Omron C200HW-CORT21-V1, Operation Manual

Page: 34 / 144

Communication
Section 1-3
17
The following table lists the identifier allocation scheme:
Function code Node ID Object
0 0 NMT
1 0 SYNC
2 0 Time Stamp
1 1 ~ 127 EMCY
3 1 ~ 127 PDO1 transmit (TPDO1)
4 1 ~ 127 PDO1 receive (RPDO1)
5 1 ~ 127 PDO2 transmit (TPDO2)
6 1 ~ 127 PDO2 receive (RPDO1)
7 1 ~ 127 PDO3 transmit (TPDO3)
8 1 ~ 127 PDO3 receive (RPDO1)
9 1 ~ 127 PDO4 transmit (TPDO4)
10 1 ~ 127 PDO4 receive (RPDO1)
11 1 ~ 127 SDO transmit (TSDO1)
12 1 ~ 127 SDO receive (RSDO1)
14 1 ~ 127 NMT Error control
The first three entries in the list are so called broadcast objects (Node ID =
0). All the others are peer-to-peer objects (Node ID
≠
0).
Master-slave network This predefined ID allocation scheme allows peer-to-peer communication
between a single master device and up to 127 slave devices. If peer-to-peer
communication between 2 slave devices is required, the identifiers need to
be changed in such a way that the receiving identifier of one station equals
the transmitting identifier of the other station. The identifiers of NMT, SDO
transmit and receive, and NMT Error Control are fixed and can not be
changed.
1-3-6 Device configuration
Pre-Operational state
A device can be configured during the Pre-Operational state using SDO
accesses. It is possible, but not recommended to configure parameters
during the Operational state.
The most common parameters to be are configured are:
•
PDO communication parameters
•
PDO mapping parameters
•
(Producer / Consumer) Heartbeat time
•
Guard time and life time factor
•
SYNC Producer / Consumer
•
Communication cycle period
•
Synchronous window length
•
(Server / Client) SDO parameters
These parameters are described in more detail in section 3-3-2.
Especially the configuration of PDO communication parameters is important
if peer-to-peer communication is required between two or more NMT Slaves.
Besides the configuration of parameters in the object dictionary, the baud