Delta AH500 - Assigning Mapping Areas

AH500 Module Manual
15-20
15.4.3 Assigning Mapping Areas
Users can assign mapping areas to a CANopen master/slave by means of HWCONFIG.
AH10COPM-5A functions as a master station. If the start input address set is D5000, and the start
output address set is D6000, the mapping areas assigned will be as described below. The data
lengths that the users can set must be in the range of 0 words to 480 words.
Input area: Slave stationMaster station
Output area: Master stationSlave station
Register numbers in
an AH500 series CPU
module
Purpose
Data
length
Register numbers in
an AH500 series CPU
module
Purpose
Data
length
D5000~D5479
A CANopen
slave station
sends data.
0~480
words
D6000~D6479
Data is sent
to a
CANopen
slave station.
0~480
words
AH10COPM-5A functions as a slave station. The data lengths that the users can set must be in the
range of 0 words to 32 words. The relation between the object dictionary in AH10COPM-5A and
registers in an AH500 series CPU module is shown below.
Index
Subindex range
Input/Output mapping area
Access permission
H’2000
H’01~H’20
Output mapping area
Read/Write
H’2001
H’01~H’20
Input mapping area
Read-only
Besides, AH10COPM-5A is assigned a two-word normal exchange area. For example, D0~D1 are
assigned to AH10COPM-5A.
The mapping areas assigned are described below.
Register number in an
AH500 series CPU module
Purpose Data length
D0
State of AH10COPM-5A:
0x00: AH10COPM-5A is being initialized.
0x04: AH10COPM-5A stops running.
0x05: AH10COPM-5A is running.
0x7F: AH10COPM-5A is preparing to run.
0x0F: AH10COPM-5A is in an unknown state.
1 word
D1
Module error code
1 word