Omron C200HW-CORT21-V1, Operation Manual

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Control and Status area
Section 4-3
62
1: CANopen communication is enabled.
When this bit is first set after power-on or reset of the Unit,
the C200HW-CORT21-V1 will send out a standardised boot-
up message. After this, the Unit enters Pre-Operational state.
After a 1
!
0 transition was made to disable the CANopen
communication, the following 0
!
1 transition will result in the
transmission of an emergency telegram to notify the network
that communication will resume. After this, the Unit re-enters
Pre-Operational state.
Refer to section 6-2 for more details about the emergency
message.
IR n.01 Start all nodes
The function of this is bit is to request all nodes on the CANopen
network (including this Unit) to enter Operational state by
broadcasting the NMT command ‘Start_Remote_Node’ (see
section 1-3-4-1).
CANopen communication must be enabled (IR n.00 = 1), and
IR n.02 (see below) should not be set simultaneously.
0: No action.
1: On a rising edge, the NMT command ‘Start_Remote_Node’ is
broadcast once.
IR n.02 Stop all nodes
The function of this is bit is to request all nodes on the CANopen
network (including this Unit) to enter Pre-Operational state by
broadcasting the NMT command ‘Enter_Pre-Operational_State’
(see section 1-3-4-1).
CANopen communication must be enabled (IR n.00 = 1).
0: No action.
1: On a rising edge, the NMT command
‘Enter_Pre-Operational_State’ is broadcast once.
IR n.03 Start Bus Off recovery
The function of this bit is to start a Bus Off recovery after the Unit
has gone "Bus Off" (See IR n+3.10) due to an abnormal rate of
errors on the bus. If the cause of the error is not removed, the
recovery may not be successful.
0: No action.
1: On a rising edge, the Bus Off recovery sequence is started.
After a successful Bus Off recovery, the C200HW-CORT21-V1
will enter Pre-Operational state.
IR n.04 ~
IR n.15 Not used
by C200HW-CORT21-V1.
IR n+1,
IR n+2 Application Objects at index 2000h
The manufacturer specific profile of C200HW-CORT21-V1 has
four single-byte input objects allocated at index 2000h with sub-
indices 01h to 04h.
The content of IR n+1 and IR n+2 is mapped to these input
application objects, which are - by default - assigned to the 4