Canopen Configuration - Omron C200HW-CORT21-V1 Operation Manual

I/O Data mapping

4-2-4-1 CANopen configuration

The table below lists the communication and mapping parameters of the
7 PDOs. Note that this is just an example and that it is also possible to
choose other values than the ones listed in the table.
Note that the COB-IDs of the other nodes' PDOs (nodes 3 ~ 7) should be set
to the same value as the COB-ID of C200HW-CORT21-V1 for the respective
connection. So every connection has one unique COB-ID and this must be
set on the receiving node as well as on the transmitting node.
In this example, the transmission type of all PDOs is set to Asynchronous
(254).
Index Sub-index
1400h -
1400h 00h
1400h 01h
1400h 02h
1401h -
1401h 00h
1401h 01h
1401h 02h
1402h -
1402h 00h
1402h 01h
1402h 02h
1600h -
1600h 00h
1600h 01h
1600h 02h
1600h 03h
1600h 04h
1601h -
1601h 00h
1601h 01h
1602h -
1602h 00h
1602h 01h
1800h -
1800h 00h
1800h 01h
1800h 02h
Object
Receive PDO1 parameter
Number of entries
COB-ID
Transmission Type
Receive PDO2 parameter
Number of entries
COB-ID
Transmission Type
Receive PDO3 parameter
Number of entries
COB-ID
Transmission Type
Receive PDO1 mapping
Number of entries
mapped object
mapped object
mapped object
mapped object
Receive PDO2 mapping
Number of entries
mapped object
Receive PDO3 mapping
Number of entries
mapped object
Transmit PDO1 parameter
Number of entries
COB-ID
Transmission Type
Section 4-2
Default value
-
2
202h
254
-
2
302h
254
-
2
402h
254
-
4
21000108h
21000208h
21000308h
21000408h
-
1
21020110h
-
1
21040140h
-
2
182h
254
57