CANopen - instrumentacionycontrol.net · DC505-FBP as CANopen slave with FieldBusPlug COP21-FBP. This commissioning example will help you to develop your own application. NOTICE Further

abb

Commissioning Examples AC500

Scalable PLC for Individual Automation

Master: PM581 with CM578 Slave: DC505-FBP with COP21-FBP

CANopen

Content

Introduction........................................................................................................................2

Required Products.............................................................................................................3

Preparations.......................................................................................................................4

Configuration .....................................................................................................................5

General Information ................................................................................................................... 5

Starting the Programming Software......................................................................................... 5

Specifying the Hardware Configuration................................................................................... 7

Configuring the Decentralized S500-FBP I/O Station Using EDS Configurator and SYCON.net Fieldbus Configurator............................................................................................ 9

Configuring Using EDS File Configurator ................................................................................ 9

Starting the Configuration .................................................................................................................. 9

Description of the Elements and Their Functions ............................................................................ 10

Information Part........................................................................................................................... 11

S500 Module Selection ............................................................................................................... 11

Protocol Display and EDS File Specific Command Buttons ....................................................... 11

Configuration Controls and FBP-DC505-Cluster ........................................................................ 12

Configuring DC505-AX521-DI524-DC522 (Example)...................................................................... 13

Configuring Using SYCON.net Fieldbus Configurator ........................................................... 16

Starting the Configuration ................................................................................................................ 16

Reloading EDS File .......................................................................................................................... 17

Connecting the Master to the CPU .................................................................................................. 17

Changing the Bus Parameters ......................................................................................................... 18

Connecting the Slave to the Master ................................................................................................. 19

Activating the Modul Parameters ..................................................................................................... 20

Activating the Transmission of Diagnosis Information ..................................................................... 21

Specifying the Symbolic Variable Names ........................................................................................ 21

Loading the Configuration from SYCON.net to Communication Module ........................... 23

Commissioning Examples 1 CANopen AC500/Issue: 11.2008

Introduction

The following example will guide you through the installation and the configuration of a small CANopen fieldbus.

There were used an AC500-CPU PM581 as CANopen master with Communication Module CM578 and a DC505-FBP as CANopen slave with FieldBusPlug COP21-FBP.

This commissioning example will help you to develop your own application.

NOTICE

Further information you will find in the dedicated user manual: Hardware AC500, System Technology, AC500 programming software.


Required Products

NOTICE

For installation of a CANopen fieldbus system you need AC500 PS501 Control Builder Version 1.2.1 or higher.

For the configuration of a PROFIBUS DP fieldbus system, the following products are required:

Amount Product description Order number

1 PM581-ETH, CPU 1SAP 140 100 R0170

1 CM578, Communication Module CANopen master 1SAP 170 800 R0001

1 TB521-ETH, CPU Terminal Base AC500, 1x CPU Slot, 2x Communication Module Slots, Ethernet RJ45 Connector

1SAP 112 100 R0170

1 TA524, Dummy Communication Module 1SAP 180 600 R0001

1 TK501, Programming Cable D-Sub / D-Sub 1SAP 180 200 R0001

1 DNF11.FBP.050 Adapter (field bus + power supply), cable length 0.5m,

1SAJ 923 002 R0005

1 COP21-FBP.050 CANopen-FBP 0.5 m, modular (FieldBusPlug) 1SAJ 230 100 R1005

1 DNR11-FBP.120 Terminating resistor 120 Ohm 1SAJ 923 007 R0001

1 DC505-FBP with 8DI/8DC 1SAP 220 000 R0001

1 DC522 with 16DC 1SAP 240 600 R0001

1 DI524 with 32 DI 1SAP 240 000 R0001

2 AX521 with 4AI/4AO 1SAP 250 100 R0001

1 TU506 FBP Terminal Unit, Spring Terminals 1SAP 210 000 R0001

4 TU516 I/O Terminal Unit, 24 VDC, Spring Terminals 1SAP 212 000 R0001

1 PS501 Control Builder AC500, Programming Software 1SAP 190 100 R0002


Preparations

Use the previous installation instructions to assemble and mount the system.

Make the wiring and provide supply power to the system (process supply) and to the FieldBusPlug.

Set the slave address of the FBP to 4 with the front rotary switches of the S500 FBP-Interface module (chosen for this example; see also S500-FBP Getting started).

Install the AC500 Control Builder programming software for AC500 PLCs.

Install the SYCON.net fieldbus configurator.

Connect the programming cable TK501 from the PC (COM1) to the AC500 CPU (COM2).

