Siemens Sinamics S120 Commissioning Manual page 102

Configuration
4.3 Configuring the PDO message frames
Mapping TPDO4
When you choose the process data object for the CBC status word and the encoder position
actual value from the "Objects of the drive profile DSP402" table, this yields the following
values, which you enter in parameter p8733[0...3] for TPDO4 mapping (see the "Resulting
hexadecimal value" column in the following table):
Table 4- 8 Values for TPDO4
Object name
"Objects of the drive profile DSP402" table
OD index
(hex)
CBC status word 6841
Actual position 6863
value
No object -
102
Values from
Subindex (hex) Object size
00 10 hex (16 bit)
00 20 hex (32 bit)
- -
Mapping parameters in STARTER
Resulting
hexadecimal value
6841 0010
6863 0020
0
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Parameter TPDO4
p8733[0]
p8733[1]
p8733[2...3]
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