Omron C200HW-CORT21-V1, Руководство по эксплуатации

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I/O Data mapping
Section 4-2
56
4-2-4 Mapping Example
This section gives an example of how application objects can be mapped to
PDOs and PLC memory locations.
The following figure shows the network configuration. It contains the
C200HW-CORT21-V1 and 5 other CANopen nodes. The machine number of
the C200HW-CORT21-V1 is set to 0.
There are in total 7 logical connections to the C200HW-CORT21-V1. From
the C200HW-CORT21-V1 point of view, connections 1 to 4 are transmit
PDOs and connections 5 to 7 are receive PDOs.
On the CANopen side, the communication and mapping parameters of the
PDOs must be configured to establish the communication relationship as is
depicted in the figure above. On the PLC side, the DM settings must be
configured because the predefined connection set is not sufficient.
The following table shows a possible configuration for this example.
Connection Number PDO Application Object PLC address
Index Sub Index
2000h 01h IR101, bit 00 ~ 07
2000h 02h IR101, bit 08 ~ 15
2000h 03h IR102, bit 00 ~ 07
1 TPDO1
2000h 04h IR102, bit 08 ~ 15
2 TPDO2 2002h 01h LR10
3 TPDO3 2001h 01h IR050, bit 00 ~ 07
4 TPDO4 2003h 01h HR00, HR01
2100h 01h IR106, bit 00 ~ 07
2100h 02h IR106, bit 08 ~ 15
2100h 03h IR107, bit 00 ~ 07
5 RPDO1
2100h 04h IR107, bit 08 ~ 15
6 RPDO2 2102h 01h IR350
7 RPDO3 2104h 01h DM0100 ~ DM0103
The next two sub-sections show how this configuration can be realised.