Lenze E94AYCCA - Manual (Page 45)

EDS94AYCCA EN 5.0 - 06/2012
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E94AYCCA communication manual (CANopen®)
Process data transfer
8 Process data transfer
[8-1] PDO data transfer from / to the higher-level host system
For the transfer of process data, four separated process data channels (PDO1 ... PDO4) are
available.
Definitions
 Process data telegrams between the host and the devices are distinguished as follows:
– Process data telegrams to the device (RPDO)
– Process data telegrams from the device (TPDO)
 The CANopen process data objects are designated as seen from the node's view:
– Receive PDO (RPDOx): process data object received by a node
– Transmit PDO (TPDOx): process data object transmitted by a node

Note!
Data can only be exchanged via the process data objects if the state is
"Operational".
Communication phases / network management
( 41)