Lenze CANopen control technology User Manual
Page 58
Control technology | CANopen communication manual
Commissioning the CANopen Logic bus
Configuring the CAN master
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DMS 4.2 EN 07/2011 TD17
• Set the planned baud rate and node address (node ID).
• If you want to use the CAN synchronisation at the Logic bus, set a checkmark in
the "Activate" input field. This is only required if at least one PDO with sync-
controlled processing is used on the fieldbus and/or if you want to achieve that
the applications run in synchronism in several controllers (slaves).
• The sync cycle time can be set in the "Com. Cycle Period" input field.
Enter an integer multiple of the cycle time of the assigned task (see 3., module
parameters) as sync cycle time.
• Activate the DSP support. This is required so that the IPC CANopen-conform
Logic initialises field devices.
3. Specify the "UpdateTask" and its corresponding cycle time in the Module
parameters tab by double-clicking the "Value" field:
• As "UpdateTask", enter the name of the task which accesses the CAN bus. If
more than one task has access to the CAN bus, enter the task with the shortest
cycle time.
• All CAN telegrams are received and transmitted within the time base of this
task. This also applies to the sync telegram which however is not transmitted
more frequently than the set sync cycle time.
• Communication from different tasks is not possible.
4. Your PLC program is now ready for the Logic field devices to be integrated.
Save your PLC project.
Note!
The baud rate set in »PLC Designer« overwrites the baud rate set for the field
devices via »WebConfig«/»Engineer«/»Global Drive Control«.
In a CANopen network, set the same baud rate for all nodes.