Lenze ECSES Series - Page 448

Appendix
Communication with MotionBus/system bus (CAN)
Process data transfer
13

448
EDBCSXS064 EN 4.0
Interface PDOs
RPDO: to ECS module
TPDO: from ECS module
Availability in ECS modules
ECSxE ECSxS ECSxP ECSxM ECSxA
X1
Automation interface (AIF)
RPDO
AIF1_IN ˘ ü V3.0 or
higher
V3.0 or
higher
ü
AIF2_IN ˘ ü ˘ ˘ ü
AIF3_IN ˘ ü ˘ ˘ ü
TPDO
AIF1_OUT ˘ ü V3.0 or
higher
V3.0 or
higher
ü
AIF2_OUT ˘ ü ˘ ˘ ü
AIF3_OUT ˘ ü ˘ ˘ ü
X4
ECSxS/P/M: MotionBus (CAN)
ECSxA/E: System bus (CAN)
RPDO
CAN1_IN ü ü ü ü ü
CAN2_IN ˘ ü ü ˘ ü
CAN3_IN ü ü ü ˘ ü
TPDO
CAN1_OUT ü ü ü ü ü
CAN2_OUT ü
1)
ü ü ˘ ü
CAN3_OUT ü ü ü ˘ ü
X14
System bus (CAN)
Interface is not available for ECSxE.
RPDO
CANaux1_IN ˘ ˘ ü ˘ ü
CANaux2_IN ˘ ˘ ü ˘ ü
CANaux3_IN ˘ ˘ ˘ ˘ ü
TPDO
CANaux1_OUT ˘ ˘ ü ˘ ü
CANaux2_OUT ˘ ˘ ü ˘ ü
CANaux3_OUT ˘ ˘ ˘ ˘ ü
1) ECSxE from V5.0: CAN2_OUT (Diagnostic PDO)
 Note!
Power supply module ECSxE
In case of the ECSxE power supply module, the PDOs CAN1_IN/OUT and
CAN3_IN/OUT cannot be used simultaneously. The PDOs to be used are
selected via C0360.
ƒ The process data objects are integrated into the ECSxS... axis modules in the form of
function blocks ( 247).
ƒ In the function blocks the user data is converted to corresponding signal types for
further use.
13.4.3.2 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.