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 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.

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

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:

• Using the Hardware Catalog

• Using the Contextual Menu or Plus Button

For more information on adding a device to your project, refer to:

2

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 Receive PDO (RPDO)

252

Maximum number of Transmit PDO (TPDO)

252

 WARNING
UNINTENDED EQUIPMENT OPERATION
  • Do not connect more than 63 CANopen slave devices to the controller.
  • Program your application to use 252 or fewer Transmit PDO (TPDO).
  • Program 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.