Siemens SINAMICS G130, List Manual, Page: 1327 / 1976

S
IN
A
MICS
G1
30/G150
List
Manual (LH
2)
, 07/2
016
, A5E0326347
9A
13
27
3
F
un
ction dia
g
ra
ms
3.24
Com
m
un
ica
tio
n Boar
d CAN1
0 (CBC10)
F
ig.
3
-202
92
06
–
Recei
ve
tel
egram, Pred
efine
d C
onne
cti
on
Set (p8
744
=
1
)
- 9206 -
Function diagram
8 7 6 5 4 3 2 1
fp_9206_51_eng.vsd
DO: A_INFM2C, SERVO, VECTOR, VECTOR3P, VECTORGL, VECTORMV, VECTORSL
SINAMICS
05.07.13 V04.08.00
Communication Board CAN10 (CBC10) - Receive telegram, Predef. Conn. Set (p8744 = 1)
X451
CAN bus
X452
CAN bus r8860[4] DWORD
Bit 0 r8891.0
r8850[1]
Bit 15 r8891.15
Bit 0 r8890.0
r8850[0]
Bit 15 r8890.15
...
r8860[2] DWORD
Bit 0 r8893.0
r8850[3]
Bit 15 r8893.15
Bit 0 r8892.0
r8850[2]
Bit 15 r8892.15
...
...
r8860[1] DWORD
...
r8850[5]
r8850[4]
r8860[5] DWORD
r8850[6]
r8860[3] DWORD
r8860[6] DWORD
r8850[7]
r8860[7] DWORD
r8850[8]
r8860[8] DWORD
r8850[9]
r8860[9] DWORD
r8850[10]
r8860[10] DWORD
r8850[11]
r8860[11] DWORD
r8850[12]
r8860[12] DWORD
r8850[13]
r8860[13] DWORD
r8850[14]
r8860[14] DWORD
r8850[15]
CANopen
receive telegram
Object 4
COB-ID
Object 1
r8860[0] DWORD
PZD receive word 1
PZD receive word 2
PZD receive word 5
PZD receive word 3
PZD receive word 4
PZD receive word 6
PZD receive word 7
PZD receive word 8
PZD receive word 9
PZD receive word 10
PZD receive word 11
PZD receive word 12
PZD receive word 13
PZD receive word 14
PZD receive word 15
PZD receive word 16
Evaluation
of the
COB-ID
COB-ID for RPDO 1
p8700[0]
PDO mapping for RPDO 1
p8710[0...3]
60400010
<1> Telegram: up to 4 words or 64 bits.
The sum of the various objects must not exceed 16 words.
<2> When interconnecting a connector output multiple times all the connector inputs must have either Integer or FloatingPoint data type.
60400010
60FF0020
p8703[0]
60400010
60FF0020
60710010
The assignment is
made from RPDO
1, RPDO 2 ...
RPDO 4 and from
receiver word 1.
Objects available a
multiple number of
times are
marshalled to the
same position in the
receive buffer.
Automatic assignment of the
RPDOs to the receive buffer
Receive buffer
p8713[0...3]
p8702[0]
60400010
60710010
p8712[0...3]
p8701[0] p8711[0...3]
RPDO 1
RPDO 2
RPDO 3
RPDO 4
<1>
RPDO: Receive Process Data Object
COB-ID: CAN Communication Object Identifier
CAN bus sampling time
<2>
<2>