Operating Instructions

3 Function diagrams 3.6 CANopen communication
SINAMICS G120 CU230P-2 Control Units
596 List Manual, 04/2018, A5E33838102
Fig. 3-35 9208 – Send telegram, free PDO mapping (p8744 = 2)
- 9208 -
Function diagram
87654321
fp_9208_97_68.vsd
CANopen
G120 CU230P-2 CAN
13.03.2018 V4.7_10
Send telegram, free PDO mapping (p8744 = 2)
...
.
.
.
COB-ID
<1>
TPDO 1
CANopen send words 1 ... 7
Send buffer
PZD send word
Automatic assignment of the
send buffer to the TPDOs
The assignment is made
from send buffer 1 and from
TPDO 1.
Objects that occur a
multiple number of times
are updated from the same
send buffer.
Object
Object
Object
Object
Transmit PDO 2
p8721
Mapping TPDO 2
p8731
Transmit PDO 8
p8727
Mapping TPDO 8
p8737
Object
Object
Sub-D socket
CAN bus
Evaluation of
the COB-ID
and data
transfer type
CANopen send telegram
PZD send word
(2089[0])
p2051
PZD send word
(2089[0])
p2051
PZD send word
(2089[0])
p2051
PZD send word
(2089[0])
p2051
PZD send word
(2089[0])
p2051
PZD send word
(2089[0])
p2051
PZD send word
(2089[0])
p2051
PZD send word
(2089[0])
p2051
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..16]
[0]
[1]
[2]
[3]
[4]
[5]
[6]
[7]
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
1
2
3
4
TPDO 2
Object
Object
Object
Object
1
2
3
4
TPDO 8
Object
Object
Object
Object
1
2
3
4
1
4
Telegram: up to 4 words or 64 bits. The sum of the various objects must not exceed 8 words.
TPDO: Transmit Process Data Object
COB-ID: CAN object identification
<1>