Samsung SINAMICS G130 Mode D'emploi page 1229

COB-ID for RPDO 1
p8700[0]
X451
CAN bus
p8701[0]
X452
CAN bus
CANopen
receive telegram
Evaluation
p8702[0]
of the
COB-ID
COB-ID
Object 1
Object 4
p8703[0]
<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.
1 2
DO: SERVO, VECTOR, VECTORGL, VECTORMV, VECTORSL
Communication Board CAN10 (CBC10) - Receive telegram, Predef. Conn. Set (p8744 = 1)
PDO mapping for RPDO 1
p8710[0...3]
<1>
Automatic assignment of the
RPDOs to the receive buffer
RPDO 1
60400010
p8711[0...3]
RPDO 2
60400010
60FF0020
The assignment is
made from RPDO
1, RPDO 2 ...
p8712[0...3]
RPDO 4 and from
receiver word 1.
RPDO 3
60400010
60710010
Objects available a
multiple number of
times are
marshalled to the
same position in the
p8713[0...3]
receive buffer.
RPDO 4
60400010
60FF0020
60710010
3 4
Receive buffer
<2>
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_9206_51_eng.vsd
27.05.10 V04.05.00
CAN bus sampling time
Refer to [1020.7]
r8890.0 Bit 0
<2> ...
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
- 9206 -
SINAMICS