Inovance H3U Series - Page 640

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9
9 Communication 9.7.4 CANopen Conguration
① Network Management
Node ID
: Indicates the master station number. If the station number is identical to the PLC number, the PLC
will be initialized as the CANopen master station. If the station number is different from the PLC number,
the PLC will be initialized as a CANopen slave station.
Baud Rate
: Indicates the communication baud rate valid for the master station.
The program is running prohibited SDO, NMT access
: If this option is selected, online debugging is
disabled during running of the program. The function only applies to background software.
Ignore any errors continue to congure SDO:
After this option is selected, if SDO conguration errors occur,
conguration will continue. The function is valid for all slave stations. If the option is not selected, when
SDO errors occur, the master station will reset slave stations through broadcasts.
② Synchronous
Enable Synchronous Production
: If this option is selected, the congured station will send a sync frame
repeatedly in the set synchronization cycle.
COB-ID
: Indicates the ID for sync frame sending. The default value is 0x80. The parameter cannot be
congured.
Synchronous Cycle (ms)
: Indicates the cycle for sync frame sending. The default value is 200, in the unit of
milliseconds.
Window Length (ms)
: The value is 0 by default. The parameter cannot be congured.
• On a network, only one sync frame can be sent.
③ Heartbeat
Enable Heartbeat Production
: If this option is selected, the congured station will send heartbeat frames
repeatedly in the set cycle.
Production Time (ms)
: Indicates the cycle for heartbeat sending. The default value is 300, in the unit of
milliseconds.
• By default, the heartbeat monitoring consumption time is 2.5 times the heartbeat generation time. (The heartbeat
monitoring timeout is 2.5 times the heartbeat generation time.)
④ SDO Timeout
Timeout
: Indicates the SDO waiting time. The default value is 500, in the unit of milliseconds. SDO frames
are used for network conguration. If the SDO fails to receive return frames after the third try, the master
station determines that conguration times out. The waiting time for each frame is called SDO timeout.
⑤ Node Status Monitor
Enable Site Monitor
: If this option is selected, the master station will write the slave station state in the
corresponding register. By default, the option is selected.
Monitor Register Start Address
: The default value is 7800. That is, D7800 is the head address. D7800
indicates the master station state, and D (7800 + slave station number) indicates the slave station state.
The following table lists denitions of state values.