Siemens SINAMICS G120P - PDO Services

Communication over CANopen
6.3 PDO services
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
179
6.3
PDO services
Process data objects (PDO)
CANopen transfers the process data using "Process Data Objects" (PDO). There are send
PDOs (TDPO) and receive PDOs (RPDO). CAN controller and inverter each exchange up to
eight TPDOs and RPDOs.
PDO communication parameters and PDO mapping parameters define a PDO.
Link the PDO with the elements of the object directory that contain the process data.
Free PDO mapping (Page 184)
Predefined connection set (Page 182) .
Parameter area for PDO
RPDO
TPDO
In the inverter
In CANopen
In the inverter
In CANopen
Communication parameters p8700 … p8707 1400 hex … 1407 hex p8720 … p8727 1800 hex … 1807 hex
Mapping parameters
p8710 … p8717
1600 hex … 1607 hex
p8730 … p8737
1A00 hex …1A07 hex
Structure of the PDO
A PDO consists of communication and mapping parameters. Examples for the structure of
the TPDO and RPDO follow.
Values for communication parameters:
Tables in the Section Object directories (Page 194)
Figure 6-7 Structure of the RPDO and TPDO communication objects