Table Of Contents - Omron C200HW-CORT21-V1 Operation Manual

PRECAUTIONS ..........................................................................................xi
1 Intended Audience..................................................................................................................................... xii
2 General Precautions................................................................................................................................... xii
3 Safety Precautions ..................................................................................................................................... xii
4 Operating Environment Precautions.......................................................................................................... xii
5 Application Precautions ...........................................................................................................................xiii
6 EC Directives ........................................................................................................................................... xiv
1 ABOUT CANOPEN ..............................................................................1
1-1 Introduction.............................................................................................................................................................. 2
1-2 Device description ................................................................................................................................................... 2
1-3 Communication........................................................................................................................................................ 7
1-4 Configuration files ................................................................................................................................................. 19
1-5 CANopen conformance ......................................................................................................................................... 20
2 SPECIFICATIONS AND PERFORMANCE ..................................21
2-1 Overall Specifications............................................................................................................................................ 22
2-2 Dimensions ............................................................................................................................................................ 24
2-3 Performance ........................................................................................................................................................... 25
3 INSTALLATION ................................................................................31
3-1 Physical layout of the Unit..................................................................................................................................... 32
3-2 Mounting the C200HW-CORT21-V1 ................................................................................................................... 35
3-3 Setting up a network .............................................................................................................................................. 36
4 PLC INTERFACE ..............................................................................47
4-1 Input and Output Data............................................................................................................................................ 48
4-2 I/O Data mapping................................................................................................................................................... 49
4-3 Control and Status area .......................................................................................................................................... 60
5 MESSAGE COMMUNICATION, IOWR / IORD..........................69
5-1 Message communication........................................................................................................................................ 70
5-2 IOWR / IORD........................................................................................................................................................ 70
5-3 Error log................................................................................................................................................................. 72
5-4 Reading the error log ............................................................................................................................................. 74
5-5 Writing to the local object dictionary..................................................................................................................... 75
5-6 Reading from the local object dictionary ............................................................................................................... 77
5-7 Transmitting a user defined CAN message............................................................................................................ 79
5-8 Receiving a user defined CAN message ................................................................................................................ 80
6 ERROR HANDLING AND STATUS ...............................................85
6-1 Introduction............................................................................................................................................................ 86
6-2 Emergency message............................................................................................................................................... 87
6-3 Error Register, Predefined Error Field ................................................................................................................... 90
6-4 Fatal PLC error handling ....................................................................................................................................... 91
6-5 LEDs, 7-Segment Display ..................................................................................................................................... 92
6-6 Flow diagrams........................................................................................................................................................ 93
7 TROUBLESHOOTING AND MAINTENANCE............................97
7-1 Error Indicators ...................................................................................................................................................... 98
7-2 Troubleshooting ..................................................................................................................................................... 98
7-3 Maintenance......................................................................................................................................................... 104

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