Process data transfer
Available process data objects
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EDSMF2178IB EN 3.0
9 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
9.1 Available process data objects
Depending on the basic device used, up to 3 RPDOs and TPDOs can be available.
I Tip!
From the masters’s view, the following terms are used for process data
transfer with the standard device and the plugged communication module:
ƒ The master sends the process data output words (POWs) as process output
data to the standard device
ƒ The master receives the process data input words (PIWs) as process input
data from the standard device.
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