Codesys canopen. com CAA CANopen Manager Library Documentation .

Codesys canopen 0\CODESYS\Projects\SoftMotion\4. com Item : CO DESYS CANopen Device SL Item num ber: 2303000234 Sales / Source of supply: CO DESYS Store https://store. 14. GetDeviceState method (CAA Device Diagnosis library). State property (3S CANopenDevice library) <name in device tree>. The affected slave is not in the OPERATIONAL state yet (no green icon) or configuration errors have occurred (SDO abort during configuration phase). BusDiag. CANopenState property (3S CANopenStack library) <name in device tree>. CANopen_over_Ethercat The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. Start the application. CANopen Remote Device: In CODESYS, a CANopen Remote Device is a slave device that is inserted below a CANopen Manager (master) in the device tree of a project. The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for Although the CoDeSys CANOpen driver handles almost everything automatically for you, you probably need some status information in your application. These are the only two devices on this network. CODESYS CANopen Manager offers A CANopen Manager configurator based on EDS and DCF files fully integrated in the Development System CODESYS ⇒ No additional tools required for the configuration of the bus system or the I/O data. Can you tell me how to configure wago as a CANopen master in Codesys 2. com Programming interface of the CANopen master and slave comm. The asynchronous serial bus system CAN (Controller Area Network) can be used for the most different applications and Configurator, protocol stack and diagnostics for CANopen Device, fully integrated in the IEC 61131-3 development system. The only errors I have when watching with CANOPEN_DEBUG is due to erroneous EDS files. 3 When I create a project with device 750-837, I can not add any device in the plc configuration (see The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. In the task configuration, add the call of one of the two programs (CFC_PRG, ST_PRG) and download the application to the controller. But you only can get it if you are a customer or on demand. com The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. Two interconnected CAN interfaces are needed for commissioning the project. With our team of engineers and technicians, we enhance your products The CANopen manager / master has the ability to monitor CANopen slaves: "heartbeat consumer". com Imprint; The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. The CANopen support in CODESYS is based on the standard Configurator, protocol stack and diagnostics for CANopen Device, fully integrated in the IEC 61131-3 development system. Technical specications are subect to chane Errors an omissions ecepte No reprouction or istri-bution in hole or in part ithout prior permission Not all CODESYS features are available in all territories. 2. In addition, most SoftPLC licenses in the CODESYS Store already include support for CANopen and can be used immediately with a Configuring CANopen Device (Slave) Right-click on the new, still empty item under the “CANbus (CANbus)” element of the slave device. If your target device programmable with CODESYS is equipped accordingly you can For most systems (CANopen ®, J1939, EtherCAT ®, EtherNet/IP™ and PROFINET), portable CODESYS libraries implement the protocol stack for the fieldbus. The project contains examples for SDO, NMT, diagnostics, and the dynamic configuration of communication Product: CODESYS CANopen Manager SL. com Another question is that, On the Canopen Master (Canopen manager), if I want to send a process data to a slave, I can configurate it in the " CANOpen I/O mapping " window to an application variable. com CAA CANopen Manager Library Documentation The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. For most systems (CANopen ®, J1939, EtherCAT ®, EtherNet/IP™ and PROFINET), portable CODESYS libraries implement the protocol stack for the fieldbus. I also interested in simple CAN first, before starting with CANopen. com To keep the busload as low as possible i set the CanOpen PDO's to different interval-times. The project contains examples for SDO, NMT, diagnostics, and the dynamic configuration of communication parameters (baud rate, network ID, node ID), and many more. Then buy the CODESYS Runtime Toolkit with SAE J1939 Support. top. I need to change Node ID of encoder with Canopen. So, only mapping entries >= 16 bit are allowed. 0. com Item : CO DESYS CANopen M anager SL Item num ber: 2303000233 Sales / Source of supply: CO DESYS Store https://store. com SETUP: I have a CANopen master and a CANopen slave device setup on a CANbus on the same network with the same baud rate (250 kbit/s). Additionally, CODESYS offers libraries for Modbus communication (TCP or serial). com CANopen Master stack provided by 3S Smart Software Solutions GmbH. Hello, I bought wago 750-837 with the ability to work as a CANopen master. 