OD
Subi
Object name
index
ndex
(hex)
(hex)
1
COB ID used by PDO
2
Transmission type
3
Inhibit time
4
Reserved
5
Event timer
Table 7- 30
TPDO configuration objects - mapping parameters
OD
Subind
Object name
index
ex
(hex)
(hex)
1A00
Transmit PDO 1 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
1A01
Transmit PDO 2 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
1A02
Transmit PDO 3 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
1A03
Transmit PDO 4 mapping parameter
0
Number of mapped application objects in PDO
Converter with the CU250S-2 Control Unit (vector)
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB
7.8 Communication over CANopen
SINAMICS
Data
Predefined
parameters
type
connection set
p8727.0
U32
C000 06DF hex
p8727.1
U8
FE hex
p8727.2
U16
0
p8727.3
U8
---
p8727.4
U16
0
SINAMICS
Data type
parameters
U8
p8730.0
U32
p8730.1
U32
p8730.2
U32
p8730.3
U32
U8
p8731.0
U32
p8731.1
U32
p8731.2
U32
p8731.3
U32
U8
p8732.0
U32
p8732.1
U32
p8732.2
U32
p8732.3
U32
U8
Configuring the fieldbus
Can be
read/
written
r/w
r/w
r/w
r/w
r/w
Predefined
Can be
connection
read/
set
written
1
r/w
6041 hex
r/w
0
r/w
0
r/w
0
r/w
2
r/w
6041 hex
r/w
6044 hex
r/w
0
r/w
0
r/w
0
r/w
0
r/w
0
r/w
0
r/w
0
r/w
0
r/w
205