In CODESYS, a CANopen remote device is a slave device that you insert below a CANopen manager in the device tree of a project. A distinction is made between modular and non-modular slaves:
Modular slaves: You can insert CANopen modules (submodules) below a modular slave. These modules provide a dialog for mapping their inputs and outputs. Modular slaves can also have fixed I/Os. Then these devices also provide the I/O Mapping dialog. Modular devices provide the Configure PDO Mapping automatically option, which we recommend for standard applications. You find this option in the CANopen Remote Device dialog in the General section.
Non-modular slaves: You cannot insert additional modules below a non-modular device. The inputs and outputs of these devices are mapped in the I/O Mapping dialog. Automatic mapping is not possible here.
See also
CANopen remote device safety (slave)
You can insert a CANopen remote device safety only below the CANopen Manager SIL2.
These slaves are equipped with two I/O maps: safe and non-safe I/Os.
See also
