Lenze PLC Designer PLC Designer (R2-x) CANopen for Runtime Systems - Manual (Page 7)

L-force | PLC Designer - CANopen for Runtime Systems
CANopen-Master library
6 DMS 2.0 EN 05/2009 TD29
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• Heartbeat
Automatic sending and guarding of heartbeat messages.
• Emergency
Receiving and storing of emergency messages from the configured slaves.
• The direct communication between slaves via PDOs is possible, but must be configured
„manually“.
The following functions defined in CANopen are currently not supported by the Lenze CANopen library
(State: May 2005):
• Dynamic identifier assignment
• Dynamic SDO connections
• Blockwise SDO transfer
• The guarding of more than one heartbeat from the CAN Device viewpoint.
• Network variables according to CANopen specification DS302
• Modules according to DS405.
• All possibilities of the CANopen protocol not mentioned above
2.2 CANopen for the user
2.2.1 Used modules
To realize the CANopen-library easily and practically, the following modules are necessary:
For a simple and practical realization of the CANopen function under a »PLC Designer«
programmable PLC the following modules are required:
• A »PLC Designer« programming system, as from version V2.3 SP5, with integrated CANopen-
configurator.
• The STANDARD.LIB, providing the standard functions defined in IEC-61131 for the PLC.
• In »PLC Designer« programmable multitasking systems the libraries SysLibSem.lib (semaphores
for the exclusive processing of certain code sections) and SysLibCallback.lib (IEC-function calls at
certain events) are used to get a multitasking-save access on CAN.
• EDS-files for all slaves which are part of the network. The EDS-files are provided by the hardware
manufacturer of the CANopen-Slaves.
• The library 3S_CANDRV.Lib, realizing the CAN base functions. The library is hardware-dependent
and must be available as external (or internal) »PLC Designer« library.
This library usually is provided by the PLC manufacturer and has a uniform interface to
3S_CANOPEN.lib.
• The library 3S_CanOpenManager.Lib, providing the CANopen base functionalities.
• One or several of the libraries 3S_CanOpenNetVar, 3S_CanOpenDevice and
3S_CanOpenMaster. Depends on the desired functionality.