Download (R2-x) CANopen for Runtime Systems

L-force | PLC Designer - CANopen for Runtime Systems
Content
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About this documentation ___________________________________________ 3
1.1
Document history ____________________________________________ 3
1.2
Liability ____________________________________________________ 3
1.3
Trademarks ________________________________________________ 4
1.4
CANopen terms and Lenze implementation________________________ 4
CANopen-Master library ____________________________________________ 5
2.1
Differentiation from other CANopen libraries _______________________ 5
2.2
CANopen for the user_________________________________________ 6
2.3
2.4
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2.2.1
Used modules________________________________________ 6
2.2.2
How to create a project with CANopen_____________________ 7
Functionality of the libraries at runtime____________________________ 9
2.3.1
Implicit services of the CANopen-Master library______________ 9
2.3.2
Explicit services of the CANopen library___________________ 10
2.3.3
Starting the CANopen network __________________________ 10
Working with the CANopen-Master part in the application ____________ 11
2.4.1
Structure of the CANopen-Master _______________________ 11
2.4.2
Structure of the CANopen-node (Slave) ___________________ 14
2.4.3
Interpretation and reaction on the states of the library ________ 16
2.4.4
Examples for application-controlled actions of the libraries ____ 20
2.5
Implicit calls _______________________________________________ 27
2.6
Object dictionary of the CANopen-Master ________________________ 27
CanDevice ______________________________________________________ 29
3.1
Functionality _______________________________________________ 29
3.2
Configure CanDevice ________________________________________ 30
3.3
CanDevice Settings _________________________________________ 31
3.4
Generate EDS-file __________________________________________ 33
3.5
Modifying the default mapping by the master configuration ___________ 37
3.6
Working with the CanDevice in the application program _____________ 38
3.6.1
Module CanopenDevice _______________________________ 38
3.6.2
Access on the object dictionary entries by the application
program ___________________________________________ 41
3.6.3
Changing the PDO properties at runtime __________________ 41
3.6.4
Sending emergency messages by the application program ____ 42
CAN network variables ____________________________________________ 43
DMS 2.0 EN 05/2009 TD29
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