CANopen Interface Configuration

CAN Bus Configuration

To configure the CAN bus of your controller, proceed as follows:

Step	Action
1	In the Devices tree, double-click CAN0 or CAN1.
2	Configure the baudrate (by default: 250000 bits/s): NOTE: The Online Bus Access option allows you to block SDO, DTM, and NMT sending through the status screen.

Step

Action

In the Devices tree, double-click CAN0 or CAN1.

Configure the baudrate (by default: 250000 bits/s):

NOTE: The Online Bus Access option allows you to block SDO, DTM, and NMT sending through the status screen.

When connecting a DTM to a device using the network, the DTM communicates in parallel with the running application. The overall performance of the system is impacted and may overload the network, and therefore have consequences for the coherency of data across devices under control.

WARNING

UNINTENDED EQUIPMENT OPERATION

Place your machine or process in a state such that DTM communications will not impact its performance.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

CANopen Manager Creation and Configuration

If the CANopen Manager is not already present below the CAN node, proceed as follows to create and configure it:

Step	Action
1	Select CANopen Optimized 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: oUsing the Drag-and-Drop Method oUsing the Contextual Menu or Plus button
2	Double-click CANopen_Performance. Result: The CANopen Manager configuration window appears:

Step

Action

Select CANopen Optimized 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:

oUsing the Drag-and-Drop Method

oUsing the Contextual Menu or Plus button

Double-click CANopen_Performance.

Result: The CANopen Manager configuration window appears:

NOTE: If Enable Sync Producing is checked, the CANx_Sync task is added.

Do not delete or change the Name, Type, or External event attributes of CANx_Sync tasks. If you do so, EcoStruxure Machine Expert will detect an error when you attempt to build the application, and you will not be able to download it to the controller.

If you uncheck the Enable Sync Producing option on the CANopen Manager sub-tab of the CANopen_Performance tab, the CANx_Sync task will automatically be deleted from your program.

Adding a CANopen Device

Refer to the EcoStruxure Machine Expert Programming Guide for more information on Adding Communication Managers and Adding Slave Devices to a Communication Manager.

CANopen Operating Limits

The Modicon LMC058 Motion Controller CANopen master has the following operating limits:

Maximum number of slave devices	63
Maximum number of Received PDO (RPDO)	126
Maximum number of Transmitted PDO (TPDO)	126

WARNING

UNINTENDED EQUIPMENT OPERATION

oDo not connect more than 63 CANopen slave devices to the controller.

oProgram your application to use 126 or fewer Transmit PDO (TPDO).

oProgram your application to use 126 or fewer Receive PDO (RPDO).

Failure to follow these instructions can result in death, serious injury, or equipment damage.

CAN Bus Format

The CAN bus format is CAN2.0A for CANopen.