EN / MasterBus – CANopen Interface
5
Data type
Data on CANopen can be represented as a float or
as a 16 bit Integer.
Floats store float-point values, that is, values that
have potential decimal places.
Integers use 2 bytes and only store integral values,
that is whole numbers.
Which type you chose depends on the capabilities of
the receiving CANopen product.
Scaling
When using Integer values on CANopen you might
want to use scaling. This allows values like the
battery voltage to be transmitted without losing
accuracy. Select Scaling ‘x100’ to transmit a value
1325 instead of 13,25.
When receiving a CANopen PDO the input value will
be divided by the scaling value.
Select ‘x1’ if you don’t need scaling.
4.4
DATA FIELD CONFIGURATION
(ADVANCED)
It is also possible to update the data field
configurations directly by changing the strings in
‘Data fields A’ group and ‘Data Fields B’ group.
The complete configuration of each data field is
shown as a string ( sequence of characters).
These strings look like Figure 3 and consist of five
parts: the CANopen configuration, the data direction,
the MasterBus configuration, a comma separator
and the data representation.
Figure 3. Example of configuration string
NOTE: you will notice the same configuration
parameters as in the configuration via the standard
method but now combined into one string.
Meaning:
285
This is the hexadecimal COB-ID of the CANopen
message. Range: 0x181 –0x57F.
b0
Byte followed by the location of the data within
the PDO. Minimum value is 0, maximum value is
6.
<
Direction indicator. “<” indicated data direction
from MasterBus to CANopen. “>” indicates data
direction from CANopen to MasterBus
1
Device Number. The device in the Device
numbers group with this number will be used to
connect to. Minimum number 1, maximum
number 20.
m
Indicates data on the monitoring page is used.
Other options include a(Alarm page),
c(Configuration page) and h (History page)
0
Index on page. Decimal value ranging from 0 to
1000.
,
Comma separator
s
Indicates data on CANopen is represented as 2
byte signed int. Other option is f (Float) for a 4
byte float representation.
0
Indicates data scaling on CANopen. Use 0 for no
scaling(x1).
1 for ‘x10 scaling, 2 for x100 scaling and 3 for
x1000 scaling on CANopen.
4.5 CONFIG
ERROR
Your CANopen interface status will show ‘Config
Error’ if:
1. Two or more data fields are ‘CANopen<MB’
and have the same COB-ID and the data is
overlapping.
2. One or more data fields are CANopen>MB
and do not fit in the 8 data bytes.
When there is a ‘Config error’ no CANopen PDO’s
will be transmitted or received by the CANopen
interface.
285b0<1m0,s0
Figure 4:
Example of stings in advanced data field
configuration
