CANopen Soft Setup en

Industrial Automation - Customer View - Services - Training
PhW - CANopen_soft_setup_en 10/ 2003

Slide 1/38
CANopen
CANopen
Software setup
with PL7 and Sycon V2.8
Slide 2/38
Software setup
Software setup
CANopen: Software setup - 2
Declare the master card in the PLC
Configure the master and
nodes with the Sycon tool
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
Sycon mode
PL7 mode
Configure
processor/master card operation
Click the
individual stages
for a detailed
description
Slide 3/38
Declaring the master card in the PLC
Declaring the master card in the PLC
The CANopen PCMCIA master card
is inserted in the designated slot
for communication modules in the
processor module.
The CANopen master card is
compatible with all processor
modules >= V5.0 except TSX57103
Screencam 1
Back
Slide 4/38
Configuring processor/master card operation
Configuring processor/master card operation
Synchronise
updating of memory
zones associated
with the I/O
Define %MW memory
zone to which the
inputs are copied
Define fallback mode
for outputs and for
%MW memory zone
where outputs are
read
Launch Sycon
configuration
software
Select Sycon
configuration file and
choose loading mode
Behaviour of bus on
start-up*
Activate watchdog
1
2
3
4
5
Screencam 2
Back
* 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).
Slide 5/38
Configuring the master and nodes with the Sycon tool
Configuring the master and nodes with the Configuring the master and nodes with the Sycon Sycon tool tool
Example with
Addr1 = ATV58
Addr 2 = BECKHOFF module
Example with ATV58.
Direct use of predefined
PDOs with modification of
parameter settings
Example with BECKHOFF
module.
Modifying the mapping of
predefined PDOs.
Select the network and insert the master
Declare the nodes
Set the bus parameters
Set node parameters with predefined PDOs
Set the operating parameters for the Sycon software
Set modular I/O node parameters
View global configuration and save
Import the EDS file for a new product
Example of importing a
BECKHOFF CANopen
communication module
Slide 6/38
Selecting the network and inserting the CANopen master
Selecting the network and inserting the Selecting the network and inserting the CANopen CANopen master master
Screencam 3
Back
File - New
1
Select CANopen - OK
2
Insert - Master
3
Add TSX CPP 100 - OK
4
Slide 7/38
Setting the operating mode parameters for the Sycon software
Setting the operating mode parameters for the Setting the operating mode parameters for the Sycon Sycon software software
Settings - Global Settings
1
Activate Process Data Auto
Addressing if required
Activate Automatic COB-ID
Allocation if required
OK
2
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
Slide 8/38
Setting the bus parameters
Setting the bus parameters Setting the bus parameters
Back
Select address of master
2
Select SYNC object COB-ID
Default value = 128
Communication profile DS301
+ select comm. cycle period
3
4
Screencam 4
5
Settings - Bus parameter
1
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.
6
Activate Heartbeat function
(supported by TSXCPP110 card)
Enable automatic switch to
operating mode (PDOs activated) if
required.
7
Not in use
Slide 9/38
Importing a new EDS file
Importing a new EDS file Importing a new EDS file
File - Copy EDS
1
Select the directory in which
the new EDS file is located
together with the 3 associated
.dib images
2
Click Open to import the
files
3
Back Screencam 5a
Slide 10/38
Declaring the nodes
Declaring the nodes Declaring the nodes
Back
Screencam 5
3
Insert - Node
1
Add English ATV58 version
at address 2
2
Add BK5120
at address 3
Slide 11/38
Node configuration window
Node configuration window Node configuration window
The values for Device
Profile and Device
Type must be
consistent with the
values contained in
object 1000H Device
Type
Automatic COB-ID
allocation activated by
default
List of predefined
PDOs
Access to Node Guarding
and Heartbeat functions
Deactivate if you wish to
retain process data when
the station is not
connected
Access to boot-up
sequence for each
node
Access to supported
objects and to
parameters written
during boot-up
sequence
Access to
transmission
parameters for each
PDO
Access to mapping for
each PDO
Define new receive
PDO
Define new transmit
PDO
To activate predefined
PDOs
Double click the relevant node to open the window
Slide 12/38
Select monitoring mode:
Node Guarding or Heartbeat
Polling time for master
Define monitoring time on
node side:
Guard time x Life time factor
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
Node configuration with predefined PDOs
Node configuration with predefined Node configuration with predefined PDOs PDOs
Click Configuration Error Control Protocol
to access the Node Guarding or Heartbeat
settings
1
2
3
3
Slide 13/38
Node configuration with predefined receive PDOs
Node configuration with predefined receive Node configuration with predefined receive PDOs PDOs
Click the predefined PDO you wish to activate
1
Select the PDO receive
mode (node side)
3
Click Add to configured PDOs
2
3
Confirm
5
Select the PDO
triggering mode
(master side)
4
Slide 14/38
Node configuration with predefined transmit PDOs
Node configuration with predefined transmit Node configuration with predefined transmit PDOs PDOs
1
Select the PDO
transmission mode
(node side)
3
Confirm
5
2
Select the PDO
triggering mode
(master side)
4
Slide 15/38
Sample view of process memory structure
Sample view of process memory structure Sample view of process memory structure
Receive PDOs correspond to
output variables
Transmit PDOs correspond to
input variables
Address expressed
