Lenze I/O system 1000 System Manual - Manual (Page 258)

CANopen communication
Transmitting process data
PDO mapping
8
l
258 EDSIO1000 EN 7.0
8.3.5 PDO mapping
The PDO mapping differs depending on the motion control to be configured:
Drive−based automation
(decentralised, with intelligent controllers)
Controller−based automation
(with a central control)
l Direct data exchange between the IO system and
the controller without a master control.
Configuration with L−force Engineer l Direct data exchange between the IO system and
the control (IPC). Configuration via L−force PLC
Designer
l Static PDO mapping (default setting) l Free mapping by means of a bus configurator (e.g.
PLC Designer)
l Up to 10 RPDOs and TPDOs can be used l Up to 16 RPDOs and TPDOs can be used
The following representation describes the static PDO mapping (Drive−based automation)
by means of an example station structure:
Structure
Module
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
No. 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
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
RPDO1 M13 M14 — — — — — —
TPDO1 M1 M2 M3M4 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, RS485 RPDO3 — — — — — — — —
TPDO3 M12 M12 M12 M12 — — — —
PDO4
DI/DO, DI/DO time stamp,
DO PWM, AI/AO, counter, SSI,
RS232, RS485 RPDO4 — — — — — — — —
TPDO4 M10 — — — — — — —
... ... ...
PDO10
DI/DO, DI/DO time stamp,
DO PWM, AI/AO, counter, SSI,
RS232, RS485 RPDO10 — — — — — — — —
TPDO10 — — — — — — — —