31.7.6.8 Procedure - Standard Input/Output

The following information explains how to map TPDO on slave side and how to set objects when adding EX module "EXM-DMM8DRT" to HTB (using 12-input points and 8-output points).

Settings in GP-Pro EX

  1. In [IO Driver Settings] click [Settings] and add HTB to the network.
    31.7.1 Setting Up CANopen

  2. Set standard input and output of HTB.
    31.7.5.3 Procedure - HTB Standard Input/Output

  3. Set the standard I/O of EX module. Select the input value object "0x6100.2" to map to TPDO. In [Settings], select the data type. Then map "0x6300.2" to RPDO and select the data type.

    • Map the input data from HTB (CANopen slave) to the display unit (CANopen master) for PDO, and map the object relating to the output data from the display unit to HTB for RPDO.

    • Map error register "0x1001.1", status register "0x1002.1" and module diagnosis "0x3000.1" and "0x3000.2" to TPDO as required.

  4. Open the [Advanced Object Configuration] tab and configure detailed settings of the object.
    Set fallback mode (0x6306.1 and 0x6306.2) and fallback value (0x6307.1 and 0x6307.2) as required and click [OK] to close the dialog box.

  5. To assign variables to each mapped object, in [I/O Driver] click [I/O Screen], or from the Workspace menu select [Screen List] and then click the I/O screen. For information on how to assign variables, refer to the following.
    31.7.3 Mapping I/O - CANopen

  6. Create a Logic Screen and a Base Screen to access the allocated variables and transfer them to the display unit.

    • To check set values, use SDOR instructions.