Lenze PLC Designer R3-x - Manual (Page 60)

Extending sample projects - adding devices
Setting of CAN parameters and PDO mapping
60
Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2. Go to the PDO Mapping tab.
By default, the PDO mapping is optimised for the corresponding application. It is possible
to change this mapping (set checkmark). Due to the limited bandwidth of the CAN bus, this
is only sensible in special cases. The PDO properties are pre-assigned sensibly as well and
should not be changed.
By double-clicking a single PDO, you can see its transmission properties.
• The Transmission Type "cyclic - synchronous (type 1-240)" and the setting, at
which sync the PDOs are to be sent, must not be changed.
• The settings for the Inhibit Time and the Event Time are not evaluated.
• Confirm the settings with OK.
On the CANopen I/O Mapping tab, PLC variables can be assigned to the process image.

Note!
Bus operation without CAN synchronisation
• The control system always transmits asynchronous PDOs from an unsolicited task in
an event-controlled way. To achieve a time-controlled transmission of asynchronous
PDOs by the control system, you must assign the CAN master to a cyclic task.
• The control does not support any monitoring times for asynchronous receive-PDOs.
This is only possible with field devices.