Mapping Of The Application Objects Onto Pdos - Omron C200HW-CORT21-V1 Operation Manual

I/O Data mapping
Network variables

4-2-2 Mapping of the Application Objects onto PDOs

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The C200HW-CORT21-V1 supports 4 different data types for input and
output data:
8-bit data objects
16-bit data objects
32-bit data objects
64-bit data objects
The Default_Input_Bytes and Default_Output_Bytes are the application
objects that are by default mapped to the four transmit and receive PDOs of
the predefined connection set (see also section 1-3-5).
The objects located at the index 2001h ~ 2004h and 2101h ~ 2104h are so
called network variables. These objects are defined in the EDS-file (see
appendix A) as dynamic channels because they are not present in the object
dictionary structure until the specific object is linked to another device.
The mapping of the application objects is twofold:
1. Mapping of the application objects onto PDOs
2. Mapping of the application objects onto PLC memory locations
When the Unit starts up with the default values as defined in the communi-
cation profile, only the Default_Input_Bytes and Default_Output_Bytes are
mapped. The mapping of these objects is listed in the following table.
PDO
TPDO1
TPDO2
TPDO3
TPDO4
RPDO1
RPDO2
RPDO3
RPDO4
The PDOs listed in the table are the PDOs of the predefined connection set
(see section 1-3-5).
The objects located at indices 2001h ~ 2004h and 2101h ~ 2104h can be
mapped by configuring the PDO mapping parameters to point to these
objects (see section 3-3-2-2). In this way it is also possible to change the
mapping of the predefined connection set. For example it is possible to
assign object 2001h with sub-index 01 to TPDO1 and to assign the
Default_Input_Bytes to other transmit PDOs than TPDO1 ~ TPDO4.
The most common way of mapping the objects is by using a network
configuration tool. This tool assigns the objects to the correct PDO when
linking the objects of two devices together (see the end of section 3-3-2-1).
To prevent having to map objects to PDOs and setting the associated
communication parameters every time the Unit is powered-up, the Unit
enables storage of the parameters in non-volatile memory (see section 3-3-2-
9).
Mapped Data Object
Index
2000h
2000h
2000h
2000h
2100h
2100h
2100h
2100h
Section 4-2
Sub-index
01
02
03
04
01
02
03
04