Siemens SINAMICS G120P - Page 198

Communication over CANopen
6.6 Object directories
Fieldbuses
196 Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
RPDO configuration objects
The following tables list the communication and mapping parameters together with the
indexes for the individual RPDO configuration objects. The configuration objects are
established via SDO. The "SINAMICS parameters" column shows the parameter numbers
assigned in the converter.
Table 6- 3 RPDO configuration objects - communication parameters
OD
Index
(hex)
Sub-
index
(hex)
Name of the object
SINAMICS
parameters
Data
type
Predefined connec-
tion set
Can be
read/
written to
1400
Receive PDO 1 communication parameter
0 Largest subindex supported U8 2 r
1
COB ID used by PDO
p8700.0
U32
200 hex + node ID
r/w
2 Transmission type p8700.1 U8 FE hex r/w
1401
Receive PDO 2 communication parameter
0
Largest subindex supported
U8
2
r
1
COB ID used by PDO
p8701.0
U32
300 hex + node ID
r/w
2
Transmission type
p8701.1
U8
FE hex
r/w
1402
Receive PDO 3 communication parameter
0
Largest subindex supported
U8
2
r
1
COB ID used by PDO
p8702.0
U32
8000 06DF hex
r/w
2
Transmission type
p8702.1
U8
FE hex
r/w
1403
Receive PDO 4 communication parameter
0
Largest subindex supported
U8
2
r
1
COB ID used by PDO
p8703.0
U32
8000 06DF hex
r/w
2
Transmission type
p8703.1
U8
FE hex
r/w
1404
Receive PDO 5 communication parameter
0
Largest subindex supported
U8
2
r
1
COB ID used by PDO
p8704.0
U32
8000 06DF hex
r/w
2
Transmission type
p8704.1
U8
FE hex
r/w
1405
Receive PDO 6 communication parameter
0
Largest subindex supported
U8
2
r
1
COB ID used by PDO
p8705.0
U32
8000 06DF hex
r/w
2
Transmission type
p8705.1
U8
FE hex
r/w
1406
Receive PDO 7 communication parameter
0
Largest subindex supported
U8
2
r
1 COB ID used by PDO p8706.0 U32 8000 06DF hex r/w
2
Transmission type
p8706.1
U8
FE hex
r/w
1407
Receive PDO 8 communication parameter
0
Largest subindex supported
U8
2
r
1
COB ID used by PDO
p8707.0
U32
8000 06DF hex
r/w
2
Transmission type
p8707.1
U8
FE hex
r/w