“CANopen” Tab
Parameters | Value | Description |
|---|---|---|
CAN Layer 2 |
| Disables CANopen functionality for the exclusive use of the CAN interface with functions of the CANLayer2 library |
| Uses the CANopen protocol | |
Node ID | 1 … 127 | Station address of the master |
Baudrate | 125000 | Baud rate for the CAN bus |
For CANopen devices configured as a master, the [Interface Setting] button is also displayed. This button is used to display a dialog with further setting options. CANopen masters from WAGO perform additional functions that classify them as CANopen managers. CANopen managers are designated as “Masters” in the following sections.
Parameters | Value | Description |
|---|---|---|
General | ||
Node ID | 1 … 127 | Station address of the master (preset: 127) |
[Check and Fix Configuration…] | - | Opens a dialog to check the CANopen configuration for obvious errors (e.g., duplicate IDs) |
Autostart CANopenManager |
| Sets the master mode to “OPERATIONAL” after successful configuration |
| No automatic start The master must be started from the application (CiA405-NMT function block). | |
Start Slaves |
| After the slave has been successfully configured, these are set to “OPERATIONAL”. |
| The slaves must be started from the application (CiA405-NMT function block). | |
Polling of Optional Slaves |
| If a slave that does not return a response during the boot sequence, it is polled by the master ever second until it returns a positive response. |
| Cyclic querying (“polling”) can be disabled to reduce bus cycle time and improve performance in applications. The slave is then recognized again only when it sends a boot-up telegram. | |
NMT Error Behavior | Restart Slave | If an error occurs during slave monitoring (NMT Error Event), the slave is automatically restarted by the stack (NMT reset + SDO configuration + NMT start). |
Stop Slave | If an error occurs during slave monitoring (NMT Error Event), the slave is stopped. | |
NMT Start All (if possible) |
| If the “Start slaves” option is enabled, the master uses a “NMT Start All” command to start all slaves together. The common start is only executed if optional slaves are ready to start. Otherwise, the master starts each slave individually. “NMT Start All” can only be guaranteed in a project without optional slaves. |
| Slaves are started individually. | |
Guarding | ||
Enable Heartbeat Production |
| The CAN device sends heartbeats at the ms intervals entered at “Producer Time”. |
| The CAN device sends no heartbeats. | |
Node ID | 0 … 127 | Station address for the heartbeat telegram (preset: 127) |
Producer Time (ms) | 1 … 65535 | Transmission interval (in ms) for the heartbeat telegram (“0” disables the function) |
Sync | ||
Enable Sync Production |
| Enables transmission of sync telegrams to synchronize process images between devices |
| No synchronization messages are generated. | |
COB-ID (Hex) | 1 … 2047 | Telegram ID for the sync telegram (preset: 80 Hex) |
Cycle Period (µs) | 100 … 4294967295 | Transmission interval (in μs) for the sync telegram (minimum: 5000 µs) |
Window Length (µs) | 0 … | Length of the time window for synchronous PDO |
Enable Sync Consuming |
| Enables receipt and monitoring of the sync telegram of a slave |
| Disables receipt and monitoring of the sync telegram of a slave | |
TIME | ||
Enable Time Producing |
| Enables transmission of the time telegram |
| Disables transmission of the time telegram | |
COB-ID (Hex): 16# | 0 … 2047 | Telegram ID for the time telegram (preset: 100 Hex) |
Producer Time (ms) | 0 … 65535 | Transmission interval (in ms) for the time telegram |