Programming via CANopen
TwinCAT offers the option to transfer the user program to the Bus Terminal Controller via the fieldbus. The BC/BX can be selected as the target system in PLC Control, after saving in the registry and restarting the TwinCAT system. The TwinCAT-level TwinCAT PLC is necessary.
Minimum requirements
FC510x with firmware from 1.55
TwinCAT 2.9 Build 948
Initializing the Bus Terminal Controller
The coupler must first be made known to the system before it can be selected in PLC Control.
Enter the Bus Terminal Controller in the System Manager, specify type, quantity and size of the fieldbus variables and link them with a task. For the subsequent program download via CANopen, the ADS interface must be enabled for the Bus Terminal Controller in the ADS tab. Save your settings and activate the configuration. Then start the TwinCAT system and the cyclic task.
TwinCAT System Manager
PLC Control
When TwinCAT PLC Control is restarted, TwinCAT asks for the target platform, i.e. the device on which the user program is later to run. TwinCAT offers two target platforms as controller, the PC or the Bus Terminal Controller.
Two options are available to you for transmission to the Bus Terminal Controller:
- AMS for BCxx00 (Bus Terminal Controller without online change, one task)
- AMS for BCxx50 and BX (Bus Terminal Controller with online change, two tasks)
- BC serial – the serial cable for communication via the RS232 interface of the PC and the programming interface of the Bus Terminal Controller
After your program has been created, select the target system under the Online toolbar. TwinCAT must be running to do this. In the sample, this is the Ethernet card with Box 2 and the Run-Time 1 of the Bus Terminal Controller.
