Siemens SINAMICS G120 Manual page 546

Diag send word
r2053[0..7]
PZD send word
p2051 [0]
(0)
PZD send word
p2051 [1]
(0)
PZD send word
p2051 [2]
(0)
PZD send word
p2051 [3]
(0)
PZD send word
p2051 [4]
(0)
PZD send word
p2051 [5]
(0)
PZD send word
p2051 [6]
(0)
PZD send word
p2051 [7]
(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 ... 8
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
Transmit PDO 3 Mapping TPDO 3
buffer 1 and from
p8722 p8732
TPDO 1.
Evaluation of
the COB-ID
TPDO 3
transfer type
Objects that
occur a multiple
number of times Transmit PDO 4 Mapping TPDO 4
p8723 p8733
are updated from
the same send
buffer.
TPDO 4
5 6
FP_9210_97_68.vsd
13.12.2010
CANopen send telegram
COB-ID
Object 1
.
.
.
Object 4
and data
Sub-D socket
CAN bus
TPDO: Transmit Process Data Object
COB-ID: CAN object identification
7
Function diagram
G120 CU230P-2 CAN
V4.4
8
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