Siemens Sinamics G120P Operating Instructions Manual page 272

Operation
6.9 Communication over CANopen
Interconnecting process data via a free PDO mapping
Procedure
To interconnect process data, proceed as follows:
1. Define process data,
examples:
– Send actual current value (r0068) from the inverter to the controller (TPDO - Transmit
– Send additional speed setpoint from the controller to the inverter (RPDO - Receive
2. Specify objects for transmission of the process data
– TPDO1 for the actual current value
– RPDO1 for additional speed setpoint
3. Set communication parameters for RPDO and TPDO
– Define the communication parameters for RPDO, see RPDO communication
– Define the communication parameters for TPDO, see TPDO communication
4. Select the OD index for the mapping parameters:
– Mapping parameters for RPDO, see RPDO mapping parameters (Page 279)
– Mapping parameters for TPDO, see TPDO mapping parameters (Page 283)
5. Write OV index into the SINAMICS mapping parameters
– p8710 ... p8717 for RPDO
– p8730 ... p8737 for TPDO
– You will find the OD index in the free objects (Page 286) or in the objects of the CiA
Note
Requirement for changing the OD indexes of the SINAMICS mapping parameters
To allow you to change the values of the mapping parameters, you must set the COB ID of
the corresponding parameter to invalid. Add the value 80000000 hex to the COB ID. If you
have changed the mapping parameter, you must reset the COB ID to the valid value.
272
Process Data Object)
Process Data Object) and write in p1075
parameters (Page 278)
parameters (Page 282)
402 drive profile (Page 276)
Inverter cabinet units
Operating Instructions, 12/2014, A5E32923362A