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CANopen

CANopen. Software setup with PL7 and Sycon V2.8. CANopen: Software setup - 2. Software setup. Click the individual stages for a detailed description. Declare the master card in the PLC. Configure processor/master card operation. Configure the master and nodes with the Sycon tool.

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CANopen

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  1. CANopen Software setup with PL7 and Sycon V2.8

  2. CANopen: Software setup - 2 Software setup Click the individual stages for a detailed description Declare the master card in the PLC Configure processor/master card operation Configure the master and nodes with the Sycon tool Sycon mode PL7 mode Load the configuration via the Sycon tool Select the configuration file in PL7 and save it Transfer the application to the PLC Verify implicit exchanges

  3. CANopen: Software setup - 3 Declaring the master card in the PLC The CANopen master card is compatible with all processor modules >= V5.0 except TSX57103 The CANopen PCMCIA master card is inserted in the designated slot for communication modules in the processor module. Back Screencam 1

  4. CANopen: Software setup - 4 Configuring processor/master card operation 1 4 Synchronise updating of memory zones associated with the I/O Define fallback mode for outputs and for %MW memory zone where outputs are read 2 Behaviour of bus on start-up* 5 3 Activate watchdog Define %MW memory zone to which the inputs are copied Launch Sycon configuration software Select Sycon configuration file and choose loading mode * If “Semi-automatic” or “By program” is selected here, bus start-up is controlled by the command word %QWy.1.0 (y = processor slot number). Screencam 2 Back

  5. CANopen: Software setup - 5 Configuring the master and nodes with the Sycon tool Select the network and insert the master Set the operating parameters for the Sycon software Set the bus parameters Example of importing a BECKHOFF CANopen communication module Import the EDS file for a new product Example with Addr1 = ATV58 Addr 2 = BECKHOFF module Declare the nodes Example with ATV58. Direct use of predefined PDOs with modification of parameter settings Set node parameters with predefined PDOs Example with BECKHOFF module. Modifying the mapping of predefined PDOs. Set modular I/O node parameters View global configuration and save

  6. CANopen: Software setup - 6 Selecting the network and inserting the CANopen master 1 File - New 2 Select CANopen - OK 3 Insert - Master 4 Add TSX CPP 100 - OK Screencam 3 Back

  7. CANopen: Software setup - 7 Setting the operating mode parameters for the Sycon software 1 Settings - Global Settings 2 Activate Process Data Auto Addressing if required Activate Automatic COB-ID Allocation if required OK If Process Data Auto Addressing is activated, Sycon automatically calculates the process data offset. Data is organised according to the sequence of PDOs and nodes. Manual COB-ID allocation is used for PDO numbers >= 5 or for exchanging data directly from node to node: PDO linking. Back

  8. CANopen: Software setup - 8 Setting the bus parameters 2 Select address of master 1 Settings - Bus parameter 3 Select transmission rate Behaviour of master module in the event of a Node Guard or Heartbeat error: Disabled: Does not affect the other stations. Enabled: The master stops communication with all other stations. 4 Select SYNC object COB-ID Default value = 128 Communication profile DS301 + select comm. cycle period 5 Not in use Activate Heartbeat function (supported by TSXCPP110 card) 6 Enable automatic switch to operating mode (PDOs activated) if required. 7 Screencam 4 Back

  9. CANopen: Software setup - 9 Importing a new EDS file 1 File - Copy EDS Click Open to import the files 3 2 Select the directory in which the new EDS file is located together with the 3 associated .dib images Screencam 5a Back

  10. CANopen: Software setup - 10 Declaring the nodes 1 Insert - Node 2 Add English ATV58 version at address 2 3 Add BK5120 at address 3 Screencam 5 Back

  11. CANopen: Software setup - 11 Node configuration window Access to Node Guarding and Heartbeat functions Double click the relevant node to open the window Access to boot-up sequence for each node Deactivate if you wish to retain process data when the station is not connected Access to supported objects and to parameters written during boot-up sequence Automatic COB-ID allocation activated by default To activate predefined PDOs The values for Device Profile and Device Type must be consistent with the values contained in object 1000H Device Type Access to mapping for each PDO Access to transmission parameters for each PDO Define new receive PDO List of predefined PDOs Define new transmit PDO

