Siemens SINAMICS S120 Quick start guide

SINAMICS S120 CANopen interface
SINAMICS
Commissioning Manual · 10/2008
CANopen interface
SINAMICS S120
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Preface
Add infeed
1
Prerequisites for
commissioning
2
Commissioning
3
Examples
4
Diagnosis
5
Communication objects
6
Parameters, faults and
alarms, terminology
A
SINAMICS
S120
SINAMICS S120 CANopen
interface
Commissioning Manual
(IH2), V2.6, 10/2008 Edition
6SL3097-2AA00-0BP3
Valid for:
Firmware Version 2.6 SP1

Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be adhered to. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
Siemens AG
Industry Sector
Postfach 48 48
90026 NÜRNBERG
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Ordernumber: 6SL3097-2AA00-0BP3
Ⓟ 01/2009
Copyright © Siemens AG 2006,
2008.
Technical data subject to change

CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3 5
Preface
SINAMICS documentation
The SINAMICS documentation is organized in 2 parts:
● General documentation / catalogs
● Manufacturer/Service Documentation
An overview of publications, which is updated on a monthly basis and also provides
information about the language versions available, can be found on the Internet at:
http://www.siemens.com/motioncontrol
Select "Support" > "Technical Documentation" > "Overview of Publications".
The Internet version of DOConCD (DOConWEB) is available under:
http://www.automation.siemens.com/doconweb
Information about training courses and FAQs (Frequently Asked Questions) can be found at
the following website:
http://www.siemens.com/motioncontrol under menu option "Support"
Utilization phases
Table 1 Usage phases and the available documents/tools
Usage phase Document / tool
Exploratory SINAMICS S Sales Documentation
Planning/configuration •SIZER configuration tool
•Configuration Manuals, Motors
Decision/ordering SINAMICS S Catalogs
Installation/assembly •SINAMICS S110 Equipment Manual
•SINAMICS S120 Equipment Manual for Control Units and
Supplementary System Components
•SINAMICS S120 Equipment Manual Power Modules
Booksize
•SINAMICS S120 Equipment Manual for Booksize Compact
Power Units
•SINAMICS S120 Equipment Manual Power Modules
Chassis
•SINAMICS S120 Equipment Manual for AC Drives

Preface
CANopen interface
6 Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Usage phase Document / tool
Commissioning •STARTER parameterization and commissioning tool
•SINAMICS S110 Function Manual
•SINAMICS S110 List Manual
•SINAMICS S120 Getting Started
•SINAMICS S120 Commissioning Manual
•SINAMICS S120 CANopen Commissioning Manual
•SINAMICS S120 Function Manual
•SINAMICS S120/S150 List Manual
Usage/operation •SINAMICS S110 Function Manual
•SINAMICS S110 List Manual
•SINAMICS S120 Commissioning Manual
•SINAMICS S120/S150 List Manual
Maintenance/servicing •SINAMICS S110 Function Manual
•SINAMICS S110 List Manual
•SINAMICS S120 Commissioning Manual
•SINAMICS S120/S150 List Manual
References •SINAMICS S110 List Manual
•SINAMICS S120/S150 List Manual
Target group
This documentation is aimed at machine and plant builders, commissioning engineers, and
service personnel who use SINAMICS.
Benefits
Note
This Commissioning Manual "SINAMICS CANopen Interface" describes the steps involved in
commissioning a CANopen interface in the SINAMICS drive line-up.
This Commissioning Manual extends the description of "Initial commissioning using servo as
an example" to include a description of the initial commissioning procedure for the CANopen
communication interface:
•SINAMICS S120 with the CBC10 communication module
•SINAMICS S110 with integrated CANopen interface
Detailed instructions on commissioning the entire SINAMICS drive line-up are available in:
•SINAMICS S120 Commissioning Manual /IH1/.
•SINAMICS S110 Function Manual /FH3/.

