CANopen
6 Parameter setting
6-14
L
BA2175 EN 2.0
6.3.2 Process data transfer
Process data telegrams between host and controllers are distinguished as follows:
• Process data telegrams to drive
• Process data telegrams from drive
Process data telegram to
drive
The process data telegram includes an indentifier which holds the address (93XX series). This
telegram has a user data length of 8 byte (see example below).
The CAN bus is connected to the automation interface X1.
Function AIF-IN is connected to X1. Here the user data for more function blocks are converted into
corresponding signal types. The control word is especially important for the drive. Byte 1 and byte
2 of the user data contain the controller setpoint.
Byte 1
Identifier
Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Byte 3,4
Byte 5,6Byte 7,8
X1
Control word
AIF1-IN
Byte 1,2 =
Tab. 6-2 Example: 93XX series
Process data telegram from drive
The function block to be used for cyclic process data telegrams from
the drive is called AIF-OUT.
The status word (byte 1 and byte 2)of the process data telegram is transferred to the CAN bus via
this function block and then sent to the master (see also chapter 6.3.5).
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