User Manual

Function diagrams CANopen communication 2-534
© Siemens AG 2008 - 2013 All Rights Reserved
SINAMICS G120 CU230P-2 Control Units List Manual (LH9), 01/2013
Fig. 2-32 9206 – Receive telegram, Predefined Connection Set (p8744 = 1)
- 9206 -
Function diagram
87654321
fp_9206_97_68.vsd
CANopen
G120 CU230P-2 CAN
12.12.2012 V4.6
Receive telegram, Predefined Connection Set (p8744 = 1)
COB-ID
<2>
<2>
Object
1
Object
4
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
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
60400010
60420010
RPDO 1
RPDO 2
RPDO 3
RPDO 4
Receive PDO 2
p8701
Mapping RPDO 2
p8711
Receive PDO 3
p8702
Mapping RPDO 3
p8712
Receive PDO 4
p8703
Mapping RPDO 4
p8713
<1>
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
Bit 0
...
PZD receive word
1
Receive buffer
PZD receive word
2
PZD receive word
3
PZD receive word
4
PZD receive word
5
PZD receive word
6
PZD receive word
7
PZD receive word
8
PZD1 recv bitw
r2090
.0
Bit 15
r2091.15
Bit 0
...
PZD2 recv bitw
r2091
.0
Bit 15
r2092.15
Bit 0
...
PZD3 recv bitw
r2092
.0
Bit 15
r2093.15
Bit 0
...
PZD4 recv bitw
r2093
.0
r2050
PZD recv word
[1]
r2050
PZD recv word
[2]
r2050
PZD recv word
[3]
r2050
PZD recv word
[4]
r2050
PZD recv word
[5]
r2050
PZD recv word
[6]
r2050
PZD recv word
[7]
r2050
PZD recv word
[0]
<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)