Rockwell Automation 20-COMM-K CANopen Adapter - Manual (Page 47)

Using I/O Messaging 5-5
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Table 5.C I/O Image for PowerFlex 70/700/700H Drives and SMC Flex
(16-bit Reference/Feedback and 16-bit Datalinks)
Table 5.D I/O Image for PowerFlex 700 VC Drives
(16-bit Reference/Feedback and 32-bit Datalinks)
LSW = Least Significant Word (Bits 15…0); MSW = Most Significant Word (Bits 31…16)
Word Output I/O Word Input I/O
0 Logic Command 0 Logic Status
1 Reference 1 Feedback
2 Datalink In A1 2 Datalink Out A1
3 Datalink In A2 3 Datalink Out A2
4 Datalink In B1 4 Datalink Out B1
5 Datalink In B2 5 Datalink Out B2
6 Datalink In C1 6 Datalink Out C1
7 Datalink In C2 7 Datalink Out C2
8 Datalink In D1 8 Datalink Out D1
9 Datalink In D2 9 Datalink Out D2
Word Output I/O Word Input I/O
0 Logic Command 0 Logic Status
1 Reference 1 Feedback
2 Datalink In A1 (LSW) 2 Datalink Out A1 (LSW)
3 Datalink In A1 (MSW) 3 Datalink Out A1 (MSW)
4 Datalink In A2 (LSW) 4 Datalink Out A2 (LSW)
5 Datalink In A2 (MSW) 5 Datalink Out A2 (MSW)
6 Datalink In B1 (LSW) 6 Datalink Out B1 (LSW)
7 Datalink In B1 (MSW) 7 Datalink Out B1 (MSW)
8 Datalink In B2 (LSW) 8 Datalink Out B2 (LSW)
9 Datalink In B2 (MSW) 9 Datalink Out B2 (MSW)
10 Datalink In C1 (LSW) 10 Datalink Out C1 (LSW)
11 Datalink In C1 (MSW) 11 Datalink Out C1 (MSW)
12 Datalink In C2 (LSW) 12 Datalink Out C2 (LSW)
13 Datalink In C2 (MSW) 13 Datalink Out C2 (MSW)
14 Datalink In D1 (LSW) 14 Datalink Out D1 (LSW)
15 Datalink In D1 (MSW) 15 Datalink Out D1 (MSW)
16 Datalink In D2 (LSW) 16 Datalink Out D2 (LSW)
17 Datalink In D2 (MSW) 17 Datalink Out D2 (MSW)