Mode of operation of the system
Deutschmann Automation GmbH & Co. KG
12
UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3
26.8.11
Now the Mappings can be changed, deleted or new ones can be added. Afterwards you only
have to download the data to the Gateway (menu file\download) and UNIGATE works with the
new configuration.
It is allowed to map the same byte of a PDO several times to different
positions in the Profibus.
However, a maximum of 8 mappings per PDO may be entered!
At the mapping from Profibus to CANopen® several mappings can be
configured for each Profibus-byte. There the total number of these mul-
tiple mappings must not exceed 127.
If possible for the PDO-mappings only COB-IDs from the range
181H..580H should be used (see DS301-specification for CANopen®).
Otherwise it might result in crossovers with COB-IDs that CANopen®
uses for other tasks (SDO-messages, emergency-messages and so on).
4.3.2
Node guarding
If a CANopen® slave controlled by node guarding, it cyclically receives the node guard request
to answer the inquiry through the CANopen® master. The slave for his part answers this node
guarding inquiry with the corresponding answer. That way, both master and slave can control
themselves mutually.
If the slave receives no node guard inquiry it assumes that the bus connection is broken or the
master went down.
