31.7.7.2 Master
Configuration Dialog Box
Master Configuration
Network-wide configuration
Configures CANopen network settings.
Baud rate
Select corresponding baud rate from [50kbps], [125kbps],
[250kbps], [500kbps], [800kbps] and [1000kbps].
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Baud rate (bps)
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Wire length (m)
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50K
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1000
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125K
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500
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250K
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250
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500K
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100
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800K
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40
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1000K
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20
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Global SYNC period
Defines the frequency of the SYNC signal sent by the slave unit.
The set up range is 0, or 3 to 32767. The set up value is stored in
object 1006h.
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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.
Global Heartbeat Timing
Set the heartbeat time sent from slave to master (or from master
to slave). Unit is in milliseconds. The value can be from 50 to
21844. Click [Apply to All Slaves] and the value of object 1016h
(consumer heartbeat time) for CANopen master changes to the
automatically optimized value. The value of object 1017h (producer
heartbeat time) is overwritten by the value set here. Object 1017h
(producer heartbeat time) for all slave objects is overwritten with
the value set here, and the value of object 1016h (consumer
heartbeat time) changes to the automatically optimized value.
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:
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Bit 4
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Bit 6
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Stop all slaves
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—
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ON
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Reset all slaves
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ON
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OFF
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Prioritize All Slave Configuration
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OFF
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OFF
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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.
Advanced Object Configuration
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 in the objects during
startup.
Object Search
Enter the index of the object that you wish to find or the
parameter text string, and then click [Search].
The application searches for the corresponding object in the object
list.
Reset the object
Returns the set up value of the object selected in the [Object
List] to its initial value.
Object Type 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
Commutation 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 a hexadecimal, otherwise, it indicates a decimal
number.)
Default
Display initial value of the object.
Data Type
Display data type of the object. The following data types are
included.
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Boolean (Single bit value)
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Integer8 (8 bit signed integer)
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Integer16 (16 bit signed
integer)
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Integer24 (24 bit signed
integer)
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Integer32 (32 bit signed
integer)
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Integer40 (40 bit signed
integer)
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Integer48 (48 bit signed
integer)
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Integer56 (56 bit signed
integer)
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Integer64 (64 bit signed
integer)
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Unsigned8 (8 bit unsigned
integer)
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Unsigned16 (16 bit unsigned
integer)
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Unsigned24 (24 bit unsigned
integer)
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Unsigned32 (32 bit unsigned
integer)
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Unsigned40 (40 bit unsigned
integer)
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Unsigned48 (48 bit unsigned
integer)
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Unsigned56 (56 bit unsigned
integer)
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Unsigned64 (64 bit unsigned
integer)
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Float
(32 bit single-precision floating point)
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Float64 (64 bit single-precision
floating point)
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Visible
String (Text string including ASCII text)
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Octet
string (Array of 8 bit unsigned integer)
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Unicode
string (Array of 16 bit unsigned integer)
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Bit
string (Array of single bit)
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Time of
day (48 bit value indicating time and date)
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Time
difference (48 bit value indicating time)
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Domain (Application specific data
block)
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Reserved (Reserved type)
Access
Displays access method of the objects. The following types are
included.
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readonly (Read only)
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writeonly (Write only)
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readwrite (Read/Write)
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constant (Constant)
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