Lenze CANopen control technology - Manual (Page 70)

Control technology | CANopen communication manual
Commissioning the CANopen Logic bus
Preparing the restart
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DMS 4.2 EN 07/2011 TD17
8.9.3 Special features of the I/O-System IP20 (EPM-Txxx)
Thus the following strategies are possible for the I/O system restart:
 Automatic:
You want the control to automatically initialise the I/O system after the device has
been replaced.
– Operate the I/O system in CANopen mode.
– Enter all required parameter values in the Control Configuration under the Service
Data Objects tab.
– Go to the Parameters tab and do not set a checkmark at "Reset Node" in order that
the control does not execute a factory adjustment.
– Go to the Parameters tab and set a checkmark at Create all SDOs in order that the
control initialises all parameters.
– After changing the I/O system:
Set the node address and baud rate at the coding switch for the CANopen mode and
then start the control.
 Using the »Engineer« or the »Global Drive Control«:
1. You have implemented the I/O system successfully into the PLC program.
2. You have parameterised some codes of the I/O system using the »Engineer« or the
»Global Drive Control«.
3. You do not want to transmit the parameter setting to the control configuration now,
since you can assume that after a possible device replacement a project planning tool
will be available.
– Operate the I/O system in CANopen mode.
– Go to the Parameters tab and do not set a checkmark at "Reset Node" in order that
the control does not execute a factory adjustment.
– Keep the »Engineer« project or the »Global Drive Control« file at the machine.
– After changing the I/O system:
Set the node address and baud rate at the coding switch for the CANopen mode and
transmit the archived parameter setting to the I/O system. Then start the control.

Note!
For the SDO initialisation of the I/O system, please observe that ...
• a factory adjustment sets the I/O system to the system bus mode.
– In connection with control technology, set CANopen.
• when being in the system bus mode, the I/O system only accepts changed
CAN settings after a "reset node" has been executed.
• the control does not transmit a "reset node" after the SDO initialisation,
unless you have programmed it accordingly.