CANOPEN Library¶

Library file name: CANopen_AC500_Vx.lib

The Function Blocks access both, the PLC run time system as well as directly the Communication Module. The definitions and functions required for this are stored in the internal library SysExt_AC500_V10.lib External System Library. This library is automatically included during project setup.

The library contains Function Blocks for a comfortable handling of the CANOPEN Communication Module as well as definitions of various data types. These structures enable a clear presentation of data sets.

Note

All function blocks of this library can only be executed in RUN mode of the Processor Module, not in simulation mode.

The Function Blocks are not required for normal CANOPEN operation. They provide additional functionality.

Data exchange between the controller working as a CANOPEN master and the connected nodes is normally configured using SYCON.net. The configured nodes are taken into operation by the Communication Module when the program starts. During running operation, data exchange is performed automatically. The I/O data of the nodes can be accessed like variables without any use of additional Function Blocks. If the PLC program is stopped, the master shuts down the bus in a controlled manner. The Function Blocks can be used to implement further functions which are not contained in the configuration.

The Function Blocks are able to transmit and receive any CAN telegrams. Messages with 11 bit identifiers according to CAN 2.0 A are as well supported as messages with 29 bit identifiers according to CAN 2.0 B.

CAN is the basis for various other protocols (SDS, DEVICENET, CANOPEN). A common point of all protocols is the telegram structure consisting of 11 bit or 29 bit identifiers and up to 8 data bytes. Use and meaning of the individual telegram components differ from protocol to protocol. Therefore, the transmitted and received telegrams are forwarded transparently and not interpreted by the Function Blocks to provide universal use of the Function Blocks. For a more comfortable handling of CANOPEN telegrams, additional auxiliary functions and data structures are available.