Siemens SINAMICS G120 Operating Instructions Manual page 145

The structure of this communication and mapping parameter is listed in the following tables.
Table 7- 35
Subindex
00h
01h
02h
03h
04h
05h
Table 7- 36
Subindex
00h
01h
02h
03h
04h
For process data objects, the following transfer types are available, which you set in index 1
of the communication parameter (p8700 ... p8707 / p8720 ... p8727) in the inverter.
● Synchronous cyclic (index 1: n = 1 ... 240) - for TPDO (Transmit PDO) and RPDO
● Synchronous acyclic (index 1: 0) - for TPDO
● asynchronous cyclic (index 1: 254, 255 + event time) - for TPDO
● asynchronous acyclic (index 1: 254, 255) - for TPDO and RPDO
SINAMICS G120C Inverter
Operating Instructions, 01/2011, FW 4.4, A5E02999804A AB
PDO communications parameter
RPDO: 1400h ff (p8700 ... 8707), TPDO: 1800h ff (p8720 ... p8727 )
Name
Highest subindex that is supported
COB ID
Transfer mode
Inhibit time (only for TPDO)
Reserved (only for TPDO)
Event timer (only for TPDO)
PDO mapping parameter
RPDO: 1600h ff (p8710 ... 8717), TPDO: 1A00h ff (p8730 ... p8730)
Name
Number of objects mapped to the PDO (max. 4)
First mapped object
Second mapped object
Third mapped object
Fourth mapped object
(Receive PDO):
– TPDO is sent after each nth SYNC
– RPDO is received after each nth SYNC
– TPDO is sent if a SYNC is received and a process data has changed in the telegram.
– TPDO is sent if process data has changed in the telegram.
– TPDO is sent if process data has changed in the telegram.
– RPDO is directly accepted when it is received.
Configuring the fieldbus
7.4 Communication via CANopen
Data type Parameter
index (inverter)
UNSIGNED8
UNSIGNED32
UNSIGNED8
UNSIGNED16
UNSIGNED8
UNSIGNED16
Data type Parameter
index (inverter)
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
---
0
1
2
3
4
---
0
1
2
3
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