Lenze I/O system 1000 - Page 88

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 88
5 CANopen communication
5.3 Transmitting process data
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
The following rules for assigning the PDO apply in accordance with the CANopen communication
profile DS401:
• RPDO1 is reserved for the first I/O compound modules with digital inputs.
• TPDO1 is reserved for the first I/O compound modules with digital outputs.
• RPDO2 is reserved for the first I/O compound modules with analog inputs.
• TPDO2 is reserved for the first I/O compound modules with analog outputs.
• As of PDO3: a PDO can only be occupied by electronic modules of one module class. Free bytes
are reserved for modules of the same module class.
Sorting sequence for module classes:
• Digital inputs and outputs (EPM-S200 to EPM-S206, EPM-S300 to EPM-S309)
• Analog inputs and outputs (EPM-S400 to EPM-S503)
• Counter (EPM-S600 to EPM-S603)
• SSI encoder (EPM-S604)
• Digital outputs with pulse width modulation (EPM-S620)
• RS232/RS422/RS485 interfaces (EPM-S640/EPM-S650)
• Digital outputs with time stamp functionality (EPM-S310)
• Digital inputs with time stamp functionality (EPM-S207)
Process image Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
PDO1 Permanent for the first DI
or DO
RPDO1M13M14––––––
TPDO1 M1M2M3
M4
M5 M6 M7 M8 M9
PDO2 Permanent for the first AI
or AO
RPDO2 ––––––––
TPDO2 M11 M11 M11 M11 M12 M12 M12 M12
PDO3 DI/DO, DI/DO time
stamp, DO PWM, AI/AO,
counter, SSI, RS232,
RS422/RS485
RPDO3 ––––––––
TPDO3M12M12M12M12––––
PDO4 DI/DO, DI/DO time
stamp, DO PWM, AI/AO,
counter, SSI, RS232,
RS422/RS485
RPDO4 ––––––––
TPDO4M10–––––––
... ... ...
PDO10 DI/DO, DI/DO time
stamp, DO PWM, AI/AO,
counter, SSI, RS232,
RS422/RS485
RPDO10 ––––––––
TPDO10 ––––––––
 Note!
In order to ensure data consistency, the data in the PDO are mapped as follows:
• Digital I/O:
With digital values, an I/O compound module is always mapped in one byte. If the
byte in a PDO has not enough free bits, the I/O compound module is mapped in the
next byte.
•Analog I/O:
With analog values the data lengths of which exceed on byte, the data consistency is
extended. Since one channel assigns two bytes, each channel of an I/O compound
module is mapped in two successive PDOs.