column and pressing 'Add slave to group' or 'Remove slave from group' with the right mouse button, or
by clicking again with the mouse to the left of the group name.
A slave device can only be assigned to those groups whose properties it supports. The concerned
properties of each slave (Sync. Mode / Freeze Mode) are displayed above the table. The modes
supported by the device are checked.
Module parameters of a DP slave
The module parameters dialog of a DP slave matches that of the other modules (see Chapter 6.6.5).
The parameters assigned to the slave in addition to the DP and user parameters in the configuration
file are displayed here, and the values can be edited in the standard case.
Properties of a DP slave in slave operation of the Profibus
If a Profibus runs in slave mode, the slave device is inserted in the master level of the configuration
tree. The configuration can be done in the following dialogs (for a description see the chapters above):
6.6.8 Configuration of CANopen modules
CoDeSys supports a hardware configuration according to CANopen Draft Standard 301. The
configuration looks like that described for the hardware dependant configuration.
All EDS (Electronic Data Sheet) respectively DCF (Device Configuration File) files which are stored in
the configuration files directory (see Chapter 4.2, Project Options: Directories) when CoDeSys is
started, can be integrated, edited and displayed in the configuration according to the description in the
configuration file *.cfg. In the EDS file the configuration options of a CAN module are described. If you
add a module, which is described in a DCF file, only the IEC addresses can be modified, for the
module has already been configured completely in a CAN configurator.
The CAN modules get a configuration which describes their time- and error-dependant behaviour
during the exchange of messages (dialog 'CAN Parameters of a CAN Module'). Further on for each
module the mapping of the PDOs (Process Data Objects), serving for sending and receiving (dialogs
'Receive…’ resp. ‘Send PDO-Mapping’). The values of the available SDOs (Service Data Objects) can
be adapted (dialog 'Service Data Objects').
Additional parameters of a CAN module resp. CAN Master, specified in the device description file can
be configured in dialog 'Modulparameters'.
If a CoDeSys-programmable PLC should be integrated in a CAN network as a CANopen slave (also
named „CANopen node“ and in the following called „CAN device”), it can be configured in the
CoDeSys PLC configurator and the configuration can be stored in form of a EDS-file. This device
description file then can be used in any desired CANopen Master configuration.
The following chapters describe the dialogs and menu commands of the CANopen configurator.
Further information is provided by the document „CANopen für 3S Laufzeitsysteme V<version>.pdf”.
Base parameters of a CAN Master
The Base parameters dialog of a CAN master matches that of the other modules (see chapter 6.6.5,
'Base parameters of an I/O Module').
CAN parameters of a CAN Master
The properties for transmission on the CAN bus can be set directly after the insertion of the module or
can be called up with the command ’Extras’ ‘Properties’.
Using the selection option, set the required Baud rate which the transmission should take place at.
6 - The Ressources
One differentiates between synchronous and asynchronous transmission modes (see PDO
properties) for PDO’s (Process Data Object). The synchronisation message is sent with a unique
number Sync. COB-ID (Communication Object Identifier) in the interval in microseconds which is
given by the Communication Cycle Period. The synchronous PDO’s are transmitted directly after
the synchronisation message in the time window (Sync. Window Length in microseconds). No
synchronisation message will be sent if the fields Comm. Cycle Period and Sync. Window Length
activate: Only if this option is activated synchronization messages will be transmitted between master
Node-Id: serves to identify the CAN module uniquely and corresponds to the set number on the
module itself which is between 1 and 127. The Id must be entered as a decimal number. ( Do not mix
up with the 'Node number' !)
CAN Parameter Dialog for a CAN-Master
The CAN bus will automatically initialised and started when downloading is occurring and when the
controller system starts up if the option Automatic start is activated. The CAN bus must be started up
in the project if this option is not active.
If the option Support DSP301,V3.01 and DSP306 is activated, then modular CAN Slaves as well as
some additional extensions concerning the standards DSP301 V3.01 and DSP306 will be supported.
In this case e.g. the stroke of the Heartbeat will be adjustable (Heartbeat Master [ms]:). Working with
Heartbeats is an alternative guarding mechanism: In contrast to the Nodeguarding functionality it can
be executed by Master- and
Slave-Modules. Usually the master will be configured to send heartbeats
to the slaves.
Module parameters of a CAN-Master
The module parameters dialog of a CAN master is the same as that for the other modules (see
Chapter 6.6.5): The parameters which have been additionally assigned to the master in the
configuration file, are displayed here and as a default the values can be edited.
Base parameters of a CAN module
The Base parameters dialog of a DP master matches that of the other modules (see chapter 6.6.5,
'Base parameters of an I/O Module').
IEC addresses by which the PDO’s (Process Data Object) in the project can be addressed are
entered for output and input addresses, whereby the direction (input or output) is defined from view
of the module.
A marker address must be given at the diagnostic address of the CAN module. It works like
described for the CAN master.
CAN parameters of a CAN Module
The CAN parameters of a CAN module, which is not acting as master (global watching of the bus),
are different to those of a CAN master.
