Technical data

Commissioning with CANopen
4.2 Commissioning
Function Manual
Function Manual, 06/2012, 6SL3097-4AB10-0BP4
71
Prerequisite
Before following the commissioning steps described in this chapter, please ensure the points
referred to in the "Requirements for commissioning" chapter have been addressed.
4.2.2 CANopen object directory
CANopen object directory
When the drive objects are initialized, the CANopen objects are initialized in the object
directory for the SINAMICS drive line-up (CANopen slave software).
Objects
The following SINAMICS objects are involved in communication:
1. Control Unit communication objects independent of the drive
– include: Number and number of errors, communication addresses etc.
2. Drive-dependent communication objects
– Up to eight PDOs for sending and eight PDOs for receiving can be parameterized for
the drive. Each PDO contains:
- Communication and
- Mapping parameters (max. 8 bytes/4 words/64 bits)
3. Manufacturer-specific objects
– Objects for accessing SINAMICS parameters
– Free objects for sending/receiving process data, there are freely interconnectable
objects available for each drive object (max. 16) in the object directory (see CANopen
manual for table).
– The manufacturer-specific range starts in the object directory from address 2000 hex
and ends at 5FFF hex.
4. Drive objects in drive profile DSP 402
– Profile velocity mode
– Setpoint and actual values and comparisons