Interconnecting The Receive And Transmit Buffers - Siemens SINAMICS S120 Installation And Start-Up Manual

Commissioning
3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames.
Mapping TPDO4
When you choose the process data object for the CBC status word and the encoder actual
position value from the "Objects in drive profile DSP402" table, this yields th
values, which you enter in parameters p8733 [0] to p8733 [3] for TPDO4 mappin
"Resulting hexadecimal value" colu
Table 3-13
Object name
CB
wo
Ac tual
po sition value
No object
3.5.4

Interconnecting the receive and transmit buffers

Steps
Once you have mapped
you have to interconnect the image of the mapped process data objects with the receive and
transmit buffers.
Note
To interconnect the receive and transmit buffers in ONLINE mode, carry out the steps
described in the following section ("Interconn
3-36
Values for TPDO4
Values from
"Objects in drive profile
DSP402" table
OD Sub-index
index (hex)
(hex)
C status 6841 00
rd
6863 00
receive and transmit PDOs in ONLINE mode in free PDO mapping,
mn in the following table):
Mapping parameter in STARTER
Object Resulting hexa-
size decimal value
10 hex 6841 0010
(16 bit)
20 hex 6863 0020
(32 bit)
0
ecting receive and transmit buffers").
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1
e following
g (see the
Parameter TPDO4
p8733 [0]
p8733 [1]
p8733 [2] to [3)
CANopen interface