Pdo Mapping - Siemens SINAMICS S120 Commissioning Manual

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1.10 PDO mapping

1.10 PDO mapping
Introduction
PDO mapping is used to map drive objects (process data, e.g. setpoints or actual values)
and "free objects" from the object directory for the PDO service as message frame.
The PDO itself transfers the data values for these objects.
Once detected, each drive object is assigned up to 8 receive and 8 transmit PDOs.
A CAN message frame can transfer up to 8 bytes of user data. The user can decide which
data is to be transferred in a PDO.
Example
The following diagram uses an example to illustrate PDO mapping (values are hexadecimal
(e.g. object size 20 hex = 32 bits)):
Figure 1-5 PDO mapping
See also
CANopen object directory (Page 22)
Free objects (Page 28)
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Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
CANopen interface