Lenze EPM−T9XX Modular system - Manual (Page 222)

Transmitting process data
Process image of the modular system
9
Network via CANopen
9.3
9.3.5
L
9.3−6 EDSPM−TXXX−9.0−11/2009
Process image Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
PDO1
Fixed for the first
DIO PDO1−RX M6 — — — — — — —
PDO1−TX M1 M2 M3 M4 M5 M5 — —
PDO2
Fixed for the first
AIO PDO2−RX M8 M8 M8 M8 M8 M8 M8 M8
PDO2−TX M7 M7 M7 M7 M7 M7 M7 M7
PDO3 DIO or AIO 1)
PDO3−RX M8 M8 M11 M11 M11 M11 — —
PDO3−TX M8 M8 M8 M8 M8 M8 M8 M8
PDO4 DIO or AIO 1)
PDO4−RX — — — — — — — —
PDO4−TX M8 M8 M11 M11 M11 M11 — —
PDO5 DIO or AIO 1)
PDO5−Rx M10 M10 M10 M10 M10 M10 — —
PDO5−Tx M10 M10 M10 M10 M10 M10 — —
PDO6 DIO or AIO 1)
PDO6−Rx M9 M9 M9 M9 — — — —
PDO6−Tx M9 M9 M9 M9 — — — —
... ... ... ... ... ... ... ... ... ... ...
PDO10 DIO or AIO 1)
PDO10−RX — — — — — — — —
PDO10−TX — — — — — — — —
1) A PDO can be either assigned to AIO or DIO.
The modules are assigned according to the slot
sequence, with the DIO being assigned first. AI Analog input data
AO Analog output data
DI Digital input data
DO Digital output data
AIO Analog input and output data
DIO Digital input and output data
Special features of the modules 1×counter/16×digital input and SSI interface:
l The module 1×counter/16×digital input always assigns the next to last and
the SSI interface module always the last of the PDOs used.
l The modules cannot be assigned to PDO1 and PDO2. Thus, only eight of
these modules can be used in a system.
l The modules assign a whole PDO (8 bytes) each.
The transmission times of the input / output signals within the I/O system IP20 can
be calculated with a formula.
t
t
+ t
c
) (N
PDOTX
@ 8 ms) ) (N
PDORX
@ 2 ms) ) t
d
) 742 ms
t
t
Transmission time of input / output signals of a module between
fieldbus connection and input / output terminals.
t
c
Time required for copying into the CAN object directory
N
PDOTX
Transmitting the PDO number (PDO1−Tx ... PDO10−Tx)
N
PDORX
Receiving the PDO number (PDO1−Rx ... PDO10−Rx)
t
d
Module delay time
742 ms Fixed internal processing time
Time required for copying into the CAN object directory:
DO modules DI modules AO modules AI modules
t
c
= 50 ms + n × 14 ms t
c
= 50 ms + n × 25 ms t
c
= 50 ms + n × 210 ms t
c
= 50 ms + n × 250 ms
n Number of bytes assigned by the module in the PDOs
Transmission times