Calculation/Conversion Setpoints/Actual Values; Speed Setpoint Input And Evaluation Of The Speed Actual Value - Siemens Sinamics S120 Commissioning Manual
Canopen interface
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Also See for Sinamics S120:
- Function manual (1094 pages) ,
- Diagnostic manual (947 pages) ,
- Manual (848 pages)
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Calculation/conversion setpoints/actual values
5.1
Speed setpoint input and evaluation of the speed actual value
The CANopen object "Target Velocity 0x60FF" or "Velocity actual value 0x606C" is
accessed using PDO or SDO transfer.
By default, these CANopen objects are displayed in the unit "increments/second".
Note
The CANopen object index of a specific drive object is calculated as follows:
• 60FF hex + 800 hex · x (x: drive number 0 ... 7)
• 606C hex + 800 hex · x (x: drive number 0 ... 7)
The following parameters must be taken into account to enter the speed setpoint and
evaluate the speed actual value:
● p8798 = CBC speed conversion factor
The parameter corresponds to the CANopen object 6094 hex.
The factor converts the required velocity units into the internal velocity units (rev/s).
Factory setting of the velocity unit for CANopen:
– with encoder -> increments/second
– without encoder -> revolutions/minute
The internal velocity is calculated as follows:
Speed setpoint
● p0408 = pulse number
● p0418 = fine resolution
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
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