Siemens SINAMICS G150 - Page 1239

SINAMICS G130/G150 List Manual (LH2), 04/2014, A5E03263479A
1239
3 Function diagrams
3.22 Communication Board CAN10 (CBC10)
Fig. 3-184 9204 – Receive telegram, free PDO mapping (p8744 = 2)
- 9204 -
Function diagram
87654321
fp_9204_51_eng.vsd
DO: A_INFM2C, SERVO, VECTOR, VECTOR3P, VECTORGL, VECTORMV, VECTORSL
SINAMICS
05.07.13 V04.07.00
Communication Board CAN10 (CBC10) - Receive telegram, free PDO mapping (p8744 = 2)
X451
CAN bus
X452
CAN bus
r8860[4] DWORD
Bit 0r8891.0
r8850[1]
Bit 15
r8891.15
Bit 0r8890.0
r8850[0]
Bit 15
r8890.15
...
r8860[2] DWORD
Bit 0r8893.0
r8850[3]
Bit 15
r8893.15
Bit 0r8892.0
r8850[2]
Bit 15
r8892.15
...
...
r8860[1] DWORD
...
r8850[5]
r8850[4]
r8860[5] DWORD
r8850[6]
r8860[3] DWORD
r8860[6] DWORD
r8850[7]
r8860[7] DWORD
r8850[8]
r8860[8] DWORD
r8850[9]
r8860[9] DWORD
r8850[10]
r8860[10] DWORD
r8850[11]
r8860[11] DWORD
r8850[12]
r8860[12] DWORD
r8850[13]
r8860[13] DWORD
r8850[14]
r8860[14] DWORD
r8850[15]
CANopen
receive telegram
Object 4
COB-ID
Object 1
<1>
r8860[0] DWORD
PZD receive word 1
PZD receive word 2
PZD receive word 5
PZD receive word 3
PZD receive word 4
PZD receive word 6
PZD receive word 7
PZD receive word 8
PZD receive word 9
PZD receive word 10
PZD receive word 11
PZD receive word 12
PZD receive word 13
PZD receive word 14
PZD receive word 15
PZD receive word 16
Evaluation
of the COB-
ID
COB-ID for RPDO 1
p8700[0]
PDO mapping for RPDO 1
p8710[0...3]
Object 1
Object 2
Object 3
<1> To use automatic BICO interconnection (p8790 = 1), one of the receive words 1-4 must be used as control word 1 (STW1).
<2> Telegram: up to 4 words or 64 bits.
The sum of the various objects must not exceed 16 words.
<3> When interconnecting a connector output multiple times all the connector inputs must have either Integer or FloatingPoint data type.
<2>
Object 4
Object 1
Object 2
Object 3
Object 4
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.
Automatic assignment of the
RPDOs to the receive buffer
Receive buffer
Object 1
Object 2
Object 3
Object 4
RPDO 1
p8701[0] p8711[0...3]
RPDO 2
p8707[0]
p8717[0...3]
RPDO 8
RPDO: Receive Process Data Object
COB-ID: CAN Communication Object Identifier
CAN bus sampling time
<3>
<3>