Lenze CANopen Controller-based Automation - Manual (Page 88)

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17
88
9 Commissioning of the CANopen Motion bus
9.11 Setting of CAN parameters and PDO mapping
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2. Go to the PDO Mapping tab.
The default setting for PDO mapping is a position mapping. This mapping can be changed
manually (by ticking). Due to the limited bandwidth of the CAN bus, this is only useful in
special cases. The default PDO properties, too, are useful default settings and should not be
changed.
If you double-click an individual PDO, its transmission properties are displayed.
• The Transmission Type "cyclic - synchronous (type 1-240)" and the setting, at
which sync the PDOs are to be sent, must not be changed.
• The settings for the Inhibit Time and the Event Time are not evaluated.
• Confirm the settings with the OK button.
On the CANopen I/O Mapping tab, PLC variables can be assigned to the process image.

Note!
Bus operation without CAN synchronisation
• The Lenze Controller always transmits asynchronous PDOs from an unsolicited task in
an event-controlled way. To achieve a time-controlled transmission of asynchronous
PDOs by the controller, you must assign the CAN master to a cyclic task.
• The Lenze Controller does not support any monitoring times for asynchronous
receive-PDOs. This is only possible with field devices.