User Manual

Communication over CANopen
6.3 PDO services
Fieldbuses
184 Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
6.3.2
Free PDO mapping
Using the free PDO mapping, you configure and interconnect any process data as required
as follows:
● as free objects
free objects (Page 203) or
● as objects of drive profile CiA 402, corresponding to the requirements of your system for
the PDO service
The precondition is that the inverter is set for free PDO mapping. (p8744 = 2) (factory
setting).
Configuring and mapping process data using free PDO mapping
Procedure
1. Specify the process data.
Examples:
– Send current actual value (r0068) from the inverter to the controller (TPDO - Transmit
Process Data Object)
– Send additional speed setpoint from the controller to the inverter (RPDO - Receive
Process Data Object) and write in p1075
2. Specify objects for transmission of the process data
– TPDO1 for the current actual value
– RPDO1 for additional speed setpoint
3. Define the communication parameters for RPDO and TPDO
– Define communication parameters for RPDO.
RPDO communication parameters (Page 196)
– Define communication parameters for TPDO.
See TPDO communication parameters (Page 199)
4. Select the OV index for the mapping parameters
– Mapping parameters for RPDO.
RPDO mapping parameters (Page 197)
– Mapping parameters for TPDO.
TPDO mapping parameters (Page 201)
5. Write OV index into the SINAMICS mapping parameters
– p8710 … p8717 for RPDO
– p8730 … p8737 for TPDO