Interconnect Objects From The Receive And Transmit Buffers - Siemens Sinamics G120P Operating Instructions Manual

Operation
6.9 Communication over CANopen
Free TPDO mapping - Overview
6.9.1.8

Interconnect objects from the receive and transmit buffers

Procedure
Proceed as follows to configure the CANopen PDO:
1. Create a telegram:
Create a PDO (parameterize the PDO Com. Parameters and PDO mapping parameters),
see Predefined connection set (Page 270) and Free PDO mapping (Page 271)
2. Interconnect the parameters:
Interconnect the parameters of the PZD buffer (p2050/p2060, p2051) corresponding to
the mapping of point "Create telegram" using the mapping table r8750/r8760 or
r8751/r8761. The mapping table indicates the position of a mapped CANopen object in
the PZD buffer.
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Inverter cabinet units
Operating Instructions, 12/2014, A5E32923362A