Siemens SINAMICS G120 Operating Instructions Manual page 160

Configuring the fieldbus
8.5 Communication via CANopen
2. Mapping the current actual value (r0068) with TPDO1
● Define the OD index for the current actual value: 5810
● Set the COB ID from TPDO1 to "Mapping permissible":
● Set p8730[1] = 5810010H - the first four digits are the OD index for the current actual
● Reset p8720[0] to 400001B2H
● r8751 shows which object has been matched to which PZD
3. Mapping the torque limit (p1522) with RPDO1
● Define the OD index for the torque limit: 5800
● Set the COB ID from RPDO1 to"Mapping permissible":
● Set p8710[1] = 5800010H - the first four digits are the OD index for the torque limit
● Reset p8700[0] to 232H
● r8750 shows which object has been matched to which PZD
4. Adapting BiCo interconnections
Object Mapped receive objects
Control word r8750[0] = 6040H (PZD1)
Torque limit r8750[1] = 5800H (PZD2)
Speed setpoint r8750[2] = 6042H (PZD3)
Object Mapped send objects
Status word r8751[0] = 6041H (PZD1)
Current actual value r8751[1] = 5810H (PZD2)
Speed actual value r8751[2] = 6044H (PZD3)
You have now made all of the necessary settings, in order to transfer status and control
word, speed setpoint and actual value as well as the current actual value and torque limit.
158
p8720[0] = 400001B2H (mapping not permitted) on p8720.0 = 800001B2H (mapping
permissible)
value (r0068), 00: Sub-index (corresponds to the parameter index) 10: Object size (10H =
16 bit) must be attached to the OD index
Set p8700[0] = 232H (mapping not permissible) to p8700.0 = 80000232H (mapping
permissible)
(p1522), 010 is CAN-specific and for all linked parameters in free PDO mapping must be
attached to the OD index
Receive word r2050
Also mapped in r2050[0] to PZD1 -> OK
Link PZD2 with torque limit:
Link PZD3 with speed setpoint:
Send word p2051
Also mapped in r2051[0] to PZD1 -> OK
Link PZD2 with current actual value
Link PZD3 with speed actual value
Operating Instructions, 03/2012, FW V4.5, A5E02999804B AB
p1522 = 2050[1]
p1070 = 2050[2]
p2051[1] = r68[1]
p2051[2] = r63[0]
SINAMICS G120C frequency converter