Siemens Sinamics G120P Operating Instructions Manual page 267

Structure of the PDO
A PDO consists of communication and mapping parameters. Examples for the structure of
the TPDO and RPDO follow.
The values for communication parameters can be found in the tables in Section Object
directories (Page 276).
Figure 6-24 Structure of the RPDO and TPDO communication objects
COB ID
An overview of the COB IDs can be found in Section CANopen functions of the converter
(Page 257). Section Predefined connection set (Page 270) explains how the COB IDs are
calculated.
Transmission type
For process data objects, the following transmission types are available, which you set in
index 1 of the communication parameter (p8700[1] ... p8707[1] / p8720[1] ... p8727[1]) in the
inverter:
● Cyclic synchronous (value range: 1 ... 240)
– TPDO after each n-th SYNC
– RPDO after each n-th SYNC
● Acyclic synchronous (value: 0)
– TPDO when a SYNC is received and a process data has changed in the telegram.
● Cyclic asynchronous (values: 254, 255 + event time)
– TPDO when a process data has changed in the telegram.
Inverter cabinet units
Operating Instructions, 12/2014, A5E32923362A
6.9 Communication over CANopen
Operation
267