Add infeed
2.5 CANopen object directory
2.5.2.2
Communication objects send PDO
The following table lists the object directory with the index of the individual drive-dependent
communication objects for the transmit PDO of the first drive object:
Table 2- 4
Drive-dependent communication objects for transmit PDO
OD
Subindex
Object name
index
(hex)
(hex)
1800
Transmit PDO 1
communication
parameter
0
Largest subindex
supported
1
COB ID used by
PDO
2
Transmission type
3
Inhibit time
4
Compatibility entry
5
Event timer
1801
Transmit PDO 2
communication
parameter
0
Largest subindex
supported
1
COB ID used by
PDO
2
Transmission type
3
Inhibit time
4
Compatibility entry
5
Event timer
1802
Transmit PDO 3
communication
parameter
0
Largest subindex
supported
1
COB ID used by
PDO
2
Transmission type
3
Inhibit time
4
Compatibility entry
5
Event timer
1803
Transmit PDO 4
communication
parameter
0
Largest subindex
supported
44
SINAMICS
PDO map-
parameters
ping
–
–
–
No
p8720.0
No
p8720.1
No
p8720.2
No
p8720.3
No
p8720.4
No
–
–
–
No
p8721.0
No
p8721.1
No
p8721.2
No
p8721.3
No
p8721.4
No
–
–
–
No
p8722.0
No
p8722.1
No
p8722.2
No
p8722.3
No
p8722.4
No
–
–
–
No
Data type
Predefined con-
nection set
–
–
Unsigned8
5
Unsigned32
180 hex + node ID
Unsigned8
FE hex
Unsigned16
0
Unsigned8
3
Unsigned16
0
–
–
Unsigned8
5
Unsigned32
280 hex + node ID
Unsigned8
FE hex
Unsigned16
0
Unsigned8
0
Unsigned16
0
–
–
Unsigned8
5
Unsigned32
380 hex + node ID
Unsigned8
FE hex
Unsigned16
0
Unsigned8
0
Unsigned16
0
–
–
Unsigned8
5
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
SDO ac-
cess
–
ro
rw
rw
rw
rw
rw
–
ro
rw
rw
rw
rw
rw
–
–
rw
rw
rw
rw
rw
–
ro
CANopen interface