Siemens SINAMICS G150 Manual page 1241

p8851[0]
p8861[0]
DWORD p8851[1]
(0)
p8861[1]
DWORD p8851[2]
(0)
p8861[2]
DWORD p8851[3]
(0)
p8861[3]
DWORD p8851[4]
(0)
p8861[4]
DWORD p8851[5]
(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> Telegram: up to 4 words or 64 bits.
The sum of the various objects must not exceed 16 words.
1 2
DO: A_INFM2C, SERVO, VECTOR, VECTOR3P, VECTORGL, VECTORMV, VECTORSL
Communication Board CAN10 (CBC10) - Send telegram, free PDO mapping (p8744 = 2)
CANopen send words 1 ... 16
IF2 Diag PZD send
r8853[0...15]
Send buffer
...
(0)
PZD send word 1
(0)
PZD send word 2
(0)
PZD send word 3
(0)
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]
<1>
Automatic assignment of the
send buffer to the TPDOs
TPDO 1
Object 1
Object 2
Object 3
Object 4
p8721[0] p8731[0...3]
The assignment is made
from send buffer 1 and
TPDO 2
from TPDO 1.
Object 1
Object 2
Object 3
Object 4
Objects that occur a
multiple number of times
are updated from the
same send buffer.
p8727[0] p8737[0...3]
TPDO 8
Object 1
Object 2
Object 3
Object 4
5 6
Function diagram
fp_9208_51_eng.vsd
SINAMICS
05.07.13 V04.07.00
CAN bus sampling time
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 Communication Object Identifier
7 8
- 9208 -