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ifm
System Manual
ecomat
mobile
PDM360NG (CR1080, CR1081, CR9042) Target V01
2011-07-28
CAN in the PDM360
CAN POUs to CANopen
244
CANopen support by CoDeSys
1857
General information about CANopen with CoDeSys
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CoDeSys is one of the leading systems for programming control systems to the international standard
IEC 61131. To make CoDeSys® more interesting for users many important functions were integrated
in the programming system, among them a configurator for CANopen. This CANopen configurator
enables configuration of CANopen networks (with some restrictions) under CoDeSys.
We no longer use the CoDeSys library for these devices. Although a library must be loaded into the
project, it only serves as a dummy.
The CANopen stack is always on the device (in the runtime system). Memory is only reserved for the
data if required.
CANopen terms and implementation
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According to the CANopen specification there are no masters and slaves in a CAN network. Instead of
this there is an NMT master (NMT = network management), a configuration master, etc. according to
CANopen. It is always assumed that all participants of a CAN network have equal rights.
Implementation assumes that a CAN network serves as periphery of a CoDeSys programmable
controller. As a result of this an
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mobile
controller or a PDM360 display is called CANopen
master in the CAN configurator of CoDeSys. This master is an NMT master and configuration master.
Normally the master ensures that the network is put into operation. The master takes the initiative to
start the individual nodes (= network nodes) known via the configuration. These nodes are called
slaves.
To bring the master closer to the status of a CANopen slave an object directory was introduced for the
master. The master can also act as an SDO server (SDO = Service Data Object) and not only as SDO
client in the configuration phase of the slaves.