User Manual

Communication over CANopen
6.6 Object directories
Fieldbuses
204 Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
6.6.3
Objects from the CiA 402 drive profile
The following table lists the object directory with the index of the individual objects for the
drives. The "SINAMICS parameters" column shows the parameter numbers assigned in the
inverter.
OD index
(hex)
Sub-
index
(hex)
Name of the object
SINAMICS
parameters
Transmission
Data
type
Default
setting
Can be
read/
written
Predefinitions
67FF Single device type SDO U32 r
Common entries in the object dictionary
6007
Abort connection option code
p8641
SDO
I16
3
r/w
6502
Supported drive modes
SDO
I32
r
6504 Drive manufacturer SDO String SIEMEN
S
r
Device control
6040
Control word
r8795
PDO/SDO
U16
–
r/w
6041
Status word
r8784
PDO/SDO
U16
–
r
605D
Halt option code
p8791
PDO/SDO
I16
–
r/w
6060
Modes of operation
p1300
SDO
I8
–
r/w
6061
Modes of operation display
r8762
SDO
I8
–
r
Factor group
6094
Velocity encoder factor
SDO
U8
-
r
01 velocity encoder factor
numerator
p8798[1] SDO U32 1 r/w
02 velocity encoder factor
denumerator
p8798[2] SDO U32 1 r/w
Profile velocity mode
6063
Actual position value
r0482
SDO/PDO
I32
–
r
6069
Velocity sensor actual value
r0061
SDO/PDO
I32
–
r
606B
Velocity demand value
r1170
SDO/PDO
I32
–
r
606C Velocity actual value
Actual velocity
r0063 SDO/PDO I32 – r
6083
Profile acceleration
p1082/p1120
SDO
I32
–
r/w
6084
Profile deceleration
p1082/p1121
SDO
I32
0
r/w
6085
Quick stop deceleration
p1082/p1135
SDO
I32
0
r/w
6086
Motion profile type
p1115/p1134
SDO
I32
0
r/w
60FF Target velocity
Set velocity
p1155[0]
1)
p1072
2)
SDO/PDO I32 0 r/w
Profile Torque Mode
3)
6071 Target torque
torque setpoint
r8797 SDO/PDO I16 – r/w
6072
Max. torque
p1520
SDO
0
0
6074 Torque demand value
overall torque setpoint
r0079 SDO/PDO I16 – r