Function Diagrams
Communication Board CAN 10 (CBC10)
2-1380
© Siemens AG 2007 All Rights Reserved
SINAMICS S List Manual (LH1), 07/2007
Figure 2-250 9204 – Receive telegram, free PDO mapping (p8744 = 2)
- 9204 -
Function diagram
87654321
fp_9204_01_eng.vsd
DO: SERVO, VECTOR
SINAMICS S
16.12.04 V02.05.00
Communication Board CAN 10 (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>
<1> To use automatic BICO interconnection (p8790 = 1), one of the receive words 1-4 must be used as control word 1 (STW1).
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
<2> Telegram: up to 4 words or 64 bits
<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 object identification
Refer to [1020.7]
CAN bus sampling time
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