16#3. CANOPEN_KERNEL_DATA_OVERFLOW. com there is a very nice post about how to setup Codesys as a CANopen Master, however I wonder if it is also that simple to use the RevPi Connect/RevPi Con CAN configuration as a CANopen Slave? (The use case is to read data from the canbus (wheel sensors), calculate the control system in RevPi and send the calculated steering commands to the 3rd The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. Opens the Select item from object directory dialog box where all available SDOs are displayed. project sample project contains two implementations: one in ST, one in CFC. A CANopen communication stack in form of a CODESYS CiA 301 library The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. pData. project" To have them running with your axis, just add CANbus-CANopenManager_SoftMotion_ followed by CoDeSys V3. CANOPEN_KERNEL_CAN_ERROR_PASSIVE. I do not have much experience with CANopen. In our application, we use the S_CANopen_PC_SIL2. When an EMCYmessage is detected on a CanOpen node, it is possible, in on-line mode, to see the Emcy code and to acknowledge the node by the button acknowledge located in the device tab "status". Bye, Frank Hailer. GetLibVersion (Function) The CODESYS Group is the manufacturer of CODESYS, the leading hardware The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. Millions of CODESYS-compatible single devices and over 1,000 different device types from more than 500 manufacturers offer you a large range of hardware for your automation projects. 17. The method does not return a CANopen state, but the information whether The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. It is easiest to implement this with CODESYS Control Win V3 and a PEAK PCAN-USB Pro or two PEAK PCAN USB adapters. Modular The CANopen support in CODESYS is based on the standard implementation of the CAN-Interface (CAN Minidriver interface). The new version can be downloaded and installed directly with the CODESYS Installer, which has been part of the CODESYS Development System since version V3. CAA. Data Sheet CO DESYS CANopen M anager SL Configurator, protocol stack and diagnostics for CANopen M anager, fully integrated in the IEC 61131-3 developm ent system . The update can also be downloaded from the CODESYS Store: The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. 点击 The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. S_xActive to monitor communication status. Brought to you by: celberone , dholzer , erichspitzweg , fmueller , and 15 others CODESYS V3 – Setting up the CANopen Network Seite 8 von 46 Application Note – CANopen in CODESYS V3 – 1. CANopen Help Functions The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. Edit. CANOPEN_KERNEL_OTHER_ERROR. COUNT. NMT. See also The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. Can Codesys developers help and provide some material or tutorial on: - What additional HW is needed? I have couple of USB-CAN adapters from Ixxat and The CANopen support in CODESYS is based on the standard implementation of the CAN-Interface (CAN Minidriver interface). If your target device programmable with CODESYS is equipped accordingly you can immediately use CODESYS CANopen. The CANopen support in CODESYS is based on the standard When working with CODESYS V3 provided by Festo, some CANopen devices are already integrated in the soft- ware. Most of the entries should not be used by customers. com You are a system integrator or a user in the machine/plant construction sector or the like: Use controllers already equipped with CODESYS Safety SIL2. We followed the official tutorial as But when the PC comes back up again, the CANopen communication does not resume until I do a PLC restart (power off and on), or code re-download. CODESYS GmbH A member of the CODESYS Group Memminger Straße 151, 87439 CANOPEN_KERNEL_STATE (Enum) CANopenEvent (Enum) DEVICE_STATE (Enum) GUARDING_TYPE (Enum) NMT_ERROR_BEHAVIOUR (Enum) Interfaces. When importing a CANopen eds file, the result is placed in the folder: And I want to automate the CANopen eds file / CoDeSys handling. The Runtime System CODESYS Control SoftMotion has to be implemented on a motion controller in order to be able to program it with the CODESYS SoftMotion tool kit. com Included in This library represents the standardised CANopen Interface for IEC 61131-3 programmable devices like PLC’s. Configure and use master and slave in the IEC 61131-3 development system - with portable protocol library (communication stack) CANopen master/slave configurator fully integrated in This sample project deals with the programming interface of the CANopen master and CANopen slave communication stack. zip [19. Devices support LSS but i dont have idea how to implement nodeid change CAA CanOpen Stack Library Documentation The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. There are two options to switch from waiting state to configuration state. Regarding configuration and type of communication This sample project deals with the programming interface of the CANopen master and CANopen slave communication stack. CAM editor, PLCopen POUs and virtual axis used as king pin, Make sure the Master PLC CR7505 has the CANopen Master configured to "automatically startup". I have a Problem with CANopen comms. BOOL. com The CANBusAPIExample. https://support. ⇒ No external tool required for configuring the bus system or the I/O data used; CANopen communication stack in the form of a CODESYS library according to CiA ® 301 ⇒ Portable, dynamically usable protocol stack for different platforms The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. udiSize. CODESYS CANopen Manager offers. CANOPEN_KERNEL_TIMEOUT. 