Siemens SINAMICS S120 Commissioning Manual page 105

3.5 Configure the COB IDs and process data objects for the receive and transmit message frames.
Mapping TPDO1
When you choose the process data object for the CBC status word from the "Objects in drive
profile DSP402" table, this yields the following values, which you enter in parameters p8730
[0] to p8730 [3] for TPDO1 mapping (see the "Resulting hexadecimal value" column in the
following table):
Table 3- 10
Object name
CBC status
word
No object
Mapping TPDO2
When you choose the process data object for the CBC status word and the set velocity from
the "Objects in drive profile DSP402" table, this yields the following values, which you enter
in parameters p8731 [0] to p8731 [3] for TPDO2 mapping (see the "Resulting hexadecimal
value" column in the following table):
Table 3- 11
Object name
CBC status
word
Actual
velocity
No object
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Values for TPDO1
Values from
"Objects in drive profile
DSP402" table
OD Sub-index Object
index (hex) size
(hex)
6841 00 10 hex
(16 bit)
Values for TPDO2
Values from
"Objects in drive profile DSP402"
table
OD Sub-index
index (hex)
(hex)
6841 00
686C 00
Mapping parameter in STARTER
Resulting hexa-
decimal value
6841 0010
0
Mapping parameter in STARTER
Object Resulting hexa-
size decimal value
10 hex 6841 0010
(16 bit)
20 hex 686C 0020
(32 bit)
0
Commissioning
Parameter TPDO1
p8730 [0]
P8730 [1] to [3)
Parameter TPDO2
p8731 [0]
p8731 [1]
P8731 [2] to [3]
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