Siemens SINAMICS S Manuel page 1233

p8851[0]
p8861[0]
DWORD p8851[1]
(0)
p8861[1]
DWORD p8851[2]
63
p8861[2]
DWORD p8851[3]
(0)
p8861[3]
DWORD p8851[4]
(0)
p8861[4]
DWORD p8851[5]
492.0
p8861[5]
DWORD p8851[6]
(0)
p8861[6]
DWORD p8851[7]
(0)
p8861[7]
DWORD p8851[8]
(0)
p8861[8]
DWORD p8851[9]
(0)
p8861[9]
DWORD p8851[10]
(0)
p8861[10]
DWORD p8851[11]
(0)
p8861[11]
DWORD p8851[12]
(0)
p8861[12]
p8851[13]
DWORD
(0)
p8861[13]
DWORD p8851[14]
(0)
p8861[14]
DWORD p8851[15]
(0)
<1> The sum of the various objects must not exceed 16 words.
1 2
DO: SERVO, VECTOR
Communication Board CAN10 (CBC10) - send telegram predef. conn. set (p8744 = 1)
CANopen send words 1...16
Diagnostic display
r8853[0...15]
Send buffer
...
8784
PZD send word 1
(0)
PZD send word 2
(0)
PZD send word 3
79
PZD send word 4
(0)
PZD send word 5
(0)
PZD send word 6
(0)
PZD send word 7
(0)
PZD send word 8
(0)
PZD send word 9
(0)
PZD send word 10
(0)
PZD send word 11
(0)
PZD send word 12
(0)
PZD send word 13
(0)
PZD send word 14
(0)
PZD send word 15
(0)
PZD send word 16
3 4
COB-ID for TPDO 1 PDO mapping for TPDO 1
p8720[0] p8730[0...3]
Automatic assignment of
<1>
send buffer to the TPDOs
TPDO 1
60410010
p8721[0] p8731[0...3]
TPDO 2
60410010
606C0020
The assignment
is made from
the send buffer
p8722[0] p8732[0...3]
1 and from
TPDO 1.
TPDO 3
60410010
60740010
Objects that occur
a multiple number
of times are
updated from the p8723[0] p8733[0...3]
same send buffer.
TPDO 4
60410010
60630020
5 6
Function diagram
fp_9210_01_eng.vsd
SINAMICS S
15.12.04 V02.04.00
CAN bus sampling time
Refer to [1020.7]
CANopen send telegram
COB-ID
Object 1
Object 4
Evaluation of
the COB-ID
and data
transfer type.
X451
CAN bus
X452
CAN bus
TPDO: Transmit Process Data Object
COB-ID: CAN object identification
7 8
- 9210 -