Communication / CBC CANopen Communication Board
02.2004
6SE7087-6QX70 (Version AD) Siemens AG
8.5-34
Compendium Motion Control SIMOVERT MASTERDRIVES
8.5.2.4 PDO
mapping
PDO mapping is possible only to a limited extent in MASTERDRIVES.
The following table lists all the available premapped PDOs. Free
mapping as described in CANopen cannot be implemented with the
CBC and CANopen.
The mapped objects are stored in objects 1600h-1603h and 1A00h-
1A03h and can be read out via the CAN bus.
The manufacturer-specific free objects 3xxxh can be addressed via an
SDO only if they have been mapped to the dual port RAM as a PDO!
To be able to enter values in parameters P711-P718, the
MASTERDRIVES must be switched to Drive Setting (P060 = 5) or
Board Configuration (P060 = 4).
Search through the table until you find the most suitable premapped
PDO for your application. The first column contains a number. Enter
this number, for example, in parameter P711, byte 0, as a hexadecimal
value. Enter the CANopen value for the PDO transmission
(Transmission Type) in byte 1, also as a hexadecimal value. This value
must now be converted to a decimal number since MASTERDRIVES
permits only decimal CB values.
Please note that certain PDOs can only be entered in particular
parameters. The selectable parameters are listed in the last column of
the table. The first PDO must always contain the control word. A special
interconnection specification, which is shown in the block diagrams
(Subsection 8.5.12), has been defined for this purpose.
Once the CBC parameters have been set, the values of the receive
PDOs must be "wired up" to the correct MASTERDRIVES location via
the CBC receive connectors.
The connectors with the values for the PDOs must be wired to the
correct location in the dual port RAM for the send data (P734).
PDOs which are parameterized in P711 and P715 can also be
parameterized in P712-14 and P716-18. It is therefore possible to send
a control word by two different transmission modes, for example,
cyclical and asynchronous.
The values of the objects are only ever transferred to one connector.
Objects mapped as PDOs have priority, i.e. if an object is mapped to a
PDO, the value is transferred to CB receive parameter K3xxx or
KK3xxx, even if the object has been transferred as an SDO task. The U
parameter that would be addressed without PDO mapping is not written
in this instance.
If an object is written to two PDOs, as described above, the object
value is transferred to the receive word mapped to the parameter with
the lower number.
CAUTION
How to map PDOs
NOTE
