Siemens SINAMICS G120P, Руководство по эксплуатации

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Operation
6.9 Communication over CANopen
Inverter cabinet units
Operating Instructions, 12/2014, A5E32923362A
271
Figure 6-27 TPDO mapping with the Predefined Connection Set
Calculate the COB IDs using the following formula and enter the results in the p8700, p8701,
p8720 and p8721 parameters.
COB ID for TPDO and RPDO in the Predefined Connection Set
● COB ID
TPDO
= 180 hex + node ID + ((TPDO no. - 1) * 100 hex)
Example:
–
For p8721[0] = COB ID of TPDO 2, this gives with Node ID = C hex the following
value:
180 hex + C hex + ((2 - 1)*100 hex) = 18C hex + 100 hex = 28C hex
● COB ID
RPDO
= 200 hex + node ID + ((RPDO no. - 1) * 100 hex)
Example:
–
For p8700[0] = COB ID of RPDO 1, this gives with Node ID = C hex the following
value:
200 hex + C hex + ((1 - 1) * 100 hex) = 20C hex + 0 hex = 20C hex
6.9.1.7 Free PDO mapping
Using the free PDO mapping, you configure and interconnect any process data as required
as follows:
● As free objects or
● As objects of drive profile CiA 402, corresponding to the requirements of your system for
the PDO service
This requires that the inverter is set to a free PDO mapping (p8744 = 2) (factory setting).