Lenze I/O system 1000 System Manual - Manual (Page 259)

CANopen communication
Transmitting process data
PDO mapping
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259 EDSIO1000 EN 7.0
The following rules for assigning the PDO apply in accordance with the CANopen
communication profile DS401:
ƒ RPDO1 is reserved for the first I/O compound modules with digital inputs.
ƒ TPDO1 is reserved for the first I/O compound modules with digital outputs.
ƒ RPDO2 is reserved for the first I/O compound modules with analog inputs.
ƒ TPDO2 is reserved for the first I/O compound modules with analog outputs.
ƒ As of PDO3: a PDO can only be occupied by electronic modules of one module class.
Free bytes are reserved for modules of the same module class.
Sorting sequence for module classes:
– Digital inputs and outputs (EPM−S200 to EPM−S206, EPM−S300 to EPM−S309)
– Analog inputs and outputs (EPM−S400 to EPM−S503)
– Counter (EPM−S600 to EPM−S603)
– SSI encoder (EPM−S604)
– Digital outputs with pulse width modulation (EPM−S620)
– RS232/RS485 interface (EPM−S640/EPM−S650)
– Digital outputs with time stamp functionality (EPM−S310)
– Digital inputs with time stamp functionality (EPM−S207)
)
Note!
In order to ensure data consistency, the data in the PDO are mapped as
follows:
ƒ Digital I/O:
With digital values, an I/O compound module is always mapped in one byte.
If a byte in a PDO does not have enough free bits, the I/O compound module
is mapped in the next byte.
ƒ Analog I/O:
In the case of analog values the data lengths of which exceed one byte, the
data consistency is extended. Since one channel assigns two bytes, each
channel of an I/O compound module is mapped in two successive PDOs.