Siemens SINAMICS G120 - Free PDO Mapping

Configuring the fieldbus
7.7 Communication over CANopen
Inverter with CU230P-2 Control Units
202 Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG
Figure 7-23 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
TPDO
= 180 hex + node ID + ((TPDO no. - 1) * 100 hex)
Example:
For p8721[0]
= COB-ID from TPDO 2, the following value results with the
Node ID = C hex:
180 hex + C hex + ((2 - 1)*100 hex) = 18C hex + 100 hex = 28C hex
•
COB ID
RPDO
= 200 hex + node ID + ((RPDO no. - 1) * 100 hex)
Example:
For p8700[0]
= COB-ID from RPDO 1, the following value results with the
Node ID = C hex:
200 hex + C hex + ((1 - 1) * 100 hex) = 20C hex + 0 hex = 20C hex
7.7.1.7
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).