Siemens SINAMICS S120 Installation And Start-Up Manual page 82

Commissioning
3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames.
3.5.3 Assig ning COB IDs and mapping parameters for free PDO mapping
Introduction
If you are in ONLINE mode and want to assign free COB IDs and mapping parameters, you
have the following options:
•
• Mapping par
Procedure
T carry out fre o
1. Set the COB ID of the RPDO or TPDO in question to "invalid" (e.g.: p8700[0] CBC:
2 . Ent
3 . Set t
3-30
COB IDs:
You can assi gn a COB as required in the fo
– Receive (RPDOs) in p
– Transmit (TPDO s ) in param
amete rs:
You can ent er the pr oces
the following parameters:
– R eceive messa ge frames (RP
– Tran smit messag e frame
Note
If mapping parameters are changed in STARTER in ONLINE mode, the COB ID for the
PDO in question must first be set to "invalid" in the communication parameters and, on
the parameters have been changed, reset to "valid".
COB ID, bit 31 = 0 -> COB ID valid,
bit 31 = 1 -> COB ID invalid
e PDO m apping in
receive P DO 1, CO ID B
er the process data objects a
(e.g. : as of p 8710[ 0] CB
he COB ID of the RPDO or
llowing parameters:
arameters p8700 to p8707
ete rs p87 20 t o p8727
s data o bjects fo r m apping the
DOs) as of parameter
s (TPDOs) as of pa
O NLINE mo de, proceed as
of PDO).
s mapping paramete
C receiv e mappin g for RPDO1
TPDO in que stion to "valid".
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1
transmission message
p8710
rameter p8730
follow s:
rs in the RPDO or TPDO in question
, mapped o bject).
frames in
ce
CANopen interface