Siemens SINAMICS G110M Function Manual page 190

Communication over CANopen
6.3 PDO services
Interconnecting the send buffer
The inverter sends the data from the send buffer as follows:
● p2051[0] ... p2051[13] in PZD 1 ... PZD 14 (indication of the actual values in
r2053[0 ... 13])
● p2061[0] ... p2061[12] in PZD 1 ... PZD 14 (indication of the actual values in
r2063[0 ... 12])
Examples
Object
Status word
Current actual
value
Actual speed
value
188
Mapped send objects
r8751[0] = 6041 hex
(PZD1)
r8751[1] = 5810 hex
(PZD2)
r8751[2] = 6044 hex
(PZD3)
Send word p2051
Interconnect p2051[0] in PZD1
Interconnect PZD2 in the current
actual value
Interconnect PZD3 in the speed
actual value
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
p2051[0] =
r8784
p2051[1] = r68[1
]
p2051[2] = r63[0
]
Fieldbuses