BECKHOFF FC5101 - Manual (Page 31)

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vidually for each node).
Emcy COB Id. and Guard COB Id. are the identifiers for emergency messages and/or guarding protocol and
are based on the node address.
Automatic PDO... Specifies whether TwinCAT should download the PDO communications parameters to the
node at the system start.
FC510x: If the download of the PDO parameters fails, the card attempts to read these parameters
and compares them with the configured values. In this way, it supports only those nodes which,
e.g. have implemented the default identifiers as read-only values.
CIFx0-CAN: The PDO parameters are transferred to the CANopen node, but allowance is made if
the node does not support these inputs - requires only the conformation of the SDO access (an
SDO abort response is sufficient).
Vendor ID, Product Code, Serial No., Revision No. (FC510x only): If values other than zero are entered
here, these identity object inputs (0x1018 in the object directory) are read off at the system StartUp and com-
pared with the configured values. The corresponding node will be started only if the values coincide. It is also
possible to compare one part of the value (e.g. vendor ID and product code) - in this case set the not desired
parameters to zero.
Node Error Response (FC510x only):
Stop Node: After a recognised node error, the node is set to ”Stopped” mode (NMT command
"Stop Remote Node"). The node (according to each device profile) can then be switched to a safe
mode via the network status machine - SDO addressing is not possible in this mode.
No Response: No NMT stop remote node command after node error
Node Restart (FC510x only):
Automatic Restart: After a recognised node error the card automatically attempts to restart the
node. The StartUp attempt is initiated by a node reset command.
Manual Restart: After a node error, this node remains in error mode and is not restarted automati-
cally. You can actuate a restart via "I/O-Reset".
Network Response (FC310x only):
No Response: The failure of a node has no effect on the other bus devices
All Nodes Stop: After the failure of a node, all other previously started nodes are stopped (NMT
stop remote node command). You then need to restart the system.
General CAN Node (FC510x only): If you have selected this checkbox, the entire CANopen network manage-
ment for this device is deactivated. It is not started, monitored etc. The PDO inputs are detected as pure CAN
(2-layer) telegrams and enable the controller to operate in event driven mode.
Warning: As the CANopen terminology is retained, even in the case of the general CAN nodes, you
need to take into account the fact that RxPDOs are the telegrams sent by the Fc510x and TxPDOs are the
received telegrams.
This option allows any CAN node to be connected to the TwinCAT, if the Baud Rate and the bit timing parame-
ters comply. The respective protocol can then be simulated within the PLC program. It is also possible to run
CANopen devices and general CAN nodes within the same network - if there are no identifier overlaps (the
system structure is such that you cannot use an identifier twice).
CANopen PDOs
Process Data Objects (PDOs) are CAN telegrams which transport process data without a protocol overhead.
RxPDOs are received by node, TxPDOs are sent by the node. This description is contained in the System
Manager from the perspective of the configured node, i.e. RxPDOs are sent by the TwinCAT, TxPDOs are re-
ceived by the TwinCAT.