Free Pdo Mapping - Siemens SINAMICS G110M Function Manual

6.3.2

Free PDO mapping

Using the free PDO mapping, you configure and interconnect any process data as required
as follows:
● as free objects
● as objects of drive profile CiA 402, corresponding to the requirements of your system for
the PDO service
The precondition is that the inverter is set for free PDO mapping. (p8744 = 2) (factory
setting).
Configuring and mapping process data using free PDO mapping
Procedure
Proceed as follows to configure and map process data:
1. Define process data,
examples:
– Send actual current value (r0068) from the inverter to the controller (TPDO - Transmit
– Send additional speed setpoint from the controller to the inverter (RPDO - Receive
2. Specify objects for transmission of the process data
– TPDO1 for the actual current value
– RPDO1 for additional speed setpoint
3. Set communication parameters for RPDO and TPDO
– Define communication parameters for RPDO.
– Define communication parameters for TPDO.
4. Select the OD index for the mapping parameters:
– Mapping parameters for RPDO.
– Mapping parameters for TPDO.
5. Write OV index into the SINAMICS mapping parameters
– p8710 ... p8717 for RPDO
– p8730 ... p8737 for TPDO
Fieldbuses
Function Manual, 01/2016, FW V4.7 SP6, A5E34229197B AC
free objects (Page 191) or
Process Data Object)
Process Data Object) and write in p1075
RPDO communication parameters (Page 184)
See TPDO communication parameters (Page 187)
RPDO mapping parameters (Page 185)
TPDO mapping parameters (Page 189)
Communication over CANopen
6.3 PDO services
173