  12. CANopen: Software setup - 12 Node configuration with predefined PDOs 1 Click “Configuration Error Control Protocol” to access the Node Guarding or Heartbeat settings Polling time for master 3 Define monitoring time on node side: Guard time x Life time factor Select monitoring mode: Node Guarding or Heartbeat 2 3’ Time for which node is monitored by master Time for which heartbeat is transmitted by node List of values assigned to the Heartbeat parameters by the various nodes

  13. CANopen: Software setup - 13 Node configuration with predefined receive PDOs 1 Click the predefined PDO you wish to activate 2 Click Add to configured PDOs 3 Select the PDO receive mode (node side) 5 Confirm 4 Select the PDO triggering mode (master side) 3

  14. CANopen: Software setup - 14 Node configuration with predefined transmit PDOs 1 Click the predefined PDO you wish to activate 2 Click Add to configured PDOs 3 Select the PDO transmission mode (node side) 5 Confirm 4 Select the PDO triggering mode (master side)

  15. CANopen: Software setup - 15 Sample view of process memory structure Receive PDOs correspond to output variables Length expressed in number of bytes Address expressed in number of words Transmit PDOs correspond to input variables

  16. CANopen: Software setup - 16 Viewing the mapping of configured PDOs 1 2 Click the configured PDO you wish to view Click PDO Contents Mapping List of objects mapped in the PDO with their address: Index and Sub-index

  17. CANopen: Software setup - 17 Modifying a parameter setting 1 Click the “Object Configuration” button 2 Select the parameter you wish to modify then click “Add to Configured Objects” 3 Modify the parameter value in the list of objects that are configured automatically on start-up, then click OK to confirm Screencam 6 Back

  18. CANopen: Software setup - 18 Node configuration for modular I/O 1 Click “Configuration Error Control Protocol” to access the Node Guarding or Heartbeat settings Polling time for master 3 Define monitoring time on node side: Guard time x Life time factor 2 Select monitoring mode : Node Guarding or Heartbeat 3’ Time for which node is monitored by master Period for which heartbeat is transmitted by node List of values assigned to the Heartbeat parameters for the various nodes

  19. CANopen: Software setup - 19 Node configuration for modular I/O 1 Click Device Profile Click Device Type 3 2 Select profile 401 (Inputs/Outputs) 4 Select the I/O types that are supported

  20. CANopen: Software setup - 20 Node configuration for modular I/O: receive PDO For DS401 remote I/O nodes, PDO1s (index 1400 and 1800) are reserved for digital I/O. Analog I/O are mapped from PDO2 onwards. 2 Click the predefined PDO you wish to activate 1 Select mapping method V3 or V4 (depending on product) 3 Click Add to configured PDOs 4 Select the PDO receive mode (node side) 6 Confirm 5 Select the PDO triggering mode (master side)

  21. CANopen: Software setup - 21 Node configuration for modular I/O: receive PDO Modifying mapping 1 Double click on the configured PDO 2 Add or delete mappable objects by clicking “Append Object” or “Delete mapped object”

  22. CANopen: Software setup - 22 Node configuration for modular I/O: transmit PDO For DS401 remote I/O nodes, PDO1s (index 1400 and 1800) are reserved for digital I/O. Analog I/O are mapped from PDO2 onwards. 1 Click the predefined PDO you wish to activate 2 Click Add to configured PDOs 3 Select the PDO transmission mode (node side) 5 Confirm 4 Select the PDO triggering mode (master side)

  23. CANopen: Software setup - 23 Node configuration for modular I/O: transmit PDO Modifying mapping 1 Double click on the configured PDO 2 Add or delete mappable objects by clicking “Append Object” or “Delete mapped object” Screencam 7 Back

  24. CANopen: Software setup - 24 Manual allocation of identifiers Automatic allocation of identifiers can only be used for the first 4 PDOs. For devices supporting PDO numbers greater than 4 (mapping of non-standard objects, etc.), the identifier value has to be assigned manually. In this case the user should use a value for an identifier that is not in use: value assigned to an undefined or free PDO between 1 and 4. maximum of 1024 identifiers reserved for PDOs

  25. CANopen: Software setup - 25 Predefined PDOs > 0x1404/0x1804 This message appears if you activate a PDO number higher than 4 1 Deactivate the COB-ID allocation function 2 Assign an identifier value that is not in use e.g. use identifier PDO2

