Siemens Sinamics G120P Operating Instructions Manual page 293

Converter cabinet units 110 kw - 400 kw

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Mapping the torque limit (p1520) with RPDO1

Proceed as follows to accept the torque limit value in the communication:

1. Set the OV index for the torque limit:

first free OV index from the receive data from the "Free objects" 5800 table

2. Map the OV index for the torque limit with PZD2

– Set the COB-ID of RPDO1 to invalid:

– Link the mapping parameter object 2 of RPDO1 (p8710[1]) with the OV index for the

– Set the COB-ID of RPDO1 to valid:

r8750 shows which object is mapped to which PZD:

PZD2 (r8750[1]) = 5800 (torque limit)

3. Link the PZD receive word 2 in the receive word (p2050) with the torque limit:

p2050[1] = p1520[0]

Inverter cabinet units

Operating Instructions, 12/2014, A5E32923362A

p8700[0] = 80000232 hex

torque limit:

p8710[1] = 58000010 hex (5800 = OV index, 00 = fixed value, 10 ≙ 16-bit value)

p8700[0] = 40000232 hex

6.9 Communication over CANopen