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Siemens SINAMICS G120 List Manual page 789

Cu250s-2 control units
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0000 hex ... 8000 06DF hex
p8700[0..1] (8000 06DF hex)
Sub-D socket
CAN bus
CANopen
receive telegram
COB-ID
Object
1
Evaluation
of the
COB-ID
Object
4
<1>
To use automatic BICO interconnection (p8790 = 1), one of the receive words 1 - 4 must be used as control word 1 (STW1).
<2>
Telegram: up to 4 words or 64 bits. The sum of the various objects must not exceed 8 words.
1
2
CANopen
Receive telegram, Predefined Connection Set (p8744 = 1)
Receive PDO 1
Mapping RPDO 1
0000 hex ... FFFF FFFF hex
p8710[0..3] (0000 hex)
<2>
Automatic assignment of the
RPDOs to the receive buffer.
RPDO 1
60400010
Receive PDO 2
Mapping RPDO 2
p8701
p8711
RPDO 2
60400010
60420010
Receive PDO 3
Mapping RPDO 3
p8702
p8712
The assignment is
made from RPDO 1,
RPDO 2 ... RPDO 8
RPDO 3
and from receiver
buffer word.
Objects available a
multiple number of
times are
Receive PDO 4
Mapping RPDO 4
marshalled to the
p8703
p8713
same position in the
receive buffer.
RPDO 4
3
4
Receive buffer
<1>
PZD receive word
1
PZD receive word
2
PZD receive word
3
PZD receive word
4
PZD receive word
5
PZD receive word
6
PZD receive word
7
PZD receive word
8
5
6
fp_9206_97_68.vsd
05.09.2017
V4.7.9
PZD1 recv bitw
r2090
.0
Bit 0
...
r2090.15
Bit 15
r2050
[0]
PZD recv word
PZD2 recv bitw
r2091
.0
Bit 0
...
r2091.15
Bit 15
r2050
[1]
PZD recv word
PZD3 recv bitw
r2092
.0
Bit 0
...
r2092.15
Bit 15
r2050
[2]
PZD recv word
PZD4 recv bitw
r2093
.0
Bit 0
...
r2093.15
Bit 15
r2050
[3]
PZD recv word
r2050
[4]
PZD recv word
r2050
[5]
PZD recv word
r2050
[6]
PZD recv word
r2050
[7]
PZD recv word
RPDO: Receive Process Data Object
COB-ID: CAN object identification
7
8
Function diagram
- 9206 -
G120 CU250S-2 CAN

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