Configuring the CAN Slave Boot Up¶
Tab CAN Slave allows the configuration of the boot up behavior of the CAN slave:
The following options are available and can be set by either clicking on the graphics or selecting the corresponding check box on the right side of the editor window. The graphic illustrates the order of execution:
| Parameter | Default value |
Value | Meaning |
|---|---|---|---|
| Node ID-active | Enabled | Disabled | The node is inactive. |
| Enabled | The node is active. | ||
| Node BootUp | |||
| Node Reset (Send the Reset-Node command) | Enabled | Disabled | No specific node reset communication command is sent. |
| Enabled | The master sends the CANOPEN specific node reset communication command. | ||
| Check node type and profile (Compare the configured Profile and Type Object 1000H with real value) | Disabled | Disabled | The content of the node object 1000H are not compared with the current parameters. |
| Enabled | The master compares the content of the mandatory node object 1000H. If the values are different, the master will report a parameterization error. | ||
| Configuration Guard Protocol (Configure the Guard-Time and Lifetime-Factor) | Enabled | Disabled | The guard time and Life-Time factor of the node configuration are not written. |
| Enabled | A CANOPEN has 2 specific register responsible for the Node guarding protocol. The master writes the guard time and Life-Time factor of the node configuration into the corresponding objects of the node during startup. | ||
| Configuration SYNC COB-ID (Configure the COB-ID for the Synchronization-Telegram) | Enabled | Disabled | The master does not write the SYNC COB-ID of the configuration into the corresponding objects of the node. |
| Enabled | The master will write the SYNC COB-ID of the configuration into the corresponding objects of the node during startup. | ||
| Configuration EMCY COB-ID (Configure the COB-ID for the Emergency-Telegram) | Enabled | Disabled | The master does not write the EMCY COB-ID of the configuration into the corresponding of the node. |
| Enabled | The master writes the EMCY COB-ID of the configuration into the corresponding objects of the node during startup. | ||
| Configuration Download of objects (Download the Object Configuration to the Node) | Enabled | Disabled | |
| Enabled | To get a PDO communication to a node working, the master has to send all relevant configuration objects to the Node. For example, the COB-IDs of PDOs are covered here in the mapping table. If enabled, all these parameter and also the user specific objects which are added manually in the Node object configuration window are written down to the Node by the master. |
||
| Start Node (Send the Start-Node Command) | Enabled | Disabled | No start node command is sent. |
| Enabled | To reach the operational state in CANOPEN, a node has to get the CANOPEN specific start node command. The master sends the start node command to the node at the end of the boot-up procedure. | ||
| Initiate PDO data (Remote request all TxPDOs and send current RxPDOs once after | Enabled | Disabled | PDOs are not written and read by the master automatically. |
| Enabled | This item selects if the installed PDOs shall be automatically written and read by the master directly after the startup once. This ensures that the latest output data which can be found within the master’s output process data area is sent to the node and that the latest node input data is read from the node and be placed into the input process data area. | ||