Lenze I/O system 1000 - PDO Mapping for Counters and Encoder Evaluation

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 94
5 CANopen communication
5.3 Transmitting process data
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5.3.9 PDO mapping for counters and encoder evaluation
The mapping for counters starts at PDO 3, since the first two PDOs are reserved for digital and
analog modules.
The following table describes the indexes for the PDO mapping for counters.
Index Name Possible settings Info
Lenze Selection
I-5400 Counter Value 0x00000000 {0x1} 0xFFFFFFFF Counter value
1 DWord 1 EPM-S600/-S602: Subindex is
increased by 1 for each counter
EPM-S601/-S603: Subindex is
increased by 2 for each counter
2DWord 2
... ...
64 DWord 64
I-5401 Latch value 0x00000000 {1} 0xFFFFFFFF Latch value
1 DWord 1 EPM-S600: Subindex is increased
by 1 for each counter
EPM-S601/-S602/-S603: without
function
2DWord 2
... ...
64 DWord 64
I-5402 Status word 0x0000 {1} 0xFFFF Status word
1 DWord 1 EPM-S600/-S602: Subindex is
increased by 1 for each counter
EPM-S601/-S603: Subindex is
increased by 2 for each counter
2DWord 2
... ...
64 DWord 64
I-5403 Counter ticker value 0x0000 {1} 0xFFFF Ticker value
1 DWord 1 EPM-S600/-S602: Subindex is
increased by 1 for each counter
EPM-S601/-S603: without
function
2DWord 2
... ...
64 DWord 64
I-5600 Counter Compare
Value
0x00000000 {1} 0xFFFFFFFF Comparison value
1 DWord 1 EPM-S600/-S602: Subindex is
increased by 1 for each counter
EPM-S601: Subindex is increased
by 2 for each counter
EPM-S603: without function
2DWord 2
... ...
64 DWord 64
I-5601 Counter Set Value 0x00000000 {1} 0xFFFFFFFF Set value
1 DWord 1 EPM-S600/-S602: Subindex is
increased by 1 for each counter
EPM-S601/-S603: without
function
2DWord 2
... ...
64 DWord 64
I-5602 Counter Control
Word
0x00000x00
00
{1} 0xFFFF Control word
1 DWord 1 EPM-S600/-S602: Subindex is
increased by 1 for each counter
EPM-S601/-S603: Subindex is
increased by 2 for each counter
2DWord 2
... ...
64 DWord 64