Preface
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3 7
Standard scope
This documentation only describes the functionality of the standard version. Extensions or
changes made by the machine tool manufacturer are documented by the machine tool
manufacturer.
Other functions not described in this documentation might be able to be executed in the drive
system. This does not, however, represent an obligation to supply such functions with a new
control or when servicing.
For the sake of simplicity, this documentation does not contain all detailed information about
all types of the product and cannot cover every conceivable case of installation, operation, or
maintenance.
Technical Support
If you have any questions, please get in touch with our Hotline:
Europe / Africa
Phone [phone] - 222
Fax [phone] - 223
Internet http://www.siemens.de/automation/support-request
Americas
Phone [phone]
Fax [phone]
E-mail mailto:[email protected]
Asia/Pacific
Phone [phone]
Fax [phone]
E-mail mailto:[e-mail]
Note
Country telephone numbers for technical support are provided under the following Internet
address:
http://www.siemens.com/automation/service&support
Calls are subject to charge (e.g. € 0.14/min from fixed lines within Germany).
Tariffs of other telephone service providers may vary.

Preface
CANopen interface
8 Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Questions about the Manual
If you have any questions (suggestions, corrections) regarding this documentation, please
fax
or e-mail us at:
Fax [phone]
E-mail E-mail to: [email protected]
A fax form is available in the appendix of this document.
Internet address for SINAMICS
http://www.siemens.com/sinamics
ESD notices
CAUTION
Electrostatic sensitive devices (ESDs) are individual components, integrated circuits, or
boards that may be damaged by either electrostatic fields or electrostatic discharge.
Regulations for handling ESD components:
When handling components, make sure that personnel, workplaces, and packaging are
well earthed.
Personnel in ESD areas with conductive flooring may only handle electronic components if:
•They are grounded with an ESD wrist band
•They are wearing ESD shoes or ESD shoe grounding straps
Electronic boards should only be touched if absolutely necessary. They must only be
handled on the front panel or, in the case of printed circuit boards, at the edge.
Electronic boards must not come into contact with plastics or items of clothing containing
synthetic fibers.
Boards must only be placed on conductive surfaces (work surfaces with ESD surface,
conductive ESD foam, ESD packing bag, ESD transport container).
Do not place boards near display units, monitors, or television sets (minimum distance from
screen: 10 cm).
Measurements must only be taken on boards when the measuring instrument is grounded
(via protective conductors, for example) or the measuring probe is briefly discharged before
measurements are taken with an isolated measuring device (for example, touching a bare
metal housing).

Preface
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3 9
Safety information/instructions
DANGER
Commissioning must not start until you have ensured that the machine in which the
components described here are to be installed complies with Directive 98/37/EC.
SINAMICS S equipment must only be commissioned by suitably qualified personnel.
Personnel must take into account the information provided in the technical customer
documentation for the product, and be familiar with and observe the specified danger and
warning notices.
When electrical equipment and motors are operated, the electrical circuits automatically
conduct a dangerous voltage.
Dangerous mechanical movements may occur in the system during operation.
All of the work carried-out on the electrical machine or system must be carried-out with it in
a no-voltage condition.
WARNING
Correct and safe operation of SINAMICS S equipment assumes correct transportation,
storage, setup, and installation, as well as careful operation and maintenance.
The details in the catalogs and proposals also apply to the design of special equipment
versions.
In addition to the danger and warning information provided in the technical customer
documentation, the applicable national, regional, and system-specific regulations and
requirements must be taken into account.
Only protective extra-low voltages (PELVs) that comply with EN60204-1 must be connected
to all connections and terminals between 0 and 48 V.
CAUTION
Operating the equipment in the immediate vicinity (< 1.5 m) of mobile telephones with a
transmitter power of > 1 W may lead to incorrect operation.