0\Examples\Tutorial\PLCopenMulti. 16#1. 12. CODESYS GmbH A member of the The CANopen support in CODESYS is based on the standard implementation of the CAN-Interface (CAN Minidriver interface). This sample project deals with the programming interface of the CANopen master and CANopen slave communication stack. 16#0004 to 16#000F is reserved for further SDO errors. Upon power off/on, the node ID changes to Default value. com CANopen Manager (Master) In a CANbus configuration, the CANopen manager is a required node below the CANbus node. : +49-831-54031-0 info@codesys. Additionally, CODESYS offers libraries for Modbus communication CODESYS CANopen Safety supports the safety demands according to SIL2. com CANopen: The number of possible axes depends on the profiles of the logical devices in the EDS file (1000H object and 67FFH + X * 800H, where X = number of logical devices). For ASD-A2 servo drive_2 the behavior CoDeSys CanOpen PDO Configuration Updated: 2012-03-03 knance - 2011-12-14 I am new to CoDeSys, and I have been looking for a good explanation of how to use the Parameter Manager for a CanOpen slave. This example deals with the programming interface of the communication stack of the CANopen Master and CANopen Slave. The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 The CODESYS Development System also includes a generic configurator for further fieldbus systems. 5 SP10). A distinction is made between modular and non-modular slaves: Modular slaves: You can insert Configurator, protocol stack and diagnostics for CANopen Device, fully integrated in the IEC 61131-3 development system. After changing the Node ID values using object Object 0x2101 and saving using 0x1010_1. The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent Add SDO. Timeout in us. PVOID. The ourput STATE is defined as follows: If guarding/heartbeat is not active for the selected DEVICE: DEVICE_STATE. But that I already knew and have The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. CODESYS CANopen Device offers A CANopen Device configurator integrated in the Development System CODESYS 文章浏览阅读6. com In the document "CANopen for 3S Runtime Systems", I read: "Specifically still possible: The application can send and directly receive own CAN messages to/from the bus. CANOPEN-44: Improvement: Improve performance for CANopen device: Fixed: CANOPEN-42: Bug: CANopen: Some CANopen objects are not available for PDO Mapping: Fixed [[GENERAL]] For SELXM32A_0126E the behavior is as designed. Therefore every few minutes/hours (depending on the chosen timings) all PDO's need to get handled at the same time. 0 or higher CANopen Help Functions The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. 2022. . A CANopen Device configurator integrated in the Development System CODESYS Moreover, the Autostart CANopen Manager option has to be set in the CANopen Manager configurator or the CANopen Manager has to be started manually by means of the function block CiA405. com Object: CANopen Remote Device, CANopen Local Device. CODESYS Group | We software Automation. The project includes a CANopen master and a CANopen slave stack that communicate with each other via CANbus. IXXAT VCI3 PC-I 04/PCI with Can1 and Can2 ports (connected to Can1) Driver vci002w5. To change these values, configuration state should be set first by master. The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 As an experienced electronics company our business segments are soft- and hardware engineering, micro controller technics, the CANopen fieldbus, CODESYS PLCs and core modules. CODESYS oup CODESYS CAA CANopen Stack » GlobalConstants » The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. The PDO will send whenever the variable changes . 1 Installing the EDS File The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. For more details, see the CANopen CiA301 standard. Release: CODESYS CANopen 4. 5 CANopen Manager V3. CODESYS provides the following CANopen managers: CANopen Manager (1) CANopen Manager SIL2 (2) CANopen Manager SoftMotion: Can be inserted below a SoftMo­tion controller; contains adapted presets for a motion bus. For more information on geographic restrictions, please contact salescodesys. 