Free Pdo Mapping - Siemens Sinamics G120P Operating Instructions Manual
Converter cabinet units 110 kw - 400 kw
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Also See for Sinamics G120P:
- Instruction manual (100 pages) ,
- Technical manual (98 pages) ,
- Hardware installation manual (94 pages)
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Figure 6-27
TPDO mapping with the Predefined Connection Set
Calculate the COB IDs using the following formula and enter the results in the p8700, p8701,
p8720 and p8721 parameters.
COB ID for TPDO and RPDO in the Predefined Connection Set
● COB ID
Example:
– For p8721[0] = COB ID of TPDO 2, this gives with Node ID = C hex the following
● COB ID
Example:
– For p8700[0] = COB ID of RPDO 1, this gives with Node ID = C hex the following
6.9.1.7
Free PDO mapping
Using the free PDO mapping, you configure and interconnect any process data as required
as follows:
● As free objects or
● As objects of drive profile CiA 402, corresponding to the requirements of your system for
the PDO service
This requires that the inverter is set to a free PDO mapping (p8744 = 2) (factory setting).
Inverter cabinet units
Operating Instructions, 12/2014, A5E32923362A
= 180 hex + node ID + ((TPDO no. - 1) * 100 hex)
TPDO
value:
180 hex + C hex + ((2 - 1)*100 hex) = 18C hex + 100 hex = 28C hex
= 200 hex + node ID + ((RPDO no. - 1) * 100 hex)
RPDO
value:
200 hex + C hex + ((1 - 1) * 100 hex) = 20C hex + 0 hex = 20C hex
6.9 Communication over CANopen
Operation
271
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