1

To add a drive to your controller, select the required supported device in the Hardware Catalog, drag it to the Devices tree, drop it on one of the highlighted nodes, then select the corresponding DTM name.

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.

General

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 and Status tabs and adds 2 tabs Receive PDO Mapping and Send PDO Mapping.

General (Additional Settings)

SDO Channels: Addition of a second SDO channel, in case of performance issue while the DTM is exchanging data with the physical device.

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.

Create all SDOs: All objects, regardless whether their values have been changed, will be downloaded to the controller.

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).

Nodeguarding

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).

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).

Heartbeat Consuming: 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.

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.

TIME

This option is deactivated.

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.

Select receive PDO (RPDO)

Displays the configured RPDO and allow their selection.

Select send PDO (TPDO)

Displays the configured TPDO and allow their selection.

Add PDO...

Add a PDO channel.

Add Mapping...

Add item from the object directory to the selected PDO.

Delete...

Delete the PDO channel.

Edit...

If a PDO is selected, modification of the PDO channel properties (COB-ID, Transmission Type).

If an object is selected, modification of the object contained in the PDO.

Move up

Change the PDO order.

Move down

New...

Add a SDO channel.

Delete...

Delete a SDO channel.

Edit...

Modify the SDO channel properties and objects contained in the SDO.

SDO Timeout (ms)

Configure the SDO timeout in ms (default 1000 ms).

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.