMICS parame-
ters
Trans-
mission
Data
type
Default
values
Can be
read/
written
1010
Store parameters
p0971
SDO
U16
0
rw
0 Largest subindex supported SDO
1
Save all parameters
p0971
SDO
U16
0
rw
2 Save communication parame-
ters (0x1000-0x1fff)
p0971 SDO U16 0 rw
3 Save application-related pa-
rameters (0x6000-0x9fff)
p0971 SDO U16 0 rw
1011
Restore default parameters
p0970
SDO
U16
0
rw
0
Largest subindex supported
SDO
1
Restore all default parameters
p0970
SDO
U16
0
rw
2 Restore communication default
parameters (0x1000-0x1fff)
p0970 SDO U16 0 rw
3 Restore application default
parameters (0x6000-0x9fff)
p0970 SDO U16 0 rw
1014
COB ID emergency
p8603
SDO
U32
0
rw
1017
Producer heartbeat time
p8606
SDO
U16
0
rw
1018
Identy Object
r8607[0...3]
U32
–
r
0
Number of entries
SDO
1
Vendor ID
r8607.0
SDO
U32
–
r
2
Product code
r8607.1
SDO
U32
–
r
3
Revision number
r8607.2
SDO
U32
–
r
4
Serial number
r8607.3
SDO
U32
0
r
1027 Module list
0
Number of entries
r0102
SDO
U16
–
r
1-8 Module ID p0107[0...15] SDO I16 0 rw
1029
Error behavior
0
Number of error classes
SDO
1
Communication Error
p8609.0
SDO
U32
1
rw
2 Device profile or manufacturer-
specific error
p8609.1 SDO U32 1 rw
1200
1st server SDO parameter
0
Number of entries
SDO
1
COB ID client -> server (rx)
r8610.0
SDO
U32
–
r
2
COB ID server -> client (tx)
r8610.1
SDO
U32
–
r