Configuration Of Canopen Participants (Via Dil Switch) - Festo CiA 402 Manual

2 CANopen
2.3

Configuration of CANopen participants (via DIL switch)

Several steps are required in order to produce an operational CANopen interface. Some of these set-
tings should or must be carried out before the CANopen communication is activated. This section
provides an overview of the steps required by the slave for parametrisation and configuration. As some
parameters are only effective after saving and restarting the motor controller, we recommend that com-
missioning with the FCT should be carried out first without connection to the CANopen bus.
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
When designing the CANopen interface, the user must therefore make these determinations. Only then
should parametrisation of the fieldbus connection take place on both pages. We recommend that para-
meterisation of the slave should be executed first. Then the master should be configured.
We recommend the following procedure:
1. Setting of the node ID, bit rate and activation of the bus communication via DIL switches.
The status of the DIL switches is read once at Power-ON/restart.
The motor controller only takes over the changes made to the switch settings during on-
going operation at the next Power ON/Controller restart (FCT).
2. Parametrisation and commissioning with the Festo Configuration Tool (FCT).
In particular on the Application Data page:
– CANopen control interface (Mode Selection tab)
In addition, the following settings on the fieldbus page:
– Protocol CANopen CiA 402 (Operating parameter tab)
– Physical units (Factor Group tab)
Observe that parameterisation of the CANopen function remains intact after a reset only
if the parameter set of the motor controller was saved.
Note
While the FCT device control is active, CAN communication is automatically deactivated.
3. Configuration of the CANopen master
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Sections 2.4 and 3.
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