Lenze ECSES Series - Page 449

Appendix
Communication with MotionBus/system bus (CAN)
Process data transfer
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EDBCSXS064 EN 4.0
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. 13−4 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. 13−5 Structure of process data output telegram (TPDO)