Lenze 931M-931W - Manual (Page 25)

CANopen communication
Process data transfer (PDO transfer)
Telegram structure
5
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25 KHB 13.0003-EN 2.0
5.3.1 Telegram structure
The telegram for process data has the following structure:
11 bits 4 bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
Data 0 Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7
5.3.2 Available process data objects
The drive controller is equipped with three transmit and four receive PDOs.
Almost all objects of the object directory can be entered in (mapped to) the PDOs, i.e. the
PDO contains for instance the actual speed value or actual position value as data. The drive
controller must know in advance which data is to be transferred because the PDO only
contains user data and no information about the type of the parameter.
In this way almost all kinds of data telegrams can be defined. The settings required are
described in the following chapters.
5.3.3 Objects for PDO parameterisation
Three transmit PDOs (TPDO) and four receive PDOs (RPDO) are available in the controller.
The objects of the PDOs are identical.