Lenze CANopen Controller-based Automation - Manual (Page 58)

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17
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8 Commissioning of the CANopen Logic bus
8.10 Creating the program code for controlling the Logic field device
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
How to create the program code:
1. Create the program code for controlling the field device.
The device must be used in the program code in order that the SDO initialisation takes
place.
If other field devices are added to the control configuration, this may change the object
addresses (%Qxx, %Ixx) of the existing variables. For this reason, do not use addresses
directly in the program code to access the input and output objects or to assign values to
them. Use the CANopen I/O Mapping tab for this purpose and assign own unique variable
names according to the IEC 61131 syntax (no blanks and leading digits in the variable
name):
Already existing variables (e.g. global variables from the function libraries) can be
integrated via the button
.
The manual assignment of object addresses in the Address column is not supported. Hence,
only use the automatically assigned addresses of the process image. A manual assignment
causes malfunctions.
2. Completely compile the »PLC Designer« project and transfer it to the Lenze Controller.
Menu command: Build Build
Special features of the I/O system 1000 (EPM-Sxxx)
• When the program starts, the Lenze Controller initialises the I/O system. It changes to the
"Operational" status.
• When the Lenze Controller initialises the I/O system, the »Engineer« must not be online on the
same SDO channel.