Siemens Sinamics S120 Commissioning Manual page 100

Configuration
4.3 Configuring the PDO message frames
Mapping RPDO4
When you choose the process data object for the control word, setpoint velocity and the
setpoint torque from the "Objects of the drive profile DSP402" table, this yields the following
values, which you enter in parameter p8713[0...3] for RPDO4 mapping (see the "Resulting
hexadecimal value" column in the following table):
Table 4- 4 Values for RPDO4
Object name
"Objects of the drive profile DSP402" table
OD index
(hex)
Control word 6840
Setpoint velocity 68FF
Setpoint torque 6871
No object -
Mapping TPDO1
When you choose the process data object for the CBC status word from the "Objects of the
drive profile DSP402" table, this yields the following values, which you enter in parameter
p8730[0...3] for TPDO1 mapping (see the "Resulting hexadecimal value" column in the
following table):
Table 4- 5 Values for TPDO1
Object name
"Objects of the drive profile DSP402" table
OD index
(hex)
CBC status word 6841
No object -
100
Values from
Subindex (hex) Object size
00 10 hex (16 bit)
00 20 hex (32 bit)
00 10 hex (16 bit)
- -
Values from
Subindex (hex) Object size
00 10 hex (16 bit)
- -
Mapping parameters in STARTER
Resulting
hexadecimal value
6840 0010
68FF 0020
6871 0010
0
Mapping parameters in STARTER
Resulting hexadecimal
value
6841 0010
0
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Parameter RPDO4
p8713[0]
p8713[1]
p8713[2]
P8713[3]
Parameter TPDO1
p8730[0]
p8730[1...3]
CANopen interface