Lenze I/O system 1000 System Manual - Manual (Page 272)

CANopen communication
Transmitting process data
Data transfer between I/O system and controller
8
l
272 EDSIO1000 EN 7.0
8.3.10 Data transfer between I/O system and controller
In the Lenze setting of the I/O system 1000, the basic identifiers of the PDOs are set
according to CANopen.
For communicating with Lenze controllers the basic identifiers for the process data object
1 must be adapted.
1. Set RPDO1 via index 1400
h
, subindex 1 to 770.
2. Set TPDO1 via index 1800
h
, subindex 1 to 769.
The input data are accepted on sync telegram transmission.
l
PDO1-Rx
CAN_OUT3
CAN_IN3
PDO1-Tx
0
1 
‚
ƒ
„
SLIO007
Fig. 8−9 Data transfer between I/O system and controller
PDO−Rx The I/O system receives the status information from the controller
PDO−Tx The I/O system transmits the status information to the controller
0 Controller with node address 1 (C0350 = 1)
 768
d
(basic identifier) + 1 (node address) = 769
d
(identifier)
‚ 769
d
(basic identifier) + 1 (node address) = 770
d
(identifier)
1 CAN bus coupler module with node address 2
ƒ 767
d
(basic identifier) + 2 (node address) = 769
d
(identifier)
„ 768
d
(basic identifier) + 2 (node address) = 770
d
(identifier)