IFM Electronic Ecomat 100 ecomatmobile SmartController..., Системное руководство

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ifm System Manual ecomat mobile SmartController (CR2500, CR2502) V05
CAN in the ecomatmobile controller ifm CANopen library
105
Example list of variables
The data for the variable PLC_PRG.a is to be received on the first receive PDO (COB ID = 512 + node
ID) of the CAN device.
Info
[Variables] and [parameters] can be selected as list type.
For the exchange of data (e.g. via PDOs or other entries in the object directory) a variable list is
created.
The parameter list should be used if you do not want to link object directory entries to application
variables. For the parameter list only the index 1006
16
/ SubIdx 0 is currently predefined. In this entry
the value for the "Com. Cycle Period" can be entered by the master. This signals the absence of the
SYNC message.
So you have to create a variable list in the object directory (parameter manager) and link an index/sub-
index to the variable
PLC_PRG.a
.
► To do so, add a line to the variable list (a click on the right mouse button opens the context menu)
and enter a variable name (any name) as well as the index and sub-index.
► The only allowed access right for a receive PDO is [write only].
► Enter "
PLC_PRG.a
" in the column [variable] or press [F2] and select the variable.
NOTE
Data to be read by the CAN master (e.g. inputs, system variables) must have the access right [read
only].
Data to be written by the CAN master (e.g. outputs in the slave) must have the access right [write only].
SDO parameters to be written and at the same time to be read from and written to the slave application
by the CAN master must have the access right [read-write].
To be able to open the parameter manager the parameter manager must be activated in the target
settings under [Network functionality]. The areas for index/sub-index already contain sensible values
and should not be changed.