IFM Electronic Ecomat Mobile Series System Manual page 90

CAN in the ecomatmobile controller
Node reset
The slave is reset ("load") as soon as the configuration is loaded to the controller.
Optional device
If the option [optional device] is activated, the master tries only once to read from this node. In case of
a missing response, the node is ignored and the master goes to the normal operating state.
If the slave is connected to the network and detected at a later point in time, it is automatically started.
To do so, you must have selected the option [Automatic startup] in the CAN parameters of the master.
No initialization
If this option is activated, the master immediately takes the node into operation without transmitting
configuration SDOs. (Nevertheless, the SDO data is generated and stored in the controller.)
Nodeguarding / heartbeat settings
Depending on the device [nodeguarding] and [life time factor] or [heartbeat] must be set.
We recommend: It is better to work with the heartbeat function for current devices since then the bus
load is lower.
Emergency telegram
This option is normally selected. The EMCY messages are transferred with the specified identifier.
Communication cycle
In special applications a monitoring time for the SYNC messages generated by the master can be set
here. Please note that this time must be longer than the SYNC time of the master. The optimum value
must be determined experimentally, if necessary.
In most cases nodeguarding and heartbeat are sufficient for node monitoring.
Tab [Receive PDO-Mapping] and [Send PDO-Mapping]
With the tabs [Receive PDO-Mapping] and [Send PDO-Mapping] in the configuration dialogue of a
CAN module the module mapping (assignment between local object directory and PDOs from/to the
CAN device) described in the EDS file can be changed (if supported by the CAN module).
All [mappable] objects of the EDS file are available on the left and can be added to or removed from
the PDOs (Process Data Objects) on the right. The [StandardDataTypes] can be added to generate
spaces in the PDO.
Insert
With the button [Insert] you can generate more PDOs and insert the corresponding objects. The inputs
and outputs are assigned to the IEC addresses via the inserted PDOs. In the controller configuration
the settings made can be seen after closing the dialogue. The individual objects can be given symbolic
names.
Properties
The PDO properties defined in the standard can be edited in a dialogue via properties.
Every PDO message requires a clear COB ID (communication object identifier). If an
COB-ID
option is not supported by the module or the value must not be changed, the field is
grey and cannot be edited.
Inhibit Time The inhibit time (100 µs) is the minimum time between two messages of this PDO so
that the messages which are transferred when the value is changed are not
transmitted too often. The unit is 100 µs.
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ifm System Manual ecomatmobile SmartController (CR2500) V05
ifm CANopen library