Siemens SINAMICS G110M Function Manual page 184

Communication over CANopen
6.6 Object directories
RPDO configuration objects
The following tables list the communication and mapping parameters together with the
indexes for the individual RPDO configuration objects. The configuration objects are
established via SDO. The "SINAMICS parameters" column shows the parameter numbers
assigned in the converter.
Table 6- 3 RPDO configuration objects - communication parameters
OD Sub- Name of the object
Index index
(hex) (hex)
1400 Receive PDO 1 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
1401 Receive PDO 2 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
1402 Receive PDO 3 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
1403 Receive PDO 4 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
1404 Receive PDO 5 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
1405 Receive PDO 6 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
1406 Receive PDO 7 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
1407 Receive PDO 8 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
184
SINAMICS Data Predefined connec-
parameters type tion set
U8 2
p8700.0 U32 200 hex + node ID
p8700.1 U8 FE hex
U8 2
p8701.0 U32 300 hex + node ID
p8701.1 U8 FE hex
U8 2
p8702.0 U32 8000 06DF hex
p8702.1 U8 FE hex
U8 2
p8703.0 U32 8000 06DF hex
p8703.1 U8 FE hex
U8 2
p8704.0 U32 8000 06DF hex
p8704.1 U8 FE hex
U8 2
p8705.0 U32 8000 06DF hex
p8705.1 U8 FE hex
U8 2
p8706.0 U32 8000 06DF hex
p8706.1 U8 FE hex
U8 2
p8707.0 U32 8000 06DF hex
p8707.1 U8 FE hex
Function Manual, 01/2016, FW V4.7 SP6, A5E34229197B AC
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