Siemens SINAMICS S120 Installation And Start-Up Manual page 31

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COB IDs for SINAMI
With SINAMICS S120, the following
predefined for the drive object
Table 1-3
Communication
objects
TPDO1
RPDO1
T DO2 P
R DO2 P
TP
RPDO3
T DO4 P
RPDO4
Note
In the predefined connection set, the COB IDs are incremented by +1 for each additional
SINAMICS S120 drive object.
Example:
for the first SINAMICS S120 drive object,
180 hex + node ID applies for TPDO1;
for the second SINAMICS S120 drive object,
180 hex + node ID plus 1 applies for TPDO1.
Note
You assign COB IDs for each drive object in the STARTER expert list as of p8700 for
receive message frames and p8720 for transmit message frames.
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1
Example: for TPDOs, the O
RPDOs, with 1400 hex; ea
1840 hex and 1440 hex for the second drive object, and so on.
With a predefined connection set, the COB IDs are incremented by +1 for each additional
SINAMICS S120 drive object.
These COB IDs are set by default.
2)
CS S120
Identifier assignment
Function code
dec
3
4
5
6
DO3 7
8
9
10
D index for the first drive object begins with 1800 hex and, for
ch additional drive object begins with an offset of 40 hex –>
COB IDs for receive and transmit message frames are
s in the predefined connection set:
Resulting COB ID
bin hex Explanation
0011 181–1FF 180 hex + node ID
0100 201–27F 200 hex + node ID
0101 281–2FF 280
0110 301–37F 300 hex + nod
0111 381–3FF 380 hex + node ID
1000 401–47F 400 hex + node ID
1001 481–4FF 480 hex + node ID
1010 501–57F 500 hex + node ID
1.11 What is a COB ID?
OD index (hex)
1800
1400
hex + node ID 1801
e ID 1401
1802
1402
1803
1403
Add infeed
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