F
unction
d
iagr
am
s
Communic
ation
2-
48
2
© Sie
m
ens AG 2009 All Righ
ts R
eser
ved
SINAMICS
G120
Con
trol
U
nits C
U
230P-2
P
ar
ameter
M
anual (LH9)
, 11/2009
Fi
g.
2
-3
8
920
8 – Se
nd teleg
ram, fre
e PDO mapp
ing (p8
744 =
2)
- 9208 -
Function diagram
8
7
6
5
4
3
2
1
FP_9208_97_52.vsd
CANopen
G120 CU230P-2 CAN
29.10.2009
V4.3
Send telegram, free PDO mapping (p8744 = 2)
...
<1>
.
.
.
COB-ID
<1>
TPDO 1
TPDO 2
TPDO 8
CANopen send words 1 ... 8
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
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 1
Object 2
Object 3
Object 4
Object 1
Object 2
Object 3
Object 4
Object 1
Object 2
Object 3
Object 4
Transmit PDO 2
p8721
Mapping TPDO 2
p8731
Transmit PDO 8
p8727
Mapping TPDO 8
p8737
Object 1
Object 4
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 [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]
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]
Summary of Contents for CU230P-2 CAN
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