Siemens SINAMICS S120 Commissioning Manual page 40

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1.13 PDO services
The definition of the PDO within a unit profile always refers to the first logic device inside a
CANopen device. If the PDO definition should be valid for the second logic device, the PDO
number of the CANopen device used needs to be increased by the value 64 (40h)
corresponding to the PDO number in the device profile (see following table).
Table 1- 11 Example of PDO number calculation
Logic device in
CANopen device
1. logic device
2. logic device
3. logic device
4. logic device
5. logic device
6. logic device
7. logic device
8. logic device
The indices of the corresponding entries in the object directory are calculated with the
following formula:
● RPDO communications parameter index = 1400h + RPDO-number -1
● TPDO communications parameter index = 1800h + TPDO-number -1
● RPDO mapping parameter index = 1600h + RPDO-number -1
● TPDO mapping parameter index = 1A00h + TPDO- number -1
Data transfer types
The following PDO transmission types are available:
● Synchronous transmission
● Asynchronous transmission
In order for the communicating devices to remain synchronized during transmission, a
synchronization object (SYNC object) must be transmitted at periodic intervals.
The following diagram shows the principle of synchronous and asynchronous transmission:
40
PDO number in CANopen
device
PDO number + 0
(PDO1 to PDO64)
PDO number + 64
(PDO65 to PDO128)
PDO number + 128
(PDO129 to PDO192)
PDO number + 192
(PDO193 to PDO256)
PDO number + 256
(PDO257 to PDO320)
PDO number + 320
(PDO321 to PDO384)
PDO number + 384
(PDO385 to PDO448)
PDO number + 448
(PDO449 to PDO512)
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
PDO number in device profile
PDO number
(PDO1 to PDO64)
PDO number
(PD O1 to PDO64)
PDO number
(PDO1 to PDO64)
PDO number
(PDO1 to PDO64)
PDO number
(PDO1 to PDO64)
PDO number
(PDO1 to PDO64)
PDO number
(PDO1 to PDO64)
PDO number
(PDO1 to PDO64)
CANopen interface