Parameterization of the CM578-CN / CM598-CN Communication Module Interface

Double-click on CM578_CAN (CM578-CAN) / CM598_CAN (CM598-CAN) to open the CM578-CAN / CM598-CAN Configuration in the editor window:

The following parameters are available:

Parameter	Default value	Value	Meaning
Run on config fault	No	No	In case of a configuration error, the user program is not started.
		Yes	The user program is started independent of a faulty configuration of the CANopen® Communication Module.
Do not delete Config on Reset origin	0	0	Delete CM578-CAN configuration on Reset origin
		1	Do not delete CM578-CAN configuration on Reset origin
CANopen Sync mode	Sync Bus only	Sync Bus only	The CANopen Manager sends Sync messages (if enabled) to CAN-Bus only. The properties of the sync message are configured in the CANopen Manger parameters.
		Sync Bus and Task	CANopen Manager sends Sync messages to CAN-Bus and triggers IEC Task. The associated task has to be added manually in the task configuration. If there is any problem with CANopen Sync, check the following points in configuration: 1. CANopen Sync mode has to be set to Sync Bus and Task. 2. Sync Message has to be enabled. 3. A task of type “triggered by external event” has to be configured. The external event has to be “Ext_CouplerX_InputAny”. 4. PDO transmission type has to be “cyclic synchronous”.

The tab CAN Bus contains the basic CAN bus parameters:

Parameter	Default value	Value	Meaning
Bus Parameters
Baudrate	250 kBit/s	10 kBit/s 20 kBit/s 50 kBit/s 100 kBit/s 125 kBit/s 250 kBit/s 500 kBit/s 800 kBit/s 1000 kBit/s	Transmission speed in [kBit/s]
Enforce cyclic PDO transmission	Disabled		The CANopen protocol stack of CM578-CAN (V1.101 and below) does not support the transmission type “cyclic synchronous” (1-240), i. e. sending PDOs by the master cyclically triggered by receiving the sync message. PDOs are sent only based on change detection. This option enables a workaround for sending PDOs cyclically anyway. The cycle time is derived by the parameter sync cycle period combined with “transmission type “(1-240).
		Enabled	PDOs with transmission type “cyclic synchronous” are sent cyclically. For this option CANopen firmware T1.220 or higher is required. CycleTime [ms] = sync cycle period [ms] * transmission type
		Disabled	PDOs sent only based on change detection.
Node settings
Stop in case of monitoring error	Disabled	Disabled	The manager does not stop if a monitoring error (Node Guard or Heartbeat Error) appears. This function defines the behavior of the manager if the communication is interrupted to at least one node. If this function is enabled, the manager will also stop the communication to all further nodes which were still responding and active. If this function is disabled, a lost communication to one node has no influence on the communication of the still present nodes. For all the error affected nodes the master remains in the state to try the reestablishment of the communication again.
		Enabled
Send “Global Start Node”	Enabled	Disabled	No “Global Start Node” message is sent after configuring the nodes.
		Enabled	After the manager started all nodes configured individually first, it sends a “Global Start Node” afterwards, in order to synchronize all Nodes again.
29 Bit COB ID
Enable 29 bit COB-ID	Disabled	Disabled	29 bit COB-ID is disabled. An 11 bit COB-ID is used.
		Enabled	29 bit COB-ID is enabled.
Acceptance mask	0	29 bit	Here it is possible to define the bits, the filter uses. In other words: All not set bits will not be filtered out. The parameter Enable 29 bit COB-ID must be enabled.
Acceptance code	0	29 bit	Those are the bits set to filter the IDs. Those bits must have the value ‘1’ in the acceptance code and the received COB ID to pass the filter. If a bit is not set in the Acceptance Mask, the filter will pass the message anyway. The parameter Enable 29 bit COB-ID must be enabled.