Tab 'CANopen Local Device

Tab 'CANopen Local Device - General'

General

Node ID	The node number identifies the CAN module as unique (value range: 1...127).
Device profile	The device profile that should implement the CANopen slave. If a database (*.CODB) for object directories is available, then the selection in the Object Directory dialog is adapted to the device profile ID. The device profile IDs are defined in the CIA specifications.
Edit I/O area	The inputs and outputs of the CANopen slave are represented by I/O areas. An I/O area is a collection of inputs and outputs of the same data type. An I/O channel and a mapping variable are created automatically for each I/O. The mapping variables allow I/Os to be read and written in the application program. The Edit I/O area button opens a dialog for defining the I/O areas and the respective object directory index of the slave. The possible number and size of the I/O areas depend on the number of the unused PDOs. The current number unused TxPDOs and unused RxPDOs are always displayed below the table. For the CANopen local device version 3.5.4.0 and later, up to 512 PDOs (Tx and Rx) are possible (older versions only max. 16 PDOs).
Edit SDO Parameter area	Opens the Edit SDO Parameter area dialog. Refer to the description of the dialog for more details.
Edit safety I/O area	The button is available only for a CANopen Safety slave. Opens the dialog Edit safety I/O area for defining the safe I/O areas. With this command, a safety I/O area can be defined easily, because the respective SRDOs and mappings are generated automatically.

EDS file

Vendor name	General information that is saved in the EDS file.
Vendor number
Product name
Product number
Revision number
Export EDS file	The EDS file is generated with the given settings according to the CiA DS 306 V1.3 standard and saved to your local computer.
Import EDS file	Imports the data from an existing EDS file.

Dialog 'Edit I/O area'

Dialog 'Edit SDO parameter area'

Dialog 'Edit safety I/O area'

Dialog 'Edit I/O area'

This dialog shows the currently valid I/O areas of the slave.

Add area

Opens the Add I/O area dialog

If you have already used all PDOs, then this dialog cannot be modified.

Used TxPDOs

Number of currently used TxPDOs / maximum possible TxPDOs

Used RxPDOs

Number of currently used RxPDOs / maximum possible RxPDOs

Dialog 'Add I/O area'

I/O type	Input or output
Area name	A unique default name is entered automatically. (This name can be modified.)
Object index	Index in the object directory of the slave that is assigned to the new object.
Number	Number of I/Os. The possible values depend on the data type and the current number of unused PDOs.
Data type	selection of possible data types.
Force new PDO	(default). Every new I/O area is mapped to a new PDO, even if the available PDO mapping is not full. : The current PDO mapping is completely filled (if possible) before a new PDO is created.
OK	Activates the new I/O area. Input/output channels and mapping variables are created. In the object directory of the device, every I/O area receives its own index (output range: 0x3000 – 0x30FF, input range: 0x3800 – 0x38FF) and every I/O in the I/O area received a subindex. When creating an I/O area, PDOs are generated automatically (RxPDOs begins at 0x1400, TxPDOs at 0x1800). If the Force new PDO option is activated (see above), then the I/Os are mapped automatically in succession to these new PDOs.

Dialog 'Edit SDO parameter area'

You can define read/write parameters (SDO parameters) that SDOs can read or write. To do this, you must define parameters areas that are each a collection of the parameters of the same data type. An I/O channel and a mapping variable are created automatically for each SDO. The mapping variables allow the reading and writing of I/Os by using the application program.

In the object directory of the device, every SDO parameter area is shown with its own index and every SDO parameter within the parameter area with a subindex:

- SDO write parameter range: 0x5000 - 0x50FF

SDO read parameter range: 0x5800 - 0x58FF

This dialog shows the current valid parameter areas and their object directory indexes.

Add area

Opens the Add Parameter Area dialog.

Dialog 'Add Parameter Area'

This dialog allows you to add I/Os easily.
SDO access type	Read Only or Read/Write.
Area name	A unique name is entered automatically. (This name can be modified.)
Object index	Index in the object directory of the slave that is assigned to the new object.
Number	Number of parameters
Data type	Selection of possible data types

Dialog 'Edit safety I/O area'

This dialog shows the currently valid safety I/O areas of the slave.
I/O overview
Add area	Opens the Add safety I/O area dialog
Delete area	Deletes the selected safety I/O area.
Used SRDOs	<Number of currently used SRDOs> /<maximum possible SRDOs> (64).

Dialog Add safety I/O area

I/O direction	Send: Safety input area Send-SRDO and mapping are generated automatically. Receive: Safety output area Receive-SRDO and mapping are generated automatically.
Area name	A name is defined automatically, for example Safety_Digital_Inputs1, which can be modified.
Index simple data object	Index of the simple data object in the object directory of the slave
Index inverse data object	Index of the inverse data object in the object directory of the slave
Number	Number of safety I/Os. The possible values depend on the data type and the current number of unused SRDOs.
Data type	Selection of a SAFE data type. SAFEREAL and SAFELREAL are not supported at this time.
Force new SRDO	: Default setting. Every new safety I/O area is mapped to a new SRDO, even if the available SRDO mapping is not full. : The current SRDO mapping is completely filled (if possible) before a new SRDO is created.
OK	Activates the new safety I/O area. The SRDOs and respective mappings are generated automatically. In the object directory of the device, every I/O area receives its own index (output range: 0x3000 – 0x30FF, input range: 0x3800 – 0x38FF) and every I/O in the I/O area received a subindex.