Omron TJ2-MC64 - PROGRAMMING - Page 240

Communication protocols
PROGRAMMING MANUAL 234
Revision 1.0
5. Start the CANopen network and the mapping of the Trajexia memory to
RPDOs and TPDOs: execute the command CAN_CORT(unit,10).
fig. 16
An example is the configuration given in the figure.
/i
This results in the following script:
tot_result = TRUE
result = TRUE
'----------------------------------------
' Initialise
'----------------------------------------
result = CAN_CORT(0,5,4)
tot_result = tot_result AND result
IF tot_result = FALSE THEN
PRINT "Initialise Fail"
STOP
ENDIF
'----------------------------------------
' Add Nodes
'----------------------------------------
' Node ID 2
result = CAN_CORT(0,6,$2,1)
tot_result = tot_result AND result
' Node ID 63
result = CAN_CORT(0,6,$63,1)
tot_result = tot_result AND result
Slave 1
(node 2)
Slave 2
(node 63)
TJ1-MC__
TJ1-CORT
(node 9)
(1) (2)
Connection PDO COB-ID Size Mapping
(1) TPDO0 $202 1 Byte VR(100)
(2) RPDO0 $1e3 1 Byte VR(0)