Omron C200HW-CORT21-V1, Руководство по эксплуатации

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Setting up a network
Section 3-3
37
3-3-2 Network configuration
Baud rate, node address
Object dictionary
Enable CANopen
Start_Remote_Node
After making the physical connections of the network, the network needs to
be configured.
First, all nodes must be configured to communicate on the same baud rate
and all nodes must have a unique node address (or so called Node ID).
After that, the object dictionary of the nodes can be configured (if required)
via SDO accesses. The most common parameters to configure are listed in
section 1-3-6. These parameters are discussed in more detail in the following
sub-sections. The last sub-section shows how the configuration can be
stored to / restored from the non-volatile memory in the Unit.
Note that the CANopen communication of C200HW-CORT21-V1 must first
be enabled (IR n.00) before the Unit can be configured.
After completing the desired configuration, the communication does not start
until the NMT master gives the command ‘Start_Remote_Node’ to enter the
Operational State. Refer to section 1-3-4-1 for more details about the
(Pre-) Operational state and state transitions.
3-3-2-1 PDO Communication Parameters
The communication parameters of a PDO have at least two entries:
•
COB-ID Communication Object Identifier
•
Transmission Type Transmission/reception mode indicator
The following figure shows the communication parameters of the first
transmit PDO in C200HW-CORT21-V1.
Index Sub-index Object Default value
1800h -
Transmit PDO1 parameter
-
1800h 00h Number of entries 2
1800h 01h COB-ID
180h + Node ID
1800h 02h Transmission Type
254