Free Pdo Mapping - Siemens SINAMICS G120 Operating Instructions Manual

Configuring the fieldbus
8.5 Communication via CANopen
Data, which you transfer using the predefined connection set
 TPDO 1 with
 RPDO 1 with
 TPDO 2 with
 RPDO 2 with
The COB IDs are calculated according to the following formula and entered into parameters
p8700, p8701, p8720 and 8721.
COB-Id for TPDO and RPDO in the Predefined Connection Set
 COB-ID
 COB ID
8.5.3.7

Free PDO mapping

Using the free PDO mapping, you can interconnect additional process data from the object
directory corresponding to the requirements of your particular system for the PDO service.
In the factory, the converter is set to free PDO mapping. If your converter has been changed
over to the Predefined Connection Set, you must change over to free PDO mapping, see
Section PDO and PDO services (Page 140).
A PDO can transfer up to eight bytes of user data. With mapping, you define which user data
are transferred in a PDO.
Example
The following diagram shows an example of PDO mapping (values are hexadecimal (e.g.
object size 10 hex = 16 bits)):
For the control word and the setpoint speed
p08711[0] = 6040
144
Control word 1
Status word 1
Control word 1 and speed setpoint
Status word 1 and speed actual value
= 180 hex + Node-ID + ((TPDO-No. - 1) * 100 hex)
TPDO
Example: COB-ID of the TPDO 2, (Node ID = C hex)
180 hex + C hex + ((2 - 1)*100 hex) = 18C hex + 100 hex = 28C hex is
required
= 200 hex + Node-ID + ((RPDO-No. - 1) * 100 hex)
RPDO
Example: COB-ID of the 3rd RPDO, (Node ID = C hex)
200 hex + C hex + ((2 - 1) * 100 hex) = 20C hex + 100 hex = 30C hex is
required
SINAMICS G120C frequency converter
Operating Instructions, 03/2012, FW V4.5, A5E02999804B AB