Operating Instructions

Communication over CANopen
6.2 SDO services
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
175
6.2
SDO services
You can access the object directory of the connected drive unit using the SDO services. An
SDO connection is a peer-to-peer coupling between an SDO client and a server.
The drive unit with its object directory is an SDO server.
The identifiers for the SDO channel of a drive unit are defined according to CANopen as
follows.
Receiving:
Server ⇐ client:
COB ID = 600 hex + node ID
Transmitting:
Server ⇒ client:
COB ID = 580 hex + node ID
Properties
The SDOs have the following properties:
● An SDO connection exists only in the Pre-Operational and Operational states
● Transmission is confirmed
● Asynchronous transmission (matches the acyclical communication via PROFIBUS DB)
● Transmission of values > 4 bytes (normal transfer)
● Transmission of values ≤ 4 bytes (expedited transfer)
● All drive unit parameters can be addressed via SDO
6.2.1
Access to SINAMICS parameters via SDO
You access SINAMICS parameters using the SDO service. To do this, you use objects 2000
hex … 470F hex of the manufacturer-specific area of the object directory.
Because you cannot directly address all of the parameters using this area, you require for an
SDO job always the parameter number itself and the offset dependent on the parameter
number.
Selection of parameter range and the associated offset
Parameter range
Offset
Offset value
0 < parameter number < 10000
p8630[2] = 0
0
10000 ≤ parameter number < 20000
p8630[2] = 1
10000
20000 ≤ parameter number < 20000
p8630[2] = 2
20000
30000 ≤ parameter number < 20000
p8630[2] = 3
30000