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COB-ID for RPDO 1
p8700[0]
X451
CAN bus
p8701[0] p8711[0...3]
X452
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.
<3> When interconnecting a connector output multiple times all the connector inputs must have either Integer or FloatingPoint data type.
1
2
DO: SERVO, VECTOR, VECTORGL, VECTORMV, VECTORSL
Communication Board CAN10 (CBC10) - 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 1, RPDO 2 ... RPDO 8
and from receiver buffer word
RPDO 2
Object 1
Object 2
Object 3
Object 4
Objects available a multiple
number of times are
marshalled to the same
position in the receive buffer.
RPDO 8
Object 1
Object 2
Object 3
Object 4
3
4
Receive buffer
<3>
PZD receive word 1
r8860[0]
DWORD
PZD receive word 2
r8860[1]
DWORD
PZD receive word 3
r8860[2]
DWORD
PZD receive word 4
r8860[3]
DWORD
PZD receive word 5
r8860[4]
DWORD
PZD receive word 6
r8860[5]
DWORD
PZD receive word 7
r8860[6]
DWORD
PZD receive word 8
r8860[7]
DWORD
PZD receive word 9
r8860[8]
DWORD
PZD receive word 10
r8860[9]
DWORD
PZD receive word 11
r8860[10]
DWORD
PZD receive word 12
r8860[11]
DWORD
PZD receive word 13
r8860[12]
DWORD
PZD receive word 14
r8860[13]
DWORD
PZD receive word 15
r8860[14]
DWORD
PZD receive word 16
5
6
fp_9204_51_eng.vsd
27.05.10 V04.05.00
CAN bus sampling time
Refer to [1020.7]
<3>
r8890.0
...
Bit 0
r8890.15
Bit 15
r8850[0]
r8891.0
Bit 0
...
r8891.15
Bit 15
r8850[1]
r8892.0
Bit 0
...
r8892.15
Bit 15
r8850[2]
r8893.0
Bit 0
...
r8893.15
Bit 15
r8850[3]
r8850[4]
r8850[5]
r8850[6]
r8850[7]
r8850[8]
r8850[9]
r8850[10]
r8850[11]
r8850[12]
r8850[13]
r8850[14]
r8850[15]
RPDO: Receive Process Data Object
COB-ID: CAN Communication Object Identifier
7
8
Function diagram
- 9204 -
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