User Manual

Communication over CANopen
6.6 Object directories
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
205
OD index
(hex)
Sub-
index
(hex)
Name of the object
SINAMICS
parameters
Transmission
Data
type
Default
setting
Can be
read/
written
6077
Torque actual value
r0080
SDO/PDO
I16
–
r
Velocity mode
6042
vl target velocity
r8792
SDO/PDO
I16
–
r/w
6043
vl velocity demand
r1170
SDO/PDO
I16
–
r
6044
vl velocity actual value
r0063
SDO/PDO
I16
–
r
6046
0
vl velocity min./max. amount
SDO
U8
–
r
1
vl velocity min. amount
p1080
SDO
U32
–
r/w
2
vl velocity max. amount
p1082
SDO
U32
–
r/w
6048
0
vl velocity acceleration
SDO
U8
–
r
1
Delta speed
p1082
SDO
U32
–
r/w
2
Delta time
p1120
SDO
U16
–
r/w
1) Without ramp
-function generator
2) With ramp
-function generator
3) The inverter can process the objects from the Profile Torque Mode. But they cannot be set nor selected in inverters.