Lenze PLC Designer PLC Designer (R2-x) CANopen for Runti Manuel d'utilisateur télécharger pdf (Page 2)

L-force | PLC Designer - CANopen for Runtime Systems

 DMS 2.0 EN 05/2009 TD29 1

Content

1 About this documentation ___________________________________________ 3

1.1 Document history ____________________________________________ 3

1.2 Liability ____________________________________________________ 3

1.3 Trademarks ________________________________________________ 4

1.4 CANopen terms and Lenze implementation________________________ 4

2 CANopen-Master library ____________________________________________ 5

2.1 Differentiation from other CANopen libraries _______________________ 5

2.2 CANopen for the user_________________________________________ 6

2.2.1 Used modules________________________________________ 6

2.2.2 How to create a project with CANopen_____________________ 7

2.3 Functionality of the libraries at runtime____________________________ 9

2.3.1 Implicit services of the CANopen-Master library______________ 9

2.3.2 Explicit services of the CANopen library___________________ 10

2.3.3 Starting the CANopen network __________________________ 10

2.4 Working with the CANopen-Master part in the application ____________ 11

2.4.1 Structure of the CANopen-Master _______________________ 11

2.4.2 Structure of the CANopen-node (Slave)___________________ 14

2.4.3 Interpretation and reaction on the states of the library ________ 16

2.4.4 Examples for application-controlled actions of the libraries ____ 20

2.5 Implicit calls _______________________________________________ 27

2.6 Object dictionary of the CANopen-Master ________________________ 27

3 CanDevice ______________________________________________________ 29

3.1 Functionality _______________________________________________ 29

3.2 Configure CanDevice ________________________________________ 30

3.3 CanDevice Settings _________________________________________ 31

3.4 Generate EDS-file __________________________________________ 33

3.5 Modifying the default mapping by the master configuration ___________ 37

3.6 Working with the CanDevice in the application program _____________ 38

3.6.1 Module CanopenDevice _______________________________ 38

3.6.2 Access on the object dictionary entries by the application

program ___________________________________________ 41

3.6.3 Changing the PDO properties at runtime __________________ 41

3.6.4 Sending emergency messages by the application program____ 42

4 CAN network variables ____________________________________________ 43

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Lenze PLC Designer PLC Designer (R2-x) CANopen for Runti Manuel d'utilisateur Page 2