PLC Programming

PLC Configuration
CAN settings of a CanDevice
Dialog CAN settings
Here you can set the Node id and the Baudrate. The node id is a node number which is used by the
master for addressing the device in a CANopen network.
A configuration of Nodeguard- and Emergency Telegram functionality is possible.
Please see the corresponding descriptions for the configuration of CAN modules and masters.
Heartbeat is currently not supported.
Default PDO mapping of a CanDevice
In this dialog the entries of the local Parameter Manager can be assigned to PDOs, which will be
sent/received by the CanDevice. The PDOs then will be available for the PDO mapping in any master
configuration where the CanDevice is integrated.
In the Parameter Manager lists the parameter entries are linked to project variables via
index/subindex.
Please regard: Subindex 0 of an index, which implicits more than one subindex, will be used implicitely for
storing the number of subindices. For this reason do not use subindex 0 in the Parameter Manager.
Also regard that the parameters of a particular index must be entered in ascending order (subindices
1,2,3...) in the Parameter Manager.
List of mapable objects: Choose from the selection list the variables' parameter list, for whose
entries the CanDevice should generate PDOs.
According to the chosen parameter list the Objects will appear in the left window. In the right window
you create the desired PDO configuration (PDO's). Via the buttons Insert receive PDO resp. Insert
send PDO there you can insert 'Receive PDOs' and 'Send PDOs' below the corresponding list
organizing elements. In order to assign an object of the left window to one of these send or receive
PDOs, mark the object in the left window and also the PDO in the right window and then press >>.
Thereupon the object will be inserted below the PDO in the right window.
6-32 CoDeSys V2.3