Number Of Pdo That Can Be Created - Siemens Sinamics S120 Commissioning Manual

The SYNC object is sent periodically from the SYNC producer. The SYNC signal represents
the basic network cycle. The time interval between 2 SYNC signals is determined by the
standard parameter "Communication cycle time".
In order to provide real-time access to the CAN bus, the SYNC object has a very high-priority
identifier, the factory setting is 80 hex. The service runs unconfirmed. The SYNC object
identifier can be changed to another value. Then all the CANopen slaves on the same bus
should also be changed appropriately, so that communication remains possible. The
identifier of the SYNC object has object index 1005 hex.
Note
The SYNC signal does not synchronize the applications in the SINAMICS drive, only the
communication on the CANopen bus.
Data from asynchronous RPDO is passed on to the application directly.
2.7.3

Number of PDO that can be created

In a SINAMICS drive object a maximum of 8 receive and 8 send PDO can be defined.
For drive objects supported by CANopen, the total number of valid RPDO is limited to 25 as
a result of the hardware.
For the drive object supported by CANopen, the total number of valid TPDO is defined by the
following ratio:
Alarm A08758 "CAN: Maximum number of valid PDO exceeded" is output when these limits
are exceeded.
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
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2.7 PDO (Process Data Object)
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