PLC Programming

PLC Configuration
cyclic – synchronous: the PDO will be transmitted synchronously, whereby the Number of Sync's gives the
number of synchronisation messages, which lie between two transmissions of this PDO.
synchronous – RTR only: the PDO will be updated after each synchronisation message but not sent. It is
only sent when there is an explicit request to do so (Remote Transmission Request)
asynchronous – RTR only: the PDO will only be updated and transmitted when there is an explicit request to
do so (Remote Transmission Request)
asynchronous – device profile specific and asynchronous - manufacturer specific: the PDO will only be
transmitted when specific events occur.
Number of Syncs: If cyclic transmission has been set, enter here the number of synchronisation
messages (see 'Com. Cycle period' in the CAN parameter dialog) which should be sent between two
transmissions of the PDO.
Event-Time: If an corresponding transmission type is set, enter here in milliseconds (ms) the interval
between two transmissions.
Service Data Objects
Here you find a list of all objects in the EDS or DCF file which are in the area of the Index 0x2000 to
0x9FFF and which are marked as writable.
Dialog for configuration of the Service Data Objects (SDO)
The properties Index, Name, Value, Type and Default are displayed for every object. The value can
be changed. Mark the value and press the . After making the change confirm the new
value with or reject it with the key.
The set values are transmitted in the form of SDO's (Service Data Object) to the CAN modules at the
initialisation of the CAN bus.
Note: All incompatible data types between CANopen and IEC-61131 will be replaced in CoDeSys by the next
larger IEC-61131 data type.
6.5.8 Configuration of a CanDevice (CANopen Slave)
A PLC which is programmable with CoDeSys can be used as a CANopen Slave (CANopen-Node,
called "CanDevice" in the following) in a CAN network.
For this purpose the PLC can be configured in the CoDeSys PLC Configurator and the configuration
can be saved in an EDS-file. This EDS-file (device file) later can be used in any CANopen Master
configuration.
Preconditions for creating a CanDevice in the CoDeSys PLC Configurator:
1. The libraries
• 3S_CanDrv.lib
• 3S_CanOpenManager.lib
• 3S_CanOpenDevice.lib
6-30 CoDeSys V2.3