User Manual

SINAMICS G120 CU230P-2 Control Units List Manual (LH9), 04/2014, A5E33838102B AA
537
3 Function diagrams
3.6 CANopen communication
Fig. 3-34 9208 – Send telegram, free PDO mapping (p8744 = 2)
- 9208 -
Function diagram
87654321
fp_9208_97_68.vsd
CANopen
G120 CU230P-2 CAN
07.04.2014 V4.7
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
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.
Evaluation of
the COB-ID
and data
transfer type
CANopen send telegram
PZD send word
(0)
p2051
PZD send word
(0)
p2051
PZD send word
(0)
p2051
PZD send word
(0)
p2051
PZD send word
(0)
p2051
PZD send word
(0)
p2051
PZD send word
(0)
p2051
PZD send word
(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..13]
[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
<1>