LLExec CANopen Master

Overview

LLExec CANopen master integrated configuration tool allow you to configure a network of slaves compliant to the DS301 CANopen standard.

Supported features

• Import EDS
• Automatic PDO mapping configuration generation
• Two distinct networks supported
• Slave parametrization definition
• Mandatory slaves management (stop entire network in case of loss)
• Not mandatory slave can be re-attached after its loss
• Node guarding protocol supported
• Heartbeat protocol supported in both directions: master to slaves, slave to master
• Sync PDO data exchange
• Cyclic PDO data exchange
• Event PDO data exchange
• Sync network based on sync
• SDO scheduling
• Diagnostic structures for master and slave
• PLC function calls to send SDO requests

Master configuration

General settings configuration

• Click on CANopen node on the three view to see "CANopen Configuration" main page

 Mode
 Not used
   Select this option to disable the CANopen master
 Master
   Enable CANopen master. Configuration to be applyed will be downloaded together with PLC download

• Click on Master option to see other configuration boxes

 Baudrate
 Static Baudrate
   Select CANopen network baudrate from the available baudrate list (1 Mb/s, 500Kb/s, 250 Kb/s, 125Kb/s, 50Kb/s)
 Parametric Baudrate (*)
   Baudrate is specified at runtime.
   Define in your project an UDINT PLC variable and bind in Baudrate Var (UDINT) box.
   The value (bits/s) in of the variable at PLC startup will be used for network baudrate
 
 (*) This option is not always available

 Master Settings
 Static Node ID
   Univoque network node id is assigned to Master in static way.
   Default value: 127. Allowed values: 1 to 127.
 Parametric Node ID(*)
   Master node id is specified at runtime.
   Define in your project an USINT PLC variable and bind in Node ID Var (USINT) box.
   The value in the variable at PLC startup (1 to 127) will be used as master node id.
 Heartbeat time (ms)
   The master producer heartbeat time in ms.
   If zero no heartbeat is sent by master.
 Sync COBID
   The COBID value if sync mode is configured for master.
   Default value is 128 (0x80)
 Sync Cycle (ms)
   The period between to sync.
   Must be equals to or multiple ot task I/O period.
   Default value is 0. Sync is not sent by master.
 
 (*) This option is not always available

Add slaves to master

First of all select Master option in Mode fieldset. Then it is possible to add slaves to the master network. This can be done in two ways:

 A) Right click
 - Right click on the resources tree on CANopen node
 - Click on Add option
 - Catalog box with all available slaves will be shown
   This includes Generic CANopen device and other CAN custom slave device (see Import EDS section)
 - Click on the slave you want to add, then click on Select button
 - A child node of the CANopen node will appear on the resources tree

 B) Drag & drop
 - Be sure Catalog box is shown (View -> Tool windows -> Catalog)
   This includes Generic CANopen device and other CAN custom slave device (see Import EDS section)
 - Drag an item from Catalog over CANopen tree node
 - A child node of the CANopen node will appear on the resources tree