2.5.2.1
Communication objects receive PDO
The following table lists the object directory with the index of the individual drive-dependent
communication objects for the receive PDO of the first drive object:
Table 2- 3
Drive-dependent communication objects for receive PDO
OD index
Subin-
Object name
(hex)
dex
(hex)
1400
Receive PDO 1
communication
parameter
0
Largest subindex
supported
1
COB ID used by
PDO
2
Transmission type
1401
Receive PDO 2
communication
parameter
0
Largest subindex
supported
1
COB ID used by
PDO
2
Transmission type
1402
Receive PDO 3
communication
parameter
0
Largest subindex
supported
1
COB ID used by
PDO
2
Transmission type
1403
Receive PDO 4
communication
parameter
0
Largest subindex
supported
1
COB ID used by
PDO
2
Transmission type
1404
Receive PDO 5
communication
parameter
0
Largest subindex
supported
1
COB ID used by
PDO
2
Transmission type
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
SINAMICS
PDO
parameters
mapping
–
–
–
No
p8700.0
No
p8700.1
No
–
–
–
No
p8701.0
No
p8701.1
No
–
–
–
No
p8702.0
No
p8702.1
No
–
–
–
No
p8703.0
No
p8703.1
No
–
–
–
No
p8704.0
No
p8704.1
No
2.5 CANopen object directory
Data type
Predefined con-
nection set
–
–
Unsigned8
2
Unsigned32
200 hex + node
ID
Unsigned8
FE hex
–
–
Unsigned8
2
Unsigned32
300 hex + node
ID
Unsigned8
FE hex
–
–
Unsigned8
2
Unsigned32
400 hex + node
ID
Unsigned8
FE hex
–
–
Unsigned8
2
Unsigned32
500 hex + node
ID
Unsigned8
FE hex
–
–
Unsigned8
2
Unsigned32
C000 06E0 hex
Unsigned8
FE hex
Add infeed
SDO access
–
ro
rw
rw
–
ro
rw
rw
–
ro
rw
rw
–
ro
rw
rw
–
ro
rw
rw
39