in number of words
Length expressed in
number of bytes
Slide 16/38
Viewing the mapping of configured PDOs
Viewing the mapping of configured Viewing the mapping of configured PDOs PDOs
1
Click PDO Contents Mapping
2
Click the configured PDO you wish to view
List of objects mapped in the
PDO with their address:
Index and Sub-index
Slide 17/38
Modifying a parameter setting
Modifying a parameter setting Modifying a parameter setting
Screencam 6
Back
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
Slide 18/38
Node configuration for modular I/O
Node configuration for modular I/O Node configuration for modular I/O
Select monitoring mode :
Node Guarding or Heartbeat
Polling time for master
Define monitoring time on
node side:
Guard time x Life time factor
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
Click Configuration Error Control Protocol
to access the Node Guarding or Heartbeat
settings
1
2
3
3
Slide 19/38
Click Device Profile 1
Node configuration for modular I/O
Node configuration for modular I/O Node configuration for modular I/O
Select profile 401
(Inputs/Outputs)
2
Click Device Type
3
Select the I/O types that are
supported
4
Slide 20/38
Node configuration for modular I/O: receive PDO
Node configuration for modular I/O: receive PDO Node configuration for modular I/O: receive PDO
2
Select the PDO
receive mode
(node side)
3
4
Confirm
6
Select the PDO
triggering mode
(master side)
5
Select mapping method
V3 or V4 (depending on product)
1
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.
Slide 21/38
Node configuration for modular I/O: receive PDO
Node configuration for modular I/O: receive PDO Node configuration for modular I/O: receive PDO
Modifying mapping Modifying mapping
Double click on the configured PDO
1
Add or delete mappable objects by
clicking Append Object or
Delete mapped object
2
Slide 22/38
Node configuration for modular I/O: transmit PDO
Node configuration for modular I/O: transmit PDO Node configuration for modular I/O: transmit PDO
1
Select the PDO
transmission mode
(node side)
2
3
Confirm
5
Select the PDO
triggering mode
(master side)
4
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.
Slide 23/38
Node configuration for modular I/O: transmit PDO
Node configuration for modular I/O: transmit PDO Node configuration for modular I/O: transmit PDO
Modifying mapping Modifying mapping
Double click on the configured PDO
1
Add or delete mappable objects by
clicking Append Object or Delete
mapped object
2
Screencam 7
Back
Slide 24/38
Point to point broadcast objects
Object Function Code Bin COB-ID Hex COB-ID Dec
Emergency 0001 0x081to 0x0FF 129 to 255
Transmit PDO 1 0011 0x181 to 0x1FF 385 to 511
Receive PDO 1 0100 0x201 to 0x27F 513 to 639
Server SDO 1011 0x581 to 0x5FF 1409 to 1535
Client SDO 1100 0x601 to 0x67F 1537 to 1663
NODE GUARD 1110 0x701 to 0x77F 1793 to 1919
Manual allocation of identifiers
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.
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Slide 25/38
Predefined PDOs > 0x1404/0x1804
Predefined Predefined PDOs PDOs > 0x1404/0x1804 > 0x1404/0x1804
This message appears if you
activate a PDO number
higher than 4
Deactivate the COB-ID
allocation function
1
Assign an identifier value
that is not in use
e.g. use identifier PDO2
2
Slide 26/38
Viewing the device table
Viewing the device table Viewing the device table
View - Device Table
Slide 27/38
Viewing the process data address table
Viewing the process data address table Viewing the process data address table
View - Address Table
Sort according to device addresses
Sort according to process data
addresses
1
2
3
Slide 28/38
Viewing the identifiers table
Viewing the identifiers table Viewing the identifiers table
View - ID Table
Slide 29/38
Viewing the table of devices adapted by SDO
Viewing the table of devices adapted by SDO Viewing the table of devices adapted by SDO
View - SDO Table
Slide 30/38
Saving the Sycon configuration
Saving the Saving the Sycon Sycon configuration configuration
Back
File - Save As
1
Screencam 8
Enter the name and click Save
2
Slide 31/38
Selecting the configuration file in PL7 and saving it
Selecting the configuration file in PL7 and saving it Selecting the configuration file in PL7 and saving it
Back
Screencam 9
Click
Select Database
1
Select the configuration file
****.co in the
Hilscher/Sycon/Project directory
2
Click Open 3
If the number of input and output words
is inconsistent with the Sycon
configuration, an error message is
generated
Slide 32/38
Verifying exchanges in the Debug screen
Verifying exchanges in the Debug screen Verifying exchanges in the Debug screen
Test PDO-type
exchanges
Test SDO-type
exchanges
Slide 33/38
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.
Slide 34/38
Explicit object:
READ_STS %Chy.1
%Mwy.1.2:
Input variable providing diagnostic information about the status of the master
card.
Slide 35/38
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
Slide 36/38
Accessing configuration and adjustment variables
Accessing configuration and adjustment variables 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;
Slide 37/38
Accessing configuration and adjustment variables
Accessing configuration and adjustment variables 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;
Slide 38/38
Accessing diagnostic variables
Accessing diagnostic variables 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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Industrial Automation - Customer View - Services - Training

PhW - CANopen_soft_setup_en 10/ 2003

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