Prior to beginning the system configuration with the AC500 Control Builder programming software review all of the hardware instructions for your specific system to be sure you have completed all of the required preliminary steps.

Power up the system.


Configuration

General Information

The configuration of decentralized systems connected by network is done in two steps:

The CPU has to be informed about which Communication Modules are assigned to it (internal and/or external Communication Modules).

The Communication Modules have to be informed about which peripheral devices are connected to them.

How to do this, it is discribed on the following pages.

Starting the Programming Software

1. Start the AC500 Control Builder programming software.

2. Select File > New to create a new project.

3. In the appearing window select the desired CPU. In our example, select PM581 V1.2.

NOTICE

Only CPUs from version V1.2 or higher can be CANopen masters!

4. In the appearing window click on OK.


A window will open where you can select the POU name, type and language.

5. Keep the settings PLC_PRG and Program for the name and the type. Select ST for the language.

6. Click on OK.

The ST editor is opened.

7. Select the menu item File > Save as to save the project under a specific name.


8. Select the desired directory and enter the project name (in our example: Example_CANopen).

9. Complete your input with Save.

Specifying the Hardware Configuration

The software has to be informed about the hardware configuration, i.e. the hardware configuration has to be specified in the software.

1. Click on .

2. Double click the object PLC Configuration.

3. If the AC500 folder in the PLC configuration tree is closed, click on the symbol.


4. First enter the I/O devices connected directly to the I/O bus of the CPU: In the configuration tree, click on I/O-Bus[FIX] and press the right mouse button.

5. Select Append Subelement > DC532 and click to append the element.

The Communication Module is appended to the tree.

6. Repeat this procedure to append the analog module AX522.

Now append the CANopen Communication Module:

7. In the configuration tree, click on Couplers[FIX] and press the right mouse button.

8. Select Append Subelement > CM578 and click to append the element.


The Communication Module is appended to the tree.

The tree looks now as follows:

9. As the CPU also comprises an integrated Ethernet Communication Module replace Couplers > Internal - none by an Ethernet Communication Module PM5x1-ETH.

Configuring the Decentralized S500-FBP I/O Station Using EDS Configurator and SYCON.net Fieldbus Configurator

Configuring Using EDS File Configurator

Starting the Configuration

Now the decentralized S500-FBP I/O station has to be configured. Proceed as follows:

1. In the left-hand window, click on the symbol in front of the Tools folder.

2. Double click the entry EDS configurator.


The EDS file configurator is opened. With the help of EDS configurator you can generate an I/O station specific EDS file, you later need for changing parameters, creating symbolic variable names and do a configuration download to the CM578 Communication Module in SYCON.net fieldbus configurator.

Description of the Elements and Their Functions


Information Part

Menu Bar (contains also all commands which are on screens command boxes)

ONLINE help window (leads user through EDS file creation functions)

Logo und version information

S500 Module Selection

S500-I/O-Modules for configuration: Here you can select a module, to insert or append to the configuration (by mouse click on a module).

Selected Module: Here the selected module is displayed.

You can add the selected module to the FBP-DC505-cluster by using the configuration control buttons (see Configuration Controls).

Protocol Display and EDS File Specific Command Buttons


Fieldbus Protocol: Fieldbus protocol selection. (DeviceNet/CANopen)

Protocol I/O-Amount-Info: Amount of protocol specific digital und analogue Input/Output bytes. The line Max shows the maximum of I/O-Bytes per S500-FBP-E/A-Station. The line Used shows the actual used number of I/O-Bytes. An analogue I/O-value needs an amount of 2 Bytes (lowbyte and highbyte of one analogue value). The EDS configurator checks automatically, that the maximum will not be exceeded during configuration of the station. If maximum will be exceeded, an error message will be displayed.

I/O-Mapping-List: To make it easier to give to the I/O bytes symbolic variable names in SYCON.net, the I/O mapping list shows, which TPDO and RPDO bytes belong to what module. TPDO 7 and 8 contain 16 diagnosis bytes.

Command Buttons:

New Configuration: Open a new configuration

Load Existing Configuration: Open an existing configuration

Save Actual Configuration: Save the actual configuration

Create EDS and Save: Create and save an EDS file

Export EDS to SYCON.net: Export the created EDS file to specific SYCON.net directory

Show EDS: View contents of EDS file

I/O List: Open a small separate window with the I/O-Mapping-List to work with in SYCON.net

Configuration Controls and FBP-DC505-Cluster

Configuration Controls:

Add to DC505-Cluster: Add the selected module to cluster (after last module in cluster)

Remove gaps: Remove gaps in the cluster, if you have deleted a module within the cluster

Clear all: Delete all modules. Only DC505 will rest.

