Lenze L-force I/O System 1000 - Manual (Page 66)

L-force Controls | I/O System 1000
Networking via CAN system bus
Port assignment
66
L
2.0 EN - 11/2010
7.1.1 PDO mapping
A maximum of 64 electronic modules can be connected to a CAN bus coupler module.
10 RPDOs and 10 TPDOs are available for transferring the process data of the electronic
modules.
The principle of the PDO mapping can be made clear using the following station structure
as an example:
According to the configured I/O system 1000 in the illustration, the following PDO
mapping arises:
Process image Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
PDO1 Permanent for the
first
DI or DO
RPDO1 M13 M14 - - - - - -
TPDO1 M1 M2 M3M4 M5 M6 M7 M8 M9
PDO2 Permanent for the
first
AI or AO
RPDO2 - - - - - - - -
TPDO2 M11 M11 M11 M11 M12 M12 M12 M12
PDO3 DI/DO, DI/DO
TimeStamp, DO
PWM, AI/AO,
counter, SSI
RPDO3 M15 M15 M15 M15 M15 M15 M15 M15
TPDO3 M12 M12 M12 M12 - - - -
PDO4 DI/DO, DI/DO
TimeStamp, DO
PWM, AI/AO,
counter, SSI
RPDO4 M15 M15 - - - - - -
TPDO4 M10 - - - - - - -
PDO5 DI/DO, DI/DO
TimeStamp, DO
PWM, AI/AO,
counter, SSI
RPDO5 - - - - - - - -
TPDO5 M15 M15 M15 M15 M15 M15 M15 M15
PDO6 DI/DO, DI/DO
TimeStamp, DO
PWM, AI/AO,
counter, SSI
RPDO6 - - - - - - - -
TPDO6 M15 M15 M15 M15 - - - -
... ... ...
PDO10 DI/DO, DI/DO
TimeStamp, DO
PWM, AI/AO,
counter, SSI
RPDO10 - - - - - - - -
TPDO10 - - - - - - - -