Lenze EPM−T9XX Modular system - Manual (Page 217)

Transmitting process data
Process data telegram
9
Network via CANopen
9.3
9.3.1
L
9.3−1 EDSPM−TXXX−9.0−11/2009
9.3 Transmitting process data
Process data are used for control−specific purposes, such as setpoint and actual
values, for example.
l Process data or the input / output data of the I/O system IP20 are
transmitted as so−called PDOs (Process Data Objects).
9.3.1 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
Information on the identifier can be found in chapter "Structure of the CAN data
telegram".
The eight bytes of user data transmit the input signals (sent user data) and the
output signals (received user data) of the modules.
Identifier
User data