Siemens SINAMICS G120P - Page 201

Communication over CANopen
6.6 Object directories
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
199
TPDO configuration objects
The following tables list the communication and mapping parameters together with the
indexes for the individual TPDO configuration objects. The configuration objects are
established via SDO. The "SINAMICS parameters" column shows the parameter numbers
assigned in the converter.
Table 6- 5 TPDO configuration objects - communication parameters
OD
index
(hex)
Sub-
index
(hex)
Object name
SINAMICS
parameters
Data
type
Predefined con-
nection set
Can be
read/
written
1800
Transmit PDO 1 communication parameter
0 Largest subindex supported U8 5 r
1 COB ID used by PDO p8720.0 U32 180 hex + node
ID
r/w
2 Transmission type p8720.1 U8 FE hex r/w
3
Inhibit time
p8720.2
U16
0
r/w
4
Reserved
p8720.3
U8
---
r/w
5
Event timer
p8720.4
U16
0
r/w
1801
Transmit PDO 2 communication parameter
0
Largest subindex supported
U8
5
r
1 COB ID used by PDO p8721.0 U32 280 hex + node
ID
r/w
2
Transmission type
p8721.1
U8
FE hex
r/w
3
Inhibit time
p8721.2
U16
0
r/w
4
Reserved
p8721.3
U8
---
r/w
5
Event timer
p8721.4
U16
0
r/w
1802
Transmit PDO 3 communication parameter
0
Largest subindex supported
U8
5
r
1
COB ID used by PDO
p8722.0
U32
C000 06DF hex
r/w
2
Transmission type
p8722.1
U8
FE hex
r/w
3
Inhibit time
p8722.2
U16
0
r/w
4
Reserved
p8722.3
U8
---
r/w
5 Event timer p8722.4 U16 0 r/w
1803
Transmit PDO 4 communication parameter
0 Largest subindex supported U8 5 r
1
COB ID used by PDO
p8723.0
U32
C000 06DF hex
r/w
2
Transmission type
p8723.1
U8
FE hex
r/w
3
Inhibit time
p8723.2
U16
0
r/w
4
Reserved
p8723.3
U8
---
r/w
5
Event timer
p8723.4
U16
0
r/w
1804
Transmit PDO 5 communication parameter
0
Largest subindex supported
U8
5
r
1
COB ID used by PDO
p8724.0
U32
C000 06DF hex
r/w
2
Transmission type
p8724.1
U8
FE hex
r/w