BECKHOFF FC5101 - Manual (Page 30)

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CANopen Device
CANopen devices which are not recognised by the TwinCAT System Manager can be incorporated into the
network by selecting the box ”CANopen Node”. The CAN(open) messages (PDOs) can be configured directly
for these devices. This will guarantee the optimum flexibility of this general CANopen interface.
When using the FC510x, this box also enables you to receive and send any CAN identifier - this enables com-
munication with any CAN node. The only condition is the support of at least one of the Baud Rates supported
by the FC510x.
"CAN Node" tab
Node ID: Enter the general CANopen device node address here. If you select the ”Auto Adapt PDO COB Ids”
box, the default identifier for the process data object can also be carried out after changing the node ID.
Profile No.: After CANopen, the parameter 0x1000 "Device Type" contains the number of the supported device
profile in both the lowest value bytes. These are entered here and compared at the system StartUp with the
device parameters present. If no device profile is supported, the parameter will contain the value 0.
Add Info: The additional info is located in both the highest value bytes of the object directory entry 0x1000 (de-
vice type).
FC510x: Comparison of the set/actual configuration takes place only if the profile no. or add info
(i.e. object directory entry 0x1000) are configured to a value other than zero. If the expected data
at the system start do not comply with the values present, the StartUp of this node will be inter-
rupted and a corresponding error message will appear in the Diag Tab.
CIFx0-CAN: The values are continuously compared (even if ”0” is entered in both). If values do not
comply, the node StartUp is interrupted.
Guard Time: The guard time determines the interval in which the node is monitored (node guarding). 0 signifies
no monitoring.
Life time factor: Guard time x lifetime factor determines the watchdog length for the mutual monitoring of card
and CANopen nodes. 0 indicates that the CANopen node is not monitoring the card. At 0 the card takes the
guard time directly as the watchdog length.
FC510x: This card also supports the heartbeat protocol and firstly attempts to start this form of
node monitoring on the CANopen node (write access to objects 0x1016 and 0x1017 in the object
directory). If this attempt fails, guarding is activated. The guard time as producer heartbeat time
and (guard time x lifetime factor) as consumer heartbeat time are entered. The card then transmits
its heartbeat telegram with the smallest configured guard time (the guard times can be set indi-