Process Data Interconnection; Reading Out The Image Of Mapped Process Data Objects - Siemens Sinamics S120 Commissioning Manual

4.4

Process data interconnection

After configuring the PDO message frames, the process data buffer must be interconnected
using BICO.
1. Read out the image of the mapped process data objects to the PZD receive and PZD
send words in the receive and send buffers.
2. Interconnect the source parameter of the PZD receive word at the receive buffer with the
SINAMICS target parameters of the process data object (see Chapter "Interconnecting
the receive buffer (Page 106)").
3. Interconnect the SINAMICS source parameter of the process data object with the target
parameter of the PZD send word at the send buffer (see Chapter "Interconnecting the
transmit buffer (Page 108)").
4.4.1

Reading out the image of mapped process data objects

Once you have parameterized PDO mapping, the device automatically recognizes how the
individual process data objects have to be distributed to the PZD receive and PZD send
words.
The image of the process data objects to the PZD receive and PZD send words for the
receive and send buffers can only be read out.
Each drive object has a separate receive and send buffer for transferring message frames.
The expert list for each of the drive objects contains the images for the following parameters:
● 16-bit process data objects for
– Receive, starting from parameter r8750[0]
– Transmit, starting from parameter r8751[0]
● 32-bit process data objects for
– Receive, starting from parameter r8760[0]
– Transmit, starting from parameter r8761[0]
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Configuration
4.4 Process data interconnection
103