Running Operation

The CANopen® protocol is automatically processed by the Communication Module and the operating system of the controller. The Communication Module is only active on the bus if it has been initialized correctly before and if the user program is running. No function blocks are necessary for exchanging process data via CANopen®. Special CAN functions can be realized using the function blocks of the CANopen® library.

The Communication Module starts communication via CANopen® after the user program is started and then attempts to initialize the configured slaves. After a successful initialization, the slave exchanges the process data. The exchange of I/O data with the slaves is done automatically.

If the user program is stopped, the Communication Module shuts down the CANopen® communication in a controlled manner.