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SINAMICS G120C
List Manual (LH13), 04/2014, A5E33840768B AA
355
3 Function diagrams
3.6 CANopen communication
Fig. 3-29 9206 – Receive telegram, Predefined Connection Set (p8744 = 1)
- 9206 -
Function diagram
87654321
fp_9206_97_68.vsd
CANopen
SINAMICS G120C CAN
07.04.2014 V4.7
Receive telegram, Predefined Connection Set (p8744 = 1)
<2>
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
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
60400010
RPDO 1
Receive PDO 2
p8701
Mapping RPDO 2
p8711
Receive PDO 3
p8702
Mapping RPDO 3
p8712
Receive PDO 4
p8703
Mapping RPDO 4
p8713
To use automatic BICO interconnection (p8790 = 1), one of the receive words 1 - 4 must be used as control word 1 (STW1).
Bit 15r2090.15
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
<1>
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)
COB-ID
Object
Object
Sub-D socket
CAN bus
CANopen
receive telegram
1
4
RPDO 3
RPDO 4
60400010
RPDO 2
60420010
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
1
2
3
4
5
6
7
8
.0
.0
.0
.0
[0]
[1]
[2]
[3]
[4]
[5]
[6]
[7]
Bit 0
...
Bit 0
...
Bit 0
...
Bit 0
...
<1>
<2>
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