Parameterization and commissioning
EL6751
93
Version: 3.5
"SDOs" tab
Fig. 110: "SDOs" tab
SDO inputs sent to the node at StartUp are displayed/managed on this page. Inputs with an object index in
straight brackets are automatically created on the basis of the updated terminal configuration. Other inputs
can be managed using ”Add", ”Insert", ”Delete" and ”Edit".
“ADS” tab
In order to be able to read and write SDO objects during the running time (e.g. from the PLC), the node (Bus
Coupler) can be allocated an ADS port (CIFx0-CAN). The FC510x / EL6751 provides an ADS port at all
times for every node since the diagnostic information is transported via ADS. These ports can be used to
read and write SDO objects using ADS read requests and/or write requests.
The ADS IndexGroup contains the CANopen object index and the ADS IndexOffset contains the CANopen
Sub-Index.
5.4
CANopen Communication
5.4.1
Network Management
Simple Boot-Up
CANopen allows the distributed network to boot in a very simple way. After initialization, the modules are
automatically in the
Pre-Operational
state. In this state it is already possible to access the object directory
using service data objects (SDOs) with default identifiers, so that the modules can be configured. Since
default settings exist for all the entries in the object directory, it is in most cases possible to omit any explicit
configuration.
Only one CAN message is then required to start the module: Start_Remote_Node: Identifier
0
, two data
bytes: 0x01, 0x00. It switches the node into the
Operational
state.
