CANopen Soft Setup En

Industrial Automation - Customer View - Services - TrainingPhW - CANopen_soft_setup_en 10/ 2003

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CANopenCANopenSoftware setup

with PL7 and Sycon V2.8


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Software setupSoftware setup

CANopen: Software setup - 2

Declare the master card in the PLC

Configure the master andnodes 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

Configureprocessor/master card operation

Click theindividual stages

for a detaileddescription


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Declaring the master card in the PLCDeclaring the master card in the PLC


The CANopen PCMCIA master card is inserted in the designated slotfor communication modules in theprocessor module.

The CANopen master card iscompatible with all processormodules >= V5.0 except TSX57103

Screencam 1 Back


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Configuring processor/master card operationConfiguring processor/master card operation


Synchroniseupdating of memory

zones associatedwith the I/O

Define %MW memoryzone to which theinputs are copied

Define fallback modefor outputs and for%MW memory zonewhere outputs are

read

Launch Syconconfiguration

software

Select Syconconfiguration file andchoose loading mode

Behaviour of bus onstart-up*

Activate watchdog

1

2

3

4

5

Screencam 2 Back* If “Semi-automatic” or “By program” is selected here, bus start-upis controlled by the command word %QWy.1.0 (y = processor slot number).


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Configuring the master and nodes with the Sycon toolConfiguring the master and nodes with the Configuring the master and nodes with the SyconSycon tool tool


Example withAddr1 = ATV58Addr 2 = BECKHOFF module

Example with ATV58.Direct use of predefinedPDOs with modification ofparameter settings

Example with BECKHOFFmodule.Modifying the mapping ofpredefined 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 productExample of importing aBECKHOFF CANopencommunication module


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Selecting the network and inserting the CANopen masterSelecting the network and inserting the Selecting the network and inserting the CANopenCANopen master master

Screencam 3 Back


File - New1 Select CANopen - OK2

Insert - Master3 Add TSX CPP 100 - OK4


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Setting the operating mode parameters for the Sycon softwareSetting the operating mode parameters for the Setting the operating mode parameters for the SyconSycon software software


Settings - Global Settings1 Activate Process Data AutoAddressing if required

Activate Automatic COB-IDAllocation if required

OK

2

If Process Data Auto Addressing is activated, Syconautomatically calculates the process data offset.Data is organised according to the sequence of PDOsand nodes.

Manual COB-ID allocation is used for PDOnumbers >= 5 or for exchanging datadirectly from node to node: PDO linking.

Back


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Setting the bus parametersSetting the bus parametersSetting the bus parameters

Back

Select address of master2

Select SYNC object COB-ID Default value = 128

Communication profile DS301

+ select comm. cycle period

3

4


Screencam 4

5

Settings - Bus parameter1Select transmission rate

Behaviour of master module in theevent of a Node Guard or Heartbeaterror:

Disabled:Does not affect the other stations.

Enabled:The master stops communicationwith all other stations.

6 Activate Heartbeat function(supported by TSXCPP110 card)

Enable automatic switch tooperating mode (PDOs activated) ifrequired.

7

Not in use


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Importing a new EDS fileImporting a new EDS fileImporting a new EDS fileCANopen: Software setup - 9

File - Copy EDS1

Select the directory in whichthe new EDS file is located

together with the 3 associated.dib images

2

Click Open to import thefiles

3

BackScreencam 5a


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Declaring the nodesDeclaring the nodesDeclaring the nodes

Back


Screencam 5

3

Insert - Node1

Add English ATV58 versionat address 2

2

Add BK5120at address 3


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Node configuration windowNode configuration windowNode configuration windowCANopen: Software setup - 11

The values for DeviceProfile and Device

Type must beconsistent with thevalues contained inobject 1000H Device

Type

Automatic COB-IDallocation activated by

default

List of predefinedPDOs

Access to Node Guardingand Heartbeat functions

Deactivate if you wish toretain process data when

the station is notconnected

Access to boot-upsequence for each

node

Access to supportedobjects and to

parameters writtenduring boot-up

sequence

Access totransmission

parameters for eachPDO

Access to mapping foreach PDO

Define new receivePDO

Define new transmitPDO

To activate predefinedPDOs

Double click the relevant node to open the window


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Select monitoring mode: Node Guarding or Heartbeat

