IFM PDM360NG Series, System Manual

Page: 269 / 463

ifm System Manual ecomat mobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28
CAN in the PDM360 CAN POUs to CANopen
269
Access to the CANopen slave at runtime
1985
Setting of the node numbers and the baud rate of a CANopen slave
8042
For the CANopen slave the node number and the baud rate can be set at runtime of the application
program.
Setting the node number CANOPEN_SETSTATE ( → page 292 )
Setting the baud rate CANOPEN_ENABLE ( → page 277 )
The unit(s) you find in the library
ifm_CANopen_NT_Vxxyyzz.LIB
.
Access to the OD entries by the application program
8043
As standard, there are entries in the object directory which are mapped to variables (parameter
manager).
However, there are also automatically generated entries of the CANopen slave which cannot be
mapped to the contents of a variable via the parameter manager. These entries are available here:
- CANOPEN_READOBJECTDICT (
→ page 309 )
- CANOPEN_WRITEOBJECTDICT ( → page 311 )
The unit(s) you find in the library
ifm_CANopen_NT_Vxxyyzz.LIB
.
Change the PDO properties at runtime
1988
If the properties of a PDO are to be changed at runtime, this is done by another node via SDO write
access as described by CANopen.
As an alternative, it is possible to directly write a new property, e.g. the "event time" of a send PDO
and then transmit a command "StartNode-NMT" to the node although it has already been started. As a
result of this the device reinterprets the values in the object directory.
Transmit emergency messages via the application program
8044
To transmit an emergency message via the application program CANOPEN_SENDEMCYMESSAGE
(
→ page 319 ) can be used.
The unit(s) you find in the library
ifm_CANopen_NT_Vxxyyzz.LIB
.