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In Order use a PLC as a Client (formerly “Slave”), one has to configure the PDO channels, since the default values of the manufacturer are often not suitable. In my case, I need the PDOs so send INT valued instead of the default UNSIGNED8 (see. Picture).

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Therefore my question: What kind of workflow would you recommend, to map the CANopen Client PDO channels?

Dr No
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1 Answers1

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I found the following workflow suitable, however I appreciate any improvements and recommendations from your side!

  1. Start by locating the .eds file from the manufacturer. The image show this in the B&R Automation Studio Programming Environment

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  1. Open the file in a eds. Editor. I found the free Vector CANEds Editor very useful. Delete all RxPODs and RxPDO mappings that you don’t need. enter image description here

  2. Assign the needed Data Type (e.g. INTEGER16) and Channel Name (“1 Byte In (1)”). enter image description here

  3. Add the necessary PDOs and PDO mapping from the database. (This might actually be a bug, but if you just edit the PDOs without deleting and recreating them, I always receive error messages)

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  1. Map the Date to the Channels

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  1. Don't forget to write the number of channels in the first entry (in this image: 1601sub0)

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  1. Check the eds file for Errors (press F5) and copy&paste the eds file to the original location point 1.)

  2. Add the PLC Client device in Automation Studio and you should see the correct mappings.

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(PS: I couldn't make the images smaller ... any recommendations about formating this question are welcome!)

Dr No
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