Siemens SINAMICS S110 List Manual page 958

p2051[0]
p2061[0]
DWORD
p2051[1]
(0)
p2061[1]
DWORD p2051[2]
(0)
p2061[2]
DWORD p2051[3]
(0)
p2061[3]
DWORD p2051[4]
(0)
p2061[4]
DWORD p2051[5]
(0)
p2061[5]
DWORD p2051[6]
(0)
p2061[6]
DWORD p2051[7]
(0)
p2061[7]
DWORD p2051[8]
(0)
p2061[8]
DWORD p2051[9]
(0)
p2061[9]
DWORD
p2051[10]
(0)
p2061[10]
DWORD p2051[11]
(0)
p2061[11]
DWORD p2051[12]
(0)
p2061[12]
p2051[13]
DWORD
(0)
...
p2061[27]
DWORD p2051[28]
(0)
<1> Telegram: up to 4 words or 64 bits. The sum of the various objects must not exceed 28 words.
1 2
DO: SERVO
CANopen interface - Send telegram, free PDO mapping (p8744 = 2)
CANopen send words 1 ... 28
IF1 Diag PZD send
r2053[0...27]
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
...
...
...
PZD send word 27
(0)
PZD send word 28
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_98_eng.vsd
SINAMICS S110
04.11.09 V04.04.00
CAN bus sampling time
Refer to [1020.7]
CANopen send telegram
COB-ID
Object 1
.
.
.
Object 4
Evaluation of
the COB-ID
and data
transfer type
X126
CAN bus
RPDO: Receive Process Data Object
COB-ID: CAN Communication Object Identifier
7 8
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