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

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
Proceed as follows to accept the current actual value as send object in the communication:
Procedure
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]
You have now transferred the actual current value into the communication as the send
object.
❒
Mapping the torque limit (p1520) with RPDO1
Proceed as follows to accept the torque limit value in the communication:
Procedure
1. Set the OV index for the torque limit:
first free OV index from the receive data from the "Free objects" 5800 table
2. Map the OV index for the torque limit with PZD2
– Set the COB-ID of RPDO1 to "invalid":
– Link the mapping parameter object 2 of RPDO1 (p8710.1) with the OV index for the
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
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
p8700[0] = 80000232 hex
torque limit:
p8710.1 = 58000010 hex (5800 = OV index, 00 = fixed value)
Communication over CANopen
6.3 PDO services
189