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SINAMICS G120C
List Manual (LH13), 04/2014, A5E33840768B AA
357
3 Function diagrams
3.6 CANopen communication
Fig. 3-31 9210 – Send telegram, Predefined Connection Set (p8744 = 1)
- 9210 -
Function diagram
87654321
fp_9210_97_68.vsd
CANopen
SINAMICS G120C CAN
07.04.2014 V4.7
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
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.
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
(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
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
.
.
.
COB-ID
Object
Object
Sub-D socket
CAN bus
CANopen send telegram
1
4
<1>
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