Siemens SINAMICS S110 List Manual page 956

COB-ID for RPDO 1
p8700[0]
p8701[0] p8711[0...3]
X126
CAN bus
CANopen
receive telegram
Evaluation
of the COB-
COB-ID
ID
Object 1
p8707[0] p8717[0...3]
Object 4
<1> To use automatic BICO interconnection (p8790 = 1), one of the receive words 1-4 must be used as control word 1 (STW1).
<2> Telegram: up to 4 words or 64 bits. The sum of the various objects must not exceed 16 words.
1 2
DO: SERVO
CANopen interface - Receive telegram, free PDO mapping (p8744 = 2)
PDO mapping for RPDO 1
p8710[0...3]
<2> Automatic assignment of the
RPDOs to the receive buffer
<1>
RPDO 1
Object 1
Object 2
Object 3
Object 4
The assignment is made from
RPDO 2
RPDO 1, RPDO 2 ... RPDO 8
and from receiver buffer word
Object 1
Object 2
Object 3
Object 4
Objects available a multiple
number of times are
marshalled to the same
RPDO 8
position in the receive buffer.
Object 1
Object 2
Object 3
Object 4
3 4
Receive buffer
PZD receive word 1
r2060[0] DWORD
PZD receive word 2
r2060[1] DWORD
PZD receive word 3
r2060[2] DWORD
PZD receive word 4
r2060[3] DWORD
PZD receive word 5
r2060[4] DWORD
PZD receive word 6
r2060[5] DWORD
PZD receive word 7
r2060[6] DWORD
PZD receive word 8
r2060[7] DWORD
PZD receive word 9
r2060[8] DWORD
PZD receive word 10
r2060[9] DWORD
PZD receive word 11
r2060[10] DWORD
PZD receive word 12
r2060[11] DWORD
PZD receive word 13
r2060[12] DWORD
PZD receive word 14
r2060[13] DWORD
PZD receive word 15
r2060[14] DWORD
PZD receive word 16
r2060[15] DWORD
PZD receive word 17
r2060[16] DWORD
PZD receive word 18
5 6
fp_9204_98_eng.vsd
04.11.09 V04.04.00
CAN bus sampling time
Refer to [1020.7]
r2090.0 Bit 0
...
r2090.15 Bit 15
r2050[0]
r2091.0 Bit 0
...
r2091.15 Bit 15
r2050[1]
r2092.0 ... Bit 0
r2092.15 Bit 15
r2050[2]
r2093.0 Bit 0
...
r2093.15 Bit 15
r2050[3]
r2050[4]
r2050[5]
r2050[6]
r2050[7]
r2050[8]
r2050[9]
r2050[10]
r2050[11]
r2050[12]
r2050[13]
r2050[14]
r2050[15]
r2050[16]
r2050[17]
RPDO: Receive Process Data Object
COB-ID: CAN Communication Object Identifier
7 8
Function diagram
- 9204 -
SINAMICS S110