Free Pdo Mapping For Example Of The Actual Current Value And Torque Limit - Siemens SINAMICS G110M Function Manual

Interconnecting the send buffer
The inverter sends the data from the send buffer as follows:
● p2051[0] ... p2051[13] in PZD 1 ... PZD 14 (indication of the actual values in
r2053[0 ... 13])
● p2061[0] ... p2061[12] in PZD 1 ... PZD 14 (indication of the actual values in
r2063[0 ... 12])
Examples
Object
Status word
Current actual
value
Actual speed
value
6.3.4

Free PDO mapping for example of the actual current value and torque limit

You integrate the actual current value and torque limit into the communication via the free
PDO mapping.
The actual current value and the torque setpoint are transferred in TPDO1 and RPDO1,
respectively. TPDO1 and RPDO1 have already been specified by the Predefined Connection
Set.
Mapping the actual current value (r0068) with TPDO1
Procedure
Proceed as follows to accept the current actual value as send object in the communication:
1. Set the OV index for the actual current value:
first free OV index from the send data from the "Free objects" 5810 table
2. Map the OV index for the actual current value with PZD2:
– Set the COB-ID of TPDO1 to "invalid":
– Link the mapping parameter object 2 of TPDO1 (p8730.1) with the OV index for the
– Set the COB-ID of TPDO1 to "valid":
r8751 shows which object is matched to which PZD:
PZD2 (r8751[1] ) = 5810 (actual current value)
3. link the PZD send word 2 in the send word (p2051) with the actual current value:
p2051[1] = r0086[0]
This means you have transferred the actual current value into the communication as the
send object.
Fieldbuses
Function Manual, 01/2016, FW V4.7 SP6, A5E34229197B AC
Mapped send objects
r8751[0] = 6041 hex
(PZD1)
r8751[1] = 5810 hex
(PZD2)
r8751[2] = 6044 hex
(PZD3)
p8720[0] = 800001B2 hex
actual current value:
p8730.1 = 58100010 hex (5810 = OV index, 00 = fixed value, 10 ≙ 16 bit value)
p8720[0] = 400001B2 hex
Communication over CANopen
Send word p2051
Interconnect p2051[0] in PZD1
Interconnect PZD2 in the current
actual value
Interconnect PZD3 in the speed
actual value
6.3 PDO services
p2051[0] = r8784
p2051[1] = r68[1]
p2051[2] = r63[0]
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