Setting up a network
Section 3-3
40
The input byte of Node 1 is linked to the Output byte of Node 2 with two
mouse clicks. The Input byte of Node 2 is connected to the first Output byte
of Node 1 the same way. The configuration tool will automatically assign an
available COB-ID to each connection made. Refer to the manual of a
configuration tool for more details.
Transmission Type
The transmission type is an 8-bit variable which can take the values 0 to 255.
The following table lists the values and their corresponding transmission
mode.
PDO transmission
Transmission
Type
Cyclic
Acyclic
Synchronous Asynchronous
0
Ο
Ο
1-240
Ο
Ο
241-253
N.A.
254
Ο
255
N.A.
TPDO and RPDO
The transmission type is not only applicable to Transmit PDOs, but also to
Receive PDOs.
•
For Transmit PDOs, the transmission type determines when and how
CAN messages are sent onto the network.
•
For Receive PDOs, the transmission type determines when and how the
data content of the RPDO is transferred to the mapped application
objects.
Refer to section 1-3-1-1 for general information about the transmission
modes.
In C200HW-CORT21-V1, asynchronous transmission is triggered by a
change in data content.
•
For TPDOs, a change in the value of an application object results in the
transmission of the TPDO(s) to which it is mapped.
•
For RPDOs, a change in data content results in an update of the mapped
application object(s).
Synchronous acyclic transmission is triggered by a change in data content
and
the subsequent reception of a SYNC object.
Note that the data exchange between the application objects and the PLC
memory always takes place. Its timing depends entirely on the cyclic or
programmed I/O refreshes of the PLC.
Summary of Contents for C200HW-CORT21-V1
Page 2: ...C200HW CORT21 V1 CANopen Slave Unit OPERATION MANUAL OMRON Cat No W904 E2 2 ...
Page 3: ......
Page 4: ......
Page 5: ......
Page 6: ...C200HW CORT21 V1 CANopen Slave Unit Operation Manual Produced June 2001 ...
Page 7: ...iv ...
Page 9: ...vi ...
Page 13: ...x ...
Page 47: ...Performance Section 2 3 30 ...
Page 85: ...Control and Status area Section 4 3 68 ...
Page 113: ...Flow diagrams Section 6 6 96 ...
Page 123: ...Maintenance Section 7 3 106 ...
Page 133: ...116 ...
Page 135: ...118 ...
Page 139: ...122 ...
Page 141: ......