1

To add a TM5/TM7 CANopen interface DTM to your controller, select TM5NC01 Interface or TM7NCOMxxx Interface in the Hardware Catalog, drag it to the Devices tree, and drop it on one of the highlighted nodes.

For more information on adding a device to your project, refer to:

• Using the Drag-and-drop Method

• Using the Contextual Menu or Plus Button

2

Double-click the added node to access the device editor screen.

DTM Information

General information about the CANopen interface DTM.

Communication

Monitoring of the state, progress, and parent of the CANopen interface.

Device Address

The node ID (device address) serves to identify the CAN DTM uniquely and corresponds to the set number on the device itself which is from 1 to 126. Enter the ID as a decimal number.

Additional Settings

Enable Expert Settings: This enables additional CANopen settings in the DTM Information tab and in the Status tab.

Optional Device: If this option is activated, the master will try to read from this node only once. If the node does not answer, it will be ignored.

Additional Settings

SDO Channels...: This button displays the SDO channel configuration.

Reset Node: This option is activated by default. Resets the CANopen communication parameters of the slaves to their default values before downloading the new configuration. The parameters which can be reset depends on the device used. The subindex defines which configuration parameter is to be set. For example, by default via subindex 2 (1000h to 1FFFh, object 1011h), the CANopen communication settings are addressed. Refer to the CANopen standard for more information about objects.

No Initialisation: When this option is activated, the master activates the node without sending configuration SDOs (The SDO data nevertheless will be created and saved on the controller).

Node Guard

When this option is activated, a message will be sent to the device according to the Guard Time interval (in milliseconds, 200 by default).

If the device does not then send a message with the given Guard COB-ID (Communication Object Identifier), it will receive the status ’timeout’. As soon as the number of attempts (Life Time Factor; 2 by default if there are no other default settings within the device configuration file or if this default setting equals 0) has been reached, the device will receive the status "not OK". The status of the device will be stored in a diagnostic object.

NOTE: No monitoring of the device will occur if the variables Guard Time and Life Time Factor are not defined (=0).

Emergency

When this option is activated, a device will send an emergency message with a unique COB-ID, as soon as an internal error is detected. These messages, which vary from device to device, are stored in a diagnostic object.

Heartbeat

Enable Heartbeat Producing: When this option is activated, the device will send heartbeats according to the interval defined in Heartbeat Producer Time (in ms, 200 by default or if this setting equals 0).

Change Properties Heartbeat: This button opens a dialog to enter the desired value in milliseconds in the Heartbeat time field. If the Heartbeat Consumer option is activated, then the respective device will listen to heartbeats which are sent by the master. As soon as no more heartbeats are received, the device will switch off the I/Os.

Checks at Startup

This function compares the Check Vendor ID, Check Product Number, Check Revision Number object values with those configured in EcoStruxure Machine Expert.