Siemens SINAMICS S120 Installation And Start-Up Manual page 83

3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames.
Steps
An example is used to illustrate the procedure described below (in this example: RPDO1 for
drive object 2).
Setting the COB ID to "invalid"
1. In the project navigator, cal
2. Search for COB
3. Copy the he
4 . You can
Mapping paramet ers
1 . Choose
2. Add a suitable offset for the SINAMICS drive object (e.g. plus 800 hex as of drive object
3. Calculate the sum of "OD index + sub-index + object size" as a hexadecimal value.
4. Enter this value in STARTER in the corresponding mapping parameter.
Setting the COB ID to "valid"
1. In the project navigator, call up the expert list for Single Motor Module 2: Drives > D
2. Search for COB ID parameter p8700 [0] for communication parameter RPDO1.
3. Copy the hexadecimal value from STARTER to a calculator and enter And 7FFF FFFF
4. Copy the value to STARTER.
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1
> Drive_2 > right-click
ID parameter p8700 [0
xade cimal valu
Copy the re sult to th e STARTE
"invalid".
no w adju st the
the rocess ata object to be mapped p d
(e.g. RPDO1, control word = 6040 hex) from the "Objects in drive profile DSP402" table
(see "Communication objects") .
2).
See the column "Values from table" OD index (he
parameterization table in the following section.
See the column "Resulting hexadecimal value" (e.g. 6840 0010 hex) in the
parameterization table in the following section.
See the column "Mapping parameter in STARTER" (e.g. p8710 [0]) in the
parameterizat ion table in the following section.
> right-click > Expert > Expert list.
hex. Copy the result to the STARTER parameter. As a result, bit 31 has now been set to
"valid".
l up the expert list for Single Motor Module 2 (drive_2): Drives
> Expert > E xpert list.
] for communication parameter RPDO1.
e fr om STARTER to a c
R parame te r. As a result, bi
mapping parame rs. te
alculator and ent er Or 8000 0000 he
t 31 has now been set to
x) (e.g. 6840 hex) in the
Commissioning
x.
rive_2
3-31