Siemens Sinamics S120 Commissioning Manual page 99

Mapping RPDO2
When you choose the process data object for the control word and the setpoint velocity from
the "Objects of the drive profile DSP402" table, this yields the following values, which you
enter in parameters p8711[0...3] for RPDO2 mapping (see the "Resulting hexadecimal
value" column in the following table):
Table 4- 2 Values for RPDO2
Object name
"Objects of the drive profile DSP402" table
OD index (hex) Subindex
Control word 6840
Setpoint 68FF
velocity
No object -
Mapping RPDO3
When you choose the process data object for the control word and the setpoint torque from
the "Objects of the drive profile DSP402" table, this yields the following values, which you
enter in parameters p8712[0...3] for RPDO3 mapping (see the "Resulting hexadecimal
value" column in the following table):
Table 4- 3 Values for RPDO3
Object name
OD index
(hex)
Control word 6840
Setpoint torque 6871
No object -
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Values from
Object size
(hex)
00 10 hex (16 bit)
00 20 hex (32 bit)
- -
Values from
"Objects of the drive profile DSP402" table
Subindex (hex)
00
00
-
4.3 Configuring the PDO message frames
Mapping parameters in STARTER
Resulting
hexadecimal value
6840 0010
68FF 0020
0
Object size Resulting hexadecimal
value
10 hex (16 bit) 6840 0010
10 hex (16 bit) 6871 0010
- 0
Parameter RPDO2
p8711[0]
p8711[1]
p8711[2...3]
Mapping parameters in STARTER
Parameter RPDO3
p8712[0]
p8712[1]
p8712[2...3]
Configuration
99