Siemens SINAMICS G120 - Page 206

Configuring the fieldbus
7.7 Communication over CANopen
Inverter with CU230P-2 Control Units
206 Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG
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
Mapped receive objects
Receive word r2050
Control word r8750[0] = 6040 hex
(PZD1)
Interconnect r2050[0] (PZD1) with
control word
1)
p0840.0 = 2090.0
p0844.0 = 2090.1
p0844.0 = 2090.2
p0852.0 = 2090.3
p2130.0 = 2090.7
Torque limit r8750[1] = 5800 hex
(PZD2)
Link r2050[1] (PZD2) with torque
limit:
p1522 = 2050[1]
Speed setpoint r8750[2] = 6042 hex
(PZD3)
Link r2050[2] (PZD3) with speed
setpoint:
p1070 = 2050[2]
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
Mapped send objects
Send word p2051
Status word r8751[0] = 6041 hex
(PZD1)
Interconnect p2051[0] with PZD1 p2051[0] = r8784
Actual current
value
r8751[1] = 5810 hex
(PZD2)
Link PZD2 with actual current
value
p2051[1] = r68[1]
Actual speed
value
r8751[2] = 6044 hex
(PZD3)
Link PZD3 with actual speed value p2051[2] = r63[0]