Lenze I/O system 1000 System Manual - Manual (Page 267)

CANopen communication
Transmitting process data
PDO mapping for counters and encoder evaluation
8
l
267 EDSIO1000 EN 7.0
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
SLIO047
Fig. 8−8 Mapping contents
Word EPM−S600 EPM−S601 EPM−S602 EPM−S603 EPM−S604
1
Comparison value
Comparison value
C1
Comparison value
Control word C1
−
2 Control word C2
3
Set value
Comparison value
C2
Set value
−
4
5 Control word Control word C1 Control word
6
−
Control word C2
− 7
−
8
9
Count value Count value C1 Count value Count value C1 Encoder value
10
11
Latch value Count value C2
Status word
Count value C2 Ticker value
12 Ticker value
13 Status word Status word C1
−
Status word C1
−
14 Ticker value Status word C2 Status word C2
15
− − −
16
Comparison value: Here you can select a value which, by comparison with the current
counter content, can impact the counter output or trigger a process alarm. The response
of the output or the process alarm can be parameterised.
Set value:With an edge change 0−1 of COUNTERVAL_SET in the control word, the set value
is accepted in the counter.
Count value: Current counter content
Latch value: If there is a positive edge at the latch input, the count value is stored here.
Ticker value: After mains connection a timer (
ms ticker) is started, which after 65535 ms
starts with 0 again. With every change of the count value the time value of the timer is
stored as 16−bit
ms value together with the count value in the input area.