Preface
CANopen interface
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CANopen interface
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Table of contents
Preface ...................................................................................................................................................... 5
1 Add infeed ............................................................................................................................................... 15
1.1 Previous knowledge.....................................................................................................................15
1.2 Commissioning options................................................................................................................15
1.3 Terminology .................................................................................................................................15
1.4 CAN bus structure for SINAMICS................................................................................................19
1.5 CANopen slave software .............................................................................................................20
1.6 CANopen object directory............................................................................................................22
1.7 Manufacturer-specific objects ......................................................................................................25
1.7.1 Objects to access SINAMICS parameters...................................................................................25
1.7.2 Free objects .................................................................................................................................28
1.8 Number of PDOs that can be set up (channels)..........................................................................30
1.9 Send and receive message frames for process data ..................................................................30
1.10 PDO mapping...............................................................................................................................32
1.11 COB-ID.........................................................................................................................................33
1.12 SDO services ...............................................................................................................................36
1.13 PDO services ...............................................................................................................................39
1.14 BICO interconnection in conjunction with CANopen ...................................................................43
1.15 Behavior of SINAMICS when booting with the CANopen communications board ......................44
1.16 Bootup protocol............................................................................................................................44
1.17 Network management (NMT service) ..........................................................................................45
1.18 CANopen device state machine...................................................................................................48
1.19 Fault monitoring ...........................................................................................................................50
1.20 Parameters, save, restore factory settings ..................................................................................53
1.21 CAN bus sampling time ...............................................................................................................55
1.22 Number of controllable drives via CAN bus .................................................................................55
2 Prerequisites for commissioning .............................................................................................................. 57
2.1 Prerequisites for commissioning..................................................................................................57
2.2 CBC10 Communication Board for CAN Bus (SINAMICS S120) .................................................58
2.2.1 CBC10 Installation .......................................................................................................................60
2.2.2 CANopen functionality .................................................................................................................60
2.2.3 Diagnostics LED "OPT" ...............................................................................................................61
2.3 CU305 CAN (SINAMICS S110)...................................................................................................63
2.3.1 CAN bus on the CU305 ...............................................................................................................63
2.3.2 CANopen functionality CU305 CAN ............................................................................................64

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CANopen interface
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2.3.3 Diagnostics LED "COM".............................................................................................................. 65
2.4 STARTER commissioning tool.................................................................................................... 66
2.4.1 The STARTER user interface ..................................................................................................... 66
2.4.2 BICO interconnection procedure in STARTER........................................................................... 67
2.4.3 Entering parameter values in the expert list................................................................................ 72
3 Commissioning ........................................................................................................................................ 73
3.1 Initial commissioning procedure.................................................................................................. 73
3.2 Example configurations............................................................................................................... 74
3.2.1 SINAMICS S120 example configuration..................................................................................... 74
3.2.2 SINAMICS S110 example configuration..................................................................................... 76
3.3 Hardware settings on CBC10 (not for SINAMICS S110)............................................................ 77
3.4 Configuring the drive unit using the STARTER commissioning tool........................................... 79
3.4.1 Searching for the drive unit ONLINE........................................................................................... 80
3.4.2 Determining the component topology and configuration of the drive unit automatically ............ 81
3.4.3 Configuring the motor.................................................................................................................. 84
3.4.4 Configuring the interface for the CBC10 Option Board on the Control Unit ............................... 86
3.4.4.1 CAN interface.............................................................................................................................. 87
3.4.4.2 PDO message frame................................................................................................................... 88
3.4.4.3 Monitoring.................................................................................................................................... 91
3.4.5 Activating the "predefined connection set".................................................................................. 93
3.4.6 Loading the project to the drive unit............................................................................................ 94
3.4.7 Interconnecting the infeed........................................................................................................... 96
3.5 Configure the COB IDs and process data objects for the receive and transmit message
frames. ........................................................................................................................................ 97
3.5.1 Predefined COB IDs and process data objects for the drive objects.......................................... 98
3.5.2 Activating "free PDO mapping" ................................................................................................. 100
3.5.3 Assigning COB IDs and mapping parameters for free PDO mapping...................................... 101
3.5.4 Interconnecting the receive and transmit buffers...................................................................... 106
3.6 Interconnecting process data in the receive and transmit buffers ............................................ 108
3.6.1 Reading the image of the individual process data objects for the receive and transmit
buffers ....................................................................................................................................... 108
3.6.2 Interconnecting process data for transmission message frames.............................................. 111
3.6.2.1 Interconnecting the receive buffer............................................................................................. 112
3.6.2.2 Interconnecting the transmit buffer ........................................................................................... 115
3.6.2.3 Interconnecting an additional drive object................................................................................. 118
3.7 Load the projects from the drive unit to the PC/PG in ONLINE mode and save them ............. 119
4 Examples............................................................................................................................................... 121
4.1 Speed setpoint input and evaluation of the speed actual value................................................ 121
4.2 Torque setpoint input and evaluation of the torque actual value .............................................. 123
5 Diagnosis............................................................................................................................................... 125
5.1 Emergency object ..................................................................................................................... 125
5.2 Drive-unit-internal error list ("predefined error field") ................................................................ 127
5.3 Error register ............................................................................................................................. 128
6 Communication objects ......................................................................................................................... 129
6.1 Control Unit communication objects independent of the drive.................................................. 129

