Siemens SINAMICS G120 Operating Instructions Manual page 193

Interconnecting process data via a free PDO mapping
Procedure
To interconnect process data, proceed as follows:
1. Define process data,
2. Specify objects for transmission of the process data
3. Set communication parameters for RPDO and TPDO
4. Select the OD index for the mapping parameters:
5. Write OV index into the SINAMICS mapping parameters
You have interconnected the process data.
Converter with the CU250S-2 Control Unit (vector)
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB
examples:
– Send actual current value (r0068) from the inverter to the controller (TPDO - Transmit
Process Data Object)
– Send additional speed setpoint from the controller to the inverter (RPDO - Receive
Process Data Object) and write in p1075
– TPDO1 for the actual current value
– RPDO1 for additional speed setpoint
– Define the communication parameters for RPDO, see RPDO communication
parameters (Page 200)
– Define the communication parameters for TPDO, see TPDO communication
parameters (Page 203)
– Mapping parameters for RPDO, see RPDO mapping parameters (Page 201)
– Mapping parameters for TPDO, see TPDO mapping parameters (Page 205)
– p8710 ... p8717 for RPDO
– p8730 ... p8737 for TPDO
– You will find the OD index in the free objects (Page 207) or in the objects of the CiA
402 drive profile (Page 208)
Note
Requirement for changing the OD indexes of the SINAMICS mapping parameters
To allow you to change the values of the mapping parameters, you must set the COB ID
of the corresponding parameter to invalid. Add the value 80000000 hex to the COB ID. If
you have changed the mapping parameter, you must reset the COB ID to the valid value.
Configuring the fieldbus
7.8 Communication over CANopen
193