Slave Functions
(Original Document)
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At a Glance
So as to facilitate their configuration, certain CANopen devices are represented through functions.
Each function defines premapped PDOs, as well as certain debugging variables which can be mapped (PDO tab of the slave configuration screen).
NOTE: The function should be selected before configuring the slave.
Available Functions
The available functions are as follows:
Function
Description
Devices involved
Basic
This function allows a simple control of the speed.
Altivar
MFB
This function allows control of the device through PLCOpen Motion function block library.
Standard
This function allows control of the speed and/or torque.
All the parameters that can be mapped are mapped in the supplemental PDOs for:
  • an adjustment of the operating parameters (length of acceleration,),
  • additional surveillance (current value,...),
  • additional control (PID, outputs command,...).
Advanced
This function allows control of the speed and/or torque.
Certain parameters can be configured and can also be mapped in the PDOs to allow:
  • an adjustment of the operating parameters (length of acceleration,),
  • additional surveillance (current value,...),
  • additional control (PID, outputs command,...).
Simple
Use this profile if the island does not contain high resolution analog I/O module or the TeSys U STB modules.
This profile contains:
  • NIM diagnostic information (index 4000-index 4006),
  • 8-bit discrete input information (index 6000),
  • 16-bit discrete information (index 6100),
  • 8-bit discrete output information (index 6200),
  • 16-bit discrete output information (index 6300),
  • low resolution analog input information (index 6401),
  • low resolution analog output information (index 6411).
This profile limits the number of index or subindex entries for any of the above objects to 32. If the island configuration exceeds this limitation, please use the Large profile.
STB NCO1010 & NCO2212
Extended
Use this profile if the island contains high resolution analog I/O module or the TeSys U STB modules.
This profile contains
  • NIM diagnostic information (index 4000-index 4006),
  • 8-bit discrete input information (index 6000),
  • 16-bit discrete information (index 6100),
  • 8-bit discrete output information (index 6200),
  • 16-bit discrete output information (index 6300),
  • low resolution analog input information (index 6401),
  • low resolution analog output information (index 6411),
  • high resolution analog input information or HMI words (index 2200-221F),
  • high resolution analog output information or HMI words (index 3200-321F),
  • TeSys U input information (index 2600-261F),
  • TeSys U output information (index 3600-361F).
This profile limits the number of index or subindex entries for any of the above objects to 32. If the island configuration exceeds this limitation, please use the Large profile.
Advanced
Use this profile if the island contains enhanced CANopen devices, special features as run-time parameters along with high resolution analog I/O module or HMI or the TeSys U STB modules.
This profile contains:
  • NIM diagnostic information (index 4000-index 4006),
  • 8-bit discrete input information (index 6000),
  • 16-bit discrete information (index 6100),
  • 8-bit discrete output information (index 6200),
  • 16-bit discrete output information (index 6300),
  • low resolution analog input information (index 6401),
  • low resolution analog output information (index 6411),
  • high resolution analog input information or HMI words (index 2200-221F),
  • high resolution analog output information or HMI words (index 3200-321F),
  • TeSys U input information (index 2600-261F),
  • TeSys U output information (index 3600-361F),
  • 3rd party CANopen devices (index 2000-201F),
  • RTP information (index 4100 & index 4101).
This profile limits the number of index or subindex entries for any of the above objects to 32. If the island configuration exceeds this limitation, please use the Large profile.
STB NCO2212
Large Profile
Use this profile if the island configuration does not fit any of the above profiles. This profile contains all the objects available for the STB island and hence will consume more memory address location in the CANopen master.
STB NCO1010 & NCO2212
Controlling
This function is especially created for CANopen communications with the built-in controller card and all the application cards (pump control,...).
Altivar 61/71
Basic
The basic level is designed to configure the valve terminal without CP extension.
Festo CPV
CP_Extension
This level is designed to configure I/Os including the CP extension.
Basic_DIO_only
The basic level is designed to configure the CPX with pneumatic valves and Digital I/O only.
Festo CPX
Generic_DIO_AIO
The generic DS401 level is designed to configure CPX valves and I/Os, including Analogue I/O modules.
Advanced
The advanced level is designed to configure the maximum I/Os and the complete parameters set.
Default
This feature is the default function for certain devices. It may not be modified.
All the slaves except ATV and Lexium
NOTE: Some devices can only handle one function. In this case, the function appears grayed out and cannot be modified.