Writing to the local object dictionary
Section 5-5
76
Example
To modify the COB-ID of a PDO:
11.01
IOWR(-)
Change_COBID
#0002
Control code = #0002
DM400
Source of message
#1002
Mach.No.1, message length 2 words
IORD (-)
#0002
Control code = #0002
#1003
Mach.No.1, message length 3 words
DM402
Destination of message
ORW (-)
#8000
Mask, make the read PDO invalid
DM404
Source
DM404
Destination
IOWR (-)
#0001
Control code = #0001
DM400
Source of message
#1005
Mach.No.1, message length 5 words
MOV (-)
#201
New COB-ID = 0201h
DM403
Destination
MOV (-)
#4000
Make PDO valid, RTR allowed
DM404
Destination
IOWR (-)
#0001
Control code = #0001
DM400
Source of message
#1005
Mach.No.1, message length 5 words
Address
Start value
New value
Description
DM400
#1400
#1400
PDO index number
DM401
#0001
#0001
PDO sub-index
DM402
Don’t care
#0004
Data length
DM403
Don’t care
#0201
DM404
Don’t care
#4000
Data = #40000201
Explanation:
A PDO should be disabled (made invalid) before its COB-ID can be
changed. This is done by setting the most significant bit of the COB-ID
(see 3-3-2-1). The procedure is to first read the PDO's current COB-ID,
then set the disable bit and write it back to the PDO. After that the PLC
can set the COB-ID to the desired value, and write this to the PDO, while
resetting the disable bit.
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: ......