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API functions 3

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3.4 Communication

In this chapter the transmission/reception of process data (PDOs) and configuration

data (SDOs) is described.

3.4.1 SDO communication

Configuration data (SDOs)

During writi

ng the configuration data the SDOs are stored directly in an output buffer

of the driver. Access is basically initiated by the IPC. The BPB controller then responds

accordingly. If the SDOs can be written to the corresponding FIFO of the backplane

bus, they are transmitted. A definite job number is assigned to each SDO by the driver,

in order to be able to assign responses to the response FIFO and store them in the

corresponding input buffer of the application.

Abb. 2 FIFOs, buffers, and job numbers

Response

FIFO

SDO +

Job number

Response +

Job number

Transmission:

SDO

Application interface

Reception:

Respond

PCI

BPB

BPB driver

Out

ut buffer

Input buffer

Application

interface

Reception

FIFO

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Lenze 3241C Manual do Utilizador Página 13