Siemens SINAMICS S120 Commissioning Manual page 34

Add infeed
1.11 COB-ID
Rx–SDO
Node monitoring
(NMT error control)
2)
Footnotes for above table
●
●
COB IDs for SINAMICS
The following COB IDs for receive and transmit message frames are predefined for
SINAMICS drive objects in the "Predefined Connection Set":
Table 1- 4
Communication
objects
TPDO1
RPDO1
TPDO2
RPDO2
TPDO3
RPDO3
TPDO4
RPDO4
34
12
2)
14
The OD index for the Tx and Rx PDOs depends on the number of drive objects in the
1)
drive line-up. Each additional drive object begins with the description in an offset of 40
hex (with Tx/Rx, the x stands for the relevant SINAMICS drive object, T = transmit, R =
receive).
e.g.: For TPDOs, the OD index for the first drive object begins with 1800 hex and, for
RPDOs, with 1400 hex; each additional drive object begins with an offset of 40 hex –>
1840 hex and 1440 hex for the second drive object, and so on.
With the "Predefined Connection Set", the COB IDs are incremented by +1 for each
additional SINAMICS drive object.
These COB IDs are set by default.
2)
Identifier assignment
Function
code
dec
3
4
5
6
7
8
9
10
1100 601– 600 hex + node
67F ID
1110 701– 700 hex + node
77F ID
Resulting COB ID
bin hex Explanation
0011 181–1FF 180 hex + node ID
0100 201–27F 200 hex + node ID
0101 281–2FF 280 hex + node ID
0110 301–37F 300 hex + node ID
0111 381–3FF 380 hex + node ID
1000 401–47F 400 hex + node ID
1001 481–4FF 480 hex + node ID
1010 501–57F 500 hex + node ID
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
1200
100C, 100D
OD index (hex)
1800
1400
1801
1401
1802
1402
1803
1403
CANopen interface