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To add CANopen remote devices, right-click “CANopen Manager” and select “Add objects”.
A dialog is displayed for selecting a CANopen remote device.
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Double-click a CANopen remote device to display the related parameters and information in a new window.
The tab “General” contains the following parameters.
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Parameter |
Default value |
Value |
Description |
|---|---|---|---|
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General |
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Node-ID |
Next unused value |
1-127 |
Unique node ID for CANopen remote device. |
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Enable expert settings |
Enabled |
Enabled |
All settings are displayed that are predefined by the device description (EDS file) for the device. |
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Disabled |
Only basic settings are shown. |
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SDO channels (only if expert settings are enabled) |
Click this button to open a dialog to activate the SDO channels that are predefined in the EDS file. Service data objects (SDOs) allow access to all entries in the CANopen object directory. The SDO creates a peer-to-peer communication channel between two devices (SDO server and client channel). |
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Enable SYNC producing |
Not supported |
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Optional device (only if expert settings are enabled) |
Not supported |
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No initialization (only if expert settings are enabled) |
Not supported |
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Reset node (only if expert settings are enabled) |
Not supported |
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Guarding |
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Enable nodeguarding (Only available if heartbeat producing is disabled) |
Enabled |
Enabled |
The “CANopen Manager” sends a message to the node in a configured interval. If the node does not respond, then the “CANopen Manager” resends this message as many times as defined in “Lifetime factor” or until the node responds. If the node does not respond, then it is marked as “unavailable”. |
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Disabled |
Nodeguarding is disabled |
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Guard time (ms) (only if nodeguarding is enabled) |
200 |
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Interval in which node guarding telegram is sent. |
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Enable heartbeat producing (only available if nodeguarding is disabled) Life time factor (only if nodeguarding is enabled) |
2 |
1-255 |
Maximum allowed number of responses to nodeguarding message before remote device is marked as “unavailable”. |
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Disabled |
Disabled |
The remote device doesn’t send heartbeat messages. |
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Enabled |
The remote device sends heartbeat messages. |
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Producer time (ms) (only if heartbeat producing is enabled) |
10 |
1-65535 |
Time interval in which heartbeat messages are sent. |
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Heartbeat consuming |
Open a “Heartbeat Consuming Properties” dialog. There you activate the CANopen devices that you want to watch. The number of possible devices to be monitored is defined in the EDS file. To do this, you must select the “Enable” check box and enter the Node-ID of the device and the required values in the “Heartbeat time” field (in milliseconds). When a remote device monitors, a green check mark is displayed on the “Heartbeat Consuming” button. |
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Emergency (EMCY) |
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Enable emergency (EMCY) |
Enabled |
Enabled |
When internal errors occur, the node sends emergency messages. The diagnosis is shown in diagnosis tab of node respectively I/O module in case of S500 diagnosis of CI58x (see CM598-CN CAN manager diagnosis for list of possible diagnosis messages). |
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Disabled |
No emergency messages are sent by this node. |
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COB-ID ( only if “Enable emergency” is enabled |
“Node-ID” +0x80 |
0x1-0x7FF |
COB-ID of EMCY message. |
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TIME |
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Enable TIME producing |
Not supported |
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COB-ID (Hex) |
Not supported |
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Enable TIME consuming |
Not supported |
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Within the tab “PDO Mapping”, PDOs for the CANopen remote device can be configured.
PDOs are split into RPDOs and TPDOs. For each PDO, corresponding I/Os are displayed.
The following options are available for TPDOs and RPDOs.
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Parameter |
Default value |
Value |
Description |
|---|---|---|---|
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COB-ID |
Calculated |
0x180-0x57F 0x681-0x6DF |
The COB-ID is filled in automatically depending on the node ID and number of PDO but can be changed manually. |
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Type |
Asynchronous – device profile specific |
Asynchronous – device profile specific |
The PDO is transmitted according to the CiA device profile. |
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Acyclic - synchronous |
When a change is made, the PDO is transmitted synchronously, but not periodically. |
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Asynchronous – manufacturer specific |
The PDO is transmitted only after specific events. |
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Cyclic - synchrounus |
PDO is transmitted with SYNC mechanism. |
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Synchronous – only RTR (TPDOs only) |
After a synchronization message, the PDO is updated, but not transmitted. Transmission is by explicit request only (Remote Transmission Request). |
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Asynchronous – only RTR (TPDOs only) |
The PDO is updated and transmitted by explicit request only (Remote Transmission Request). |
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Num of syncs (only for Type “Cyclic – synchronous”) |
1 |
1-240 |
Number of SYNC messages before PDO is sent. |
The following options are only available for TPDOs.
