Interconnect Objects From The Receive And Transmit Buffers - Siemens SINAMICS G110M Function Manual

Communication over CANopen
6.3 PDO services
6.3.3

Interconnect objects from the receive and transmit buffers

Procedure
To interconnect process data, proceed as follows:
1. Create a telegram:
create PDO (parameterize the PDO Com. Parameters and PDO mapping parameters).
2. Interconnect parameters:
Interconnect the parameters of the PZD buffer ( r2050/r2060, p2051/p2061)
corresponding to the mapping of point "Create telegram" using the mapping table
r8750/r8760 or r8751/r8761. The mapping table indicates the position of a mapped
CANopen object in the PZD buffer.
You have interconnected the process data.
Interconnecting the receive buffer
The inverter writes the received data in the receive buffer:
● PZD receive word 1 ... PZD receive word 12 double word in r2060[0] ... r2060[10].
● PZD receive word 1 ... PZD receive word 12 word in r2050[0] ... r2050[11].
● PZD 1 ... PZD 4 bit-by-bit in r2090.0 ... r2090.15 to r2093.0 ... r2093.15
The position of the mapped objects in the receive buffer is displayed in:
● r8760 for double word switching
● r8750 for word switching
Examples
Object
Control word
Torque limit
Speed setpoint
1) see also p8790, "Automatic CAN control word interconnection"
176
Predefined connection set (Page 172)
Free PDO mapping (Page 173)
Mapped receive ob-
jects
r8750[0] = 6040 hex
(PZD1)
r8750[1] = 5800 hex
(PZD2)
r8750[2] = 6042 hex
(PZD3)
Receive word r2050
Interconnect r2050[0] (PZD1) in
control word
1)
Interconnect r2050[1] (PZD2) in
the torque limit:
Interconnect r2050[2] (PZD3) in
the speed setpoint:
Function Manual, 01/2016, FW V4.7 SP6, A5E34229197B AC
p0840.0 = 2090.0
p0844.0 = 2090.1
p08484.0 = 2090.
2
p0852.0 = 2090.3
p2130.0 = 2090.7
p1522 = 2050[1]
p1070 = 2050[2]
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