Firmware
≤
11.00 - DMS 8.0 EN - 10/2011
L
443
8400 StateLine C | Reference manual
System bus "CAN on board"
Process data transfer
10.8.1
Available process data objects
Controllers of the 8400 series have a maximum number of 3 receive PDOs (RPDOs) and 3
transmit PDOs (TPDOs).
Receive PDOs (RPDOs)
The process data objects transmitted from the CAN bus to the drive are processed via the
LP_CanIn1
...
LP_CanIn3
port blocks.
Every port block provides 4 words (2 bytes/word). The data of every first word are
provided in a bit decoded manner (bit 0 ... 15).
The first word of the
LP_CanIn1
port block is defined as control word
wCtrl
. The
wCtrl
control word does not have a permanent connection to the device control and can be
used as required. The predefined assignment of the
wCtrl
control word in the
C00007
= "30: CAN" control mode depends on the technology application selected in
C00005
:
–
TA "Actuating drive speed":
Process data assignment for fieldbus communication
(
311)
–
TA "Switch-off positioning":
Process data assignment for fieldbus communication
(
338)
Transmit PDOs (TPDOs)
The process data transmitted from the drive to the CAN bust are processed via the
LP_CanOut1
...
LP_CanOut3
port blocks.
Every port block receives 4 words (2 bytes/word). The data of every first word are
transmitted bit by bit (bit 0 ... 15).
The first word of the
LP_CanOut1
port block is defined as the
wState
status word. The
wState
status word does not have a permanent connection to the device control and
can be used as required.
– For the predefined assignment, see the
wDeviceStatusWord status word
of the drive
interface.
Process data object
Version
"BaseLine C"
from version
"StateLine"
RPDO1 | Port block "LP_CanIn1"
z
z
RPDO2 | Port block "LP_CanIn2"
z
z
RPDO3 | Port block "LP_CanIn3"
z
TPDO1 | Port block "LP_CanOut1"
z
z
TPDO2 | Port block "LP_CanOut2"
z
z
TPDO3 | Port block "LP_CanOut3"
z
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