Network-wide configuration
Configures CANopen network settings.
Baud rate
Select corresponding baud rate from [50kbps], [125kbps], [250kbps], [500kbps], [800kbps] and [1000kbps].
Baud rate (bps) |
Wire length (m) |
|---|---|
50K |
1000 |
125K |
500 |
250K |
250 |
500K |
100 |
800K |
40 |
125K |
20 |
Set the slave (HTB) baud rate on the slave unit itself.
When using the LT4000 Series, you cannot select [500 kbps] nor [1000 kbps].
Global SYNC period
When using AGP-*****-CA1M or LT3000 Series, defines the frequency of the SYNC signal transmitted by the slave unit. The set up range is 0, or 3 to 32767. The set up value is stored in object 1006h.
If the global SYNC period of the slave side has been changed to a value other than 0ms, whenever the global SYNC period of the master side is changed, the global SYNC period of the slave side will automatically be changed while maintaining the ratio with the global SYNC period of the master side.
SYNC transmission
When using the LT4000 Series, sets whether or not to transmit the SYNC signal. When transmitting, the transmission interval is synchronized with the logic scan time.
For more information about the logic scan time, refer to the following.
30.14.3.2 Logic Scan Time
Global Heartbeat Timing
Set the heartbeat time for transmissions from slave to master, or from master to slave. Unit is in milliseconds. The value can be from 50 to 21844. Click [Apply] and the value of object 1016h (consumer heartbeat time) for CANopen master changes to the optimized value. The value of object 1017h (producer heartbeat time) is overwritten with the value set here. Object 1017h (producer heartbeat time) for all slave objects is written with the value set here, and the value of object 1016h (consumer heartbeat time) changes to the optimized value.
You can individually specify the heartbeat time on the slave side in the [Slave Configuration] dialog box.
NMT Inhibit Time
Set the lag time after the master inputs one NMT command into the network until the next NMT command is issued.
"NMT Inhibit Time" is set in units of 100 microseconds. The value can be from 0 to 32767. You can disable this feature by setting 0.
On Error Control Event of a mandatory slave
From [Stop All Slaves], [Reset All Slaves] and [Prioritize slaves individually], select the action when an error occurs in the slave set as [Mandatory Slave].
When this item is set, bit 4 and 6 of the object 1F80h for CANopen master is as follows:
|
Bit 4 |
Bit 6 |
|---|---|---|
Stop all slaves |
- |
ON |
Reset all slaves |
ON |
OFF |
Prioritize All Slave Configuration |
OFF |
OFF |
[Prioritize slaves individually] sends a reset to individual slaves, rather than the reset being broadcast.
Error Control Overview
Displays the state of each slave. No settings are allowed.
Producer Heartbeat Time
Displays the sending period of the heartbeat set in [Global Heartbeat Time] in [Network Settings] tab. Unit is in milliseconds. It is stored in the object 1017h for CANopen master.
ID
Node ID in CANopen network.
Product Name
Display EDS product name.
Comment
Displays the alias assigned to the slave.
Consumer Heartbeat
Display consumer heartbeat set in each slave. It is stored in object 1016h for the slave.
Guard Time
When [Use Node Guard] is selected in the [Advanced Error Control] tab in [Slave Configuration] dialog box, displays the set [Guard Time]. It is stored in object 100Ch on slave side.
Lifetime factor
When [Use Node Guard] is selected in [Advanced Error Control] tab in [Slave Configuration], displays the set [Life time factor]. It is stored in object 100Dh on slave side.
You can change the values of read-write and write-only objects. The values you can change are objects that are writable and not grayed out. The values set here are written to the objects at startup.
To use Advanced Object Configuration, you must have sufficient knowledge of CANopen.
The LT4000 Series does not support master store/restore.
Object Search
Enter the parameter text string or the index of the object that you wish to find, and then click [Search].
The application searches for the corresponding object in the object list.
Reset
Returns the set up value of the object selected in the [Object List] to its initial value.
Filter
Select the extracting conditions you want to display in [Available objects from device profile] from the following three categories:
PDO mapping
PDO mapping enabled
PDO mapping disabled
Access
Read only
Write only
Read/Write enabled
Data Area
Communication Area (1000h to 1FFFh)
Manufacturer Area (2000h to 5FFFh)
Profile Area (6000h to 9FFFh)
Available objects from device profile
Display the list of objects according to the conditions selected in [Object type filter].
Enable
When the "Set Value" changes, this check box is automatically selected; you can confirm that the object has changed. When the check box is cleared, the object returns to its initial value.
Index
Display index and sub index of the object. The sub index appears after the dot. For example, for "0x1003.2", "0x1003" is index and "2" is sub index.
Parameter
Display parameter name of the object.
Value
The value of the object can be changed. (The number with "0x" indicates hexadecimal. Otherwise, it is a decimal number.)
Default
Display initial value of the object.
Data Type
Display data type of the object. The following data types are included.
Boolean (Single bit value)
Integer8 (8 bit signed integer)
Integer16 (16 bit signed integer)
Integer24 (24 bit signed integer)
Integer32 (32 bit signed integer)
Integer40 (40 bit signed integer)
Integer48 (48 bit signed integer)
Integer56 (56 bit signed integer)
Integer64 (64 bit signed integer)
Unsigned8 (8 bit unsigned integer)
Unsigned16 (16 bit unsigned integer)
Unsigned24 (24 bit unsigned integer)
Unsigned32 (32 bit unsigned integer)
Unsigned40 (40 bit unsigned integer)
Unsigned48 (48 bit unsigned integer)
Unsigned56 (56 bit unsigned integer)
Unsigned64 (64 bit unsigned integer)
Float (32 bit single-precision floating point)
Float64 (64 bit single-precision floating point)
Visible String (ASCII text string)
Octet string (Array of 8 bit unsigned integer)
Unicode string (Array of 16 bit unsigned integer)
Bit string (Array of single bit)
Time of day (48 bit value indicating time and date)
Time difference (48 bit value indicating time)
Domain (Application specific data block)
Reserved (Reserved type)
Access
Displays access method of the objects. The following types are included.
readonly (Read only)
writeonly (Write only)
readwrite (Read/Write)
constant (Constant)