Assigning Cob Ids And Mapping Parameters For Free Pdo Mapping - Siemens Sinamics S120 Commissioning Manual

Figure 4-8
4.3.1

Assigning COB IDs and mapping parameters for free PDO mapping

You have the following options when making the assignment:
● COB IDs
You can assign a COB as required in the following parameters:
– Receive (RPDO) in parameters p8700 to p8707
– Transmit (TPDO) in parameters p8720 to p8727
● Mapping parameters
You can enter the process data objects for mapping the transmission message frames in
the following parameters:
– Receive message frames (RPDO) starting from parameter p8710
– Transmit message frames (TPDO) starting from parameter p8730
If mapping parameters or COB ID are changed in the STARTER commissioning tool in the
ONLINE mode, then the COB ID for the PDO in question must first be set to "invalid" in the
communication parameters and, once the parameters have been changed, set back to
"valid".
COB-ID, bit 31
Bit 31
This procedure is not required in the OFFLINE mode.
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
COB IDs and mapped process data objects for transmit message frame drive object 1
= 0 -> COB-ID valid
= 1 -> COB-ID invalid
4.3 Configuring the PDO message frames
Configuration
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