Lenze L-force I/O System 1000 - Manual (Page 67)

2.0 EN - 11/2010
L
67
L-force Controls | I/O System 1000
Networking via CAN system bus
Port assignment
The following rules for assigning the PDOs apply according to the CANopen
communication profile DS401:
PDO Assignment
RPDO1 Reserved for the first digital input module.
TPDO1 Reserved for the first digital output module.
RPDO2 Reserved for the first analog input module.
TPDO2 Reserved for the first analog output module.
FROM PDO3 The PDOs can only be assigned with electronic modules of one module class. Free bytes are
reserved for modules of the same module class.
• Sort order of the module classes:
–Digital modules
–Analog modules
–Counter modules
–SSI module
–PWM module
–Digital output modules TimeStamp
–Digital input modules TimeStamp

Note!
In order to ensure data consistency, the data in the PDOs are mapped as follows:
• Digital input module / Digital output module:
– With digital values, an electronic module is always mapped in one byte. If
the byte in a PDO has not enough free bits, the electronic module is
mapped in the next byte.
• Analog input module / Analog output module:
– With analog values the data lengths of which exceed on byte, the data
consistency is extended. Since one channel assigns two bytes, each channel
of an electronic module is mapped in two successive PDOs.