Siemens SINAMICS G120 Operating Instructions Manual page 214

Configuring the fieldbus
7.8 Communication over CANopen
Mapping the actual current value (r0068) with TPDO1
Procedure
Proceed as follows to accept the current actual value as send object in the communication:
1. Set the OV index for the actual current value:
first free OV index from the send data from the "Free objects" 5810 table
2. Map the OV index for the actual current value with PZD2:
– Set the COB-ID of TPDO1 to "invalid":
– Link the mapping parameter object 2 of TPDO1 (p8730.1) with the OV index for the
– Set the COB-ID of TPDO1 to "valid":
r8751 shows which object is matched to which PZD:
PZD2 (r8751[1] ) = 5810 (actual current value)
3. link the PZD send word 2 in the send word (p2051) with the actual current value:
p2051[1] = r0086[0]
This means you have transferred the actual current value into the communication as the
send object.
Mapping the torque limit (p1520) with RPDO1
Procedure
Proceed as follows to accept the torque limit value in the communication:
1. Set the OV index for the torque limit:
first free OV index from the receive data from the "Free objects" 5800 table
2. Map the OV index for the torque limit with PZD2
– Set the COB-ID of RPDO1 to "invalid":
– Link the mapping parameter object 2 of RPDO1 (p8710.1) with the OV index for the
– Set the COB-ID of RPDO1 to "valid":
r8750 shows which object is mapped to which PZD:
PZD2 (r8750[1]) = 5800 (torque limit)
3. Link the PZD receive word 2 in the receive word (p2050) with the torque limit:
p2050[1] = p1520[0]
This means you have transferred the value for the torque limit into the communication.
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p8720[0] = 800001B2 hex
actual current value:
p8730.1 = 58100010 hex (5810 = OV index, 00 = fixed value, 10 ≙ 16 bit value)
p8720[0] = 400001B2 hex
p8700[0] = 80000232 hex
torque limit:
p8710.1 = 58000010 hex (5800 = OV index, 00 = fixed value, 10 ≙ 16 bit value)
p8700[0] = 40000232 hex
Converter with the CU250S-2 Control Unit (vector)
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB