CANope
n inter
face
Fu
nction dia
g
ra
ms
2-
95
9
© Siemens AG 2
012 All Rights Reserved
SINAMICS
S110 List Manual (L
H7)
, 06/
2012
, 6SL3097-
4AP10-0BP3
Fi
g.
2
-1
85
921
0 – Se
nd teleg
ram, Prede
fined Con
nection
Se
t (p87
44 = 1)
- 9210 -
Function diagram
8
7
6
5
4
3
2
1
fp_9210_98_eng.vsd
DO: SERVO
SINAMICS S110
04.11.09 V04.04.00
CANopen interface - Send telegram, Predefined Connection Set (p8744 = 1)
DWORD
63
p2061[1]
DWORD
(0)
p2061[2]
DWORD
(0)
p2061[3]
DWORD
492.0
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]
79
p2051[3]
(0)
p2051[4]
8784
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]
<1>
Send buffer
Automatic assignment of
send buffer to the TPDOs
60410010
60410010
606C0020
p8723[0]
60410010
60630020
p8733[0...3]
p8722[0]
60410010
60740010
p8732[0...3]
p8721[0] p8731[0...3]
The assignment
is made from
the send buffer
1 and from
TPDO 1.
Objects that occur
a multiple number
of times are
updated from the
same send buffer.
TPDO 1
TPDO 2
TPDO 3
TPDO 4
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
...