Description of Master Configuration Screen for CPUs 20102/ 20302

At a Glance

The configuration screen allows configuration of the bus parameters as well as the inputs and outputs.

Inputs

The figure below illustrates the inputs configuration area:

To configure the inputs of the bus slaves, it is necessary to indicate the memory areas to which they will be periodically recopied. To define this zone, you must indicate:

a number of words (%MW): from 0 to 32,464,
the address of the first word: from 0 to 32,463,
the number of bits (%M): from 0 to 32,634,
the address of the first bit: from 0 to 32,633.

Outputs

The figure below illustrates the outputs configuration area:

NOTE: The checkbox Bus Stop when PLC stop in the fallback area configuration is only available in CANopen expert mode.

If it is not checked: the CANopen bus remains in RUN after a PLC stop and the global strategy of fallback is applied to the outputs according to Maintain or Reset radio button.
If it is checked: the CANopen bus is stopped when a PLC stop; in this case, Maintain and Reset radio buttons are greyed out.

The fallback information area contains two radio buttons as well, which defines the behaviour of the device when the CPU is in STOP or in HALT:

Maintain: maintains outputs (values are kept)
Reset: resets outputs (values are set to 0)

To configure the outputs, it is necessary to indicate, as for the inputs, the word and bits tables that will contain the values of the bus slave outputs:

A number of words (%MW): from 1 to 32,464
The address of the first word: from 0 to 32,463
The number of bits (%M): from 1 to 32,634
The address of the first bit: from 0 to 32,633

NOTE: The word tables and bit tables are found in the PLC internal memory. Any crossover between two areas of each table is prohibited. The bits area for the inputs cannot overlap the bits area for the outputs. The words area for the inputs cannot overlap the words area for the outputs.

WARNING

UNEXPECTED EQUIPMENT OPERATION

Verify, in case of a CANopen bus interruption, the fallback positions of all devices on the bus are as expected. Consult the relevant equipment's documentation for additional information.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Bus Parameters

The figure below illustrates the bus parameters configuration area:

To configure the bus, it is necessary to indicate:

the transmission speed: 250kBauds default,
the COB-ID of the synchronization message: 128 default,
the synchronization message period: 100 ms default.
the NMT inhibit time: 5 ms default. During Bootup, the CANopen Master implements a delay between each NMT messages to avoid slave overload. The value must be given in multiple of 100 μs. The value 0 disables the inhibit time.
the Device Bootup Time Out: 50 ms default. The global SDO timeout for the master is related to the scanning of the network. During this time, the master reads the object 1000 of each slave to analyze the CANopen bus configuration.
the Specific SDO timeout: 15000 ms default. The slaves SDO timeout is necessary for devices with long response times i.e. for accesses to the objects 1010,1011,1F50. A grid displays all present devices with the NodeId, the name and the timeout value.

Language Objects

The parameters presented below are represented in the %KW language objects:

Read	Parameter	Language object
Inputs	Number of words %MW	%KW8
	Index of the first word	%KW10
	Number of bits %M	%KW4
	Index of the first bit	%KW6
Outputs	Fallback mode	%KW0 Least Significant Byte : 16#00, 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
	Number of words %MW	%KW9
	Index of the first word	%KW11
	Number of bits %M	%KW5
	Index of the first bit	%KW7
Bus parameters	Transmission speed	%KW1
	SYNC message COB-ID	%KW2
	SYNC message period	%KW3