Siemens SINAMICS G120 List Manual page 791

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, Predefined Connection Set (p8744 = 1)
CANopen send words 1 ... 7
Automatic assignment of the
send buffer to the TPDOs
Send buffer
...
PZD send word 1
PZD send word 2
PZD send word 3
PZD send word 4
PZD send word 5
PZD send word 6
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
60410010
Transmit PDO 2 Mapping TPDO 2
p8721 p8731
TPDO 2
60410010
60440010
The assignment is
made from send
buffer 1 and from
TPDO 1.
Transmit PDO 3 Mapping TPDO 3
p8722 p8732
TPDO 3
Objects that
occur a multiple
number of times
Transmit PDO 4 Mapping TPDO 4
are updated from
p8723 p8733
the same send
buffer.
TPDO 4
5 6
fp_9210_97_68.vsd
05.09.2017
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
7
Function diagram
G120 CU250S-2 CAN
V4.7.9
8
- 9210 -