IFM PDM360NG Series, System Manual

Page: 263 / 463

ifm System Manual ecomat mobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28
CAN in the PDM360 CAN POUs to CANopen
263
CANopen slave
Functionality of the CANopen slave library ............................................................................... 263
CANopen slave configuration.................................................................................................... 264
Access to the CANopen slave at runtime ................................................................................. 269
1865
A CoDeSys programmable controller can also be a CANopen slave in a CAN network.
Functionality of the CANopen slave library
8041
The CANopen slave library in combination with the CANopen configurator provides the user with the
following options:

In CoDeSys configuration of the properties for nodeguarding/heartbeat, emergency, node ID and
baud rate at which the device is to operate.

Together with the parameter manager in CoDeSys, a default PDO mapping can be created which
can be changed by the master at runtime. The PDO mapping is changed by the master during the
configuration phase. By means of mapping IEC variables of the application can be mapped to
PDOs. This means IEC variables are assigned to the PDOs to be able to easily evaluate them in
the application program.

The CANopen slave library provides an object directory. The size of this object directory is defined
while compiling CoDeSys. This directory contains all objects which describe the CANopen slave
and in addition the objects defined by the parameter manager. In the parameter manager only the
list types parameters and variables can be used for the CANopen slave.

The library manages the access to the object directory, i.e. it acts as SDO server on the bus.

The library monitors nodeguarding or the heartbeat consumer time (always only of one producer)
and sets corresponding error flags for the application.

An EDS file can be generated which describes the configured properties of the CANopen slave so
that the device can be integrated and configured as a slave under a CANopen master.
The CANopen slave library explicitly does not provide the following functionalities described in
CANopen (all options of the CANopen protocol which are not indicated here or in the above section
are not implemented either):

Dynamic SDO and PDO identifiers

Automatic generation of emergency messages, but without of guarding and heartbeat errors:
Emergency messages must be generated by the application using
CANOPEN_SENDEMCYMESSAGE (
→ page 319 ).
Emergency messages must be read by the application using CANOPEN_GETEMCYMESSAGES
(
→ page 323 ).
The unit(s) you find in the library
ifm_CANopen_NT_Vxxyyzz.LIB
.

Dynamic changes of the PDO properties are currently only accepted on arrival of a StartNode
NMT message, not with the mechanisms defined in CANopen.