Language Objects Associated with Configuration
(Original Document)
About us
At a Glance
The configuration of a CANopen master is stored in the configuration constants (%KW).
The parameters r,m and c shown in the following tables represent the topologic addressing of the module. Each parameter has the following signification:
Configuration Objects
The following table lists all process control language objects associated with the configuration of CANopen network:
Number
Type
Function
Description
%KWr.m.c.0
INT
Constant value used by the system
Least significant byte:
Bit 2 to 7= 0, and :
  • Bit 0= 0 and Bit 1= 0: reset of outputs if task in STOP or HALT
  • Bit 0= 1 and Bit 1= 0: maintain of outputs if task in STOP or HALT
  • Bit 0= 0 and Bit 1= 1: bus in STOP if task in STOP or HALT
Most significant byte: 16#38.
%KWr.m.c.1
INT
Baud Rate
Values are encoded :
  • 0 = 1000 Kbaud,
  • 2 = 500 Kbaud,
  • 3 = 250 Kbaud,
  • 4 = 125 Kbaud,
  • 5 = 50 Kbaud,
  • 6 = 20 Kbaud.
%KWr.m.c.2
INT
COB-ID Synchronization
Default value: 0080h.
%KWr.m.c.3
INT
Synchronization period
1 .. 5000 ms.
%KWr.m.c.4
INT
Configuration bits
Size of input image zone TOR in the memory (in number of bits).
%KWr.m.c.5
INT
Configuration bits
Size of output image zone TOR in the memory (in number of bits).
%KWr.m.c.6
INT
Configuration bits
Address of the start of the input image zone TOR(%M).
%KWr.m.c.7
INT
Configuration bits
Address of the start of the output image zone TOR (%M).
%KWr.m.c.8
INT
Configuration words
Size of input image zone in the memory (in number of words).
%KWr.m.c.9
INT
Configuration words
Size of output image zone in the memory (in number of words).
%KWr.m.c.10
INT
Configuration words
Address of the start of the input image zone (%MW).
%KWr.m.c.11
INT
Configuration words
Address of the start of the input image zone (%MW).
%KWr.m.c.12
INT
NMT inhibit time
Minimum time in 1/10ms between 2 NMT commands on the bus.
Default value= 50 (5 ms)
%KWr.m.c.13
INT
Device Bootup timeout
Timeout in ms for reading object 1000 during configuration of the devices.
Default value= 50 ms
%KWr.m.c.14
INT
Device SDO timeout
SDO timeout in ms used for the device with node ID= 1
Default value= 1000 ms
%KWr.m.c.15
INT
Device SDO timeout
SDO timeout in ms used for the device with node ID= 2
Default value= 1000 ms
...
INT
...
SDO timeout in ms used for the device with node ID= ...
Default value= 1000 ms
%KWr.m.c.76
INT
Device SDO timeout
SDO timeout in ms used for the device with node ID= 63
Default value= 1000 ms