Appendix
Communication with MotionBus/system bus (CAN)
Process data transfer
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EDBCSXS064 EN 4.0
13.4.3 Process data transfer
Agreements
ƒ Process data telegrams between host (master) and controller (slave) are
distinguished as follows with regard to their direction:
– Process data telegrams to the controller
– Process data telegrams from the controller
ƒ In CANopen, the process data objects are named from the node’s view:
– RPDOx: A process data object received by a node
– TPDOx: A process data object transmitted by a node
13.4.3.1 Available process data objects
The following process data objects (PDOs) are available for the ECS modules via the
interfaces X1, X4 and X14:
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