Siemens SINAMICS G150 - Page 1240

3 Function diagrams 3.22 Communication Board CAN10 (CBC10)
SINAMICS G130/G150
1240 List Manual (LH2), 04/2014, A5E03263479A
Fig. 3-185 9206 – Receive telegram, Predefined Connection Set (p8744 = 1)
- 9206 -
Function diagram
87654321
fp_9206_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, Predef. Conn. Set (p8744 = 1)
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
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]
60400010
<1> Telegram: up to 4 words or 64 bits.
The sum of the various objects must not exceed 16 words.
<2> When interconnecting a connector output multiple times all the connector inputs must have either Integer or FloatingPoint data type.
60400010
60FF0020
p8703[0]
60400010
60FF0020
60710010
The assignment is
made from RPDO
1, RPDO 2 ...
RPDO 4 and from
receiver word 1.
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
p8713[0...3]
p8702[0]
60400010
60710010
p8712[0...3]
p8701[0] p8711[0...3]
RPDO 1
RPDO 2
RPDO 3
RPDO 4
<1>
RPDO: Receive Process Data Object
COB-ID: CAN Communication Object Identifier
CAN bus sampling time
<2>
<2>