CANopen Software setup with PL7 and Sycon V2.8
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 1/38
CANopen: Software setup - 2
Software Software setup setup Declare the master card in the PLC Configure processor/master card operation Configure the master and nodes with the Sycon tool
Click the individual stages for a detailed description
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 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 2/38
CANopen: Software setup - 3
Declaring Declaring the the master master card card in in the the PLC 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.
Screencam 1
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 3/38
CANopen: Software setup - 4
Configuring Configuring processor/master processor/master card card operation 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
Screencam 2
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
* 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 4/38
CANopen: Software setup - 5
Configuring Configuring the the master master and and nodes nodes with with the the Sycon Sycon tool 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 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.
Import the EDS file for a new product Declare the nodes Set node parameters with predefined PDOs Set modular I/O node parameters View global configuration and save
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 5/38
CANopen: Software setup - 6
Selecting Selecting the the network network and and inserting inserting the the CANopen CANopen master master 1
3
File - New
Insert - Master
Screencam 3
2
Select CANopen - OK
4
Add TSX CPP 100 - OK
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 6/38
CANopen: Software setup - 7
Setting Setting the the operating operating mode mode parameters parameters for for the the Sycon Sycon software 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 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 7/38
CANopen: Software setup - 8
Setting Setting the the bus bus parameters parameters 1
2
Select address of master
3
Select transmission rate
4
Behaviour of master module in the event of a Node Guard or Heartbeat error:
Settings - Bus parameter
Disabled: Does not affect the other stations. Enabled: The master stops communication with all other stations.
5
Select SYNC object COB-ID Default value = 128 Communication profile DS301 + select comm. cycle period
Not in use
Screencam 4
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
6
Activate Heartbeat function (supported by TSXCPP110 card)
7
Enable automatic switch to operating mode (PDOs activated) if required. Slide 8/38
CANopen: Software setup - 9
Importing Importing aa new new EDS EDS file file 1
File - Copy EDS
3 2
Screencam 5a
Click Open to import the files
Select the directory in which the new EDS file is located together with the 3 associated .dib images
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 9/38
CANopen: Software setup - 10
Declaring Declaring the the nodes nodes 1
Insert - Node
2
3
Screencam 5
Add English ATV58 version at address 2
Add BK5120 at address 3
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 10/38
CANopen: Software setup - 11
Node Node configuration configuration window window Double click the relevant node to open the window Deactivate if you wish to retain process data when the station is not connected
Automatic COB-ID allocation activated by default
Access to Node Guarding and Heartbeat functions Access to boot-up sequence for each node
Access to supported objects and to parameters written during boot-up sequence 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
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Define new transmit PDO Slide 11/38
CANopen: Software setup - 12
Node Node configuration configuration with with predefined predefined PDOs PDOs 1
Click “Configuration Error Control Protocol” to access the Node Guarding or Heartbeat settings
3 2
Select monitoring mode: Node Guarding or Heartbeat
Polling time for master Define monitoring time on node side: Guard time x Life time factor
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
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 12/38
CANopen: Software setup - 13
Node Node configuration configuration with with predefined predefined receive 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) Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
3 Slide 13/38
CANopen: Software setup - 14
Node Node configuration configuration with with predefined predefined transmit transmit PDOs 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) Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 14/38
CANopen: Software setup - 15
Sample Sample view view of of process process memory memory structure structure
Receive PDOs correspond to output variables
Transmit PDOs correspond to input variables
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Length expressed in number of bytes
Address expressed in number of words
Slide 15/38
CANopen: Software setup - 16
Viewing Viewing the the mapping mapping of of configured configured PDOs PDOs 1
Click the configured PDO you wish to view
2
Click PDO Contents Mapping
List of objects mapped in the PDO with their address: Index and Sub-index
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 16/38
CANopen: Software setup - 17
Modifying Modifying aa parameter parameter setting setting 1
2
Click the “Object Configuration” button
Select the parameter you wish to modify then click “Add to Configured Objects”
3
Screencam 6
Modify the parameter value in the list of objects that are configured automatically on start-up, then click OK to confirm
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 17/38
CANopen: Software setup - 18
Node Node configuration configuration for for modular modular I/O I/O 1
Click “Configuration Error Control Protocol” to access the Node Guarding or Heartbeat settings
3 2
Select monitoring mode : Node Guarding or Heartbeat
