Siemens Sinamics S120 Commissioning Manual page 98

Configuration
4.3 Configuring the PDO message frames
Principle procedure in the ONLINE mode
1. Set the COB ID of the RPDO or TPDO in question to "invalid" (e.g.: p8700[0], COB ID of
the PDO).
2. Enter the process data objects as mapping parameters into the relevant RPDO or TPDO
(for e.g.: from p8710[0], mapped object).
3. Set the COB ID of the RPDO or TPDO in question to "valid".
Adapting mapping parameters
1. Choose the process data object to be mapped (e.g. RPDO1, control word = 6040 hex)
from the "Objects of the drive profile DSP402" table (refer to the section "CANopen
objects of the drive profile DSP402 (Page 55)").
2. Add a suitable offset for the SINAMICS drive object (e.g. starting from the drive with the
offset factor 1 plus 800 hex).
Refer to the column "Values from table "OD index (hex) (e.g. 6840 hex)"" in the
parameterization table in the following section.
3. Convert the OD index (bits 31...16), subindex (bits 15...8) and object size (bits 7...0) into
a hexadecimal value (32 bits).
See the following table (e.g. 6840 0010 hex).
4. Enter this value in the STARTER commissioning tool in the corresponding mapping
parameter.
See the following table, column "Mapping parameters in STARTER" (e.g. p8710[0]).
Mapping RPDO1
When you choose the process data object for the control word from the "Objects of the drive
profile DSP402" table, this yields the following values, which you enter in parameters
p8710[0] to p8710[3] for RPDO1 mapping (see the "Resulting hexadecimal value" column in
the following table):
Table 4- 1 Values for RPDO1
Object name
"Objects of the drive profile DSP402" table
OD index
(hex)
Control word 6840
No object -
98
Values from
Subindex Object size
(hex)
00 10 hex (16
bit)
- -
Mapping parameters in STARTER
Resulting hexadecimal
value
6840 0010
0
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Parameter RPDO1
p8710[0]
p8710[1...3]
CANopen interface