Lenze E94AxPExxxx - Manual (Page 346)

10 "CAN on board" system bus
10.6 Process data transfer
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Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
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10.6 Process data transfer
[10-6] PDO data transfer from / to the higher-level host system
For the transfer of process data, four separated process data channels (PDO1 ... PDO4) are available.
Definitions
• Process data telegrams between the host system and the devices are distinguished in terms of
direction as follows:
• Process data telegrams to the device (RPDO)
• Process data telegrams from the device (TPDO)
• The CANopen process data objects are designated as seen from the node's view:
• Receive PDOs (RPDOx): Process data object received by a node
• Transmit PDOs (TPDOx): Process data object sent by a node
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Note!
Data can only be exchanged via process data objects if the status is "Operational"!
 Communication phases/network management ( 342)