Siemens SINAMICS S120 Commissioning Manual page 104

Commissioning
3.5 Configure the COB IDs and process data objects for the receive and transmit message frames.
Mapping RPDO3
When you choose the process data object for the control word and the set torque from the
"Objects in drive profile DSP402" table, this yields the following values, which you enter in
parameters p8712 [0] to p8712 [3] for RPDO3 mapping (see the "Resulting hexadecimal
value" column in the following table):
Table 3- 8
Object name
Control word 6840
Set
torque
No object
Mapping RPDO4
When you choose the process data object for the control word, the set velocity, and the set
torque from the "Objects in drive profile DSP402" table, this yields the following values,
which you enter in parameters p8713 [0] to p8713 [3] for RPDO4 mapping (see the
"Resulting hexadecimal value" column in the following table):
Table 3- 9
Object name
Control word
Set
velocity
Set
torque
No object
104
Values for RPDO3
Values from
"Objects in drive profile DSP402"
table
OD Sub-index
index (hex)
(hex)
00
6871 00
Values for RPDO4
Values from
"Objects in drive profile
DSP402" table
OD Sub- Object
index index size
(hex) (hex)
6840 00 10 hex
(16 bit)
68FF 00 20 hex
(32 bit)
6871 00 10 hex
(16 bit)
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Mapping parameter in STARTER
Object Resulting hexa-
size decimal value
10 hex 6840 0010
(16 bit)
10 hex 6871 0010
(16 bit)
0
Mapping parameter in STARTER
Resulting hexa-
decimal value
6840 0010
6840 0020
6871 0010
0
Parameter RPDO3
p8712 [0]
p8712 [1]
p8712 [2] to [3]
Parameter RPDO4
p8713 [0]
p8713 [1]
p8713 [2]
P8713 [3]
CANopen interface