F
u
nct
ion
d
ia
gr
am
s
CA
Nopen interface
2-
95
8
© Siemens AG
2012 All Rights Reserved
SINAMICS
S110
List Manual (LH7
), 06/201
2, 6SL3097-
4AP
1
0-0BP3
Fi
g.
2
-1
84
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_98_eng.vsd
DO: SERVO
SINAMICS S110
04.11.09 V04.04.00
CANopen interface - Send telegram, free PDO mapping (p8744 = 2)
DWORD
(0)
p2061[1]
DWORD
(0)
p2061[2]
DWORD
(0)
p2061[3]
DWORD
(0)
p2061[4]
DWORD
(0)
p2061[0]
CANopen send telegram
X126
CAN bus
DWORD
(0)
p2061[5]
DWORD
(0)
p2061[7]
DWORD
(0)
p2061[8]
DWORD
(0)
p2061[9]
DWORD
(0)
p2061[10]
DWORD
(0)
p2061[6]
DWORD
(0)
p2061[11]
DWORD
(0)
p2061[12]
(0)
p2051[1]
(0)
p2051[2]
(0)
p2051[3]
(0)
p2051[4]
(0)
p2051[0]
(0)
p2051[5]
(0)
p2051[7]
(0)
p2051[8]
(0)
p2051[9]
(0)
p2051[10]
(0)
p2051[6]
(0)
p2051[11]
(0)
p2051[12]
(0)
p2051[13]
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 9
PZD send word 10
PZD send word 11
PZD send word 12
PZD send word 13
PZD send word 14
IF1 Diag PZD send
r2053[0...27]
...
<1> Telegram: up to 4 words or 64 bits. The sum of the various objects must not exceed 28 words.
.
.
.
Object 4
COB-ID
Object 1
Evaluation of
the COB-ID
and data
transfer type
COB-ID for TPDO 1
p8720[0]
PDO mapping for TPDO 1
p8730[0...3]
Object 1
Object 2
Object 3
<1>
Object 4
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.
Send buffer
Automatic assignment of the
send buffer to the TPDOs
Object 1
Object 2
Object 3
Object 4
Object 1
Object 2
Object 3
Object 4
p8721[0] p8731[0...3]
p8727[0] p8737[0...3]
TPDO 1
TPDO 2
TPDO 8
Refer to [1020.7]
CAN bus sampling time
CANopen send words 1 ... 28
RPDO: Receive Process Data Object
COB-ID: CAN Communication Object Identifier
DWORD
(0)
p2061[27]
(0)
p2051[28]
PZD send word 28
...
...
...
PZD send word 27
...
