Lenze I/O system 1000 System Manual - Manual (Page 254)

CANopen communication
Transmitting process data
Process data telegram
8
l
254 EDSIO1000 EN 7.0
8.3 Transmitting process data
Process data are used for control−specific purposes, such as setpoint and actual values, for
example.
ƒ Process data or the input / output data of the I/O system are transmitted as
so−called PDOs (Process Data Objects)).
8.3.1 Process data telegram
Structure of the process data telegram:
11 bits 8 bytes of user data
Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Identifier
Information on the identifier can be found in the "Structure of the CAN data telegram"
chapter.
)
Note!
In the Lenze setting, the identifiers are defined according to CANopen
(assignment in accordance with DS301). Via I2101
h
the identifier calculation
according to the system bus (assignment according to the Lenze system bus)
can be specified.
User data
The eight bytes of user data transmit the input signals (sent user data) and the output
signals (received user data) of the modules.
)
Note!
Lenze controllers expect a PDO length of eight bytes even though not all of
them may have assigned I/O values. The PDO length can be set via I2100
h
:
0: PDO length of eight bytes (Lenze setting)
1: PDO length according to process image