User guide

Lenze · 8400 BaseLine C · Reference manual · DMS 1.6 EN · 01/2014 · TD05 183
9 System bus "CAN on board"
9.6 Process data transfer
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9.6 Process data transfer
[9-5] PDO data transfer from / to the higher-level host system
"BaseLine C" versions have two separate process channels (PDO1 and PDO2) and from the "StateLi-
ne" version three separate process data channels (PDO1 ... PDO3) for process data transfer.
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
 Note!
Data can only be exchanged via process data objects if the status is "Operational"!
Communication phases/network management
( 179)