Tree view
A CANopen master and a CANopen slave are displayed as follows in the tree view:
In this sample the slave was linked to the master. TwinCAT was then scanned for the master, and the master was added in TwinCAT together with the slave.
No. | Description |
|---|---|
1 | The device name of the master is shown in brackets. All CANopen slaves are added under the master. |
2 | Under the CANopen master, status messages are listed as input variables. The variables can be linked with the PLC and used for diagnostic purposes (e.g. error codes, counters, etc.). |
3 | CANopen slaves are added under the master, labelled as box and numbered consecutively. The device name appears in brackets after it. Each CANopen slave has its own input variables for diagnostic purposes, which indicate the state of the communication. |
4 | Further settings for the CANopen master or slave can be implemented under the tabs. Other tabs are displayed, depending on whether the master or slave is selected in the tree view. |
A CANopen slave and the corresponding tabs are shown as follows in the tree view:
No. | Description |
|---|---|
1 | Under the CANopen slave, status messages are listed as input variables. The variables can be linked with the PLC and used for diagnostic purposes. |
2 | The process data objects (PDO) are displayed under the CANopen slave. At this point the variables for the data transfer are also created. The variables can be linked with the PLC. The data transfer direction is described from the perspective of the slave:
|
3 | Further settings for the CANopen slave can be implemented under the tabs. Other tabs are displayed, depending on whether slave or other entries are selected in the tree view. |
When the PLC process image is read, the variables for status messages and the variables under the process data objects can be linked with the variables from the PLC program. Double-click on a variable name in the tree view to open the link dialog. The link variables are identified with a small arrow icon.
Further information about TwinCAT can be found in the TwinCAT documentation on the Beckhoff website:
www.beckhoff.de