Lenze PLC Designer PLC Designer (R2-x) CANopen for Runti User Manual download pdf (Page 49)

L-force | PLC Designer - CANopen for Runtime Systems

Appendix

48 DMS 2.0 EN 05/2009 TD29 

5.3 FAQs – Frequently Asked Questions

See in the following some frequently asked questions and the appropriate answers. Also regard the

example files and projects provided with the document.

5.3.1 CANopen Functionality

F1: Concerning the CANopen slave configuration: Is it true, that the object list gets filled via

the Parameter Manager?

A: Yes

F2: Can the object list also be created/extended in the »PLC Designer« code? What is to be

done?

A: The object list for list type „Variables“ can be generated out of the code by using pragmas. (For

how to use pragmas see also the »PLC Designer« user manual resp. online help).

See in the following an example, where in a global variables list Pragmas are inserted, which

will effect that the respective variables will be entered in a list in the Parameter Manager. (The

appropriate configuration of the index ranges must be done in the »PLC Designer« target

settings in category „Networkfunctionality “).

VAR_GLOBAL

g_byCANNodeID : BYTE := 16#10; (* CANopen NodeID normally read from a rotary switch. *)

Format of the ParameterManager entry:

{parameter list=<name> [ name= index=16 subindex= accesslevel= accessright= value= ] }

Possible keys and its values:

name : The name is only for information purposes

(not shown in PLC configuration or EDS file).

index : Index of the variable.

subindex : SubIndex of the variable.

accesslevel : Not used for CAN, but must be defined.

- low :

- middle :

- high :

accessright : Accessright values:

- "read only" : Tx PDO (Input, Master's view)

- "write only" : Rx PDO (Output, Master's view)

value : Default value.

(* Objects mapped by default *)

wIn : WORD {parameter list=IOs [name=ReadInput16Bit index=16#6100 subindex=16#0

accesslevel=middle accessright="read only" value=0 ] };

wOut : WORD {parameter list=IOs [name=WriteOutput16Bit index=16#6300 subindex=16#0

accesslevel=middle accessright="write only" value=0 ] };

(* Not mappable *)

byMode : BYTE {parameter list=IOs [name=Mode index=16#6500 subindex=16#0

accesslevel=middle accessright="read-write" value=0 ] };

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