Tab: CANopen Local Device – General

Table 17. General

Node-ID	The node number identifies the CANopen Slave as unique (value range: 1...127).
Device profile	The device profile that is to implement the CANopen Slave. If a database (*.CODB) for object directories is available, then the selection in the Object Directory dialog is adapted to the device profile ID. The device profile IDs are defined in the CIA specifications.
Edit I/O Area	The inputs and outputs of the CANopen Slave are represented by I/O areas. An I/O area is a collection of inputs and outputs of the same data type. An I/O channel and a mapping variable are created automatically for each I/O. The mapping variables allow I/Os to be read or written in the application program. The Edit I/O Area button opens a dialog for defining the I/O areas and the respective object directory index of the slave. The possible count and size of the I/O areas depend on the number of the unused PDOs. The current number of Used TxPDOs and Used RxPDOs are always displayed below the table. For the CANopen local device version 3.5.4.0 and higher, up to 512 PDOs (Tx and Rx) are possible (older versions only max. 16 PDOs).
Edit SDO Parameter Area	Opens the Edit SDO Parameter Area dialog. See the description of the dialog for more details.
Edit Safety I/O Area	The button is available only for a CANopen Safety Slave. Opens the Edit Safety I/O Area dialog for defining the safe I/O areas With this command, a safety I/O area can be defined easily because the respective SRDOs and mappings are generated automatically.

Table 18. EDS File

Vendor name	General information saved in the EDS file
Product name	Identifier of the device This information is in object `0x1008`.
Vendor number	Identifier of the device This information is in object `0x1018`.
Product number
Revision number
Install to Device Repository	If a device with the same device identification has already been installed, then you are asked whether the device should be overwritten. If the device is inserted as a CANopen Remote Device below a CANopen Manager, then you will be asked to automatically update the device.
Export EDS File	The EDS file is created according to the CiA 306 standard and stored on the local computer. In this way, the EDS file can be used in an external configuration file.

Dialog: Edit I/O Area

The dialog shows the currently valid I/O areas of the slave.

Add Area

Opens the Add I/O Range dialog

If you have already used all PDOs, then this dialog cannot be modified.

Used TxPDOs

Number of currently used TxPDOs / Maximum possible TxPDOs

Used RxPDOs

Number of currently used RxPDOs / Maximum possible RxPDOs

Table 19. Dialog: Add I/O Range

I/O Direction	Input or output
Range Name	A unique default name is entered automatically, but it can be changed.
Object Index	Index in the object directory of the slave that is assigned to the new object
Count	Number of I/Os. The possible values depend on the data type and the current number of unused PDOs.
Type	List box of possible data types
Force new PDO	(default) Every new I/O area is mapped to a new PDO, even if the available PDO mapping is not full. : The current PDO mapping is completely filled (if possible) before a new PDO is created.
OK	Activates the new I/O area. Input/output channels and mapping variables are created. In the object directory of the device, every I/O area receives its own index (output range: 0x3000 – 0x30FF, input range: 0x3800 – 0x38FF) and every I/O in the I/O area received a subindex. When creating an I/O area, PDOs are generated automatically (RxPDOs begin at 0x1400, TxPDOs begin at 0x1800). If the Force new PDO option is selected (see above), then the I/Os are mapped automatically in succession to these new PDOs.

Dialog: Edit SDO Parameter Area

You can define read/write parameters (SDO parameters) that SDOs can read or write. To do this, you need to define parameters areas that are each a collection of the parameters of the same data type. An I/O channel and a mapping variable are created automatically for each SDO. The mapping variables allow the reading and writing of I/Os by means of the application program. In the object directory of the device, every SDO parameter area is displayed with its own index, and every SDO parameter within the parameter area is displayed with a subindex:

SDO write parameter range: 0x5000–0x50FF
SDO read parameter range: 0x5800–0x58FF

The dialog shows the current valid parameter areas and their object directory indexes.

Add Area

Opens the Add Parameter Range dialog

Table 20. Dialog: Add Parameter Range

The dialog allows you to add I/Os easily.
SDO Access Type	Read Only or Read/Write
Range Name	A unique name is entered automatically. (This name can be modified.)
Object Index	Index in the object directory of the slave that is assigned to the new object
Count	Number of parameters
Type	List box of possible data types

Dialog: Edit Safety I/O Area

The dialog shows the currently valid safety I/O areas of the slave.
I/O Overview
Add Area	Opens the Add Safety I/O Range dialog
Delete Area	Deletes the selected safety I/O area
Used SRDOs	<number of currently used SRDOs> /<maximum possible SRDOs> (64).

Table 21. Dialog: Add Safety I/O Range

I/O Direction	Transmit: Safety input area A transmit SRDO and its mapping are generated automatically. Receive: Safety output area A receive SRDO and its mapping are generated automatically.
Range Name	A name is defined automatically, for example `Safety_Digital_Inputs1`, which can be modified.
Plain Object Index	Index of the plain data object in the object directory of the slave
Inverse Object Index	Index of the inverse data object in the object directory of the slave
Count	Number of safety I/Os. The possible values depend on the data type and the current number of unused SRDOs.
Type	Selection of a SAFE data type `SAFEREAL` and `SAFELREAL` are not supported at this time.
Force new SRDO	: Default setting Every new safety I/O area is mapped to a new SRDO, even if the available SRDO mapping is not full. : The current SRDO mapping is completely filled (if possible) before a new SRDO is created.
OK	Activates the new safety I/O area. The SRDOs and respective mappings are generated automatically. In the object directory of the device, every I/O area receives its own index (output range: 0x3000 – 0x30FF, input range: 0x3800 – 0x38FF) and every I/O in the I/O area received a subindex.