Omron TJ2-MC64 - PROGRAMMING - Page 241

Communication protocols
PROGRAMMING MANUAL 235
Revision 1.0
IF tot_result = FALSE THEN
PRINT "Add Nodes Fail"
STOP
ENDIF
'----------------------------------------
' Add TPDO / RPDO
'----------------------------------------
' Map TPDO 0 to VR(100)
result = CAN_CORT(0,8,0,1,100,$202,0,0,5)
tot_result = tot_result AND result
' Map RPDO 0 to VR(0)
result = CAN_CORT(0,7,0,1,0,$1e3,5)
tot_result = tot_result AND result
IF tot_result = FALSE THEN
PRINT "Add TPDO / RPDO Fail"
STOP
ENDIF
'----------------------------------------
' Slave Config Settings
'----------------------------------------
' Node 9 (TJ1-CORT)
' Set Heartbeat consumption
result = CAN_CORT(0,9,$9,$1016,1,0,$2,0,$D0)
tot_result = tot_result AND result
result = CAN_CORT(0,9,$9,$1016,1,0,$63,0,$D0)
tot_result = tot_result AND result
' Node 2
' Set Heartbeat production
result = CAN_CORT(0,9,$2,$1017,0,0,$C8)
tot_result = tot_result AND result