Lenze EPM−T9XX Modular system Bedienungsanleitung Seite 222
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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
@ 8ms) ) (N
PDORX
@ 2ms) ) t
d
) 742ms
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
- I/O−System IP20 1
- Contents 10
- 1 Preface 11
- 1.1 The I/O system IP20 13
- How to use this System Manual 16
- Document history 17
- 1.2.3 Document history 17
- 1.3 Legal regulations 19
- Legal regulations 20
- Safety instructions 21
- Technical data 25
- The modular system 100
- The compact system 113
- EPM-T831 1A.10 127
- EPM-T833 1A.10 135
- 02413567 143
- Mechanical installation 147
- Electrical installation 155
- 8.1 Via system bus (CAN) 171
- 8.2 Network management (NMT) 173
- Network management (NMT) 174
- 8.3 Transmitting process data 175
- Transmitting process data 176
- PDO1-TX PDO1-RX 178
- 2. 3. 4 178
- Transmitting parameter data 188
- Telegram structure 188
- Identifier = 1538 190
- Identifier = 1410 190
- 8.6 Node Guarding 195
- Node Guarding 196
- 8.7 Heartbeat 197
- Heartbeat 198
- 8.8 Reset node 199
- 8.9 Monitoring 201
- Monitoring 202
- Digital output monitoring 202
- 8.10 Diagnostics 205
- Diagnostics 206
- Emergency telegram 206
- 8.10.1 Emergency telegram 206
- Status of the digital outputs 208
- Via the index I6401 209
- Via the index I6411 209
- Network via CANopen 211
- Networking via PROFIBUS−DP 255
- Commissioning 283
- 12.1 Important notes 295
- Parameterising analog modules 300
- Parameter data 300
- Diagnostic data 304
- 12.3.2 Diagnostic data 304
- 12.3−11 309
- 12.3−12 310
- 12.3−13 311
- 12.3−16 314
- 12.3−17 315
- 12.3−18 316
- Input data / output data 325
- 2 x 32 bit counter (mode 0) 326
- Encoder (modes 1, 3, and 5) 328
- Counter 0 332
- Counter 1 332
- 12.4−13 333
- 12.4−14 334
- 12.4−15 335
- 12.4−16 336
- 12.4−17 337
- 12.4−18 338
- 12.4−19 339
- 12.4−20 340
- 12.4−21 341
- 12.4−22 342
- 12.4−23 343
- 12.4−24 344
- 12.4−25 345
- 12.4−26 346
- 12.4−27 347
- 12.4−28 348
- 12.4−30 350
- 12.4−31 351
- 12.4−32 352
- 12.4−33 353
- 12.4−34 354
- 12.4−35 355
- 12.4−36 356
- 12.4−37 357
- 12.4−38 358
- 12.4−39 359
- 12.4−40 360
- 12.4−41 361
- 12.4−42 362
- 12.4−43 363
- 12.4−44 364
- 12.4−45 365
- 12.4−46 366
- 12.4−47 367
- 12.4−48 368
- 12.4−49 369
- 12.4−50 370
- 12.4−51 371
- 12.4−52 372
- 12.4−53 373
- 12.4−54 374
- 12.4−55 375
- 12.4−56 376
- Parameterising SSI interface 379
- EDSPM−TXXX−9.0−11/2009 384
- 12.5−11 387
- Encoder (mode 0) 395
- 12.6.3 Encoder (mode 0) 395
- 32 bit counter (mode 1) 397
- 12.6−10 400
- 12.6−11 401
- 12.6−12 402
- 12.6−13 403
- Measuring the period (mode 4) 404
- 12.6−15 405
- 12.8 Loading default setting 409
- · Example: 413
- 13.1−11 423
- 13.1−12 424
- 13.1−14 426
- 13.1−16 428
- 13.1−17 429
- 13.1−18 430
- Gateway Counter 438
- Data to module 438
- Data from module 438
- In3/In6 (DIR) 446
- 13.2−13 447
- 13.2−14 448
- 13.2−15 449
- Counter access 450
- 13.2−17 451
- 13.2−18 452
- 13.2−19 453
- 13.2−20 454
- 13.2−21 455
- 13.2−22 456
- 13.2−23 457
- 13.2−24 458
- 13.2−25 459
- 13.2−26 460
- 13.2−27 461
- 13.2−29 463
- 13.2−30 464
- 13.2−31 465
- 13.2−32 466
- 13.2−33 467
- 13.2−34 468
- 13.2−36 470
- 13.2−37 471
- 13.2−38 472
- 13.2−40 474
- In3/In6 (B) 475
- 13.2−42 476
- 13.2−43 477
- 13.2−44 478
- 13.2−46 480
- 13.2−47 481
- 13.2−48 482
- 13.2−49 483
- 13.2−50 484
- 13.2−52 486
- 13.2−54 488
- 13.2−55 489
- 13.3.1 Parameter data 491
- Gateway SSI-Interface 493
- 13.4.1 Parameter data 495
- Gateway Counter/Dig In 496
- 13.4.3 Encoder (mode 0) 498
- Signal characteristic 503
- 13.4−10 504
- 13.4−11 505
- 13.4−12 506
- 13.4−14 508
- 14.1 Fault messages 511
- Appendix 513
- 10987654321 544
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