Configuration
General information about the system bus (CAN)
Process data transfer
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EDBCSXE040 EN 6.0
8.1.3.2 Structure of the process data
The process data telegrams have a maximum user data length of eight bytes each.
Process data input telegram (RPDO)
ƒ The process data input telegram transmits control information to the controller.
ƒ The eight bytes of user data can be freely assigned.
Identifier User data (8 bytes)
00
hex
00
hex
00
hex
00
hex
00
hex
00
hex
00
hex
00
hex
11 bits
Fig. 8−5 Structure of process data input telegram (RPDO)
Process data output telegram (TPDO)
ƒ The process data output telegram reports status information from the controller.
Status information can be as follows:
– Current status of the controller
– Status of the digital inputs
– States about internal analog values
– Fault/error messages
This information enables the higher−level control to respond accordingly.
ƒ The eight bytes of user data can be freely assigned.
Identifier User data (8 bytes)
00
hex
00
hex
00
hex
00
hex
00
hex
00
hex
00
hex
00
hex
11 bits
Fig. 8−6 Structure of process data output telegram (TPDO)
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