HMS Anybus X-gateway CANopen Series User Manual page 23

5.2 CANopen Master/Slave Configuration
The CANopen network, and the behavior of the module on this network, have to be configured using
an external CANopen configuration tool
the CANopen network through a CANopen adapter.
The module is by default configured as a slave at startup. To enable it to perform as a CANopen master,
please set this during configuration, see "CANopen Configuration Example" on page 47 and "NMT
Start-up, 1F80h" on page 34.
The following parameters have to be defined
Parameter
Node Number
Baud rate
Set master
CANopen input
data size
CANopen output
data size
a. The data buffers in the Anybus X-gateway CANopen module can hold 512 bytes of data, but the actual maximum
data size is highly dependent on network. Please consult the section on configuration of the controlling network
further on in this chapter.
Note: The input and output data sizes are configured for the CANopen interface. The master of the
controlling network, will have to take these values into consideration, as they will be used by the PROFI-
BUS interface of the module.
1. CANopen Configuration Manager from PORT is available for download at www.anybus.com. This version of the tool can only be
used for products from HMS Industrial Networks. Please contact HMS support for further information, see "Sales and Support" on
page 3.
2. Please contact HMS support for further information, see "Sales and Support" on page 3
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
1
running on a computer. The configuration is downloaded to
Description
Node ID on the CANopen Network.
Allowed values are 1 - 127
This parameter defines the baud rate on the
CANopen network. If "Auto" is selected the
baud rate will be automatically detected.
Set the module to be CANopen master. At
startup the module is a slave by default. This
can be changed during configuration.
This parameter defines the size of the reada-
ble data array on the controlling network
interface. Data to the controlling network from
the CANopen network.
This parameter defines the size of the writa-
ble data array on the controlling network
interface. Data from the controlling network
interface to the CANopen network.
2
Values Comment
1-127 Node ID (1-99) is set using rotary
switches, see "Configuration
Switches" on page 14. Node ID:s
above 99 can be set using the con-
figuration tool or from the CANopen
network.
20 kbit/s Set using rotary switches, see "Con-
50 kbit/s figuration Switches" on page 14
125 kbit/s
250 kbit/s
500 kbit/s
800 kbit/s
1000 kbit/s
Auto
See "NMT Start-up, 1F80h" on
page 34
The first 2 bytes in the array are
a
2 - 512
used for the status word, so the
maximum data size from the CAN-
open network is 2 bytes less than
the maximum value allowed for this
parameter, see also object 3000h on
42.
The first 2 bytes in the array are
a
2 - 512
used for the control word, so the
maximum data size from the CAN-
open network is 2 bytes less than
the maximum value allowed for this
parameter, see also object 3001h on
42.
Configuration 19
Doc.Id. SCM-1200-080