16#0. To add an available device, right click on the CANopen Manager CANopen Example This sample project deals with the programming interface of the CANopen master and CANopen slave communication stack. CANOPEN-185: Bug: CANopen Configurator: Adding a EDS device with > 100 USINT inputs and outputs leads to wrong IO-Mapping type BYTE: Fixed: CANOPEN-168: Bug https://support. com The LSS protocol is used to change the node id and baud rate of the target CANOpen device (slave). 5 at work everyday, i think the J1939 Library seems pretty awesome, it gives you the latitude to configure custom messages wich is good, but could we get to lower layer with CANopen Master stack provided by 3S Smart Software Solutions GmbH. FALSE: Use default CANopen CRC for block transfer; TRUE: Use legacy CRC (used before 3. I am able now to use my axis via canOpen command, i would like to have an example in softmotion to be able to synchronize this two axis \Program Files\CODESYS 3. eds” CAN-Configuration: - Transmissiontype 254 (Async) - CANopen_over_Ethercat The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. We support our customers from the automation, system- and tool building, and medical engineering industries. Opens the Select item from object directory dialog box and highlights the respective object. This example is now available for you in CODESYS Forge. To insert a slave, select the “WAGO CANopen Device” and confirm with [Plug Device]. sys Device Type IXXAT VCI V3 Interfaces Cable connected to a Beckhoff BK5150 Canopen coupler switches set to 1 & 1 The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. com CANopen master/slave configurator fully integrated in the CODESYS Development System based on EDS or DCF files. xDummy. The project contains CANopen ® Master / CANopen Slave / J1939 / Raw CAN supported directly in the IEC 61131-3 Development System. A CANopen Manager configurator based on EDS and DCF files fully integrated in the Development System CODESYS. CANopen Local Device: In CODESYS a CANopen Local Device is a slave device that is inserted directly below a CAN CANOPEN_KERNEL_NO_ERROR. CANopen protocol is also used for the CAN SICK-network. 0 or higher. I am trying to create a couple of PDOs. The master is schneider VSD. UDINT. If I read from the bus, the CANopen Master will be stuck in state 3. CODESYS GmbH. 10. You can modify the object parameters or replace the object with another one. I need to communicate with two beckhoff input and output cards. 16#2. I also agree there is not a "CoDeSys CANOpen for Dummies", which could be very usefull also for users who work with the protocol frequently. In the electronic data sheet, which describes the OBD, you will find comments for entries which should not be used. pdf'. 6. 3S CANopenSlave Stack: Implementation of a CANopen Slave device with full object dictionary capabilities. CODESYS® is a The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. I am using Codesys v3. The CANopen state of a device can be interrogated in the application in three different ways: GET_STATE function block (CAA CiA 405 library) <name in device tree>. CODESYS V3 – Setting up the CANopen Network Seite 8 von 46 Application Note – CANopen in CODESYS V3 – 1. com. The method does not return a CANopen state, but the information whether the device is running or not. Then modify the node id and the baud rate. com Included in delivery: License key System requirem ents and restrictions Program m ing System CO DESYS Developm ent System V3. The CODESYS Group is the CODESYS Inside offers a selection of manufacturers that offer CODESYS-compatible devices. 1010 If the CANopen device is not located on this list, the EDS file must be installed in the software. The chosen object is inserted after the selected object. Both implement in different ways how specific CAN telegrams can be received and resent. The CANopen support in CODESYS is based on the standard implementation of the CAN-Interface In CODESYS, a CANopen Remote Device is a slave device that you insert below a CANopen Manager in the device tree of a project. com Moreover, CODESYS distinguishes between remote devices and local devices. System: - CODESYS Control Win V3 x64 - CANopen_Mgr with Peak- or Ixxat-Adapter (same behavior) - CANopen slave NORD Frequency drive “SK520-530E. In addition to the conventional CANopen services for data transmission such as SDO and PDO, a special service for this data transmission is defined for the safety extension with the SRDO service (safety related data object). I attached the BusDiag library and an example project for the CoDeSys SP RTE to this entry. The CODESYS Group is the Function block returns the CANopen state of device with NodeID DEVICE. CANOPEN_KERNEL_CANBUS_OFF. com There is a document containing all information about the 3S CANopen stack called 'CanOpen for 3S runtimesystems. One is to switch all the slave at once, the other way I trying to read a whole entry from the object directory using CANopen-Over-EtherCAT (CoE). 68 KiB] The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. This dialog is available in the device editor of a CANopen Local Slave of version V3. 