Siemens SINAMICS G150 Manual page 1242

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]
p8851[7]
DWORD
(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, Predef. Connection Set (p8744 = 1)
CANopen send words 1...16
IF2 Diag PZD send
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
p8723[0] p8733[0...3]
updated from the
same send buffer.
TPDO 4
60410010
60630020
5 6
Function diagram
fp_9210_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
- 9210 -