Omron C200HW-CORT21-V1, Operation Manual

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I/O Data mapping
Section 4-2
49
4-2 I/O Data mapping
Data flow
The figure below shows the flow of remote I/O data in the PLC system.
Host PLC C200HW-CORT21-V1
DM0000
2000h
DM4095
All CPUs
DM5999
All CPUs except
C200HE-CPU11
2004h
Input
Application
Objects
LR00
LR63
IR000
I/O BUS
CANopen
Network
IR235
IR300
2100h
IR511
HR00 2104h
Output
Application
Objects
HR99
The core of the C200HW-CORT21-V1 is the object dictionary. The Input and
Output Application Objects are part of this object dictionary.
Every PLC I/O refresh, the input data is transferred via the I/O bus on the PLC
backplane to the corresponding Input Application Objects. The actual
transmission of the application objects over the CANopen Network depends
on the TPDO mapping and the TPDO communication parameters.
Output data, received from the CANopen Network, is first stored in the
corresponding Output Application Objects in the Unit. The transmission type
of the RPDO determines at which PLC I/O refresh the data is written to the
Host PLC. The data of an asynchronous RPDO is always transferred during
the I/O refresh. The data of a synchronous RPDO is only transferred after the
reception of the configured SYNC Object.
I/O refresh By default, I/O refreshes are executed at the end of each PLC program cycle,
but they can also be triggered by the IORF instruction. See the applicable
PLC CPU Operation Manual for more details.