CAN parameters dialog for a CAN Module
The Node-Id serves to identify the CAN module uniquely and corresponds to the set number on the
module itself which is between 1 and 127. The Id must be entered as a decimal number.
If DCF write is activated, a DCF file will be created after inserting an EDS file in the defined directory
for the compiled files whose name is made up of the name of the EDS file and the Node Id which is
tacked on the end.
If the option Create all SDO's is activated, then for all objects SDO's will be created (not only for
those that have been modified).
If the option Reset node (the availability depends on the content of the device description file), is
activated, then the slave will be reset before downloading the configuration.
If the option Optional device is activated (availability in dialog is target dependent), the master only
once will try to read from this node. Then the node, if not answering, will be ignored, i.e. the master
will return to normal operation mode.
If the option No initialization is activated (availability in dialog is target dependent), the master
immediately will activate the node, without sending configuration SDOs. (The SDO data nevertheless
will be created and saved on the controller.)
6 - The Ressources
If supported by the target, the creation of SDOs can be suppressed in three levels. This might be
desired in case of having limited space for configuration:
Attention: These settings should not be modified without having detailed knowledge of the system!
CreateCommSDOs: Communication parameter SDOs
CreateMappingSDOs: Mapping configuration SDOs
CreateBasicSDOs: Base parameters SDOS (Nodeguarding, Sync etc.)
Only for the activated types the appropriate SDOs will be created. The above described option
'Create all SDO's' only refers to currently here activated SDO types.
Section Node guard: (alternatively to guarding by the Heartbeat mechanism)
If the option Nodeguarding is activated, a message will be sent to the module according to the
interval set by Guard Time in milliseconds. If the module does not then send a message with the
given Guard COB-ID (Communication Object Identifier), it will receive the status "timeout". As soon
as the number of attempts (Life Time Factor) has been reached, the module will receive the status
"not OK". The status of the module will be stored at the diagnosis address. No monitoring of the
module will occur if the variables Guard Time and Life Time Factor are not defined (0).
Section Heartbeat Settings: (alternatively to Nodeguarding)
If the option Activate Heartbeat Producer is activated, the module will send heartbeats according to
the interval defined in Heartbeat Producer Time: given in ms.
If the option Activate Heartbeat Consumer is activated, then the module will listen to heartbeats
which are sent by the master. As soon as no more heartbeats are received, the module will switch off
Section Emergency Telegram:
A module sends an emergency message, with a unique COB-Id., when there is an internal error.
These messages, which vary from module to module, are stored in the diagnosis address.
The entries "FileInfo" and "DeviceInfo" of the EDS or DCF file from the corresponding module
manufacturer are hidden behind the Info button.
CAN Modules Selection for Modular Slaves
In the left column (Available modules) you find all modules which are available for the slave. Mark
the desired modules and by using the buttons Add and Remove create a selection in the right column
(Selected Modules). The PDO- and SDO selection will be updated automatically.
PDO mapping of a CAN module
The tabs Receive PDO mapping and Send PDO mapping in the configuration dialog for a CAN
module allow the "mapping" of the module, which is described in the EDS file, to be changed.
All of the "mapable" objects in the EDS file are located on the left side and can be added in the right
side to the PDO's (Process Data Object) (">>" button) or removed again (Remove button). The
StandardDataTypes can be inserted to create empty spaces in the PDO.
The button Insert Element can be used to create further PDO's and to add appropriate objects to
them. The allocation of inputs or outputs to the IEC addresses can be achieved over the inserted
PDO's. The settings which have been made in the controller system configuration will become visible
when one leaves the dialog. The individual objects can be afforded symbolic names there.
Configuration of a CAN module, PDO-Mapping
The standard set properties of the PDO's can be edited using command Properties.
PDO properties dialog
Each PDO message requires a unique COB-Id (Communication Object Identifier).
The field appears in grey and cannot be edited if an option is not be supported by the module or if the
value cannot be changed.
The Inhibit Time is the minimum time between two messages from this PDO. This is to prevent
PDO's which are sent when the value is changed from being sent too often.
The CMS Priority Group cannot be changed and describes the relative importance of the PDOs
during the CAN transmission. Values from 0 to 7 are displayed, whereby 0 is the highest.
Transmission Type offers you a selection of possible transmission modes for this module:
acyclic - synchronous: the PDO will be transmitted synchronously but not periodically.
cyclic – synchronous: the PDO will be transmitted synchronously, whereby the Number of Sync's
gives the number of synchronisation messages, which lie between two transmissions of this PDO.
synchronous – RTR only: the PDO will be updated after each synchronisation message but not sent.
It is only sent when there is an explicit request to do so (Remote Transmission Request)
asynchronous – RTR only: the PDO will only be updated and transmitted when there is an explicit
request to do so (Remote Transmission Request)
asynchronous – device profile specific and asynchronous - manufacturer specific: the PDO will
only be transmitted when specific events occur.
Documents you may be interested
Documents you may be interested