External Control (I/O / Fieldbus) 77 DESKTOP ROBOT JR3000
7.5.6
CANopen Assignment
Select and assign the appropriate relays/registers from the Fieldbus domain of the I/O memory.
Use the correct EDS file according to the CANopen environment. Also make sure to assign the
relays/registers using your master device (PLC, etc.) configuration tool.
The diagram below is an example of when using the following EDS file:
EDS_ABCC_COP_JANOME_OUT16_IN16.eds.
By reading the EDS file supplied by us on the robot, the relays and registers named on CANopen
are displayed on the configuration tool.
For example, if you want to use relay number 1000 and register numbers 180, 181, you need to
assign the following relays/registers using the configuration tool.
•
Reg100/Relay1000_F
•
Reg180/Relay1800_F
•
Reg181/Relay1810_F
You can make assignments in 16 points (1 word) units.
Fieldbus Output: 2048 Points (128 Words)
Relay No. Register No. Name on CANopen
1800 – 180F 180 Reg180/Relay1800_F
1810 – 181F 181 Reg181/Relay1810_F
... ... ...
1FF0 – 1FFF 1FF Reg1FF/Relay1FF0_F
Relays/Registers used
by CANopen
CANopen Input:
256 points (16 words)
CANopen Output:
256 points (16 words)
Fieldbus Input: 2048 Points (128 Words)
Relay No. Register No. Name on CANopen
1000 – 100F 100 Reg100/Relay1000_F
1010 – 101F 101 Reg101/Relay1010_F
... ... ...
17F0 – 17FF 17F Reg17F/Relay17F0_F
Register up to 256 points (16 words)
as registers for both input and output.
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