Lenze PLC Designer PLC Designer (R2-x) CANopen for Runtime Systems - Manual (Page 2)

L-force | PLC Designer - CANopen for Runtime Systems
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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