Clear selected: Select a module within the cluster by clicking on it. If you now click command button Clear selected, this module will be cleared in DC505-cluster.

Insert before selected: Insert a module before the selected module by clicking on it.

FBP-DC505-Cluster: Display decentralized FBP station with the S500 module configuration. To module DC505 there can


be added a maximum of seven S500-I/O-modules. The maximum of modules is also determined by the maximum of I/O-Bytes in the CANopen-protocol.

Configuring DC505-AX521-DI524-DC522 (Example)

1. After starting EDS configurator, select the Protocol CANopen.

2. Click on command button New Configuration.

3. Select module AX521 in the list S500-I/O-Modules for configuration and click on the module.

It will be displayed in the box Selected Module.

4. Click on Add to DC505 Cluster in the Configuration Controls.

It will be added to DC505 cluster.

5. Do the same with the modules DI524 und DC522.

You have got following DC505 cluster:

The I/O mapping list looks as follows:


If this is also your result the configuration is correct.

6. Save now your project by clicking Save Actual Configuration.

7. Enter CO_Example as project name and click on Save.

8. Create now an EDS file for your configuration by clicking Create EDS and Save.

9. Enter TestDNet as EDS file name and click on Save.

You will get following message:

10. Click on OK.

11. Click on command button Set Module Parameters.

A window will open.

12. Click on command button Load existing EDS and edit Parameters to load an existing EDS file and change parameter settings of it.


13. Click on command button Set Default Values.

14. Click on Yes to confirm the answer in the message box.

For all modules in DC505-station their parameters will be set to Default values.

Now configure the 4 analogue In- and Outputs of the AX521 to 0…20 mA In- and Output:

15. Click on AX521 – Slot 2 and set the parameters InChannel and OutChannel Configuration.


16. In the column Value select from pull-down menu the possible values for the parameter.

17. If you are ready with parametrization, click Save EDS File.

18. Click Exit Parameter Setting to leave the window.

19. Export now your EDS file, for use in fieldbus configurator SYCON.net: Click on command button Export EDS to SYCON.net.

20. Click on I/O List.

A small window with the I/O mapping list will open. It will be helpful when giving the I/O bytes of the modules symbolic variable names in SYCON.net.

Configuring Using SYCON.net Fieldbus Configurator

Starting the Configuration

Now the decentralized S500-FBP I/O station has to be configured. Proceed as follows:

1. In the left-hand window, click on the symbol in front of the Tools folder.

2. Double click the entry SYCON.net.


The SYCON.net fieldbus configurator is opened.

Reloading EDS File

In SYCON.net do following steps:

1. In the menu bar click on Network.

2. In the pull-down menu click on Device Catalog….

The following window will open:

3. Click Reload to get your created EDS file CO_Example.eds into the Device Catalog….

4. After the reload click OK.

Connecting the Master to the CPU

1. In the Fieldbus tab, click on the symbol to open the folder CANopen.

2. In the same way open the folder Master.


3. Click on CM578-COM and keep the mouse button pressed.

4. Drag the object into the left window to append it to the green line (this line represents the connection to the CPU) and release the mouse button.

5. In the appearing window, leave the Board No. 1 unchanged (counting mode: CPU-internal Communication Module = Board No. 0, first Communication Module left of the CPU = Board No. 1, second Communication Module = Board No.2).

6. Click on Accept.

The Communication Module is now connected to the CPU.

Changing the Bus Parameters

You can easily modify the parameter settings of the Communication Module:

1. Double click on the Communication Module symbol (surrounded by a blue line).

A window will open.

2. Click on Configuration > Bus Parameters.


With that you can change the parameters.

3. Change the desired parameters and then click OK.

NOTICE

For this example the default values can be used, there must be no changes for bus parameters.

Connecting the Slave to the Master

Now you use the same procedure to append a slave to the CANopen master CM578-COM:

1. In the Fieldbus tab, click on the symbol to open the folder Slave.

2. Drag the CANopen slave with your created EDS file (CO_Example.eds) into the left window to append it to the violet line (this line represents the CANopen fieldbus).

In the beginning you set the slave address of the FBP to 4 with the front rotary switches of the S500 FBP-Interface module.

Now you have to adjust the slave address for the master:

3. Double click the CANopen master CM578.

4. In the appearing window click on Configuration > NODE ID Table.

5. In the table change NODE ID to value 4.


6. Click on OK.

Activating the Modul Parameters

1. In the window netDevice double click on the CANopen slave.

Configuration window will open.

