ifm
System Manual
ecomat
mobile
PDM360NG (CR1080, CR1081, CR9042) Target V01
2011-07-28
CAN in the PDM360
CAN POUs to CANopen
262
The object directory of the CANopen master
8039
In some cases it is helpful if the CANopen master has its own object directory. This enables, for
example, the exchange of data of the application with other CAN nodes.
The object directory of the master is generated using an EDS file named
CRnnnnMasterODEntry.EDS
during compilation and is given default values. This EDS file is stored
in the directory
CoDeSys
Vn\Library\PLCconf
. The content of the EDS file can be viewed via the
button [EDS...] in the configuration window [CAN parameters].
Even if the object directory is not available, the master can be used without restrictions.
The object directory is accessed by the application via function blocks:
- CANOPEN_GETODCHANGEDFLAG (
→
page
- CANOPEN_READOBJECTDICT (
→
page
- CANOPEN_WRITEOBJECTDICT (
→
page
On the platform CoDeSys has no editor for this object directory.
The EDS file only determines the objects used to create the object directory.
If an object directory is available in the master, the master can act as SDO server in the network.
Whenever a client accesses an entry of the object directory by writing, this is indicated to the
application via the flag ODCHANGED in CANOPEN_GETODCHANGEDFLAG. After evaluation this
flag must be reset by the input RESETFLAG=TRUE.
The application can use the object directory by directly writing to or reading the entries.