Siemens Sinamics S120 Commissioning Manual page 101

Mapping TPDO2
When you choose the process data object for the CBC status word and the setpoint velocity
from the "Objects of the drive profile DSP402" table, this yields the following values, which
you enter in parameter p8731[0...3] for TPDO2 mapping (see the "Resulting hexadecimal
value" column in the following table):
Table 4- 6 Values for TPDO2
Object name
OD index
(hex)
CBC status word 6841
Actual velocity 686C
No object -
Mapping TPDO3
When you choose the process data object for the CBC status word and the actual torque
from the "Objects of the drive profile DSP402" table, this yields the following values, which
you enter in parameter p8732[0...3] for TPDO3 mapping (see the "Resulting hexadecimal
value" column in the following table):
Table 4- 7 Values for TPDO3
Object name
"Objects of the drive profile DSP402" table
OD index
(hex)
CBC status word 6841
Actual torque 6874
No object -
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Values from
"Objects of the drive profile DSP402" table
Subindex (hex)
00
00
-
Values from
Subindex (hex) Object size
00
00
-
4.3 Configuring the PDO message frames
Object size Resulting hexadecimal
value
10 hex (16 bit) 6841 0010
20 hex (32 bit) 686C 0020
- 0
Resulting hexadecimal
value
10 hex (16 bit) 6841 0010
10 hex (16 bit) 6874 0010
- 0
Mapping parameters in STARTER
Parameter TPDO2
p8731[0]
p8731[1]
p8731[2...3]
Mapping parameters in STARTER
Parameter TPDO3
p8732[0]
p8732[1]
p8732[2...3]
Configuration
101