Lenze PLC Designer PLC Designer (R2-x) CANopen for Runtime Systems - Manual (Page 28)

L-force | PLC Designer - CANopen for Runtime Systems
CANopen-Master library

DMS 2.0 EN 05/2009 TD29 27
2.5 Implicit calls
»PLC Designer« creates implicit calls to the CANopen libraries.
If »PLC Designer« is started with command line option /debug, these calls are stored to the compile
directory as files (name starts with CANopen…., extension is “.exp”).
The calls are generated after the following pattern:
If there is no module parameter ‘UpdateTask’ of the CAN master, then all calls will be done in the task
of the highest priority. The CAN-Master and all PDOs belonging to this master will be called in one
task. If parameter UpdateTask of the CAN-Master is set, the task specified there will be used for the
calls.
If PDOs or the master are called according to the above described pattern in an event task, a warning
will be issued.
By adding an entry PDOsToReferenceTasks=TRUE in the CANMASTER section of the target
configuration file (*.cfg) you can achieve the following: The calls of the CAN-Master will be linked to a
task and the PDOs will be created in those tasks in which the IOs of the PDOs are referenced.
Regard: This entry in the cfg-file may not be added without prior consultation of the PLC
manufacturer!
2.6 Object dictionary of the CANopen-Master
In some cases it is helpful if the CAN master has an own object dictionary, e.g. for the data exchange
of the application with other CAN nodes.
The object dictionary of the master is created via an EDS-file during compilation and is pre-allocated
with values.
The EDS-file to be used is defined by two entries in the cfg-file:
MasterEDS=TRUE
MasterEDSFile=MyMaster.eds
In this example the first file named „MyMaster.eds“ which is found all over all configuration directories,
will be used.
The object dictionary is an array of the following structure:
TYPE CanOpenODEntry :
STRUCT
dwIdxSubIdxF : DWORD; (* The structure of this component is 16#iiiissff, whereby iiii
signifies 2 bytes index, ss signifies 1 byte subindex and ff
signifies 1 byte flags. *)
dwContent : DWORD; (* Content of the entry.*)
wLen : WORD; (* Data length.*)
byAttrib : BYTE; (* Originally intended for defining the access right, but can
be arbitrarily used by the master application. *)
byAccess : BYTE; (* Formerly access right, but can be arbitrarily used by the
master application.*)
END_STRUCT
END_TYPE
The »PLC Designer« user interface provides no editor for the object dictionary.
The EDS-file just defines with which objects the object dictionary has to be created. Thereby the
entries always are created with length 4 and the flags (lowest prior byte of the component of an object
dictionary entry dwIdxSubIdxF) always with 16#41 resp. 16#01 for the last entry.