Omron C200HW-CORT21-V1, Руководство по эксплуатации

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Setting up a network
Section 3-3
41
3-3-2-2 PDO Mapping Parameters
The records containing mapping parameters of transmit PDOs and receive
PDOs have the same structure. The figure below shows the mapping
parameters of the first transmit PDO of C200HW-CORT21-V1.
Index Sub-index Object Default value
1A00h -
Transmit PDO1 mapping
-
1A00h 00h Number of entries
1
1A00h 01h mapped object
20000108h
By default only one object is mapped to the first transmit PDO. The maximum
number of objects that can be mapped to a PDO is 64 if the granularity is
1 bit. The minimum granularity in C200HW-CORT21-V1 is 8-bits, so the
maximum number of mapped objects is 8.
The variable at sub-index 01h (and higher) is a 32-bit variable that has the
following structure:
Index (16 bit) Sub-index (8 bit) Object length (8 bit)
First set sub-index 0 to 0
The first 24 bits form a pointer to the application object in the Device or
Manufacturer Specific Profile Area, and the last 8 bits specify the length of
the object in number of bits.
These 32-bit variables can only be written to when sub-index 0 (number of
entries) is set to 0. After configuring the mapping parameters, set sub-index 0
to the desired number of mappings. The Unit will then check if the mappings
are correct and are not exceeding 8 bytes of data. If not correct, the Unit
sends an abort message and keeps the previous configuration. This
configuration procedure is normally taken care of by the configuration tool.
Refer to the EDS file of the C200HW-CORT21-V1 to see the default values
for the mapping parameters.
3-3-2-3 Heartbeat Time
The structure of the Consumer Heartbeat Time is different from the Producer
Heartbeat Time. A node can be consumer of more than one Heartbeat, but
can not produce more than one Heartbeat. Therefore the Consumer
Heartbeat Time is a complex variable (an array) and the Producer Heartbeat
Time is a simple variable.
Consumer Heartbeat Time
The figure below shows the structure of the Consumer Heartbeat Time for
C200HW-CORT21-V1. Note that the C200HW-CORT21-V1 can only
consume one Heartbeat.
Index Sub-index Object Default value
1016h -
Consumer Heartbeat Time
-
1016h 00h Number of entries
1
1016h 01h Heartbeat Time
0