Rpdo Monitoring - Siemens Sinamics S120 Commissioning Manual

Example
The following diagram uses an example to illustrate PDO mapping (values are hexadecimal
(e.g. object size "20 hex" = 32 bits)):
Figure 2-9 PDO mapping
2.7.6

RPDO monitoring

RPDO monitoring (Receive Process Data Object) for process data received via CAN bus is
activated by writing the monitoring time (in ms) in p8699. Values that cannot be divided by
the CANopen sampling time with an integer result are rounded up.
If no process data is received within this time, error F08702 is output. The monitoring time
begins when the first RPDO of the topology has been received.
The activated and initiated RPDO monitoring is displayed via the PROFIdrive PZD state
"Fieldbus oper" r8843.2.
p8848: CANopen sampling time
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Add infeed
2.7 PDO (Process Data Object)
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