Tab 'CANopen Remote Device - General'

The node number identifies the CAN module as unique and it corresponds to the number set on the module (value between 1 and 127). You provide the Node-ID as a decimal.

: All settings are displayed that are predefined by the device description (EDS file) for the device.

Click this button to open a dialog for activating the SDO channels that are predefined in the EDS file. Service data objects (SDOs) allow access to all entries in the CANopen object directory. An SDO creates a peer-to-peer communication channel between two devices (SDO server and client channel).

: The slave is optional and not required for starting the CAN network.

Available only when the Enable sync producing option is cleared in the CANopen manager.

: The I/O transmission is synchronized on the bus. The slave works a a sync producer. The parameters of the sync interval are defined in the settings of the CANopen manager.

This option is for non-configurable slave that already start with a valid configuration.

: The master does not send configuration SDOs or NMT start commands to the slave. PDO communication and monitoring (heartbeat, node guarding) are performed when this has been configured in the configurator.

If the slave does not start automatically, then the user can use the CiA405 NMT function block to send an NMT start command to the slave.

The availability of this option depend son the content of the device description file.

: Selected by default. The slave nodes are reset to the default parameters before the configuration is loaded to the device or always when the slave is configured. Which parameters can be set is device-specific. The concrete task is performed from the subindex of the drop-down list.

• Sub:001: All parameters are reset.

• Sub:002: Communication parameters (index 1000h - 1FFFh manufacturer-specific communication parameters) are reset.

• Sub:003: Application parameters (index 6000h - 9FFFh manufacturer-specific application parameters) are reset.

• Sub:004 - Sub:127: Manufacturer-specific, individual selection of parameters is reset.

• Sub:128 - Sub254: Reserved for future purposes

Node guarding is an outdated monitoring method and should not be used anymore because is uses RTR frames. You should always use heartbeats when possible. In some exceptions, such as for older slaves, you can use only node guarding.

: The CANopen manager sends a message to the slave in the Guard time (ms) interval. If the slave does not respond with the given Guard COB-ID (Communication Object Identifier), then the CANopen manager resends this message as many times as defined in Life time factor or until the slave responds.

If the slave does not respond, then it is marked as "unavailable".

Interval for sending messages (default: 200 ms)

When the slave does not respond, a node-guarding error is established according to the Life time Factor time multiplied by the Guard Time.

: The module sends heartbeats in the time intervals as given in Producer time (ms).

The default setting is 200 as long as there is no special entry or the entry in the device description file is 0.

: When internal errors occur, the slave sends emergency messages with a unique COB-ID. You can read these messages by using the function block from the CiA405 library. (RECV_EMCY_DEF, RECV_EMCY).

The availability of this function depends on the device description.

: The device sends TIME messages.

(Communication Object Identifier): identifies the time stamp of the message.

The respective information is read from the firmware of the CANopen slave (0x1018 identity object) and compared to the information from the EDS file. In case of disparities, the configuration is stopped and the slaves are not started.

: Check of the vendor ID at startup

: Check of the product number at startup