Fig. 3-186 9208 – Send telegram, free PDO mapping (p8744 = 2)
- 9208 -
Function diagram
87654321
fp_9208_51_eng.vsd
DO: A_INFM2C, SERVO, VECTOR, VECTOR3P, VECTORGL, VECTORMV, VECTORSL
SINAMICS
05.07.13 V04.07.00
Communication Board CAN10 (CBC10) - Send telegram, free PDO mapping (p8744 = 2)
DWORD
(0)
p8861[1]
DWORD
(0)
p8861[2]
DWORD
(0)
p8861[3]
DWORD
(0)
p8861[4]
DWORD
(0)
p8861[0]
CANopen send telegram
X451
CAN bus
X452
CAN bus
DWORD
(0)
p8861[5]
DWORD
(0)
p8861[14]
DWORD
(0)
p8861[7]
DWORD
(0)
p8861[8]
DWORD
(0)
p8861[9]
DWORD
(0)
p8861[10]
DWORD
(0)
p8861[6]
DWORD
(0)
p8861[11]
DWORD
(0)
p8861[12]
DWORD
(0)
p8861[13]
(0)
p8851[1]
(0)
p8851[2]
(0)
p8851[3]
(0)
p8851[4]
(0)
p8851[0]
(0)
p8851[5]
(0)
p8851[14]
(0)
p8851[7]
(0)
p8851[8]
(0)
p8851[9]
(0)
p8851[10]
(0)
p8851[6]
(0)
p8851[11]
(0)
p8851[12]
(0)
p8851[13]
(0)
p8851[15]
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
PZD send word 15
IF2 Diag PZD send
r8853[0...15]
...
PZD send word 16
<1> Telegram: up to 4 words or 64 bits.
The sum of the various objects must not exceed 16 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]
Object 1
Object 2
Object 3
<1>
Object 4
The assignment is made
from send buffer 1 and
from TPDO 1.
Objects that occur a
multiple number of times
are updated from the
same send buffer.
Send buffer
Automatic assignment of the
send buffer to the TPDOs
Object 1
Object 2
Object 3
Object 4
Object 1
Object 2
Object 3
Object 4
p8721[0] p8731[0...3]
p8727[0] p8737[0...3]
TPDO 1
TPDO 2
TPDO 8
TPDO: Transmit Process Data Object
COB-ID: CAN Communication Object Identifier
CAN bus sampling time
CANopen send words 1 ... 16
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