Lenze EPM-T110 - Features, 5

Transmitting process data
Process image of the modular system
10
Network via CANopen
10.4
10.4.5
l
10.4-6
EDSPM-TXXX-3.0-04/2004
Process image
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
P
D
O
1
Fixed
f
or
t
he
f
irs
t
PDO1-RX M6 – – – – – – –
PDO1
F
i
x
e
d
f
o
r
t
h
e
f
i
r
s
t
DIO
PDO1-TX M1 M2 M3 M4 M5 M5 – –
P
D
O
2
Fixed
f
or
t
he
f
irs
t
PDO2-RX M8 M8 M8 M8 M8 M8 M8 M8
PDO2
F
i
x
e
d
f
o
r
t
h
e
f
i
r
s
t
AIO
PDO2-TX M7 M7 M7 M7 M7 M7 M7 M7
P
D
O
3
D
I
O
o
r
A
I
O
1
)
PDO3-RX M8 M8 M11 M11 M11 M11 – –
PDO3 DIO or AIO
1)
PDO3-TX M8 M8 M8 M8 M8 M8 M8 M8
P
D
O
4
D
I
O
o
r
A
I
O
1
)
PDO4-RX – – – – – – – –
PDO4 DIO or AIO
1)
PDO4-TX M8 M8 M11 M11 M11 M11 – –
P
D
O
5
D
I
O
o
r
A
I
O
1
)
PDO5-Rx M10 M10 M10 M10 M10 M10 – –
PDO5 DIO or AIO
1)
PDO5-Tx M10 M10 M10 M10 M10 M10 – –
P
D
O
6
D
I
O
o
r
A
I
O
1
)
PDO6-Rx M9 M9 M9 M9 – – – –
PDO6 DIO or AIO
1)
PDO6-Tx M9 M9 M9 M9 – – – –
... ... ... ... ... ... ... ... ... ... ...
P
D
O
1
0
D
I
O
o
r
A
I
O
1
)
PDO10-RX – – – – – – – –
PDO10 DIO or
A
IO
1
)
PDO10-TX – – – – – – – –
1)
A PDO can be either assigned to AIO or DIO. AI Analog input data
A
P
D
O
c
a
n
b
e
e
i
t
h
e
r
a
s
s
i
g
n
e
d
t
o
A
I
O
o
r
D
I
O
.
The modules are assigned according to the slot
i
t
h
t
h
D
I
O
b
i
i
d
f
i
t
AO Analog output data
g
g
sequence, with the DIO being assigned fir st.
DI Digital input data
DO Digital output data
AIO A nalog input and output data
DIO Digital input and output da ta
Specialfeatures of the modules 1×counter/16×digital input and SSI interface:
z Themodule1×counter/16×digital input always assigns the next to last and
theSSIinterfacemodulealwaysthelastofthePDOsused.
z The modules cannot be assigned to PDO1 and PDO2. Thus, only eight of
these modules can be used in a system.
z The modules assign a whole PDO (8 bytes) each.
The transmission times of the input / output signals within the I/O system IP20 can
be calculated with a formula.
t
t
= t
c
+ (N
PDOTX
⋅ 8 ms) + (N
PDORX
⋅ 2 ms) + t
d
+ 742 ms
t
t
Transmission time of input / output signals of a module between
fieldbus connection and input / output terminals.
t
c
Time required for copying into the CAN object directory
N
PDOTX
Transmitting the PDO number (PDO1-Tx ... PDO10-Tx)
N
PDORX
Receiving the PDO number (PDO1-Rx ... PDO10-Rx)
t
d
Module delay time
742 µs Fixed internal processing time
Time required for copying into the CAN object directory:
DO modules DI modules AO modules AI modules
t
c
=50µs+n×14µs t
c
=50µs+n×25µs t
c
=50µs + n × 210 µs t
c
=50µs + n × 250 µs
n Number of bytes assigned by the module in the PDOs
Transmission times
Show/Hide Bookmarks