Hi @Ilja_Sorokins,
Sorry about that it looks like there was an issue when I grabbed what he sent me. Some reason the pictures weren’t included.
Here’s a word doc with all the info
CANopen PDOs.docx (278.0 KB)
@Tim_hms
That manual part does not explain how to initialise TPDO/RPDO from TIA portal program.
The device in question is already configured as this suggests
Well, all done without PDO, via SDO Write/Read directly to corresponding parameters.
Fault was Integer/Double integer to byte array recalculation for Double integer was flawed, and setpoint values exceeded maximal values permitted by drive’s firmware.
Overworking and wrong problem searching directions caused 70% of the issue in question on my side.
Greatly appreciate support. Solution found
1 Like
Hi @Ilja_Sorokins,
Glad to her that you were able to get the device up and running. My colleague also wanted to provide some additional information if you want to use this for a reference:
CM CANopen is running as CANopen Manager:
all configuration of the CANopen network is done by the CM CANopen Configuration Studio:
this configuration includes
=> the configuration of the slaves
it includes the configuration of the RPDOs / TPDOs of the slave devices
=> enabled / disabled
used CAN identifier
=> transmission type
=> inhibit time / event timer if supported
=> mapping of the transferred objects
=> the configuration of the CANopen Manager <=> CM CANopen
it includes
=> the configuration of the slaves
so the CM CANopen knows how to configure each slave after power on / reset
=> the configuration of the RPDOs / TPDOs
this configuration is done automatically by the CM CANopen Configuration Studio
=> it depends of the configuration of the RPDOs / TPDOs of the slave devices
the complete configuration is downloaded to the CM CANopen:
=> so it knows its CANopen network
=> so it knows which devices are expected and how to configure them
=> so it knows how to control the slaves (e.g.: heartbeat consuming)
=> so it knows how to exchange process image data with PDOs
CM CANopen automatically manages all CANopen functionality
TIA Portal:
there is no need to manage any CANopen functionality by the TIA Portal application
except:
=> there are values that cannot be mapped in PDOs of the slaves
these (and only these) objects must be read / written by SDO commands of the PLC
That manual part does not explain how to initialize TPDO/RPDO from TIA portal program.
this configuration shall not be done from TIA Portal program
CM CANopen is running as CANopen Manager:
this configuration must be done by the configuration Studio
CM CANopen is running as CANopen Slave:
this configuration must be done by the CANopen Master
if this response does not clarify the questions of the customer:
i can support the customer in a teamviewer / teams meeting where i can explain CANopen and the use of the CM CANopen in TIA Portal