Programming theEU5C-SWD-CAN9403/11 MN05013002Z-ENParameter settingParameters for communication of the gateway with theCANopen master and with the SmartWire-DT network arealso defined in the controller configuration.These are the meanings of the individual tabs.“Basic parameters” tabHere you can define the I/O start addresses for the mappingof the SmartWire-DT slaves onto the inputs/outputs of thecontroller map. As standard the programming systemcreates a complete connection to the inputs/outputs up tonow. You can, however, change these values to other, unas-signed areas.“CAN parameters” tabThe parameters that relate to communication with the fieldbus CANopen are entered under these settings. Theseinclude, for example, the slave address (node ID) or themonitoring time (watchdog control).h Only the addresses 1 to 32 may be assigned for thegateway. The gateway requires for communication fourtimes the number of PDOs than it does for a standardCANopen slave.Ensure that the COB-IDs of the activated PDOs do notcollide with the other CANopen slaves in the samenetwork. The addresses of the individual PDOs are derivedas follows:PDO 1 - 4: address = NodeID + standard offsetPDO 5 - 8: address = NodeID + standard offset + 64PDO 9 - 12: address = NodeID + standard offset + 96PDO 13 - 16: address = NodeID + standard offset + 32In the case of slaves with higher addresses than 32 it mustbe ensured that no collisions occur on account of overlap-ping default PDO mappings. In this case the mapping mustbe checked and, if necessary, adapted.
