Lenze ETC Motion Control - Manual (Page 347)

PLC programming
Project planning
Configuring I/O modules
8
8.4
8.4.4
l
347 EDSTCXN EN 2.0
Via PDO (Process Data Object) the process data are transferred at CANopen;
this means the states of the digital and analogue inputs/outputs.
Each PDO has a unique COB ID (385−1407) allocated to it, with the COB IDs
for the CANopen IO modules being issued as follows, assuming a maximum
of 127 modules:
1. Tx−PDO: 384 + NodeID
1. Rx−PDO: 512 + NodeID
2. Tx−PDO: 640 + NodeID
2. Rx−PDO: 768 + NodeID
3. Tx−PDO: 896 + NodeID
3. Rx−PDO: 1024 + NodeID
4. Tx−PDO: 1152 + NodeID
4. Rx−PDO: 1280 + NodeID
(Tx = Transmit, Rx = Receive as seen from the perspective of the CANopen
module).
This means that without limitation of the maximum number of modules 4
receive and transmit PDOs can be issued per module. If in deviation from the
standard more PDOs are to be defined per module, it must be ensured that
the COB ID’s will not be issued twice.
The first Tx/Rx PDO contains the digital data and the second Tx/Rx PDO the
analogue data. For the second PDO "asynchronous−only RTR" should always
be entered under "Transmission Type" since this is the standard setting for
most modules when transferring analogue values.
These entries are not evaluated by the control.
8.4.4.3 Checking the number of inputs and outputs
The control carries out an implicit check of the number of digital/analogue
inputs and outputs.
Here the assumption is made that the digital data are located in the first
Tx/Rx PDO and the analogue values in the second Tx/Rx PDO. This
assumption and the resulting check will only take place if in the EDS file for
the CANopen module for the object entry 1000
hex
(Device Profil Number) the
IO support for digital and analogue inputs/outputs has been selected in the
additional information (highest value 16−bit) (see CiA DS401: Device Profil
for Generic I/O Modules).
)
Note!
The control generates an error message if the number of
configured digital/analogue inputs/outputs of a PDO exceeds
the actual number.
PDO mapping
Service Data Objects