PLC Programming

PLC Configuration
6.5.7 Configuration of CAN modules
CoDeSys supports a hardware configuration according to CANopen Draft Standard 301. The
configuration looks like that described for the hardware dependant configuration.
All EDS (Electronic Data Sheet) respectively DCF (Device Configuration File) files which are stored in
the subdirectory PLCCONF of the library when CoDeSys is started, can be integrated, edited and
displayed in the configuration. In the EDS file the configuration options of a CAN module are
described. If you add a module, which is described in a DCF file, only the IEC addresses can be
modified, for the module has already been configured completely in a CAN configurator.
Base parameters of a CAN Master
For information on Modul-Id, Eingabe-/Ausgabeadressen, Diagnosis address see Chapter 6.5.4',
Base parameters of an I/O module'.
CAN Parameters of a CAN Master
CAN Parameter Dialog for a CAN-Master
The properties for transmission on the CAN bus can be set directly after the insertion of the module or
can be called up with the command ’Extras’ ‘Properties’ .
Using the selection option, set the required Baud rate which the transmission should take place at.
One differentiates between synchronous and asynchronous transmission modes (see PDO
properties) for PDO’s (Process Data Object). The synchronisation message is sent with a unique
number Sync.COB-Id (Communication Object Identifier) in the interval in microseconds which is given
by the Communication Cycle Period. The synchronous PDO’s are transmitted directly after the
synchronisation message in the time window (Sync.Window Length in microseconds). No
synchronisation message will be sent if the fields Comm. Cycle Period and Sync. Window Length
contain 0.
activate: Only if this option is activated synchronization messages will be transmitted between master
and slaves.
NodeID: serves to identify the CAN module uniquely and corresponds to the set number on the
module itself which is between 1 and 127. The Id must be entered as a decimal number. ( Do not mix
up with the 'Node number' !)
6-26 CoDeSys V2.3