Siemens Sinamics S120 Commissioning Manual page 14

Table of contents
2.7 PDO (Process Data Object) ................................................................................................... 67
2.7.1 Parameter .............................................................................................................................. 67
2.7.2 Data transmission types ......................................................................................................... 68
2.7.3 Number of PDO that can be created...................................................................................... 69
2.7.4 Send and receive message frames for process data ............................................................ 70
2.7.5 PDO mapping ......................................................................................................................... 72
2.7.6 RPDO monitoring ................................................................................................................... 73
2.8 CANopen device state machine............................................................................................. 74
2.9 Save parameters restore factory settings .............................................................................. 76
2.10 CAN bus sampling time ......................................................................................................... 78
2.11 The number of drives supported by CAN .............................................................................. 79
3 CAN CBC10 Communication Board ...................................................................................................... 81
3.1 Connection ............................................................................................................................. 81
3.2 Mounting ................................................................................................................................ 83
3.3 Hardware settings .................................................................................................................. 84
4 Configuration ........................................................................................................................................ 87
4.1 Overview ................................................................................................................................ 87
4.2 Configuring the CANopen interface ....................................................................................... 88
4.2.1 Selecting the CBC10 option module ...................................................................................... 88
4.2.2 Configuring the infeed ............................................................................................................ 90
4.2.3 Configuring a drive ................................................................................................................. 90
4.2.4 Configuring CBC10 ................................................................................................................ 92
4.2.4.1 Parameterizing the transmission properties for Control Unit CU320-2.................................. 92
4.2.4.2 Configuring the transmission rate and CAN bus address ...................................................... 93
4.3 Configuring the PDO message frames .................................................................................. 96
4.3.1 Assigning COB IDs and mapping parameters for free PDO mapping ................................... 97
4.4 Process data interconnection ............................................................................................... 103
4.4.1 Reading out the image of mapped process data objects..................................................... 103
4.4.2 Interconnecting process data for the PDO message frame ................................................. 105
4.4.2.1 Interconnecting the receive buffer........................................................................................ 106
4.4.2.2 Interconnecting the transmit buffer ...................................................................................... 108
4.5 SDO access, process data .................................................................................................. 110
4.5.1 Standardized CANopen PZD objects................................................................................... 110
4.5.2 Free CANopen PZD objects ................................................................................................ 112
4.6 PDO access to the infeed .................................................................................................... 114
5 Calculation/conversion setpoints/actual values ..................................................................................... 115
5.1 Speed setpoint input and evaluation of the speed actual value .......................................... 115
5.2 Torque setpoint input and evaluation of the torque actual value ......................................... 118
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Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
CANopen interface