Axel CANDPSX - Configuring the Network; SDO Service

CANDPSX user manual rev 2 Page 16 of 42
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Status word codes (parameter 2091h):
Property
Value
Parameter
2091h
Logic View menu
All parameters/System/CANopen Master
Data type
16 bit unsigned int
Measurement unit
--
Value
bit 0 = running status of the driver
bit 1 = data exchange status of the driver
bit 2 = fault status of the driver (see § 34)
Default value
0
Access
Read-only
4.2.3 Configuring the network
In this operating mode, the module can control up to 24 CANopen slave nodes. Each node under
supervision must be assigned the address of the corresponding, complying with what stated in the
CiA DS301 standard.
To configure the network under control, set the parameters 2070h - 2087h:
Property
Value
Parameters
2070h - 2087h
Logic View menu
All parameters/System/CANopen Master/Nodes configuration
Data type
8 bit unsigned int
Measurement unit
--
Value
0 = not present
1 to 127 = node ID
Default value
0
Access
Read/Write
The CANopen master scans the programmed nodes and publishes the presence status in the
parameter 2093h. Each bit of the parameter set to 1 means that the associated node has been
detected. Namely, bit 0 shows the presence status of the node programmed with the parameter
2070h, bit 1 shows the presence status of the node programmed with the parameter 2071h, etc. It
is possible to map the configuration control parameter in the Profibus dual port (see § 28).
4.2.4 SDO Service
The CANDPSX module enables a Profibus master to exchange parameters with the slave nodes
connected via the SDO protocol. To activate this function, you will have to enable the SDO protocol
and to map the SDO control structures (parameters 20A3h and 20A4h) and the data transportation
buffers (parameters 20A5h and 20A6h) in the Profibus dual port (see § 28).