Modicon M258 Logic Controller
CANopen Configuration
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CANopen Configuration Chapter 12
CANopen Configuration
CANopen Interface Configuration
CAN Bus Configuration
To configure the CAN bus of your controller, proceed as follows:
Step
1
2
Action
In the Devices tree, double-click CAN0.
Configure the baudrate (by default: 250000 bits/s):
NOTE: The Online Bus Access option allows you to block SDO, DTM, and NMT sending through the status screen.
When connecting a DTM to a device using the network, the DTM communicates in parallel with the running application. The overall performance of the system is impacted and may overload the network, and therefore have consequences for the coherency of data across devices under control.
WARNING
UNINTENDED EQUIPMENT OPERATION
Place your machine or process in a state such that DTM communications will not impact its performance.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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CANopen Configuration
CANopen Manager Creation and Configuration
If the CANopen Manager is not already present below the CAN node, proceed as follows to create and configure it:
Step Action
1 Select CANopen Optimized in the Hardware Catalog, drag it to the Devices tree, and drop it on one of the highlighted nodes.
For more information on adding a device to your project, refer to:
Using the Drag-and-Drop Method
Using the Contextual Menu or Plus button
2 Double-click CANopen_Performance.
Result: The CANopen Manager configuration window appears:
214
NOTE: If Enable Sync Producing is checked, the CAN0_Sync task is added to the Application →
Task Configuration node in the Applications tree tab.
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CANopen Configuration
Do not delete or change the Type or External event attributes of CAN0_Sync tasks. If you do so,
EcoStruxure Machine Expert will detect an error when you attempt to build the application, and you will not be able to download it to the controller.
If you uncheck the Enable Sync Producing option on the CANopen Manager subtab of the
CANopen_Performance tab, the CAN0_Sync task is automatically deleted from your program.
Adding a CANopen Device
Refer to the EcoStruxure Machine Expert Programming Guide for more information on Adding
Communication Managers and Adding Slave Devices to a Communication Manager.
CANopen Operating Limits
The Modicon M258 Logic Controller CANopen master has the following operating limits:
Maximum number of slave devices
Maximum number of Received PDO (RPDO)
Maximum number of Transmitted PDO (TPDO)
63
126
126
WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect more than 63 CANopen slave devices to the controller.
Program your application to use 126 or fewer Transmit PDO (TPDO).
Program your application to use 126 or fewer Receive PDO (RPDO).
Failure to follow these instructions can result in death, serious injury, or equipment damage.
CAN Bus Format
The CAN bus format is CAN2.0A for CANopen.
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CANopen Configuration
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