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CANopen interface
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6.2 Drive-dependent communication objects...................................................................................133
6.2.1 Table: Communication objects for receive PDOs......................................................................133
6.2.2 Table: Communication objects for transmit PDOs.....................................................................138
6.3 Free objects ...............................................................................................................................145
6.4 Objects in drive profile DSP402.................................................................................................146
A Parameters, faults and alarms, terminology........................................................................................... 149
A.1 Glossary.....................................................................................................................................149
Index...................................................................................................................................................... 155

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CANopen interface
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CANopen interface
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Add infeed 1
1.1 Previous knowledge
Introduction
To fully understand this Commissioning Manual, you must be familiar with CANopen
terminology.
This Chapter includes, among other things,
● An overview of the most important terms and abbreviations
● A breakdown of the communication objects in the CANopen object directory in the
CANopen slave software
You must be familiar with the following standards:
Note
SINAMICS with CANopen complies with the following standards:
- CiA DS-301 V4.02 (Application Layer and Communication Profile)
- CiA DS-402 V2.0 (Device Profile for Drives and Motion Control)
- CiA DR-303-3 V1.2 (Indicator Specification)
- CiA DS-306 V1.3: (Electronic data sheet specification for CANopen)
1.2 Commissioning options
Introduction
In the SINAMICS drive line-up, the STARTER commissioning tool offers two options for
commissioning a CANopen interface:
● Via predefined message frames ("predefined connection set")
● Via free PDO mapping (user-defined message frames)
1.3 Terminology
When using a CANopen profile via the CAN bus, you will encounter the following common
terms and abbreviations:

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1.3 Terminology
CANopen interface
16 Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
CAL (CAN Application Layer)
Communication layer above the CAN bus designed for CAN bus applications in open
communication systems. It comprises NMT, DBT, LMT, and CMS elements. Since CAL is
very extensive and highly flexible, a subset of CAL functions for automation applications has
been defined with the CANopen communication profile CiA DS 301.
CAN (controller area network)
A serial bus system (also known as CAN bus) that was originally designed for use in vehicles
but is now also used in automation technology. CANopen (see below) extends the CAN bus
protocols to include additional layers.
CAN controller
An electronic module whose hardware processes the CAN bus protocols.
CAN identifier
With the assignment of CAN identifiers to CAN messages (CANopen: PDOs, SDOs), the
relative priority of the CAN messages to one another is specified.
CANopen
A CiA-defined communication model based on the CAN bus and CAL. To make it easier to
use devices produced by different manufacturers on a bus, a subset of CAL functions for
automation applications has been defined with the CANopen communication profile CiA DS
301. Other profiles are also defined for certain device types (e.g. drives).
CiA (CAN in Automation international users and manufacturers group)
Association of manufacturers and users of devices with a CAN interface.
CMS (CAN message specification)
A part of the CAL that defines different mechanisms for transferring data.
COB (communication object)
On the CAN bus, data is transferred in packages known as communication objects (COB) or
CAN messages.
Devices connected to the CAN bus can transmit and receive COBs.
COB-ID (COB identifier)
Each COB can be uniquely identified by means of an identifier, which is part of the COB.
CAN specification 2.0A supports up to 2048 COBs, which are identified by means of 11-bit
identifiers. In this Commissioning Manual, COB IDs are always specified as hexadecimal
values.

