VIPA System 200V IM Series, Manual

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Chapter 5 CANopen
Manual VIPA System 200V
5-12 HB97E - IM - Rev. 06/29
Here you set the reaction for the slave input data in case of a slave failure.
Switch substitute value 0
: The data is set to 0.
Keep the last value
: The recent date remain unchanged.
This area allows you to define the diagnostic reaction of the CAN master.
Diagnostic:
Activates the diagnostic function
CANopen state:
When activated, the CAN master sends its state
"preoperational" or "operational" to the CPU. You may request the state via
SFC 13.
Slave failure/recovery:
When activated, the OB 86 is called in the CPU in
case of slave failure and reboot.
Error control:
If this option is selected, the NMT master sends all Guarding
errors as diagnosis to the CPU, that calls the OB 82.
Emergency Telegram:
At activation, the NMT master sends all Emergency
telegrams as diagnosis to the CPU, that calls the OB 82.
The following fields allow you to preset the address ranges in the CPU for
the CANopen master in- and output ranges. Each block consists of 4Byte.
Input addr. 6000, Input blocks
PI basic address in the CPU that are occupied from 0x6000 CAN input
data. For input blocks max. 16 (64Byte) can be entered.
Output addr. 6000, Output blocks
PO basic address in the CPU that are occupied from 0x6000 CAN output
data. For output blocks max. 16 (64Byte) can be entered.
Input addr. A000, Input blocks
PI basic address in the CPU that are occupied from 0xA000 CAN input
network variables. For input blocks max. 80 (320Byte) can be entered.
Output addr. A000, Output blocks
PO basic address in the CPU that are occupied from 0xA000 CAN output
network variables. For output blocks max. 80 (320Byte) can be entered.
To enable the master to access a CANopen slave, you have to register it at
the according master via WinCoCT. Right click onto your CAN master,
choose "Device access" and switch to the register "CANopen Manager".
Via [Change] you can register every single slave res. via [Global] all slaves
at your master and preset the error behavior.
Please don’t forget to apply the settings into your project engineering
by clicking on [Apply to slaves].
Behavior at Slave
breakdown
Diagnostic
Address range in
the CPU
Activate CANopen
slave in the
CANopen Manager