Adding a CANopen master

The CANopen master is added with the TwinCAT System Manager, like the other devices. The attached master can then be used to find all connected slaves. The following section illustrates how to add a CANopen master in TwinCAT.

Prerequisites for this step:

TwinCAT must be in Config mode.
A selected target system (in this sample it is the Embedded PC CX2020-M510)

Add a CANopen device as follows:

1. In the tree view on the left, right-click on Devices.

2. In the context menu click on Scan.
Adding a CANopen master 1:

3. Select the devices you want to use and confirm the selection with OK.
Adding a CANopen master 2:

4. Confirm the request with Yes, in order to look for boxes.
The Select Baud Rate window appears.

5. Under Baud Rate select the appropriate baud rate for the CANopen master.
Adding a CANopen master 3:

All devices and slave boxes that are found are displayed in the tree view on the left, including Bus Terminals connected to the devices or slave boxes.
Adding a CANopen master 4:

Repeat the steps if not all devices are displayed. If not all devices and slave boxes are found despite the repeat operation, check the cabling of the devices and slave boxes.