Siemens SINAMICS G120P, Operating Instructions Manual

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Operation
6.9 Communication over CANopen
Inverter cabinet units
292
Operating Instructions, 12/2014, A5E32923362A
6.9.4 Free PDO mapping for example of the actual current value and torque limit
You integrate the actual current value and torque limit into the communication via the free
PDO mapping.
The actual current value and the torque setpoint are transferred in TPDO1 and RPDO1,
respectively. TPDO1 and RPDO1 have already been specified by the Predefined Connection
Set.
Mapping the actual current value (r0068) with TPDO1
Procedure
Proceed as follows to accept the actual current value as send object in the communication:
1.
Set the OV index for the actual current value:
first free OV index from the send data from the "Free objects" 5810 table
2. Map the OV index for the actual current value with PZD2:
–
Set the COB-ID of TPDO1 to "invalid":
p8720[0] = 800001B2 hex
– Link the mapping parameter object 2 of TPDO1 (p8730[1]) with the OV index for the
actual current value:
p8730[1] = 58100010 hex (5810 = OV index, 00 = fixed value, 10 ≙ 16-bit value)
– Set the COB-ID of TPDO1 to "valid":
p8720[0] = 400001B2 hex
r8751 shows which object is matched to which PZD:
PZD2 (r8751[1] ) = 5810 (actual current value)
3. Link the PZD send word 2 in the send word (p2051) with the actual current value:
p2051[1] = r0068[0]