Drive-Dependent Communication Objects - Siemens SINAMICS S120 Commissioning Manual

6.2

Drive-dependent communication objects

Introduction
Eight transmit/receive PDOs can be parameterized for each drive, whereby a total of 25
PDOs (channels) must not be exceeded.
Each PDO contains:
● Communication parameters
● Mapping parameters (max. 8 bytes/4 words/64 bits)
Rule
In the following tables, the first PDO is highlighted in bold to indicate that the communication
and mapping parameters for one PDO are related.
The "predefined connection set" column contains the predefined values for the "predefined
connection set".
6.2.1 Table: Communication objects for receive PDOs
Overview
The following table lists the object directory with the index of the individual drive-dependent
communication objects for the receive PDOs of the first drive object:
Table 6- 2 Drive-dependent communication objects for receive PDOs
Object name
OD index Sub-
(hex) index
(hex)
1400 Receive PDO 1
communication
parameter
0 Largest sub-index
supported
1 COB ID used by
PDO
2 Transmission type
1401 Receive PDO 2
communication
parameter
0 Largest sub-index
supported
1 COB ID used by
PDO
2 Transmission type
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
SINAMICS Transmiss
parameter ion
SDO
p8700.0 SDO
p8700.1 SDO
SDO
p8701.0 SDO
p8701.1 SDO
6.2 Drive-dependent communication objects
Data type Predefined
connection set
Unsigned8 2
Unsigned32 200 hex + node
ID
Unsigned8 FE hex
Unsigned8 2
Unsigned32 300 hex + node
ID
Unsigned8 FE hex
Communication objects
Read/
write
ro
rw
rw
ro
rw
rw
133