Siemens SINAMICS G120 Operating Instructions Manual page 203

OD Subi Name of the object
index ndex
(hex) (hex)
1 PDO mapping for the first application object to be
mapped
2 PDO mapping for the second application object to
be mapped
3 PDO mapping for the third application object to be
mapped
4 PDO mapping for the fourth application object to
be mapped
1607 Receive PDO 8 mapping parameter
0 Number of mapped application objects in PDO
1 PDO mapping for the first application object to be
mapped
2 PDO mapping for the second application object to
be mapped
3 PDO mapping for the third application object to be
mapped
4 PDO mapping for the fourth application object to
be mapped
TPDO configuration objects
The following tables list the communication and mapping parameters together with the
indexes for the individual TPDO configuration objects. The configuration objects are
established via SDO. The "SINAMICS parameters" column shows the parameter numbers
assigned in the converter.
Table 7- 29 TPDO configuration objects - communication parameters
OD Subi Object name
index ndex
(hex) (hex)
1800 Transmit PDO 1 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
3 Inhibit time
4 Reserved
5 Event timer
1801 Transmit PDO 2 communication parameter
0 Largest subindex supported
1 COB ID used by PDO
2 Transmission type
Converter with the CU250S-2 Control Unit (vector)
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB
7.8 Communication over CANopen
SINAMICS Data
parameters type
p8716.0 U32
p8716.1 U32
p8716.2 U32
p8716.3 U32
U8
p8717.0 U32
p8717.1 U32
p8717.2 U32
p8717.3 U32
SINAMICS Data Predefined
parameters type connection set
U8 5
p8720.0 U32 180 hex + node
ID
p8720.1 U8 FE hex
p8720.2 U16 0
p8720.3 U8 ---
p8720.4 U16 0
U8 5
p8721.0 U32 280 hex + node
ID
p8721.1 U8 FE hex
Configuring the fieldbus
Predefined Can be
connection set read/
written to
0 r/w
0 r/w
0 r/w
0 r/w
0 r
0 r/w
0 r/w
0 r/w
0 r/w
Can be
read/
written
r
r/w
r/w
r/w
r/w
r/w
r
r/w
r/w
203