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From the Hardware Catalog Manager, how to create a CANopen function for the ATV71_V1_1 with the possibility of being able to modify the type of I/O object defined by default for the register indexes?

Context

From the hardware catalog manager, with the ATV71, it is possible to create a CANopen function, while having the possibility of modifying the type of I/O object defined by default for the register indexes such as for example (ex: ETA status word which is defined by default as %QW can be changed to %IW). To do this, here is an example of the steps for creating a CANopen function for the ATV71 from A to Z :

A. Launch the Hardware Catalog Manager and go to the CANopen tab

Launching the hardware catalog Manager

B. Using the right mouse button, click on the ATV71_V1_1 device then Select Add function

Adding a function on a device

C. In the window that is displayed, check the Expert mode box to access the expert mode configuration parameters and then give a name to the function, ensuring that it is unique in the device. In the General tab, with a right mouse click in the interface language column, check or uncheck the variables you want to make available in the function so that it can be used in the program. By default, all variables are checked. So to reduce the amount of memory needed by the function, it is useful to deselect variables that are not required.

Selection of variables managed by the function

D. Then go to the PDO Mapping tab

PDO Mapping Tab

E. To modify the type of a variable, all you have to do is position the mouse cursor in the Type tab of a variable in the right part of the window. Thus with a right click on a variable, it is possible to modify the default type via a drop-down list (%I or %Q)

Modification of the type of variables

F. To assign variables to PDOs, drag and drop from the variables window to PDOs. However certain rules must be respected:

The variable and the PDO must have the same type:

  • A %I variable can only be mapped on a transmit PDO
  • A %Q variable can only be mapped on a receive PDO

Assignment of variables to PDOs

G. After clicking OK and returning to the home window, click the Build Catalog button

Build Catalog after the creation of the new function

H. After the Build Catalog, the created function can now be used on Control-Expert. Now the new function created is visible in the drop-down list of functions available from the CANopen slave configuration editor (ATV71_V1_1) in Control Expert.

Display of the new function in the ATV71 configuration editor in CE

Product Line

CANopen Function, ATV71

Environment

Windows, Hardware Catalog Manager

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