Siemens SINAMICS G120 - Interconnect Objects from the Receive and Transmit Buffers

Configuring the fieldbus
7.7 Communication over CANopen
Inverter with CU230P-2 Control Units
Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG
205
Free TPDO mapping - Overview
7.7.1.8
Interconnect objects from the receive and transmit buffers
Procedure
Proceed as follows to configure the CANopen PDO:
1. Create a telegram:
create PDO (parameterize the PDO Com. Parameter and PDO mapping parameters),
see Predefined connection set (Page 201) and Free PDO mapping (Page 202)
2. Interconnect the parameters:
Interconnect the parameters of the PZD buffer ( p2050/p2060, p2051) corresponding to
the mapping of point "Create telegram" using the mapping table r8750/r8760 or
r8751/r8761. The mapping table indicates the position of a mapped CANopen object in
the PZD buffer.
You have configured the CANopen PDO.