IFM ecomat 100 R 360 Series, System Manual

Page: 153 / 166

page 153
Annex 1.6. CANopen unit interface ecomat R 360
•
The unit is classified and marked in unit class "Programmable Device" in accordance with CiA DS
405.
•
1 server SDO and the 4 default PDOs are set up in accordance with CiA DS 401. The default
Identifiers are allocated in accordance with the "predefined connection set". 2 x 6 PDOs are
available in addition.
•
The COB-IDs of PDOs and the transfer type (synch / asynch) of the individual PDO can be
configured.
•
The I/O module expects a SYNC object in the slave mode. The CAN identifier of the synch object
can be configured. After a change the ID is automatically saved.
•
In the master mode the I/O module generates a SYNC object. The Can identifier of the synch
object can be configured. After a change the ID is automatically saved.
•
The I/O module supports "node guarding". The "guard time", the "life time factor" and the CAN
identifier of the guard object can be configured and are saved.
•
The I/O module generates an Emergency Objekt . The COB-ID of the EMCY object can be
configured.
Parameter overview
Parameter Default value set by
the manufacturer Change
saved
automatically Valid after
Node ID 32 X immediately
Baud rate 3 (125 kBit/s) X Reset
COB ID SynchOobject 0x80 X immediately
Communication Cycle 0 (Off) X immediately
Guard Time 0 (Off) X immediately
Life Time Factor 0 (Off) X immediately
COB ID Guarding 0x70 + Node ID X immediately
COB ID EMCY 0x80 + Node ID X immediately
Transmit Type Receive PDO1 asynchron - operational*
Transmit Type Receive PDO2 asynchron - operational*
Transmit Type Transmit PDO1 asynchron - operational*
Transmit Type Transmit PDO2 asynchron - operational*
COP ID Receive PDO1 0x200 + Node ID - immediately
COP ID Receive PDO2 0x300 + Node ID - immediately
COP ID Transmit PDO1 0x180 + Node ID - immediately
COP ID Transmit PDO2 0x280 + Node ID - immediately
*
The change with PDO_RX_CONFIG und PDO_TX_CONFIG causes a CANopen Reset.
All settings that have not been saved are set to default value.
For this reason a two-step boot-up has to be carried out (see page 55/57).