Pdo And Pdo Services - Siemens SINAMICS G120 Operating Instructions Manual

Configuring the fieldbus
7.4 Communication via CANopen
7.4.3.5

PDO and PDO services

Process data objects (PDO)
For CANopen, (real-time) transfer of process data is realized using "Process Data Objects"
(PDO). There are send and receive PDO. With the G120 inverter, eight send PDO (TPDO)
and eight receive PDO (RPDO) are transferred.
A PDO is defined by the PDO communication parameter and the PDO mapping parameter.
The PDO must be linked with the objects of the object dictionary which contain process data.
You can use Free PDO mapping (Page 147) or the Predefined connection set (Page 146) to
do this.
Note
Changing over between an interconnection via free PDO mapping and Predefined
Connection Set
For changing over from free PDO mapping (factory setting) to mapping via the Predefined
Connection Set you require parameters p8744 and p8741 from the expert list.
You can select the method of the interconnection using p8744 (p8744 = 0: Free PDO
mapping, p8744 = 1: Predefined Connection Set), with p8741 =1 you confirm the transfer.
After transfer, p8741 returns to 0.
Parameter area for PDO
● RPDO
● TPDO
142
– In the inverter: p8700 ... p8717
– In CAN: 1400 hex ff
– In the inverter: p8720 ... p8737
– In CAN: 1800 hex ff
Note
One channel in the CAN controller is assigned for each RPDO. TPDO always use two
permanently set channels in the CAN controller
Operating Instructions, 01/2011, FW 4.4, A5E02999804A AB
SINAMICS G120C Inverter