Fig. 2-36 9204 – Receive telegram, free PDO mapping (p8744 = 2)
- 9204 -
Function diagram
87654321
FP_9204_97_52.vsd
CANopen
G120 CU230P-2 CAN
29.10.2009 V4.3
Receive telegram, free PDO mapping (p8744 = 2)
Bit 15r2090.15
Bit 0
...
COB-ID
<1>
<1>
<2>
<2>
RPDO 1
RPDO 2
RPDO 8
Object
1
Object
2
Object
3
Object
4
Receive PDO 2
p8701
Mapping RPDO 2
p8711
Object
1
Object
2
Object
3
Object
4
Object
1
Object
2
Object
3
Object
4
Object
1
Object
4
Sub-D socket
CAN bus
CANopen
receive telegram
Automatic assignment of the
RPDOs to the receive buffer.
The assignment is made from
RPDO 1, RPDO 2 ... RPDO 8
and from receiver buffer word.
Objects available a multiple
number of times are
marshalled to the same
position in the receive buffer.
Evaluation
of the
COB-ID
Receive PDO 8
p8707
Mapping RPDO 8
p8717
PZD receive word
1
Receive buffer
PZD receive word
2
PZD receive word
3
PZD receive word
4
PZD receive word
5
PZD receive word
6
PZD receive word
7
PZD receive word
8
To use automatic BICO interconnection (p8790 = 1), one of the receive words 1 - 4 must be used as control word 1 (STW1).
Telegram: up to 4 words or 64 bits. The sum of the various objects must not exceed 8 words.
RPDO: Receive Process Data Object
COB-ID: CAN object identification
PZD1 recv bitw
r2090
.0
Bit 15
r2091.15
Bit 0
...
PZD2 recv bitw
r2091
.0
Bit 15
r2092.15
Bit 0
...
PZD3 recv bitw
r2092
.0
Bit 15
r2093.15
Bit 0
...
PZD4 recv bitw
r2093
.0
r2050
PZD recv word
[1]
r2050
PZD recv word
[2]
r2050
PZD recv word
[3]
r2050
PZD recv word
[4]
r2050
PZD recv word
[5]
r2050
PZD recv word
[6]
r2050
PZD recv word
[7]
r2050
PZD recv word
[0]
Receive PDO 1
0000 hex ... 8000 06DF hex
p8700[0..1] (8000 06DF hex)
Mapping RPDO 1
0000 hex ... FFFF FFFF hex
p8710[0..3] (0000 hex)
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