CANopen Configuration

CANopen Interface Configuration

CAN Bus Configuration

Step	Action
1	In the Devices tree, double-click CAN_1.
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 CAN_1.

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

Step	Action
1	Click the Plus Button next to the CAN_1 node in the Devices Tree. In the Add Device window, select CANopen Performance and click the Add Device button. 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

Click the Plus Button G-SE-0028599.1.jpg next to the CAN_1 node in the Devices Tree. In the Add Device window, select CANopen Performance and click the Add Device button.

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 CAN_x_Sync task is added to the Application > Task Configuration node in the Applications tree tab.

Do not delete or change the Type or External event attributes of CAN_x_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 subtab of the CANopen_Performance tab, the CAN0_Sync task is automatically 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 M241 Logic Controller CANopen master has the following operating limits:

Maximum number of slave devices	63
Maximum number of Received PDO (RPDO)	252
Maximum number of Transmitted PDO (TPDO)	252

WARNING

UNINTENDED EQUIPMENT OPERATION

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

oProgram your application to use 252 or fewer Transmit PDO (TPDO).

oProgram your application to use 252 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.