Lenze I/O system 1000 - PDO Mapping

5 CANopen communication
5.3 Transmitting process data
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Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
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5.3.5 PDO mapping
The PDO mapping differs depending on the motion control to be configured:
The following representation describes the static PDO mapping (Drive-based automation) by means
of an example station structure:
Drive-based automation
(decentralised, with intelligent controllers)
Controller-based Automation
(with a central control)
• Direct data exchange between the IO system and the
inverter without a master control. Configuration with
Lenze »Engineer«
• Direct data exchange between the IO system and the
control (IPC). Configuration via Lenze »PLC Designer«
• Static PDO mapping (default setting) • Free mapping by means of the bus configurator (e.g.
»PLC Designer«)
• Up to 10 RPDOs and TPDOs can be used • Up to 16 RPDOs and TPDOs can be used
Setup
CANopen 2 x DI 8 x DI 4 × DI 2 × DI 8 × DI 8 × DI 8 × DI 8 × DI 2 × DI 8 × DI 2 x AI 4 x AI 8xDO 2 x
DO
M0 M1 M2 M3 M4 M5 M6 M7 M8 M9 M10 M11 M12 M13 M14
• n x DI: I/O compound module with n digital inputs
• n x DO: I/O compound module with n digital outputs
•n x AI: I/O compound module with n analog inputs
• n x AO: I/O compound module with n analog outputs