Free Pdo Mapping - Siemens SINAMICS G120 Operating Instructions Manual

Configuring the fieldbus
7.8 Communication over CANopen
Figure 7-24 TPDO mapping with the Predefined Connection Set
Calculate the COB IDs using the following formula and enter the results in the p8700, p8701,
p8720 and p8721 parameters.
COB ID for TPDO and RPDO in the Predefined Connection Set
• COB ID
• COB ID
7.8.1.7

Free PDO mapping

Using the free PDO mapping, you configure and interconnect any process data as required
as follows:
● as free objects, or
● as objects of drive profile CiA 402, corresponding to the requirements of your system for
the PDO service
This requires that the inverter is set to a free PDO mapping (p8744 = 2) (factory setting).
192
= 180 hex + node ID + ((TPDO no. - 1) * 100 hex)
TPDO
Example: For p8721[0] = COB-ID from TPDO 2, the following value results with the
Node ID = C hex:
180 hex + C hex + ((2 - 1)*100 hex) = 18C hex + 100 hex = 28C hex
= 200 hex + node ID + ((RPDO no. - 1) * 100 hex)
RPDO
Example: For p8700[0] = COB-ID from RPDO 1, the following value results with the
Node ID = C hex:
200 hex + C hex + ((1 - 1) * 100 hex) = 20C hex + 0 hex = 20C hex
Converter with the CU250S-2 Control Unit (vector)
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB