Siemens SINAMICS S120 Installation And Start-Up Manual page 87

3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames.
Mapping TPDO2
Wh
the
in parameters p8731 [0] to p8731 [3] for TPDO2 mapping (see the "Resulting hexadecimal
va lue" column in the following table):
Ta ble -11
Object name
CBC status
word
Actual
velocity
No object
Mapping TPDO3
When you choose the process data object for the CBC status word and the actual torque
from the "Objects in drive profile DSP402" table, this yields the following values, which you
enter in parameters p8732 [0] to p8732 [3] for TPDO3 mapping (see the "Resulting
hexadecimal value" column in the following table):
Table 3-12
Object name
CB
wo
Actual
torque
No object
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1
en you choose the process data objec
"Objects in drive profile DSP402" table
3 Values for TPDO2
Values from
"Objects in drive profile DSP402"
OD Sub-index
index (hex)
(hex)
6841 00
686C 00
Values for TPDO3
Values from
"Objects in drive profile
DSP402" table
OD Sub-index
index (hex)
(hex)
C status 6841 00
rd
6874 00
t for the CBC status word and the set velocity from
, this yields the following values, which you enter
table
Object Resulting hexa-
size decimal value
10 hex 6841 0010
(16 bit)
20 hex 686C 0020
(32 bit)
0
Object Resulting hexa-
size decimal value
10 hex 6841 0010
(16 bit)
10 hex 6874 0010
(16 bit)
0
Mapping parameter in STARTER
Parameter TPDO2
p8731 [0]
p8731 [1]
P8731 [2] to [3]
Mapping parameter in STARTE
Parameter TPDO3
p8732 [0]
p8732 [1]
P8732 [2] to [3)
Commissioning
R
3-35