Lenze I/O system 1000 System Manual - Manual (Page 36)

Product description
Bus coupler modules
CANopen − EPM−S110
3
l
36 EDSIO1000 EN 7.0
EPM−S110: Rated data
Communication
Fieldbus CANopen
Physics CAN
Connection 9−pole Sub−D plug
Topology Linear bus with bus termination at both ends
Electrical isolation Yes
Nodes
Number, max. 127
Address 1 ... 127
Transmission speed
Min. 10 kbps
Max. 1 Mbps
Address range
Inputs, max. 128 bytes
Outputs, max. 128 bytes
Number of TxPDOs/RxPDO, max.
for controller−based automation 16/16
for drive−based automation 10/10
Calculation example for determining the maximum number of modules
)
Note!
If the CANopen bus coupler is used in conjunction with Lenze drives as part of
Drive−based Automation (i.e. as a "terminal extension" to the drive), the PDO
configuration of the factory adjustment is used (see examples below):
ƒ PDO1 only purely digital I/O compound modules
ƒ PDO2 only purely analog I/O compound modules
ƒ as of PDO3 counter, rapid I/Os with time stamp function etc.
With Controller−based Automation however all 16 PDOs are available in any
distribution.
Example 1: Maximum configuration with digital inputs/outputs
In the default setting, 9 Rx−/Tx−PDOs are provided for digital inputs/outputs (DI/DO).
9 x 8 bytes = 72 bytes = 576 bits
Since only 64 I/O compound modules are permissible, max. 64 x 8 bits (DI8/DO8) = 512
channels can be used.
Example 2: Maximum configuration with analog inputs/outputs
In the default setting, 9 Rx−/Tx−PDOs are provided for analog inputs/outputs (AI/AO).
9 x 8 bytes = 72 bytes = 576 bits
Since 2 bytes are always occupied by an analog channel, max. 72 : 2 = 36 AI/AO channels
can be used.