  26. CANopen: Software setup - 26 Viewing the device table View - Device Table

  27. CANopen: Software setup - 27 Viewing the process data address table 2 Sort according to device addresses 1 View - Address Table 3 Sort according to process data addresses

  28. CANopen: Software setup - 28 Viewing the identifiers table View - ID Table

  29. CANopen: Software setup - 29 Viewing the table of devices adapted by SDO View - SDO Table

  30. CANopen: Software setup - 30 Saving the Sycon configuration 1 File - Save As Enter the name and click Save 2 Screencam 8 Back

  31. CANopen: Software setup - 31 Selecting the configuration file in PL7 and saving it If the number of input and output words is inconsistent with the Sycon configuration, an error message is generated 1 Click Select Database 2 Select the configuration file ****.co in the Hilscher/Sycon/Project directory 3 Click Open Screencam 9 Back

  32. CANopen: Software setup - 32 Verifying exchanges in the Debug screen Test PDO-type exchanges Test SDO-type exchanges

  33. CANopen: Software setup - 33 Interfacing with the application Implicit objects: %MW: PDO input/output variables (for ATV58 2 status words: ETAD and RFRD, and 2 command words: CMDD and LFRD) %Iy.MOD.ERR and %Iy.1.ERR: 2 input bits for module error and channel error %IWy.1.0 to %IWy.1.23: 24 input words providing diagnostic information about the status of the channel, nodes, latest error codes, etc. %QWy.1.0: 1 output word for activating the configuration and PDO exchanges and for reinitialising error tables.

  34. CANopen: Software setup - 34 Interfacing with the application Explicit object: READ_STS %Chy.1 %Mwy.1.2: Input variable providing diagnostic information about the status of the master card.

  35. CANopen: Software setup - 35 Interfacing with the application Communication functions available for use: WRITE_VAR and READ_VAR (ADR#y.1.SYS, ’SDO’,index:subindex,NodeID, %MWi:L,%MWk:4) For accessing SDO variables SEND_REQ(ADR#y.1.SYS, 16#9F, %MWi:L, %MWj:L, %MWk:4) For accessing link layer PDUs SEND_REQ(ADR#y.1.SYS, 16#0F, %MWi:L, %MWj:L, %MWk:4) For accessing the identification and status of the master card SEND_REQ(ADR#y.1.SYS, 16#31, %MWi:L, %MWj:L, %MWk:4) For running diagnostics on a node, or checking the version and status of the CANopen master card, or reading the message handling error log

  36. CANopen: Software setup - 36 Accessing configuration and adjustment variables (* Request to write one word *) (* Address ADR#0.1.SYS Address of variable to be written: %MD3200 Value of variable to be written: %MW3202 Exchange report: %MW3250:4 *) IF %M103 AND NOT %MW3250:X0 THEN %MW3253:=2; WRITE_VAR(ADR#0.1.SYS,'SDO',%MD3200,20,%MW3202:1,%MW3250:4); RESET %M103; END_IF;

  37. CANopen: Software setup - 37 Accessing configuration and adjustment variables (* Request to read one word *) (* Address ADR#0.1.SYS Address of variable to read: %MD3220 Value of variable read: %MW3222 Exchange report: %MW3260:4 *) IF %M104 AND NOT %MW3260:X0 THEN READ_VAR(ADR#0.1.SYS,'SDO',%MD3220,20,%MW3222:1,%MW3260:4); RESET %M104; END_IF;

  38. CANopen: Software setup - 38 Accessing diagnostic variables (* Update variable %MW0.1.2 *) IF %MW200=1 THEN READ_STS %CH0.1; END_IF; ! (* Read explicit DIAGNOSTIC exchange words *) (*Address ADR#0.1.SYS Type of diagnostic object : %MW3301 1 to 127 = node diagnostics 128 = master card diagnostics 130 = message handling error log Start address in diagnostic table: %MW3302 Length of diagnostic to read : %MW3303 Receive table : %MW3310:20 Exchange report : %MW3350:4 *) IF %MW3300=1 AND NOT %MW3350:X0 THEN %MW3300:=0;%MW3353:=6; SEND_REQ(ADR#0.1.SYS,16#0031,%MW3301:3,%MW3310:20,%MW3350:4); END_IF;

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