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Parameter |
Default value |
Value |
Description |
|---|---|---|---|
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Inhibit time (x 100µs) |
0 |
0-65535 |
Device-dependent. The inhibit time is the minimum time between two messages of a specific PDO. You can use this setting to prevent PDOs from being sent too often when their values are edited. |
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Event time (x 1ms) (only for types “asynchronous – manufacturer specific” and “asynchrounus – device profile”) |
0 |
0-65535 |
Device-dependent. Indicate the time span that should be between two PDO transmissions PDOs (in milliseconds). |
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RTR |
Disabled |
Disabled |
RTR (Remote transmission request) not used. |
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Enabled |
A RTR frame can be used for interrogating the PDO externally. |
The “Bootconfiguration” tab allows configuration of the boot up behavior of the CANopen remote device.
The following options are available and can be set by either clicking on the graphics or selecting the corresponding check box on the right side of the editor window. The graphic illustrates the order of execution.
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Parameter |
Default value |
Value |
Description |
|---|---|---|---|
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Node ID-active |
Enabled |
Disabled |
The remote device is inactive. |
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Enabled |
The remote device is active. |
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Node BootUp |
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Node reset (send the reset-node command) |
Enabled |
Disabled |
No specific node reset communication command is sent. |
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Enabled |
The manager sends the CANopen specific node reset communication command. |
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Check node type and profile (compare the configured profile and type object 1000H with real value) |
Disabled |
Disabled |
The content of the node object 1000H is not compared with the current parameters. |
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Enabled |
The “CANopen Manager” compares the content of the mandatory node object 1000H. If the values are different, the manager will report a parameterization error. |
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Configuration Guard Protocol (configure the guard time and lifetime factor) |
Enabled |
Disabled |
The guard time and lifetime factor of the remote device configuration are not written. |
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Enabled |
A CANopen has 2 specific register responsible for the Node guarding protocol. The “CANopen Manager” writes the guard time and Life-Time factor of the node configuration into the corresponding objects of the remote device during startup. |
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Configuration SYNC COB-ID (configure the COB-ID for the synchronization-telegram) |
Enabled |
Disabled |
The “CANopen Manager” does not write the SYNC COB-ID of the configuration into the corresponding objects of the remote deivce. |
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Enabled |
The “CANopen Manager” will write the SYNC COB-ID of the configuration into the corresponding objects of the remote deivce during startup. |
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Configuration EMCY COB-ID (configure the COB-ID for the emergency-telegram) |
Enabled |
Disabled |
The “CANopen Manager” does not write the EMCY COB-ID of the configuration into the corresponding objects of the remote device. |
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Enabled |
The “CANopen Manager” writes the EMCY COB-ID of the configuration into the corresponding objects of the remote deivce during startup. |
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Configuration download of objects (download the object configuration to the node) |
Enabled |
Disabled |
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Enabled |
To get a PDO communication to a remote deivce working, the “CANopen Manager” has to send all relevant configuration objects to the remote device. For example, the COB-IDs of PDOs are covered here in the mapping table. If enabled, all these parameters and also the user specific objects (added manually in the remote device object configuration window) are written down to the remote device by the manager. |
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Start node (send the start-node command) |
Enabled |
Disabled |
No start node command is sent. |
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Enabled |
To reach the operational state in CANopen, a remote device has to get the CANopen specific start node command. The “CANopen Manager” sends the start node command to the remote device at the end of the boot-up procedure. |
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Initiate PDO data (remote request all TxPDOs and send current RxPDOs once after) |
Enabled |
Disabled |
PDOs are not written and read by the manager automatically. |
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Enabled |
This item selects if the installed PDOs shall be automatically written and read by the “CANopen Manager” directly after the startup once. This ensures that the latest output data which can be found within the “CANopen Manager” output process data area is sent to the remote device and that the latest remote device input data is read from the remote device and be placed into the input process data area. |
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The tab “CI58x IEC Objects” contains the created instance used for diagnosis access. This tab is available only for CI58x devices.