Siemens SINAMICS G120 Operating Instructions Manual page 196

Configuring the fieldbus
7.8 Communication over CANopen
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"
Interconnecting the send buffer
The inverter sends the data from the send buffer as follows:
● p2051[0] ... p2051[13] in PZD 1 ... PZD 14 (indication of the actual link in r2053[0 ... 13])
● p2061[0] ... p2061[12] in PZD 1 ... PZD 14 (indication of the actual link in r2063[0 ... 12])
Examples
Object
Status word
Actual current
value
Actual speed
value
196
Mapped receive objects
r8750[0] = 6040 hex
(PZD1)
r8750[1] = 5800 hex
(PZD2)
r8750[2] = 6042 hex
(PZD3)
Mapped send objects
r8751[0] = 6041 hex
(PZD1)
r8751[1] = 5810 hex
(PZD2)
r8751[2] = 6044 hex
(PZD3)
Receive word r2050
Interconnect r2050[0] (PZD1) with
control word
1)
Link r2050[1] (PZD2) with torque
limit:
Link r2050[2] (PZD3) with speed
setpoint:
Send word p2051
Interconnect p2051[0] with PZD1
Link PZD2 with actual current value p2051[1] = r68[1]
Link PZD3 with actual speed value
Converter with the CU250S-2 Control Unit (vector)
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB
p0840.0 = 2090.0
p0844.0 = 2090.1
p0844.0 = 2090.2
p0852.0 = 2090.3
p2130.0 = 2090.7
p1522 = 2050[1]
p1070 = 2050[2]
p2051[0] = r8784
p2051[2] = r63[0]