Configuring the Expert PDO Settings¶
The activation of the check box Enable Expert PDO Settings displays the available parameters of the expert PDO settings:
The following parameters are available:
| Parameter | Default value |
Value | Meaning |
|---|---|---|---|
| General | |||
| Node ID | 1 | 1…127 | Note ID of the remote device |
| Enable Expert PDO Settings | Disabled | Disabled | Expert PDO settings are disabled. |
| Enabled | Expert PDO settings are enabled. | ||
| Optional Device | Disabled | Disabled | Optional device is disabled. |
| Enabled | Optional device is enabled. | ||
| Create all SDOs | Enabled | Disabled | Creation of all SDOs is disabled. |
| Enabled | Creation of all SDOs is enabled. | ||
| No initialization | Disabled | Disabled | No initialization option is disabled. |
| Enabled | No initialization option is enabled. | ||
| Enable Sync Producer | Disabled | Disabled | Sync producer is disabled. |
| Enabled | Sync producer is enabled. | ||
| Factory Settings | Disabled | Disabled | No factory settings are used. |
| Enabled | Factory settings are used. The corresponding factory setting can be selected in the combo box right of the check box. | ||
| Node Guard | |||
| Enable Nodeguarding | Enabled | Disabled | Nodeguarding is disabled. |
| Enabled | Nodeguarding is enabled. This function can only be enabled if Heartbeat Generation is disabled. | ||
| Guard time [ms] | 200 | 0…65535 | The parameter Guard time sets the cycle time for the Nodeguarding in [ms]. |
| Life time factor | 2 | 0…255 | The Life time factor sets the factor when the connection should be applied as lost. Warning: To reach a stable communication of the node on the CANopen®, the Life time factor has to be set to minimal 2. |
| Emergency | |||
| Enable Emergency (read only) | Enabled | Enabled | CANopen® Remote Device sends emergency telegrams. |
| COB-ID (read only) | $NODEID+16#80 | $NODEID+16#80 | Communication Object Identifier of the remote device. |
| Heart Beat | |||
| Enable Heartbeat Generation | Disabled | Disabled | Heartbeat generation is disabled. |
| Enabled | Heartbeat Generation is enabled. This option can only be enabled if Nodeguarding is disabled. | ||
| Heartbeat producer time [ms] | 10 | 0…65535 | The Heartbeat producer time represents the cycle time for the Heartbeat Generation in [ms]. |
Change Properties Heartbeat consumer |
- | - | The button Change Properties Heartbeat consumer opens the dialog Heartbeat Properties where the heartbeat parameters can be set. |
| Checks at startup | |||
| Check vendor id | Enabled | Disabled | The vendor id will not be checked on startup. |
| Enabled | The vendor id will be checked on startup. | ||
| Check product number | Disabled | Disabled | The product number will not be checked on startup. |
| Enabled | The product number will be checked on startup. | ||
| Check revision number | Disabled | Disabled | The revision number will not be checked on startup. |
| Enabled | The revision number will be checked on startup. | ||
Remark 1: Change Properties Heartbeat consumer
Click on button Change Properties Heartbeat consumer to pens the Heartbeat properties dialog window:
The dialog shows the nodes defined in the EDS files which can be selected for getting guarded. For this purpose set a check in the Enable field and enter the desired value in milliseconds in the Heartbeat time field (double-clicking on this field opens a selection box of time values). If the Heartbeat Consumer option is activated, then the corresponding module will listen to heartbeats which are sent by the master. As soon as no more heartbeats are received, the module will switch off the I/Os.
Note
To reach a stable communication of the node on the CANopen® bus the parameter Life Time factor has to be set to 2 at least.
Note
A life guarding can only be used if the master carries out a Nodeguarding. That means Life-Guarding presumes Nodeguarding.