Siemens SINAMICS G110M Function Manual page 201

TPDO configuration objects
The following tables list the communication and mapping parameters together with the
indexes for the individual TPDO configuration objects. The configuration objects are
established via SDO. The "SINAMICS parameters" column shows the parameter numbers
assigned in the converter.
Table 6- 5 TPDO configuration objects - communication parameters
OD Sub- Object name
index index
(hex) (hex)
1800 Transmit PDO 1 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
3 Inhibit time
4 Reserved
5 Event timer
1801 Transmit PDO 2 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
3 Inhibit time
4 Reserved
5 Event timer
1802 Transmit PDO 3 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
3 Inhibit time
4 Reserved
5 Event timer
1803 Transmit PDO 4 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
3 Inhibit time
4 Reserved
5 Event timer
1804 Transmit PDO 5 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
Communication over CANopen
SINAMICS Data Predefined con-
parameters type nection set
U8 5
p8720.0 U32 180 hex + node
ID
p8720.1 U8 FE hex
p8720.2 U16 0
p8720.3 U8 ---
p8720.4 U16 0
U8 5
p8721.0 U32 280 hex + node
ID
p8721.1 U8 FE hex
p8721.2 U16 0
p8721.3 U8 ---
p8721.4 U16 0
U8 5
p8722.0 U32 C000 06DF hex
p8722.1 U8 FE hex
p8722.2 U16 0
p8722.3 U8 ---
p8722.4 U16 0
U8 5
p8723.0 U32 C000 06DF hex
p8723.1 U8 FE hex
p8723.2 U16 0
p8723.3 U8 ---
p8723.4 U16 0
U8 5
p8724.0 U32 C000 06DF hex
p8724.1 U8 FE hex
6.6 Object directories
Can be
read/
written
r
r/w
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