Lenze I/O system 1000 System Manual - Manual (Page 260)

CANopen communication
Transmitting process data
PDO mapping for I/O compound modules with a serial interface
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260 EDSIO1000 EN 7.0
8.3.6 PDO mapping for I/O compound modules with a serial interface
Mapping for I/O compound modules with a serial interface (EPM−S640, EPM−S650) starts
at PDO 3.
Default mapping
PDOx-Rx
PDOx-Rx
PDOx-Tx
PDOx-Tx
EPM-S1
10
EPM-S6xx
1
5
9
13
2
6
10
14
3
7
11
15
4
8
12
16
402 h
508 h
382 h
482 h
Node-ID = 2
SLIO083
Fig. 8−5 Mapping contents
Word EPM−S640, EPM−S650
1 Rx byte 0 ... 1
2 Rx byte 2 ... 3
3 Rx byte 4 ... 5
4 Rx byte 6 ... 7
5 —
6 —
7 —
8 —
9 Tx byte 0 ... 1
10 Tx byte 2 ... 3
11 Tx byte 4 ... 5
12 Tx byte 6 ... 7
13 —
14 —
15 —
16 —