IFM CR711S - Use CANopen

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ifm Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19
Programming Use CANopen
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8.6 Use CANopen
CANopen: Send and receive SDO ...................................................................................................... 89
CANopen: Network Management (NMT) ............................................................................................ 89
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► Observe the notes on task configuration! (→ Configure task processing (→ p. 80))
► Observe the notes about CANopen! (→ System manual)
In order to access one of the CAN interfaces configured for CANopen operation, the following POUs
are available in ifm libraries.
Further POUs are available in CODESYS libraries from 3S.
Requirements
 The device is configured as CANopen manager (master)
(→ via system configuration: CANopen Manager (→ p. 71)).
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8.6.1 CANopen: Send and receive SDO
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The following POUs are available to send or receive Service Data Objects (SDO):
Function element
Short description
COP_SDOread (→ p. 105)
Read Service Data Object (SDO)
COP_SDOwrite (→ p. 107)
Write Service Data Object (SDO
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8.6.2 CANopen: Network Management (NMT)
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The following POUs are available for the management of the CANopen network:
Function element
Short description
COP_GetNodeState (→ p. 103)
Request state of one or several CANopen devices
COP_SendNMT (→ p. 109)
Send an NMT control command to a CANopen device
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