Omron C200HW-CORT21-V1, Operation Manual

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Reading from the local object dictionary
Section 5-6
78
Example
The following example shows how the COB-ID of RPDO1 (object index
1400h, sub-index 1) is read. In this example, the Mach.No. is set to ‘1’.
PLC memory address Contents Meaning
DM0200 1400 Index of object to be read
DM0201 0001 Sub-index
11.00
IOWR (-)
Indicate_Obj_Entry #0002 Control code = #0002
DM0200 Source of message
#1002 Destination = Mach.No.1
Message length = 2 words
255.06
SET
EQ_FLAG 11.01
Read_Obj
11.01
IORD (-)
Read_Obj #0002 Control code = #0002
#1003 Mach.No.1, message length 3 words
DM0300 Destination of message
255.06
RSET
EQ_FLAG 11.01
Read_Obj
Note that the C200H syntax of the IOWR and IORD instruction is used.
On the rising edge of IR11.00, the Index and Sub-Index are transmitted to
the Unit. After successful execution of the IOWR instruction, IR11.01 is set.
When IR 11.01 is set, the indicated object entry is read and written to PLC
address DM0300. If the reading of the object entry was successful, IR11.01
is reset. The result is e.g.:
PLC memory address Contents Meaning
DM0300 0004 Data length = 4 bytes
DM0301 0210
DM0302 4000
COB-ID of RPDO1 = 40000210h
(See Section 3-3-2-1)
In this example, RPDO1 uses identifier 210h.
If another object entry is to be read:
- Change DM0200 and DM0201
- Change the message length of the IORD instruction if the length of the
object entry is different
Generate a rising edge of IR11.00