Pdo (Process Data Object); Parameter - Siemens Sinamics S120 Commissioning Manual

2.7

PDO (Process Data Object)

PDOs (Process Data Object) are used to transmit process data, which is used for real-time
access to selected data. For certain variables, mappings to certain PDOs are preconfigured.
The PDOs are linked with entries in the object directory and represent the interface with the
drive objects. Data type and mapping of the drive objects in a PDO are determined by the
PDO mapping structure inside the object directory. The number of PDOs and the mapping of
the drive objects in a PDO are transmitted to the unit during the unit configuration process.
This transmission is implemented at the corresponding entries in the object directory via
SDO services.
PDOs are used in two different ways:
PDO type
Transmit PDO (TPDO)
Receive PDO (RPDO)
The PDO is characterized by PDO communication parameters and PDO mapping
parameters. The structure of these parameter is listed in the following tables.
2.7.1

Parameter

Table 2- 8
Subindex
00 hex
01 hex
02 hex
03 hex
04 hex
05 hex
only valid for 1800 hex ff
1)
Table 2- 9
Subindex
00 hex
01 hex
02 hex
03 hex
04 hex
The PDO communications parameter describes the communication options of the PDO. The
PDO mapping parameter contains information on the content of the PDO.
It is necessary to define communication parameters and mapping parameters for each PDO.
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
PDO communication parameters 1400 hex ff, 1800 hex ff.
Name
Number of subindices
COB-ID of the PDO
Transmission type of the PDO
Inhibit time
1)
Reserved
1)
Event Timer
1)
PDO mapping parameters 1600 hex ff, 1A00 hex ff.
Name
Number of mapped objects in the PDO
1st object to be mapped
2nd object to be mapped
3rd object to be mapped
4th object to be mapped
Task
Sending data
Receiving data
Add infeed
2.7 PDO (Process Data Object)
Protocol/model
PDO Producer
PDO Consumer
Data type
UNSIGNED8
UNSIGNED32
UNSIGNED8
UNSIGNED16
UNSIGNED8
UNSIGNED16
Data type
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
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