Pdo Services - Siemens SINAMICS S120 Commissioning Manual

1.13

PDO services

Introduction
The real-time data transfer for CANopen takes place using "Process Data Objects (PDO)".
The PDOs are linked with entries in the object directory and represent the interface with the
drive objects. Data type and mapping of the drive objects in a PDO are determined by the
PDO mapping structure inside the object directory. The number of PDOs and the mapping of
the drive objects in a PDO are transmitted to the unit during the unit configuration process.
This transmission is implemented at the corresponding entries in the object directory via
SDO services.
PDOs are used in two different ways. The transmit PDO (TPDO) is responsible for data
transmission and the receive PDO (RPDO) is responsible for receiving data. CANopen
devices that support TPDOs are called PDO producers and CANopen devices that support
RPDOs are called PDO consumers. The PDO is identified by the PDO communications
parameter and the PDO mapping parameter. The structure of this parameter is listed in both
the following tables.
PDO communications parameter
Table 1- 9 PDO communications parameter 1400h ff, 1800h ff
Subindex Name
00h Highest subindex that is supported
01h COB ID
02h Transfer mode
03h* Inhibit time
04h* Reserved
05h* Event timer
* Only valid for 1800h ff
PDO mapping parameter
Table 1- 10 PDO mapping parameter 1600h ff, 1A00h ff
Subindex Name
00h Number of mapped objects in the PDO
01h First object to be mapped
02h Second object to be mapped
03h Third object to be mapped
04h Fourth object to be mapped
The PDO communications parameter describes the communication options of the PDO. The
PDO mapping parameter contains information on the content of the PDO.
Communication parameters and mapping parameters need to be defined for each PDO.
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
1.13 PDO services
Data type
UNSIGNED8
UNSIGNED32
UNSIGNED8
UNSIGNED16
UNSIGNED8
UNSIGNED16
Data type
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
Add infeed
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