Operating Instructions

SINAMICS G120 CU230P-2 Control Units List Manual, 04/2018, A5E33838102
597
3 Function diagrams
3.6 CANopen communication
Fig. 3-36 9210 – Send telegram, Predefined Connection Set (p8744 = 1)
- 9210 -
Function diagram
87654321
fp_9210_97_68.vsd
CANopen
G120 CU230P-2 CAN
13.03.2018 V4.7_10
Send telegram, Predefined Connection Set (p8744 = 1)
<1>
60410010
60410010
60440010
TPDO 1
TPDO 2
TPDO 3
TPDO 4
CANopen send words 1 ... 7
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
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)
...
Send buffer
PZD send word
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
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
.
.
.
COB-ID
Object
Object
Sub-D socket
CAN bus
CANopen send telegram
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>