IFM Electronic Ecomat Mobile Series System Manual page 84

CAN in the ecomatmobile controller
NOTE:
For all ecomat mobile
following addition:
•
For CR0032 target version up to V01, all other devices up to V04.00.05: "OptTable"
•
For CR0032 target version from V02 onwards, all other devices from V05 onwards: "OptTableEx"
If a new project is created, these libraries are in general automatically loaded. If you add the libraries
via the library manager, you must ensure a correct selection.
The CANopen libraries without this addition are used for all other programmable devices (e.g. PDM360
compact).
CANopen terms and implementation
According to the CANopen specification there are no masters and slaves in a CAN network. Instead of
this there is an NMT master (NMT = network management), a configuration master, etc. according to
CANopen. It is always assumed that all participants of a CAN network have equal rights.
Implementation assumes that a CAN network serves as periphery of a CoDeSys programmable
controller. As a result of this an
the CAN configurator of CoDeSys. This master is an NMT master and configuration master. Normally
the master ensures that the network is put into operation. The master takes the initiative to start the
individual nodes (= network nodes) known via the configuration. These nodes are called slaves.
To bring the master closer to the status of a CANopen node an object directory was introduced for the
master. The master can also act as an SDO server (SDO = Service Data Object) and not only as SDO
client in the configuration phase of the slaves.
"Addresses" in CANopen
In CANopen there are different types of addresses (IDs):
•
COB ID
The CAN Object Identifier addresses the message (= the CAN object) in the list of devices.
Identical messages have the same COB ID. The COB ID entries in the object directory contain the
CAN identifier (CAN ID) among others.
•
CAN ID
The CAN Identifier identifies CAN messages in the complete network. The CAN ID is part of the
COB ID in the object directory.
•
Node ID
The Node Identifier identifies the CANopen devices in the complete network. The Node ID is part
of some predefined CAN IDs (lower 7 bits).
84
ifm System Manual ecomatmobile
controllers and the PDM360 smart you must use CANopen libraries with the
ecomatmobile
SmartController (CR2500) V05
controller or a PDM360 display is called CAN master in
ifm CANopen library