Siemens SINAMICS S120 Installation And Start-Up Manual page 85

3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames.
Mapping RP DO2
When you choose the process data object for the control word and the set velocity from the
"Objects in drive profile DSP402" table, this yields the following values, which you enter in
parameters p8711 [0] to p8711 [3] for RPDO2 mapping (see the "Resulting hexadecimal
value" column in the following table):
Table 3-7
Object
Contro
word
Set
velocity
No object
Mapping RPDO3
Wh
"O bje ts in drive profile DSP402" table, thi
parameters p8712 [0] to p8712 [3] for RPDO3 ma
valu
Ta ble -8
Object name
Control word 6840
Set
torque
No object
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1
Values for RPDO2
Values from
name "Objects in drive profile
DSP402" table
OD Sub-index
index (hex)
(hex)
l 6840 00
68FF 00
en you choose the process data object for the c
c
e" column in the following table):
3 Values for RPDO3
Values from
"Objects in drive profile DSP402"
OD Sub-index
index (hex)
(hex)
00
6871 00
Object Resulting hexa-
size decimal value
10 hex 6840 0010
(16 bit)
20 hex 68FF 0020
(32 bit)
0
ontrol word and the set torque from the
s yields the following values, which you enter in
pping (see the "Resulting hexadecimal
table
Object Resulting hexa-
size decimal value
10 hex 6840 0010
(16 bit)
10 hex 6871 0010
(16 bit)
0
Mapping parameter in STARTER
Parameter RPDO2
p8711 [0]
p8711 [1]
p8711 [2] to [3]
Mapping parameter in STARTER
Parameter RPDO3
p8712 [0]
p8712 [1]
p8712 [2] to [3]
Commissioning
3-33