Pdo Services - Siemens SINAMICS G110M Function Manual

6.3

PDO services

Process data objects (PDO)
CANopen transfers the process data using "Process Data Objects" (PDO). There are send
PDOs (TDPO) and receive PDOs (RPDO). CAN controller and inverter each exchange up to
eight TPDOs and RPDOs.
PDO communication parameters and PDO mapping parameters define a PDO.
Link the PDO with the elements of the object directory that contain the process data.
Parameter area for PDO
Communication parameters p8700 ... p8707
Mapping parameters
Structure of the PDO
A PDO consists of communication and mapping parameters. Examples for the structure of
the TPDO and RPDO follow.
Values for communication parameters:
Figure 6-7 Structure of the RPDO and TPDO communication objects
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
Free PDO mapping (Page 184)
Predefined connection set (Page 182) .
RPDO
In the inverter In CANopen
1400 hex ... 1407 hex
p8710 ... p8717 1600 hex ... 1607 hex
Tables in the Section Object directories (Page 194)
Communication over CANopen
TPDO
In the inverter In CANopen
p8720 ... p8727 1800 hex ... 1807 hex
p8730 ... p8737 1A00 hex ...1A07 hex
6.3 PDO services
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