Siemens SINAMICS S120 Installation And Start-Up Manual page 84

Commissioning
3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames.
See also
Objects in d ive profile DSP402 (Page 5-1
Mapping RPDO1
When you
p file DSP ro
[0] to p8710
f lowing ta ol
Note
Since it is SINAMICS d
Table 3-6
Object
Co
wo
No object
3-32
Note
The RPDOs and TPDOs described below serve to illustrate the free PDO mapping
process. You can decide for yourself how you want to map your own process data
objects for transmission message frames.
r
choose the process data object for the control word from the "Objects in driv
402" table, this yields the following values, which you enter in parameters p8710
[3] for R PDO1 mapping (see the "Resulting hexadecimal value" column in the
ble):
rive object 2, 800 hex is added to the index.
Values for RPDO1
Values from
name "Objects in drive profile
DSP402" table
OD Sub-index
index (hex)
(hex)
ntrol 6840 00
rd
7)
Mapping parameter in STARTER
Object Resulting hexa-
size decimal value
10 hex 6840 0010
(16 bit)
0
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1
e
Parameter RPDO1
p8710 [0]
p8710 [1] to [3)
CANopen interface