IFM Electronic Ecomat Mobile Series System Manual page 86

CAN in the ecomatmobile controller
The following functions defined in CANopen are at present not supported by the CANopen 3S (Smart
Software Solutions) library:
•
Dynamic identifier assignment,
•
Dynamic SDO connections,
•
SDO transfer block by block, segmented SDO transfer (the functionality can be implemented via
the function CANx_SDO_READ (→ page 139) and function CANx_SDO_WRITE (→ page 141) in
the corresponding
•
All options of the CANopen protocol which are not mentioned above.
Create a CANopen project
Below the creation of a new project with a CANopen master is completely described step by step. It is
assumed that you have already installed CoDeSys on your processor and the Target and EDS files
have also been correctly installed or copied.
A more detailed description for setting and using the dialogue [controller and CANopen configuration]
is given in the CoDeSys manual under [Resources] > [PLC Configuration] or in the Online help.
After creation of a new project (→ chapter Setup the target, → page 14) the CANopen master must
first be added to the controller configuration via [Insert] > [Append subelement]. For controllers with 2
or more CAN interfaces interface 1 is automatically configured for the master.
The following libraries and software modules are automatically integrated:
•
The Standard.LIB which provides the standard functions for the controller defined in IEC
61131.
•
The 3S_CanOpenManager.LIB which provides the CANopen basic functionalities
(possibly 3S_CanOpenManagerOptTable.LIB for the C167 controller)
•
One or several of the libraries 3S_CANopenNetVar.LIB, 3S_CANopenDevice.LIB and
3S_CANopenMaster.LIB (possibly 3S_...OptTable.LIB for the C167 controller) depending
on the requested functionality
•
The system libraries SysLibSem.LIB and SysLibCallback.LIB
•
To use the prepared network diagnostic, status and EMCY functions, the library
ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB must be manually added to the library manager.
Without this library the network information must be directly read from the nested structures of the
CoDeSys CANopen libraries.
The following libraries and software modules must still be integrated:
•
The device library for the corresponding hardware, e.g. ifm_CR0020_Vxxyyzz.LIB. This library
provides all device-specific functions.
•
EDS files for all slaves to be operated on the network. The EDS files are provided for all CANopen
slaves by ifm electronic.
► For the EDS files of other manufacturers' nodes contact the corresponding manufacturer.
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ifm System Manual ecomatmobile
ifm device library).
SmartController (CR2500) V05
ifm CANopen library