IFM Electronic Ecomat Mobile Series System Manual page 111

CAN in the ecomatmobile controller
NOTE
In CAN networks the basic identifier is directly used as COB-ID of the CAN messages. It is not checked
whether the identifier is also used in the remaining CAN configuration.
To ensure a correct exchange of data between two controllers the global variable lists in the two
projects must match. To ensure this you can use the feature [Link to file]. A project can export the
variable list file before compilation, the other projects should import this file before compilation.
In addition to simple data types a variable list can also contain structures and arrays. The elements of
these combined data types are transmitted separately.
Strings must not be transmitted via network variables as otherwise a runtime error will occur and the
watchdog will be activated.
If a variable list is larger than a PDO of the corresponding network, the data is split up to several PDOs.
Therefore it cannot be ensured that all data of the variable list is received in one cycle. Parts of the
variable list can be received in different cycles. This is also possible for variables with structure and
array types.
Transmit checksum
This option is not supported.
Acknowledgement
This option is not supported.
Read
The variable values of one (or several) controllers are read.
Write
The variables of this list are transmitted to other controllers.
NOTE
You should only select one of these options for every variable list, i.e. either only read or only write.
If you want to read or write several variables of a project, please use several variable lists (one for
reading, one for writing).
In a network the same variable list should only be exchanged between two participants.
Cyclic transmission
Only valid if [write] is activated. The values are transmitted in the specified [interval] irrespective of
whether they have changed.
Transmit on change
The variable values are only transmitted if one of the values has been changed. With [Minimum gap]
(value > 0) a minimum time between the message packages can be defined.
Transmit on event
If this option is selected, the CAN message is only transmitted if the indicated binary [variable] is set to
TRUE. This variable cannot be selected from the list of the defined variables via the input help.
ifm System Manual ecomatmobile SmartController (CR2500) V05
ifm CANopen library
111