Predefined Connection Set - Siemens SINAMICS G120 Operating Instructions Manual

Via Read PDO, the consumer of the PDO receives the data of the mapped application object
from the producer.
SYNC service
The SYNC object is sent periodically from the SYNC producer. The SYNC signal represents
the basic network cycle. The standard "Communication cycle time" parameter sets the time
interval between two SYNC signals in the master.
In order to ensure CANopen accesses in real-time, the SYNC object has a high priority,
which is defined using the COB ID. It can be changed via p8602 (factory setting = 80 hex).
The service runs unconfirmed.
Note
Set the COB ID of the SYNC object to the same value for all nodes of a bus that should
respond to the SYNC telegram from the master.
The COB ID of the SYNC object is defined in object 1005h (p8602).
7.8.1.6

Predefined connection set

If you integrate the converter using the factory setting in CANopen, the converter receives
the control word and the speed setpoint from the controller. The converter returns the status
word and the actual speed value to the controller. These are the settings stipulated in the
Predefined Connection Set.
Figure 7-23 RPDO mapping with the Predefined Connection Set
Converter with the CU250S-2 Control Unit (vector)
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB
Configuring the fieldbus
7.8 Communication over CANopen
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