Which Transmit And Receive Message Frames For Process Data Are Required - Siemens SINAMICS S120 Installation And Start-Up Manual

1.9 Which transmit and receive message frames for process data are
required?
Introduction
In the SINAMICS S120 drive line-up, the STARTER c
for commissioning a CANopen interface:
• Via predefined message frames ("predefined connection set") and COB IDs
• Via free PDO mapping (user-defined message frames)
In the first step, you are advised to activate the "predefined connection set" and then update
the preconfigured parameters in accordance with your application in the free PDO mapping
process.
Predefined message frames for SINAMICS S120
The following process data objects are predefined and mapped in the "predefined connection
set" in the receive and transmit message frames for the relevant drive objects. The table
contains the hexadecimal object values for drive object 1. Each additional drive object begins
with an offset of 800 hex.
Table 1-1
Type
Receive
message
frame
Transmit
message
frame
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1

1.9 Which transmit and receive message frames for process data are required?

Process data objects in the predefined connection set
Process data Message frame
RPDO1
6040 hex
RPDO2
6040 hex+6077 hex
RPDO3
6040 hex+6071 hex
RPDO4
6040 hex+60FF hex+6071 hex
TPDO1
6041 hex
TPDO2
6041 hex+6062 hex
TPDO3
6041 hex+6074 hex
ommissioning tool offers two options
Add infeed
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