2. In the left window, click on Object Dictionary.

A list will be displayed with all parameters of the FBP-I/O station, beginning with index 0x2600 for slot 1 (DC505) up to index 0x2607 for slot 8.

3. Mark all parameters of the FBP-I/O station as configured. (Configured means these parameters will be transmitted from the Communication Module to FBP.)

4. After you have marked all parameters as configured, click on OK to exit the parameter configuration.


The configuration of the fieldbus modules is finished.

Activating the Transmission of Diagnosis Information

1. Click on Process Data Objects > Properties

2. Mark the TPDO 1806 and TPDO 1807 to activate transmission of diagnosis information.

3. Click on OK.

Specifying the Symbolic Variable Names

Now the names of the communication variables used for data exchange between Communication Module and CPU program have to be specified. These variables are automatically forwarded to the AC500 Control Builder software in order to have them available there. Proceed as follows:

1. In SYCON.net open the netConnect window.

The upper part of the netConnect area contains a tree structure showing the master Communication Module CM578-COM and the slave (COP21-FBP…) with the sorted list of PDOs appended.

2. Click on the symbol in front of the entry COP21-FBP… to open this branch of the tree.

Two folders for Receive and Transmit PDOs are displayed.

3. Click on Receive PDO01….

4. In the row Name of variable click on the corresponding entry to specify the symbolic names.

5. Use the I/O mapping list (I/O-Map List) to see how the input bytes and output bytes are assigned to the S500 modules.

6. Do the preceding steps for all PDOs!


TIP

For the planning of your plant we recommend to use symbolic names according to your plant.

In this example, there were used module specific names to make it easier to understand the I/O mapping.

Contents of PDOs:

RPDO01, RPDO02: each 8 binary output bytes

RPDO03, RPDO04, RPDO05, RPDO06: each 4 analog output words

TPDO01, TPDO02: each 8 binary input bytes

TPDO03, TPDO04, TPDO05, TPDO06: each 4 analog input words

TPDO07, TPDO08: each 8 diagnosis bytes

After completion of the variables configuration, the fieldbus configuration is finished.

7. Store the project via File > Safe.

If you change now to AC500 Control Builder (CoDeSys), you can see the variables under Resources > Global Variables > Slot 1 (Communication Module slot) > Slot1_Slave4 <R>.


Loading the Configuration from SYCON.net to Communication Module

Now the configuration has to be loaded from SYCON.net to the Communication Module CM578-COM. Proceed as follows:

1. In netDevice window, double click on the Communication Module CM578 and select Settings > Driver > 3S Gateway Driver.

2. Click on Gateway configuration.


3. In Communication Parameters click on New….

4. Enter a name for the new channel (e.g. RS232_DNet).

5. In row Name choose Serial (RS232) as Device.

6. Click on OK.

7. In the Communication Parameters window, set the parameters for the communication between the PC and the PLC (port: serial interface of the PC). Change the values by double click on them.

8. Click on OK to confirm the settings.

9. Select Settings > Driver > Device Assignment and click on Scan.

The configuration tool SYCON.net searches for CANopen Communication Modules connected to the stated interface.


NOTICE

To do the following steps, the CPU must be in Stop state.

10. Select the device CM578-COM and click on OK.

11. Click with the right mouse button on the icon of the Communication Module CM578-COM and select Download.

A safety inquiry is displayed.


12. Click on Ja (Yes).

This downloads the configuration to the Communication Module.

Progress of data transfer is displayed.

13. After the download is completed, disconnect SYCON.net: Press the right mouse button and select Disconnect.


14. In SYCON.net, save the configuration to a file: Select File > Save.

The system adopts the project name (in our example: Example_CANopen).

15. Exit SYCON: Select File > Exit.

Now you can use the symbolic variable names of the CANopen slave in your PLC program.

You can also load the example program Example_CANopen.pro and test the function of your system.



Manu

al N

o.

2C

DC

12

5 0

54 M

020

1

abb

ABB STOTZ-KONTAKT GmbH Eppelheimer Straße 82 Postfach 101680 69123 Heidelberg, Germany 69006 Heidelberg, Germany Telephone (06221) 701-0 Telefax (06221) 701-240 E-Mail [email protected] Internet http://www.abb.de/stotz-kontakt

Documents

CANopen - instrumentacionycontrol.net · DC505-FBP as CANopen slave with FieldBusPlug COP21-FBP. This commissioning example will help you to develop your own application. NOTICE Further