ifm
System Manual
ecomat
mobile
SmartController (CR2500) V05
CAN in the ecomatmobile controller
ifm CANopen library
91
Transmission
Type
For transmission type you receive a selection of possible transmission modes for
this module:
acyclic – synchronous
After a change the PDO is transferred with the next SYNC.
cyclic – synchronous
The PDO is transferred synchronously. [Number of SYNCs] indicates the number of
the synchronisation messages between two transmissions of this PDO.
asynchronous – device profile specific
The PDO is transmitted on event, i.e. when the value is changed. The device profile
defines which data can be transferred in this way.
asynchronous – manufacturer specific
The PDO is transmitted on event, i.e. when the value is changed. The device
manufacturer defines which data is transferred in this way.
(a)synchronous – RTR only
These services are not implemented.
Number of SYNCs
Depending on the transmission type this field can be edited to enter the number of
synchronisation messages (definition in the CAN parameter dialogue of [Com. Cycle
Period], [Sync Window Length], [Sync. COB ID]) after which the PDO is to be
transmitted again.
Event-Time
Depending on the transmission type the period in milliseconds [ms] required
between two transmissions of the PDO is indicated in this field.
Tab [Service Data Objects]
Index, name, value, type and default
Here all objects of the EDS or DCF file are listed which are in the range from index 2000
16
to 9FFF
16
and defined as writable. Index, name, value, type and default are indicated for every object. The value
can be changed. Select the value and press the [space bar]. After the change you can confirm the
value with the button [Enter] or reject it with [ESC].
For the initialisation of the CAN bus the set values are transferred as SDOs (Service Data Object) to
the CAN module thus having direct influence on the object directory of the CAN slave. Normally they
are written again at every start of the application program – irrespective of whether they are
permanently stored in the CAN device.
Master at runtime
Here you find information about the functionality of the CANopen master libraries at runtime.
The CANopen master library provides the CoDeSys application with implicit services which are
sufficient for most applications. These services are integrated for users in a transparent manner and
are available in the application without additional calls. The following description assumes that the
library
ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB
was manually added to the library manager to
use the network diagnostic, status and EMCY functions.
Services of the CANopen master library:
Reset of all configured slaves on the bus at the system start
To reset the slaves, the NMT command "Reset Remote Node" is used as standard explicitly for every
slave separately. (NMT stands for
N
etwork
M
anagemen
t
according to CANopen. The individual
commands are described in the CAN document DSP301.) In order to avoid overload of slaves having
less powerful CAN controllers it is useful to reset the slaves using the command "All Remote Nodes".
The service is performed for
all
configured slaves using the function CANx_MASTER_STATUS
