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CAN in Automation CANopen Slave

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1CAN in Automation CANopen Slave Driver1System Configuration.......................................................................................................32External Device Selection................................................................................................53Communication Settings..................................................................................................64Setup Items......................................................................................................................85Cable Diagrams.............................................................................................................136Supported Devices.........................................................................................................167Device Code and Address Code....................................................................................248Error Messages..............................................................................................................25CANopen Slave Driver GP-Pro EX Device/PLC Connection Manual2IntroductionThis manual describes how to connect the Display and the External Device (target PLC).In this manual, the connection procedure is described in the sections identified below:1System ConfigurationThis section lists the types of External Devices and SIO that you can connect."1 System Configuration" (page 3)2External Device SelectionSelect a model (series) of the External Device and its connection method. "2 External Device Selection" (page 5)3Communication SettingsThis section shows setting examples for communicating between the Display and the External Device."3 Communication Settings" (page 6)4Setup ItemsThis section describes communication setup items on the Display.Set the Display’s communication settings in GP Pro-EX or in offline mode."4 Setup Items" (page 8)5Cable DiagramsThis section shows cables and adapters for connecting the Display and the External Device."5 Cable Diagrams" (page 13)OperationCANopen Slave Driver GP-Pro EX Device/PLC Connection Manual31System ConfigurationThe following table lists system configurations for connecting CANopen master and the Display.SeriesCPU*1*1"" varies depending on the External Device.Link I/FSetting ExampleCable DiagramSIO TypeGP3000AGP3300-L1-D24-CA1MAGP3300-T1-D24-CA1MAGP3400-TI-D24-CA1MAGP3500-T1-D24-CA1MAGP3500-T1-AF-CA1MAGP3600-T1-D24-CA1MAGP3600-T1-AF-CA1MCANopen Interface"Setting Example 1" (page 6)"Cable Diagram1" (page 14)CANopenSP5000SP-5B10PFXZCHEUCAM1"Setting Example 1" (page 6)"Cable Diagram1" (page 14)LT3000LT-3201ALT-3300SLT-3300LLT-3301LCA8-CANLT-01"Setting Example 1" (page 6)"Cable Diagram1" (page 14)LT4000LT-4201TMLT-4301TMLT-Rear ModuleCANopen Interface"Setting Example 1" (page 6)"Cable Diagram1" (page 14)PremiumTSXP57103MTSXP57203MTSXP57253MTSXP572623MTSXP572823MTSXP57303AMTSXP573623AMTSXP57353LAMTSXP57353AMTSXP57453AMTSXP574823AMTSXCPP110"Setting Example 1" (page 6)"Cable Diagram1" (page 14)TwidoTWD LMDA0DTWD LCA 24DRFTWD LCA 40DRFTWDNC01M"Setting Example 1" (page 6)"Cable Diagram1" (page 14)•To use a CANopen slave driver, you need a CANopen slave unit (CA9-CANALL/EX-01) for GP3000 series by Pro-face. For more information about the cable diagram between the Display (CANopen slave unit) and the CANopen master and about the CANopen slave unit, please refer to "CANopen Slave Unit Hardware Manual".•Node guarding and Self startup are not supported.CANopen Slave Driver GP-Pro EX Device/PLC Connection Manual4Connection Configuration•CANopen Network*1The maximum number of connectable slaves is 127. However, the maximum number of connectable units differs depending on the master in use. Refer to the master External Device’s manual for details. Communication ProtocolCANopen communicates using SDO and PDO.SDO (Service Data Object) is used for Domain device communication.Refer to the description below for setting of the domain object." Device Setting" (page 9)PDO (Process Data Object) is used for Input/Output device communication.4PDO (16words) is set to the Input/Output device as default. When using a device exceeding 4PDO, the device needs to be set to valid by the CANopen master.•Communication between slaves is not supported. Be sure to connect the master in the network.•For COB-ID, the default COB-ID is specified that is defined in CANopen specification.For details on CANopen specification or its basic structure, refer to the CiA website.•For TPDO transmission type, "Change of State" only is supported.Display+CANopen Slave UnitCANopen MasterCANopen Network*1CANopen SlaveCANopen SlaveCANopen Slave Driver GP-Pro EX Device/PLC Connection Manual52External Device SelectionSelect the External Device to be connected to the Display.Setup ItemsSetup DescriptionNumber of Devices/PLCsEnter an integer from 1 to 4 to define the number of Devices/PLCs to connect to the display.ManufacturerSelect the manufacturer of the External Device to connect. Select "CAN in Automation".SeriesSelect the External Device model (series) and the connection method. Select "CANopen Slave".In System configuration, make sure the External Device you are connecting is supported by "CANopen Slave"."1 System Configuration" (page 3)PortSelect the Display port to connect to the External Device.Use System AreaCheck this option to synchronize the system data area of the Display and the device (memory) of the External Device. When synchronized, you can use the External Device’s ladder program to switch the display or display the window on the Display.Cf.GP-Pro EX Reference Manual "LS Area (Direct Access Method Area)"This feature can also be set in GP-Pro EX or in the Display's offline mode.Cf.GP-Pro EX Reference Manual "System Settings [Display Unit] - [System Area] Settings Guide"Cf.Maintenance/Troubleshooting Guide "Main Unit - System Area Settings"

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