ifm
System Manual
ecomat
mobile
SmartController (CR2500) V05
CAN in the ecomatmobile controller
ifm CANopen library
89
Add and configure CANopen slaves
Next you can add the CAN slaves. To do so, you must call again the dialogue in the controller
configuration [Insert] > [Append subelement]. A list of the CANopen device descriptions (EDS files)
stored in the directory PLC_CONF is available. By selecting the corresponding device it is directly
added to the tree of the controller configuration.
NOTE
If a slave is added via the configuration dialogue in CoDeSys, source code is dynamically integrated in
the application program for every node. At the same time every additionally inserted slave extends the
cycle time of the application program. This means: In a network with many slaves the master can
process no further time-critical tasks (e.g. FB OCC_TASK).
A network with 27 slaves has a basic cycle time of 30 ms.
Please note that the maximum time for a PLC cycle of approx. 50 ms should not be exceeded
(watchdog time: 100 ms).
Tab [CAN parameters]
Node ID
The node ID is used to clearly identify the CAN module and corresponds to the number on the module
set between 1 and 127. The ID is entered decimally and is automatically increased by 1 if a new
module is added.
Write DCF
If [Write DCF] is activated, a DCF file is created after adding an EDS file to the set directory for
compilation files. The name of the DCF file consists of the name of the EDS file and appended node
ID.
Create all SDO's
If this option is activated, SDOs are generated for all communication objects. (Default values are not
written again!)
