Lenze ECSEM Series User Manual

Appendix
Communication with MotionBus/system bus (CAN)
Process data transfer
12

340
EDBCSXM064 EN 11.0
12.3.3.2 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 control word is transmitted in byte 1 and 2 of the user data.
Identifier User data (8 bytes)
Control word
00
hex
00
hex
00
hex
00
hex
00
hex
00
hex
11 bits
LOW
byte
HIGH
byte
Fig. 12−4 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 host system (PLC) to respond accordingly.
ƒ The status word 1 is transmitted in byte 1 and 2 of the user data.
ƒ In byte 3 and 4 of the user data, the extended status word 2 can be optionally
transferred.
Identifier User data (8 bytes)
Status word 1
Status word 2
(optional)
00
hex
00
hex
00
hex
00
hex
11 bits
LOW
byte
HIGH
byte
LOW
byte
HIGH
byte
Fig. 12−5 Structure of process data output telegram (TPDO)

Lenze ECSEM Series Specifications

General

Brand	Lenze
Model	ECSEM Series
Category	Control Unit
Language	English