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1.3 Terminology
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3 17
A list of COB identifiers, which contains all the COBs that can be accessed via CAN, is
available in the object directory for the relevant drive unit.
DBT (distributor)
A part of the CAL that controls the distribution of COB IDs. Like most CANopen devices, the
digital servo amplifiers use more straightforward means of assigning COB IDs to a device:
they are selected via default values on the basis of the node ID and can, if necessary, be
changed via SDO.
DRIVECOM
Association of drive manufacturers that has developed standards for networking drives
(profiles). DRIVECOM profile 22 for positioning drives, which is implemented in the servo
amplifier, was used by CiA as a basis for developing CANopen drive profile CiA DSP 402.
EMCY (Emergency)
SINAMICS features an emergency object to inform other nodes on the CANopen bus of
internal device faults or CAN bus faults. It is assigned a high priority and provides important
information about the status of the drive unit.
Channel
With the SINAMICS drive line-up, up to 24 receive PDOs can be received.
One channel in the CAN controller is assigned to each activated receive PDO. Transmit
PDOs are transmitted via two predefined channels.
Transmit PDOs always use two predefined channels.
NMT (network management)
A part of CAL used for initialization, configuration, and troubleshooting purposes.
Node ID (node identification)
Uniquely identifies a device in the CANopen network. For this reason, all the devices must
have a unique node ID (bus address). The default distribution (standard setting) of the COB
IDs is derived from the node ID. In this Commissioning Manual, node IDs are always
specified as hexadecimal values.
OD (object directory)
A "database" – or object directory – containing all the objects supported by a drive is defined
for each drive unit. The object directory contains:
● Type, description, and serial number of the device
● Name, format, description + index for each object
● Lists of PDOs and SDOs

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1.3 Terminology
CANopen interface
18 Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
● The data that is assigned to the PDOs
● The time at which the PDOs are transmitted (SYNC, change in object, etc.)
● The time at which emergency messages are transmitted
● ...
All the drive unit variables are accessed via objects. The SDO and PDO communication
services access the object directory of the drive unit.
PDO (process data object)
Used for accessing selected data rapidly and in real time. Mappings of certain PDOs are
preconfigured for certain variables or groups of variables.
The SDO is used to access all the other variables.
Profile
In the case of communication with bus systems, profiles are documents used for device
standardization purposes, whereby communication functions (in a communication profile),
device functions (in a device profile), or drive functions (in a drive profile) are described from
the point of view of the communication interface.
RPDO (receive PDO)
PDO is received by the device (contains the final position, for example).
SDO (service data object)
The SDO provides access to all variables in a CANopen device (in the case of drives: drive
and CANopen variables).
The SDO is generally used for configuration purposes. PDOs provide fast, real-time access
to selected variables.
SYNC (synchronization)
SYNC is a special message frame that synchronizes the CAN devices with each other. This
message frame has a very high priority.
TPDO (transmit PDO)
PDO transmitted by the drive (contains the actual position value, for example).
Variable
All the drive and CANopen functions can be accessed via variables.
Variables can be accessed via SDOs or PDOs.

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1.4 CAN bus structure for SINAMICS
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3 19
1.4 CAN bus structure for SINAMICS
The following diagram shows an example using SINAMICS S120 of how the hardware and
software are arranged when a CANopen interface is commissioned.
The diagram shows the following:
● How a master application of a CANopen user is connected to a SINAMICS drive line-up.
● The CAN bus interface of the CBC10 Communication Board.
● The associated CANopen slave software on the Control Unit and the meaning of the
terms "transmit" and "receive", which are used for the transmit and receive message
frames during commissioning.
● How a PC on which the STARTER commissioning tool has been installed can be
connected via PROFIBUS.
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1.5 CANopen slave software
CANopen interface
20 Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Note
For SINAMICS S110:
•When ordering, you must have already decided whether to use a CAN bus or Profibus
interface, because the bus interface is integrated in the Control Unit.
•It is not possible to exchange the bus interface afterwards, e.g. with a Profibus
interface.
•The simultaneous use of CAN bus und Profibus is not possible.
•SINAMICS S110 does not support all the components displayed in the S120 topology.
1.5 CANopen slave software
Introduction
In the CANopen slave software, a separate expert list is created – among other things – for
each module in the SINAMICS drive line-up. The expert list reflects – among other things –
the CANopen object directory.
Example
The data value for the control word of the object directory index from the CANopen object
directory is entered in parameter r8795 in the expert list.
Depending on how the Motor Modules are arranged in the drive line-up, they are counted as
a drive object from the point of view of CANopen.
See the following diagram: