Lenze PLC Designer PLC Designer (R2-x) CANopen for Runti User Manual

L SHPPLCDCAN13296252Ä.>_UäSoftware ManualPLC Designer - CANopen for Runtime SystemsPC-based AutomationL-force Engineering

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library  DMS 2.0 EN 05/2009 TD29 9 2.3 Functionality of the libraries at runti

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library 10 DMS 2.0 EN 05/2009 TD29  2.3.2 Explicit services of the CANopen lib

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library  DMS 2.0 EN 05/2009 TD29 11 2.4 Working with the CANopen-Master part i

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library 12 DMS 2.0 EN 05/2009 TD29  The configuration data are stored in the fo

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library  DMS 2.0 EN 05/2009 TD29 13 bSendHeartbeat : BOOL; (* Internally se

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library 14 DMS 2.0 EN 05/2009 TD29  2.4.2 Structure of the CANopen-node (Slave

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library  DMS 2.0 EN 05/2009 TD29 15 bOptional :BOOL; (* Set to TRUE by the co

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library 16 DMS 2.0 EN 05/2009 TD29  bDevTypeInvalid : BOOL; (* TRUE indicates

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library  DMS 2.0 EN 05/2009 TD29 17 2.4.3.1 Start-up of the CANopen-Master Dur

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library 18 DMS 2.0 EN 05/2009 TD29  After having run through the configuration

L-force | PLC Designer - CANopen for Runtime Systems  DMS 2.0 EN 05/2009 TD29 1 Content 1 About this documentation ________________________________

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library  DMS 2.0 EN 05/2009 TD29 19 2.4.3.4 Evaluation of the responses of the

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library 20 DMS 2.0 EN 05/2009 TD29  2.4.4 Examples for application-controlled

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library  DMS 2.0 EN 05/2009 TD29 21 dwDataOffset : DWORD; (* After the data

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library 22 DMS 2.0 EN 05/2009 TD29  Receive SDO: Like Sending SDO, except that

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library  DMS 2.0 EN 05/2009 TD29 23 General: The module always sends the reques

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library 24 DMS 2.0 EN 05/2009 TD29  2.4.4.2 Boot-up of the network without aut

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library  DMS 2.0 EN 05/2009 TD29 25 2.4.4.3 Stopping a node By calling method

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library 26 DMS 2.0 EN 05/2009 TD29  2.4.4.7 Guarding the configuration phase T

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library  DMS 2.0 EN 05/2009 TD29 27 2.5 Implicit calls »PLC Designer« creates

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library 28 DMS 2.0 EN 05/2009 TD29  If an object dictionary is available in the

L-force | PLC Designer - CANopen for Runtime Systems 2 DMS 2.0 EN 05/2009 TD29  4.1 CAN network variables for the user ____________________________

L-force | PLC Designer - CANopen for Runtime Systems CanDevice  DMS 2.0 EN 05/2009 TD29 29 3 CanDevice A »PLC Designer« programmable PLC can appear

L-force | PLC Designer - CANopen for Runtime Systems CanDevice 30 DMS 2.0 EN 05/2009 TD29  3.2 Configure CanDevice In order to configure a CanDevi

L-force | PLC Designer - CANopen for Runtime Systems CanDevice  DMS 2.0 EN 05/2009 TD29 31 3.3 CanDevice Settings Bus identifier: currently not us

L-force | PLC Designer - CANopen for Runtime Systems CanDevice 32 DMS 2.0 EN 05/2009 TD29  Example: Purpose: On the first receive-PDO (COB-Id = 512

L-force | PLC Designer - CANopen for Runtime Systems CanDevice  DMS 2.0 EN 05/2009 TD29 33 3.4 Generate EDS-file If an EDS-file should be generate

L-force | PLC Designer - CANopen for Runtime Systems CanDevice 34 DMS 2.0 EN 05/2009 TD29  [MandatoryObjects] SupportedObjects=2 1=1000 2=1001 [100

L-force | PLC Designer - CANopen for Runtime Systems CanDevice  DMS 2.0 EN 05/2009 TD29 35 [1005] SubNumber=0 ParameterName=COBID Synch Message Obj

L-force | PLC Designer - CANopen for Runtime Systems CanDevice 36 DMS 2.0 EN 05/2009 TD29  [1018] SubNumber=4 ParameterName=Vendor identification [

L-force | PLC Designer - CANopen for Runtime Systems CanDevice  DMS 2.0 EN 05/2009 TD29 37 3.5 Modifying the default mapping by the master configu

L-force | PLC Designer - CANopen for Runtime Systems CanDevice 38 DMS 2.0 EN 05/2009 TD29  3.6 Working with the CanDevice in the application progr

L-force | PLC Designer - CANopen for Runtime Systems About this documentation  DMS 2.0 EN 05/2009 TD29 3 1 About this documentation This document

L-force | PLC Designer - CANopen for Runtime Systems CanDevice  DMS 2.0 EN 05/2009 TD29 39 bHeartbeatError: BOOL; If the device is configured to b

L-force | PLC Designer - CANopen for Runtime Systems CanDevice 40 DMS 2.0 EN 05/2009 TD29  byHeartbeatConsumerID : BYTE; ID on which heartbeat mes

L-force | PLC Designer - CANopen for Runtime Systems CanDevice  DMS 2.0 EN 05/2009 TD29 41 3.6.2 Access on the object dictionary entries by the ap

L-force | PLC Designer - CANopen for Runtime Systems CanDevice 42 DMS 2.0 EN 05/2009 TD29  3.6.4 Sending emergency messages by the application pro

L-force | PLC Designer - CANopen for Runtime Systems CAN network variables  DMS 2.0 EN 05/2009 TD29 43 4 CAN network variables Network variables c

L-force | PLC Designer - CANopen for Runtime Systems CAN network variables 44 DMS 2.0 EN 05/2009 TD29  4.1.3 Settings in the Global Variables List

L-force | PLC Designer - CANopen for Runtime Systems CAN network variables  DMS 2.0 EN 05/2009 TD29 45 The options and their meaning: - Network ty

L-force | PLC Designer - CANopen for Runtime Systems CAN network variables 46 DMS 2.0 EN 05/2009 TD29  4.1.4 Generated calls An implicit variable

L-force | PLC Designer - CANopen for Runtime Systems Appendix  DMS 2.0 EN 05/2009 TD29 47 5 Appendix 5.1 List of SDOs usually created for a slave

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 followi

L-force | PLC Designer - CANopen for Runtime Systems About this documentation 4 DMS 2.0 EN 05/2009 TD29  1.3 Trademarks Microsoft, Windows and Win

L-force | PLC Designer - CANopen for Runtime Systems Appendix  DMS 2.0 EN 05/2009 TD29 49 (* Objects could be mapped, if required. *) wInExt :

L-force | PLC Designer - CANopen for Runtime Systems Appendix 50 DMS 2.0 EN 05/2009 TD29  F7: My customer specific object dictionary starts at 200

L-force | PLC Designer - CANopen for Runtime Systems Appendix  DMS 2.0 EN 05/2009 TD29 51 F11: I must write device specific data to index 1000,100

L-force | PLC Designer - CANopen for Runtime Systems Appendix 52 DMS 2.0 EN 05/2009 TD29  5.3.2 CANopen Master 5.3.2.1 Configuration In this chapt

L-force | PLC Designer - CANopen for Runtime Systems Appendix  DMS 2.0 EN 05/2009 TD29 53 5.3.3 Application In this chapter you find questions and

L-force | PLC Designer - CANopen for Runtime Systems Appendix 54 DMS 2.0 EN 05/2009 TD29  If the PDO should be transferred synchronously, additio

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L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library  DMS 2.0 EN 05/2009 TD29 5 2 CANopen-Master library 2.1 Differentiatio

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library 6 DMS 2.0 EN 05/2009 TD29  • Heartbeat Automatic sending and guarding o

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library  DMS 2.0 EN 05/2009 TD29 7 2.2.2 How to create a project with CANopen

L-force | PLC Designer - CANopen for Runtime Systems CANopen-Master library 8 DMS 2.0 EN 05/2009 TD29  2.2.2.4 Time-controlled PDO transmission fo