RPDO Mapping in DS401 Mode

As defined by DS401 the first RPDO only contains binary outputs. The first bytes contain the onboard binary outputs of the CI581-CN / CI582- CN devices. If binary IO expansion modules are connected to the CI581-CN / CI582-CN these output data will also be put into RPDO1.

The second RPDO contains only analogue outputs (as defined by DS401). In case of CI581-CN the first two analogue outputs are the onboard AOs. If analogue IO expansion modules are connected to the CI581-CN / CI582-CN these output data will also be put into RPDO2.

RPDO 3 and RPDO 4 are reserved for additional analogue outputs (as defined by DS401) of connected analogue IO expansion modules.

For RPDO 5&20 there is no fixed mapping. This mapping is user defined.

For details see following charts:

RPDO Mapping in DS401 Mode for CI581-CN

RPDO 1
CI581 DO0 (1 byte, 8 channels)	IO Bus binary expansion DO1..DO7 (7 bytes, 56 channels) (only if attached to CI581-CN)

RPDO 2
CI581 AO0 (2 bytes, 1 channel)	CI581 AO1 (2 bytes, 1 channel)	IO Bus analogue expansion AO2, AO3 (4 bytes, 2 channels) (only if attached to CI581-CN)

RPDO 3

IO Bus analogue expansion AO4..AO7 (8 bytes, 4 channels) (only if attached to CI581-CN)

RPDO 4

IO Bus analogue expansion AO8&AO11 (8 bytes, 4 channels) (only if attached to CI581-CN)

RPDO Mapping in DS401 Mode for CI582-CN

RPDO 1
CI582 DO0 (1 byte, 8 channels)	CI582 DO1 (1 byte, 8 channels)	IO Bus binary expansion DO2..DO7 (6 bytes, 48 channels) (only if attached to CI582-CN)

RPDO 2

IO Bus analogue expansion AO0..AO3 (8 bytes, 4 channels) (only if attached to CI582-CN)

RPDO 3

IO Bus analogue expansion AO4..AO7 (8 bytes, 4 channels) (only if attached to CI582-CN)

RPDO 4

IO Bus analogue expansion AO8..AO11 (8 bytes, 4 channels) (only if attached to CI582-CN)