Omron C200HW-CORT21-V1, Operation Manual

Page: 56 / 144

Setting up a network
Section 3-3
39
The configuration is built during the Pre-Operational state. For each data link,
the COB-ID of a transmit PDO must be configured to the same value as the
COB-ID of receive PDO. Note that the terms ‘transmit’ and ‘receive’ are from
the node point of view.
In this case the configuration can be as follows:
COB-ID(TPDO1, Node 1) = COB-ID(RPDO1, Node 2) = COB-ID(RPDO1, Node 3)
COB-ID(RPDO1, Node 1) = COB-ID(TPDO1, Node 2)
COB-ID(RPDO2, Node 1) = COB-ID(TPDO1, Node 4)
COB-ID(TPDO1, Node 3) = COB-ID(RPDO1, Node 5)
COB-ID(TPDO1, Node 5) = COB-ID(RPDO1, Node 4)
In this example it is assumed that the I/O data of Node 2 to 5 are allocated to
their first transmit- and receive PDOs (TPDO1, RPDO1). The inputs of Node
1 are allocated to its TPDO1, but its 16 Outputs must be divided over two
PDOs, RPDO1 and RPDO2, to allow linking each byte to a different Node.
The assignment of the COB-IDs can be done manually or automatically by a
configuration tool, e.g. ProCANopen from Vector Informatik GmbH. This PC-
based tool simplifies the ‘PDO-linking’ by using a graphical representation of
the selected nodes and links. The configurator retrieves the necessary
information for creating the links from the EDS-files of the respective nodes.
Refer to section 1-4 for more details about EDS-files.
After making the on-screen representation of the network, the connections
between the nodes can be established.
The graphical connection is the easiest way to link the application objects.
The following figure shows how Node 1 is connected to Node 2.