Siemens SINAMICS S120 Installation And Start-Up Manual page 86

Commissioning
3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames.
Mapping RPDO4
When you choose the process data object for the control word, the set velocity, and the set
tor que from the "Objects in driv
which you enter in parameters p8713 [0] to p8713 [3] for RPDO4 mapping (see the
"Resulting hexadecimal value" column in the following table):
Ta ble 3-9
Object name
Control word
Set
velocity
Set
torque
No object
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
3-34
e profile DSP402" table, this yields the following values,
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)
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)
Mapping parameter in STARTER
Resulting hexa-
decimal value
6840 0010
6840 0020
6871 0010
0
Mapping parameter in STARTER
Resulting hexa-
decimal value
6841 0010
0
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1
Parameter RPDO4
p8713 [0]
p8713 [1]
p8713 [2]
P8713 [3]
Parameter TPDO1
p8730 [0]
P8730 [1] to [3)
CANopen interface