Assigning Cob Ids And Mapping Parameters For Free Pdo Mapping - Siemens SINAMICS S120 Commissioning Manual

3.5 Configure the COB IDs and process data objects for the receive and transmit message frames.
3.5.3

Assigning COB IDs and mapping parameters for free PDO mapping

Introduction
If you are in ONLINE mode and want to assign free COB IDs and mapping parameters, you
have the following options:
● COB IDs,
● Mapping parameters:
Procedure
To carry out free PDO mapping in ONLINE mode, proceed as follows:
1. Set the COB ID of the RPDO or TPDO in question to "invalid" (e.g.: p8700[0] CBC:
2. Enter the process data objects as mapping parameters into the relevant RPDO or TPDO
3. Set the COB ID of the RPDO or TPDO in question to "valid".
Steps
An example is used to illustrate the procedure described below (in this example: RPDO1 for
drive object 2).
Setting the COB ID to "invalid"
1. In the project navigator, call up the expert list for Single Motor Module 2 (drive_2): Drives
2. Search for COB ID parameter p8700 [0] for communication parameter RPDO1.
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
You can assign a COB as required in the following parameters:
– Receive (RPDO) in parameters p8700 to p8707
– Transmit (TPDO) in parameters p8720 to p8727
You can enter the process data objects for mapping the transmission message frames in
the following parameters:
– Receive message frames (RPDO) as of parameter p8710
– Transmit message frames (TPDO) as of parameter p8730
Note
If mapping parameters are changed in STARTER in ONLINE mode, the COB ID for
the PDO in question must first be set to "invalid" in the communication parameters
and, once the parameters have been changed, reset to "valid".
COB-ID, bit 31 = 0 -> COB-ID valid,
bit 31 = 1 -> COB ID invalid
receive PDO1, COB ID of PDO).
(for e.g.: from p8710[0] CBC ReceiveMapping for RPDO1, mapped object).
> Drive_2 > right-click > Expert > Expert list.
Commissioning
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