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3 Function diagrams
3.6 CANopen communication
SINAMICS G120C
354 List Manual (LH13), 04/2014, A5E33840768B AA
Fig. 3-28 9204 – Receive telegram, free PDO mapping (p8744 = 2)
RPDO 1
- 9204 -
Function diagram
87654321
fp_9204_97_68.vsd
CANopen
SINAMICS G120C CAN
07.04.2014 V4.7
Receive telegram, free PDO mapping (p8744 = 2)
Bit 15r2090.15
Bit 0
...
COB-ID
<1>
<2>
RPDO 2
RPDO 8
Object
Object
Object
Object
Receive PDO 2
p8701
Mapping RPDO 2
p8711
Object
Object
Sub-D socket
CAN bus
CANopen
receive telegram
Automatic assignment of the
RPDOs to the receive buffer.
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.
Evaluation
of the
COB-ID
Receive PDO 8
p8707
Mapping RPDO 8
p8717
PZD receive word
Receive buffer
PZD receive word
PZD receive word
PZD receive word
PZD receive word
PZD receive word
PZD receive word
PZD receive word
To use automatic BICO interconnection (p8790 = 1), one of the receive words 1 - 4 must be used as control word 1 (STW1).
Telegram: up to 4 words or 64 bits. The sum of the various objects must not exceed 8 words.
RPDO: Receive Process Data Object
COB-ID: CAN object identification
PZD1 recv bitw
r2090
Bit 15
r2091.15
PZD2 recv bitw
r2091
Bit 15
r2092.15
PZD3 recv bitw
r2092
Bit 15
r2093.15
PZD4 recv bitw
r2093
r2050
PZD recv word
r2050
PZD recv word
r2050
PZD recv word
r2050
PZD recv word
r2050
PZD recv word
r2050
PZD recv word
r2050
PZD recv word
r2050
PZD recv word
Receive PDO 1
0000 hex ... 8000 06DF hex
p8700[0..1] (8000 06DF hex)
Mapping RPDO 1
0000 hex ... FFFF FFFF hex
p8710[0..3] (0000 hex)
1
4
<1>
<2>
1
2
3
4
1
2
3
4
5
6
7
8
Object
Object
Object
Object
1
2
3
4
Object
Object
Object
Object
1
2
3
4
.0
[0]
.0
.0
.0
Bit 0
...
Bit 0
...
Bit 0
...
[1]
[2]
[3]
[4]
[5]
[6]
[7]
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