Lenze EtherCAT Controller-based Automation - Manual (Page 96)

7 Commissioning of the system
7.3 Detailed description of the commissioning steps
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Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
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7.3.14.1 Entering the settings for PDO mapping
You set PDO mapping by means of the Process data tab:
PDO mapping for Lenze inverters can be composed of three parts:
• The static part is permanent (cannot be changed) and cannot be deactivated either.
• The dynamic part contains PDOs that have been preconfigured for the different CiA402
operating modes. Depending on the CiA402 operating modes, one of these PDOs can be
activated in »PLC Designer«.
• The freely configurable part can be activated in »PLC Designer« if necessary and enables
individual mapping.
 Configuring individual PDO mapping ( 97)
Some inverters only allow for one PDO mapping per direction.
The input and output PDO mappings selected must be identical (see illustration).
In order to change the setting, you must first deselect the current setting (remove checkmark in the
checkbox). After that you can freely select the desired setting (set checkmark).