Siemens SINAMICS G120P, Operating Instructions Manual

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Operation
6.9 Communication over CANopen
Inverter cabinet units
282
Operating Instructions, 12/2014, A5E32923362A
TPDO configuration objects
The following tables list the communication and mapping parameters together with the
indexes for the individual TPDO configuration objects. The configuration objects are
established via SDO. The "SINAMICS parameters" column shows the parameter numbers
assigned in the inverter.
Table 6- 32 TPDO configuration objects - communication parameters
OD
index
(hex)
Sub
index
(hex)
Object name SINAMICS
parameters
Data
type
Predefined con-
nection set
Can be
read/
written
1800 Transmit PDO 1 communication parameter
0 Largest subindex supported U8 5 r
1 COB ID used by PDO p8720.0 U32 180 hex + node
ID
r/w
2 Transmission type p8720.1 U8 FE hex r/w
3 Inhibit time p8720.2 U16 0 r/w
4 Reserved p8720.3 U8 --- r/w
5 Event timer p8720.4 U16 0 r/w
1801 Transmit PDO 2 communication parameter
0 Largest subindex supported U8 5 r
1 COB ID used by PDO p8721.0 U32 280 hex + node
ID
r/w
2 Transmission type p8721.1 U8 FE hex r/w
3 Inhibit time p8721.2 U16 0 r/w
4 Reserved p8721.3 U8 --- r/w
5 Event timer p8721.4 U16 0 r/w
1802 Transmit PDO 3 communication parameter
0 Largest subindex supported U8 5 r
1 COB ID used by PDO p8722.0 U32 C000 06DF hex r/w
2 Transmission type p8722.1 U8 FE hex r/w
3 Inhibit time p8722.2 U16 0 r/w
4 Reserved p8722.3 U8 --- r/w
5 Event timer p8722.4 U16 0 r/w
1803 Transmit PDO 4 communication parameter
0 Largest subindex supported U8 5 r
1 COB ID used by PDO p8723.0 U32 C000 06DF hex r/w
2 Transmission type p8723.1 U8 FE hex r/w
3 Inhibit time p8723.2 U16 0 r/w
4 Reserved p8723.3 U8 --- r/w
5 Event timer p8723.4 U16 0 r/w
1804 Transmit PDO 5 communication parameter
0 Largest subindex supported U8 5 r
1 COB ID used by PDO p8724.0 U32 C000 06DF hex r/w
2 Transmission type p8724.1 U8 FE hex r/w