Polling time for master Define monitoring time on node side: Guard time x Life time factor
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
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 18/38
CANopen: Software setup - 19
Node Node configuration configuration for for modular modular I/O I/O
1
Click Device Profile
3
2
Select profile 401 (Inputs/Outputs)
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
4
Click Device Type
Select the I/O types that are supported Slide 19/38
CANopen: Software setup - 20
Node Node configuration configuration for for modular modular I/O: I/O: receive receive PDO PDO 2
Click the predefined PDO you wish to activate
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 3
Select mapping method V3 or V4 (depending on product)
Click Add to configured PDOs
4 Select the PDO receive mode (node side)
6
Confirm
5 Select the PDO triggering mode (master side) Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 20/38
CANopen: Software setup - 21
Node Node configuration configuration for for modular modular I/O: I/O: receive receive PDO PDO Modifying mapping
1
Double click on the configured PDO
2
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Add or delete mappable objects by clicking “Append Object” or “Delete mapped object”
Slide 21/38
CANopen: Software setup - 22
Node Node configuration configuration for for modular modular I/O: I/O: transmit transmit PDO PDO 1
Click the predefined PDO you wish to activate
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 Add to configured PDOs
3 Select the PDO transmission mode (node side)
5
Confirm
4 Select the PDO triggering mode (master side) Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 22/38
CANopen: Software setup - 23
Node Node configuration configuration for for modular modular I/O: I/O: transmit transmit PDO PDO Modifying mapping
1
Double click on the configured PDO
2
Screencam 7
Add or delete mappable objects by clicking “Append Object” or “Delete mapped object”
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 23/38
CANopen: Software setup - 24
Manual Manual allocation allocation of of identifiers 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.
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
Transmit PDO 2
0101
0x281 to 0x2FF
641 to 767
Receive PDO 2
0110
0x301 to 0x37F
769 to 895
Transmit PDO 3 Receive PDO 3 Transmit PDO 4 Receive PDO 4
0111 1000 1001 1010
0x381 to 0x3FF 0x401 to 0x47F 0x481 to 0x4FF 0x501 to 0x57F
897 to 1023 1025 to 1151 1153 to 1279 1281 to 1407
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
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
maximum of 1024 identifiers reserved for PDOs
Point to point broadcast objects
Slide 24/38
CANopen: Software setup - 25
Predefined Predefined PDOs PDOs >> 0x1404/0x1804 0x1404/0x1804
1 Deactivate the COB-ID allocation function
This message appears if you activate a PDO number higher than 4
2 Assign an identifier value that is not in use e.g. use identifier PDO2
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 25/38
CANopen: Software setup - 26
Viewing Viewing the the device device table table View - Device Table
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 26/38
CANopen: Software setup - 27
Viewing Viewing the the process process data data address address table table
2 1
Sort according to device addresses
View - Address Table
3
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Sort according to process data addresses
Slide 27/38
CANopen: Software setup - 28
Viewing Viewing the the identifiers identifiers table table View - ID Table
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 28/38
CANopen: Software setup - 29
Viewing Viewing the the table table of of devices devices adapted adapted by by SDO SDO View - SDO Table
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 29/38
CANopen: Software setup - 30
Saving Saving the the Sycon Sycon configuration configuration 1
Screencam 8
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
File - Save As
2
Enter the name and click Save
Slide 30/38
CANopen: Software setup - 31
Selecting Selecting the the configuration configuration file file in in PL7 PL7 and and saving saving it 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
3 Screencam 9
Select the configuration file ****.co in the Hilscher/Sycon/Project directory
Click Open
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 31/38
CANopen: Software setup - 32
Verifying Verifying exchanges exchanges in in the the Debug Debug screen screen
Test PDO-type exchanges
Test SDO-type exchanges
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 32/38
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. Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 33/38
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.
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 34/38
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 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 35/38
CANopen: Software setup - 36
Accessing Accessing configuration configuration and and adjustment adjustment variables 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;
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 36/38
CANopen: Software setup - 37
Accessing Accessing configuration configuration and and adjustment adjustment variables variables
(* Request to read one word *) (* Address ADR#0.1.SYS Address of variable to read: Value of variable read: Exchange report:
%MD3220 %MW3222 %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;
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 37/38
CANopen: Software setup - 38
Accessing Accessing diagnostic diagnostic variables 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: Length of diagnostic to read : Receive table : Exchange report :
%MW3302 %MW3303 %MW3310:20 %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; Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003
Slide 38/38
