Siemens SINAMICS G120 - Page 546

Function diagrams Communication 2-546
© Siemens AG 2011 All Rights Reserved
SINAMICS G120 Control Units CU230P-2 Parameter Manual (LH9), 01/2011
Fig. 2-41 9210 – Send telegram, Predefined Connection Set (p8744 = 1)
- 9210 -
Function diagram
87654321
FP_9210_97_68.vsd
CANopen
G120 CU230P-2 CAN
13.12.2010 V4.4
Send telegram, Predefined Connection Set (p8744 = 1)
<1>
60410010
60410010
60440010
TPDO 1
TPDO 2
TPDO 3
TPDO 4
CANopen send words 1 ... 8
Automatic assignment of the
send buffer to the TPDOs
Transmit PDO 2
p8721
Mapping TPDO 2
p8731
Transmit PDO 4
p8723
Mapping TPDO 4
p8733
Mapping TPDO 3
p8732
Transmit PDO 3
p8722
Evaluation of
the COB-ID
and data
transfer type
.
.
.
COB-ID
Object
1
Object
4
Sub-D socket
CAN bus
CANopen send telegram
<1>
TPDO: Transmit Process Data Object
COB-ID: CAN object identification
Telegram: up to 4 words or 64 bits. The sum of the various objects must not exceed 8 words.
...
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
PZD send word
(0)
p2051
[0]
PZD send word
(0)
p2051
[1]
PZD send word
(0)
p2051
[2]
PZD send word
(0)
p2051
[3]
PZD send word
(0)
p2051
[4]
PZD send word
(0)
p2051
[5]
PZD send word
(0)
p2051
[6]
PZD send word
(0)
p2051
[7]
Objects that
occur a multiple
number of times
are updated from
the same send
buffer.
The assignment is
made from send
buffer 1 and from
TPDO 1.
Transmit PDO 1
0000 hex ... C000 06DF hex
p8720[0..4] (C000 06DF hex)
Mapping TPDO 1
0000 hex ... FFFF FFFF hex
p8730[0..3] (0000 hex)
Diag send word
r2053[0..7]