Predefined Connection Set - Siemens SINAMICS G120 Operating Instructions Manual

Configuring the fieldbus
7.4 Communication via CANopen
7.4.3.6

Predefined connection set

When integrating the converter via the predefined connection set, the converter is
interconnected so that the motor can be switched-on via the control and a setpoint can be
entered without having to make any additional settings or requiring CANopen know-how. The
converter returns the status word and the speed actual value to the control.
In the factory, the converter is set to free PDO mapping. Changeover to the Predefined
Connection Set, see Section PDO and PDO services (Page 142).
Once you have made the settings for the predefined connection set, then in the screen form
"Control Unit/Communication/CAN", select the Operational status under the Network-
Management tab. You can then switch-on the motor from the control and enter a setpoint.
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
146
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
Operating Instructions, 01/2011, FW 4.4, A5E02999804A AB
SINAMICS G120C Inverter