Configuration of the CANopen® Manager¶
Double-click on CM578_CAN (CM578-CAN) / CM598_CAN (CM598-CAN) opens the CM578-CAN / CM598-CAN configuration in the editor window. The tab CANopen Manager allows setting up the CANopen® Manager of the CM574-CN Communication Module.
The following parameters are available:
| Parameter | Default value |
Value | Meaning |
|---|---|---|---|
| Node ID | 127 | 1…127 | Node ID of the CM578-CN Communication Module |
| Sync | |||
| Sync cycle period [µs] | 1000 | 100.. 2:sup:32-1 | Parameter Sync Cycle period determines the interval in [µs] in which the synchronization message will be sent. |
| Sync COB-ID | 128 | 128 1664 1759 1761 1792 1920 2047 |
Parameter Sync COB-ID sets the Communication Object Identifier (COB-ID) which identifies the synchronization message. |
| Synchronous window length [µs] | 1200 | 0.. 2:sup:32-1 | Parameter Synchronous window length determines the length of the time window for synchronous PDOs in [µs]. |
Check and fix configuration |
- | - | This button opens the dialog that allows checking and fixing the current configuration. |
| Heartbeat | |||
| Enable heartbeat generation | Disabled | Disabled | The heartbeat generation is disabled. |
| Enabled | The master sends heartbeats according to the interval defined in parameter Heartbeat time. If new slaves with heartbeat functionality are added their behaviour will automatically be enabled and configured appropriately. If the heartbeat generation of the CANopen® manager is not enabled, nodeguarding is enabled instead. The CANopen® slaves can be configured as heartbeat producers. |
||
| Node ID | 127 | 1…127 | Parameter Node ID determines the identifier of the heartbeat producer on the bus. |
| Heartbeat time [ms] | 10 | 1…65535 | Time interval for the heartbeat generation in [ms]. |
Remark 1: Check and fix configuration
The dialog Check and fix configuration shows an overview of the current conflicts of the configured node IDs and the COB-IDs. It detects double node IDs and shows the wrong COB-IDs of the PDOs of the remote devices:
The dialog gives suggestions to resolve the existing conflicts that can be accepted by clicking on the corresponding button. Alternatively the configuration must be adapted manually for the faulty devices.