8400 StateLine C | Reference manual
System bus "CAN on board"
Process data transfer
442 L Firmware ≤ 11.00 - DMS 8.0 EN - 10/2011
10.8 Process data transfer
[10-5] PDO data transfer from / to the higher-level host system
"BaseLine C" versions have two separate process channels (PDO1 and PDO2) and from the
"StateLine" 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
( 438)
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