Siemens SINAMICS S120 Commissioning Manual page 103

3.5 Configure the COB IDs and process data objects for the receive and transmit message frames.
Mapping RPDO1
When you choose the process data object for the control word from the "Objects in drive
profile DSP402" table, this yields the following values, which you enter in parameters p8710
[0] to p8710 [3] for RPDO1 mapping (see the "Resulting hexadecimal value" column in the
following table):
Note
Since it is SINAMICS drive object 2, 800 hex is added to the index.
Table 3- 6
Object
Control
word
No object
Mapping RPDO2
When you choose the process data object for the control word and the set velocity from the
"Objects in drive profile DSP402" table, this yields the following values, which you enter in
parameters p8711 [0] to p8711 [3] for RPDO2 mapping (see the "Resulting hexadecimal
value" column in the following table):
Table 3- 7
Object
Control
word
Set
velocity
No object
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Values for RPDO1
Values from
name "Objects in drive profile
DSP402" table
OD Sub-index
index (hex)
(hex)
6840 00
Values for RPDO2
Values from
name "Objects in drive profile
DSP402" table
OD Sub-index
index (hex)
(hex)
6840 00
68FF 00
Mapping parameter in STARTER
Object Resulting hexa-
size decimal value
10 hex 6840 0010
(16 bit)
0
Mapping parameter in STARTER
Object Resulting hexa-
size decimal value
10 hex 6840 0010
(16 bit)
20 hex 68FF 0020
(32 bit)
0
Commissioning
Parameter RPDO1
p8710 [0]
p8710 [1] to [3)
Parameter RPDO2
p8711 [0]
p8711 [1]
p8711 [2] to [3]
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