General

Node-ID

Next unused value

1-127

Unique node id for CANopen remoter device.

Enable expert settings

Enabled

Enabled

All settings are displayed that are predefined by the device description (EDS file) for the device.

Disabled

Only basic settings are shown

SDO channels (only if expert settings are enabled)

Click this button to open a dialog for activating the SDO channels that are prede- fined in the EDS file. Service data objects (SDOs) allow access to all entries in the CANopen object directory. An SDO creates a peer-to-peer communication channel between two devices (SDO server and client channel).

Enable SYNC producing

Not supported

Optional device (only if expert settings are enabled)

Not supported

No initialization (only if expert settings are enabled)

Not supported

Reset node (only if expert settings are enabled)

Not supported

Guarding

Enable nodeguarding

(Only available if heartbeat producing is disabled)

Enabled

Enabled

The “CANopen Manager” sends a message to the node in a configuredinterval. 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”.

Disabled

Nodeguarding is disabled

Guard time (ms) (only if nodeguarding is enabled)

200

Interval in which node guarding telegram is sent.

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”.

Disabled

Disabled

The remote device doesn’t send heartbeat messages.

Enabled

The remote device sends heartbeat messages.

Producer time (ms) (only if heartbeat producing is enabled)

10

1-65535

Time interval in which heartbeat messages are sent.

Heartbeat consuming

Opens 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 is monitoring, a green check mark is displayed on the “Heartbeat Consuming” button.

Emergency (EMCY)

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).

Disabled

No emergency messages are sent by this node.

COB-ID ( only if “Enable emergency” is enabled

“Node-ID” +0x80

0x1-0x7FF

COB-ID auf EMCY message.

TIME

Enable TIME producing

Not supported

COB-ID (Hex)

Not supported

Enable TIME consuming

Not supported

COB-ID

calculated

0x180-0x57F

0x681-0x6DF

The COB-ID is filled in automatically dependend to the node id and number of PDO but can be changed manually.

Type

Asynchronous – device profile specific

Asynchronous – device profile specific

The PDO is transmitted according to the CiA device profile.

Acyclic - synchronous

When a change is made, the PDO is transmitted synchronously, but not periodically.

Asynchronous – manufacturer specific

The PDO is transmitted only after specific events.

Cyclic - synchrounus

PDO is transmitted using SYNC mechanism.

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).

Asynchronous – only RTR (TPDOs only)

The PDO is updated and transmitted by explicit request only (Remote Transmission Request).

Num of syncs (only for Type “Cyclic – synchronous”)

1

1-240

Number of SYNC messages before PDO is sent.

Inhibit time (x 100µs)

0

0-65535

Devicedependant. The inhibit time is the minimum time between two messages of a specific PDO. You can use this setting for preventing PDOs from being sent too often when their values are edited. Default: "0". Possible values: 0–65535.

Event time (x 1ms) (only for types “asynchronous – manufacturer specific” and “asynchrounus – device profile”)

0

0-65535

Device-dependant. Indicate the time span that should be between two PDO transmissions PDOs (in milliseconds).

RTR

Disabled

Disabled

 RTR( Remote transmission request) not used.

Enabled

 A RTR frame can be used for interrogating the PDO externally.

Node ID-active

Enabled

Disabled

The remote device is inactive.

Enabled

The remote device is active.

Node BootUp

Node reset (send the reset-node command)

Enabled

Disabled

No specific node reset communication command is sent.

Enabled

The manager sends the CANopen specific node reset communication command.

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 are not compared with the current parameters.

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.

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.

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.

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.

Enabled

The “CANopen Manager” will write the SYNC COB-ID of the configuration into the corresponding objects of the remote deivce during startup.

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.

Enabled

The “CANopen Manager” writes the EMCY COB-ID of the configuration into the corresponding objects of the remote deivce during startup.

Configuration download of objects (download the object configuration to the node)

Enabled

Disabled

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 parameter and also the user specific objects which are added manually in the remotre device object configuration window are written down to the remote deivce by the manager.

Start node (send the start-node command)

Enabled

Disabled

No start node command is sent.

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.

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.

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.