Siemens SINAMICS G110M Function Manual page 178

Communication over CANopen
6.3 PDO services
Mapping the torque limit (p1520) with RPDO1
Procedure
Proceed as follows to accept the torque limit value in the communication:
1. Set the OV index for the torque limit:
first free OV index from the receive data from the "Free objects" 5800 table
2. Map the OV index for the torque limit with PZD2
– Set the COB-ID of RPDO1 to "invalid":
– Link the mapping parameter object 2 of RPDO1 (p8710.1) with the OV index for the
– Set the COB-ID of RPDO1 to "valid":
r8750 shows which object is mapped to which PZD:
PZD2 (r8750[1]) = 5800 (torque limit)
3. Link the PZD receive word 2 in the receive word (p2050) with the torque limit:
p2050[1] = p1520[0]
This means you have transferred the value for the torque limit into the communication.
178
p8700[0] = 80000232 hex
torque limit:
p8710.1 = 58000010 hex (5800 = OV index, 00 = fixed value)
p8700[0] = 40000232 hex
Function Manual, 01/2016, FW V4.7 SP6, A5E34229197B AC
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