Siemens SINAMICS G120 Mode D'emploi page 610

Diag send word
r2053[0..16]
PZD send word
p2051 [0]
(2089[0])
PZD send word
p2051 [1]
(2089[0])
PZD send word
p2051 [2]
(2089[0])
PZD send word
p2051 [3]
(2089[0])
PZD send word
p2051 [4]
(2089[0])
PZD send word
p2051 [5]
(2089[0])
PZD send word
p2051 [6]
(2089[0])
PZD send word
p2051 [7]
(2089[0])
<1> Telegram: up to 4 words or 64 bits. The sum of the various objects must not exceed 8 words.
1 2
CANopen
Send telegram, free PDO mapping (p8744 = 2)
CANopen send words 1 ... 7
Automatic assignment of the
Send buffer send buffer to the TPDOs
...
PZD send word 1
PZD send word 2
PZD send word 3
The assignment is made
from send buffer 1 and from
PZD send word 4
PZD send word 5
PZD send word 6
multiple number of times
are updated from the same
PZD send word 7
PZD send word 8
3 4
Transmit PDO 1 Mapping TPDO 1
0000 hex ... C000 06DF hex 0000 hex ... FFFF FFFF hex
p8720[0..4] (C000 06DF hex) p8730[0..3] (0000 hex)
<1>
TPDO 1
Object 1
Object 2
Object 3
Object 4
Transmit PDO 2 Mapping TPDO 2
p8721 p8731
TPDO 2
TPDO 1.
Object 1
Object 2
Object 3
Object 4
Transmit PDO 8 Mapping TPDO 8
p8727 p8737
Objects that occur a
TPDO 8
send buffer.
Object 1
Object 2
Object 3
Object 4
5
fp_9208_97_68.vsd
13.03.2018
CANopen send telegram
COB-ID
Object 1
Evaluation of
. . .
the COB-ID
and data
transfer type
Object 4
Sub-D socket
CAN bus
TPDO: Transmit Process Data Object
COB-ID: CAN object identification
6 7
Function diagram
G120 CU230P-2 CAN
V4.7_10
8
- 9208 -