Pdo Mapping - Siemens Sinamics S120 Commissioning Manual

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2.7 PDO (Process Data Object)
Note
For each drive object in the expert list, the process data objects for mapping the telegrams
begin as follows:
• For receive telegrams starting from parameter p8710
• For transmit telegrams starting from parameter p8730
Users must create the corresponding BICO interconnections of the PZD interface.
Note
The object index range for each additional drive can be determined using r8743. The
parameter value corresponds to the drive object ID. The parameter index corresponds to the
factor with which the offset 800 hex must be multiplied and added to the basis object. For
instance, the drive starts with offset factor 1 from 6840 hex.
2.7.5

PDO mapping

PDO mapping is used to map CAPopen standard objects (process data, e.g. setpoints or
actual values) and "free objects" from the object directory for the PDO service as message
frame.
The PDO message frame transmits the data values of these objects.
For this purpose, a maximum of 8 receive and 8 transmit PDOs are available for each drive
object.
A CAN message frame can transmit up to 8 bytes of user data. The user decides which data
is to be transmitted in a PDO.
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Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
CANopen interface