Siemens SINAMICS S110 - Fig. 2-182 9204 - Receive telegram, free PDO mapping (p8744 = 2)

Function diagrams CANopen interface 2-956
© Siemens AG 2012 All Rights Reserved
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Fig. 2-182 9204 – Receive telegram, free PDO mapping (p8744 = 2)
- 9204 -
Function diagram
87654321
fp_9204_98_eng.vsd
DO: SERVO
SINAMICS S110
04.11.09 V04.04.00
CANopen interface - Receive telegram, free PDO mapping (p8744 = 2)
X126
CAN bus
r2060[4] DWORD
Bit 0r2091.0
r2050[1]
Bit 15
r2091.15
Bit 0r2090.0
r2050[0]
Bit 15
r2090.15
...
r2060[2] DWORD
Bit 0r2093.0
r2050[3]
Bit 15
r2093.15
Bit 0r2092.0
r2050[2]
Bit 15
r2092.15
...
...
r2060[1] DWORD
...
r2050[5]
r2050[4]
r2060[5] DWORD
r2050[6]
r2060[3] DWORD
r2060[6] DWORD
r2050[7]
r2060[7] DWORD
r2050[8]
r2060[8] DWORD
r2050[9]
r2060[9] DWORD
r2050[10]
r2060[10] DWORD
r2050[11]
r2060[11] DWORD
r2050[12]
r2060[12] DWORD
r2050[13]
r2060[13] DWORD
r2050[14]
r2060[14] DWORD
r2050[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).
r2060[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. The sum of the various objects must not exceed 16 words.
<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
Refer to [1020.7]
CAN bus sampling time
r2060[15] DWORD
r2050[16]
r2060[16] DWORD
r2050[17]
PZD receive word 17
PZD receive word 18