Chapter 16 PLC Function ApplicationsMH300
CANopen provides a PDO method to perform mapping of the master and slave station memory,
and enables the master to directly access read/write data in a certain memory area. The master
will automatically perform data exchange with the corresponding slave device, and the read/write
values can be seen directly from the special D area after real-time exchange (M1034 = 1 time)
has been established. The MH300 currently supports real-time mapping of two PDOs, and there
are two types of PDO RXPDO (reads slave device information) and TXPDO (writes to slave
device). In addition, in order to facilitate control, the MH300 cannot perform mapping of
commonly-used registers; the following is an overview of the current PDO mapping situation:
PDO2 (Remote I/O) PDO1 (Speed) PDO2 (Remote I/O) PDO1 (Speed)
Description Special D Description Special D Description Special D Description Special D
D2027+100*n
D2008+100*n
D2026+100*n Mode word D2009+100*n
D2031+100*n Target speed
D2012+100*n
D2028+100*n
D2013+100*n
從機 AO2
D2032+100*n
從機 AI2
D2029+100*n
D2033+100*n
D2030+100*n
Because usage requires only simple to open the corresponding PDO, where TXPDO employs
D2034+100*n settings and RXPDO employs D2067+100*n settings.
These two special D areas are defined as follows:
Remote I/O Speed
En: indicates whether PDO is used
Length: indicates mapping of several variables
In a simple example, if we want to control a MH300 slave device and make it to operate in speed
mode, we only have to make the following settings:
D2034+100*n =000Ah
Length:
PDO2 (Remote I/O) PDO1 (Speed)
Description Special D Description Special D
1 Slave device DO D2027+100*n Controller Word D2008+100*n
2 Slave device AO1 D2031+100*n Target speed D2012+100*n
3 Slave device AO2 D2032+100*n
4 Slave device AO3 D2033+100*n
PDO2 PDO1
Definition Remote I/O Speed
bit 7 6–4 3 2–0
Definition 0 0 1 2
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