Siemens SINAMICS S110 List Manual page 959

p2051[0]
p2061[0]
DWORD p2051[1]
(0)
p2061[1]
DWORD p2051[2]
63
p2061[2]
DWORD p2051[3]
(0)
p2061[3]
DWORD p2051[4]
(0)
p2061[4]
DWORD p2051[5]
492.0
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, Predefined Connection Set (p8744 = 1)
CANopen send words 1...28
IF1 Diag PZD send
r2053[0...27]
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
...
...
...
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]
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
updated from the p8723[0] p8733[0...3]
same send buffer.
TPDO 4
60410010
60630020
5 6
Function diagram
fp_9210_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
- 9210 -