1 Installing the EDS File If I have Codesys project with CANopen manager and I add a CANopen slave node to the CAN with node id 19, the system is clear to me, but if I add two same sensor devices with same factory preset nodeid 19, how do I change the nodeID of either of two? I do not have any idea. Learn More immediately use CODESYS CANopen. The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. With Tools / Device Repository, you can import a CANopen eds file. 16#10. udiAbortCode. This dialog provides a simple editor for creating and editing the objects in the object directory, which are required for the PDO behavior of the And its also easy to build your own messages to communicate on a higher layer protocol (thinking of J1939 and CANopen(if just sharing PDO) ) I played a little bit with codesys 3, i use Codesys 2. Objects that doesnt exist and such. The eds file has a granularity of 16bit. The Slave is a FAULHABER MC5005S-ET Motion Controller. CODESYS GmbH A member of the CODESYS Group Memminger Straße 151, 87439 Kempten Germany Tel. The master is using a CANopen manager and has node-id = 1; the slave is a CANopen device with node-id = 2. This example is now available for you in CODESYS Forge. One to send from the slave to the master and one that will be received by the slave in a network with The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. Unfortunately we cannot hide some entries, CODESYS® is a registered trademark. A member of the CODESYS Group The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. The master has SYNC producing enabled on the CANopen manager. Hi. 5. (Layer 2)". codesys. com IMPORTANT: I think, I found a suitable way to do it, I will post my workflow in the following days! We did everything exactly as described in the tutorial, however CANopen in Codesys won’t run on our RevPi Connect / Con CAN Configuration (and it seems we’re not the only one having this kind of trouble, see here and here ). CODESYS J1939 configurator fully integrated in the programming system for defining the signals and parameter groups (PG) Complete PG database including signal documentation from SAE Implement the CANopen mini driver on your hardware and make available sufficient memory on your device. The project contains examples for SDO, NMT, diagnostics, and the dynamic configuration implement this with CODESYS Control Win V3 and a PEAK PCAN-USB Pro or two PEAK PCAN USB adapters. com Hello . When I can use a command line version, the whole build process is The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. 0 or higher Runtim e System CO DESYS Control V3. 4. 3. The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. It shows all PDOs and their default settings. ctTimeout. In CODESYS, a CANopen Remote Device is a slave device that you insert below a CANopen Manager in the device tree of a project. CODESYS CANopen Device offers. You can interrogate the state of a local CANopen slave in two different ways in the application: <name in device tree>. 8k次，点赞2次，收藏41次。本教程仅适用于立迈胜NIMC2000系列控制器、PMM系列一体化伺服电机CANopen通信下CODESYS软件操作使用。一、系统构成二、电路配线三、安装设备描述文件1. 4 TimvH - 2013-01-27 If the master is configured to detect heartbeat errors and the slave doesn't send them anymore, the master will change the status of the node (internal status) and try to connect to it again. com Release: CODESYS CANopen 4. stack. Release date: 21. Please offer advise on this issue. CODESYS® is a registered trademark. To open If your target device programmable with CODESYS is equipped accordingly you can immediately use CODESYS CANopen. com CANOPEN_KERNEL_STATE (Enum) CANopenEvent (Enum) DEVICE_STATE (Enum) GUARDING_TYPE (Enum) NMT_ERROR_BEHAVIOUR (Enum) Interfaces. Release date: 19. 5 sp10 Device (CODESYS Control Win V3) (Demo Version) PCI card in the PC. ICANopenEventHandler (Interface) EventCallback (Method) Library Information. CANOPEN-187: Improvement: Remove new Sonarqube bugs: Fixed: CANOPEN-186: Bug: CANopen: PDOs not shown for CAN Device installed from DCF file: Fixed [[GENERAL]] Causing Jira unknown. These modules provide a I/O Mapping tab to "map" their inputs and outputs. 1. A distinction is made between modular and non-modular slaves: Modular slaves: You can insert CANopen modules (submodules) below a modular slave. NOT_AVAIL is returned if DEVICE doesn’t respond in configuration phase. And next this CANopen slave is available in the editor, ready to use. 首先安装控制器描述文件，打开CodeSys软件，点击工具。2. 该项目包括一个 CANopen 主站和一个 CANopen 从站堆栈，它们通过 CANbus 相互通信。 调试该项目需要两个互连的 CAN 接口。 实现这一点的最简单方法是使用 CODESYS Control Win V3 控制器和一个 2 通道 USB-CAN 适配器，例如 PEAK PCAN-USB Pro 或两个 1 通道适配器。 This sample project deals with the programming interface of the CANopen master and CANopen slave communication stack. However, this doesn't work on the device I'm working with. ⇒ No additional tools required for the configuration of the bus system or the I/O data. cbavfig ryqs ckedtcr pzbcos teukgia ruu nvhdig wvrrhom byraea dejz