Siemens SINAMICS G120 Manual page 543

0000 hex ... 8000 06DF hex
p8700[0..1] (8000 06DF hex)
Sub-D socket
CAN bus
CANopen
receive telegram
Evaluation
of the
COB-ID
COB-ID
Object 1
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 8 words.
1 2
CANopen
Receive telegram, free PDO mapping (p8744 = 2)
Receive PDO 1 Mapping RPDO 1
0000 hex ... FFFF FFFF hex
p8710[0..3] (0000 hex)
<2>
Automatic assignment of the
RPDOs to the receive buffer.
RPDO 1
Object 1
Object 2
Object 3
Object 4
Receive PDO 2 Mapping RPDO 2
p8701 p8711
The assignment is made from
RPDO 1, RPDO 2 ... RPDO 8
and from receiver buffer word.
RPDO 2
Object 1
Object 2
Object 3
Object 4
Receive PDO 8 Mapping RPDO 8
p8707 p8717
Objects available a multiple
number of times are
RPDO 8 marshalled to the same
position in the receive buffer.
Object 1
Object 2
Object 3
Object 4
3 4
Receive buffer
<1>
PZD receive word 1 r2050
PZD recv word
PZD receive word 2 r2050
PZD recv word
PZD receive word 3 r2050
PZD recv word
PZD receive word 4 r2050
PZD recv word
PZD receive word 5 r2050
PZD recv word
r2050
PZD receive word 6
PZD recv word
PZD receive word 7 r2050
PZD recv word
PZD receive word 8 r2050
PZD recv word
5 6
FP_9204_97_68.vsd
13.12.2010 V4.4
PZD1 recv bitw
r2090.0 Bit 0
...
r2090.15 Bit 15
[0]
PZD2 recv bitw
r2091.0 Bit 0
...
r2091.15 Bit 15
[1]
PZD3 recv bitw
Bit 0
r2092.0
...
r2092.15 Bit 15
[2]
PZD4 recv bitw
r2093.0 Bit 0
...
r2093.15 Bit 15
[3]
[4]
[5]
[6]
[7]
RPDO: Receive Process Data Object
COB-ID: CAN object identification
7 8
Function diagram
- 9204 -
G120 CU230P-2 CAN