Pdo Message Frame - Siemens SINAMICS S120 Commissioning Manual

Commissioning
3.4 Configuring the drive unit using the STARTER commissioning tool
Example
Setting the bus address via the address switch on the Control Unit.
Figure 3-13
The following information must be taken into account!
Note
Permissible CAN bus address: 1...126. 1...126.
The address setting on the switch is displayed in p8620.0.
If the switch setting is changed, the new setting does not become effective until POWER ON.
The factory setting is "ON" or "OFF" for all switches.
While the SINAMICS is being booted, the address switch is queried first in order to set the
bus address. If the switch setting is 0 or 127, the address can be set via parameter p8620.0.
If the address is set to a valid node address (1...126), this is copied to parameter p8620.0
and displayed.
3.4.4.2

PDO message frame

Introduction
This description of the initial commissioning procedure uses a predefined setting
("predefined connection set") with a fixed assignment of SDOs and PDOs – whereby the
device features the following for each SINAMICS drive object (in this case, the Single Line
Module):
● 4 receive PDOs (channels) and
● 4 transmit PDOs (channels).
● An SDO pair for reading and writing the objects (acyclic configuration) is available with a
88
Example: Bus address via the address switch on the Control Unit
"predefined connection set" and for free PDO mapping.
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
CANopen interface