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