Polling time for master

Define monitoring time onnode side:

Guard time x Life time factor

Time for which node ismonitored by master

Time for which heartbeat istransmitted by node

List of values assigned to theHeartbeat parameters by the

various nodes

Node configuration with predefined PDOsNode configuration with predefined Node configuration with predefined PDOsPDOs

Click “Configuration Error Control Protocol”to access the Node Guarding or Heartbeatsettings

1

2

3

3’


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Node configuration with predefined receive PDOsNode configuration with predefined receive Node configuration with predefined receive PDOsPDOs

Click the predefined PDO you wish to activate1


Select the PDO receivemode (node side)

3

Click Add to configured PDOs2

3

Confirm5

Select the PDOtriggering mode

(master side)

4


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Node configuration with predefined transmit PDOsNode configuration with predefined transmit Node configuration with predefined transmit PDOsPDOs



Select the PDOtransmission mode

(node side)

3

Confirm5



(master side)

4


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Sample view of process memory structureSample view of process memory structureSample view of process memory structure

Receive PDOs correspond tooutput variables


Transmit PDOs correspond toinput variables

Address expressedin number of words

Length expressed innumber of bytes


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Viewing the mapping of configured PDOsViewing the mapping of configured Viewing the mapping of configured PDOsPDOs

1


Click PDO Contents Mapping2Click the configured PDO you wish to view

List of objects mapped in thePDO with their address:Index and Sub-index


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Modifying a parameter settingModifying a parameter settingModifying a parameter settingCANopen: Software setup - 17

Screencam 6 Back

1 Click the “Object Configuration” button

2 Select the parameter you wish tomodify then click

“Add to Configured Objects”

3 Modify the parameter value in thelist of objects that are configured

automatically on start-up, then clickOK to confirm


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Node configuration for modular I/ONode configuration for modular I/ONode configuration for modular I/O

Select monitoring mode : Node Guarding or Heartbeat

Polling time for master

Define monitoring time onnode side:

Guard time x Life time factor

Time for which node ismonitored by master

Period for which heartbeat istransmitted by node

List of values assigned to theHeartbeat parameters for the

various nodes

Click “Configuration Error Control Protocol”to access the Node Guarding or Heartbeatsettings

1

2

3

3’


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Click Device Profile1

Node configuration for modular I/ONode configuration for modular I/ONode configuration for modular I/O

Select profile 401(Inputs/Outputs)

2

Click Device Type3

Select the I/O types that aresupported

4


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Node configuration for modular I/O: receive PDONode configuration for modular I/O: receive PDONode configuration for modular I/O: receive PDO



Select the PDOreceive mode(node side)


4

Confirm6


(master side)

5

Select mapping methodV3 or V4 (depending on product)

1

For DS401 remote I/O nodes, PDO1s (index 1400 and1800) are reserved for digital I/O. Analog I/O are mappedfrom PDO2 onwards.


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Node configuration for modular I/O: receive PDONode configuration for modular I/O: receive PDONode configuration for modular I/O: receive PDO

Modifying mappingModifying mapping

Double click on the configured PDO1

Add or delete mappable objects byclicking “Append Object” or“Delete mapped object”

2


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Node configuration for modular I/O: transmit PDONode configuration for modular I/O: transmit PDONode configuration for modular I/O: transmit PDO


Select the PDOtransmission mode

(node side)


3

Confirm5


(master side)

4

For DS401 remote I/O nodes, PDO1s (index 1400 and1800) are reserved for digital I/O. Analog I/O are mappedfrom PDO2 onwards.


Slide 23/38


Node configuration for modular I/O: transmit PDONode configuration for modular I/O: transmit PDONode configuration for modular I/O: transmit PDO

Modifying mappingModifying mapping

Double click on the configured PDO1

Add or delete mappable objects byclicking “Append Object” or “Deletemapped object”

2

Screencam 7 Back


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Point to point broadcast objectsObject Function Code Bin COB-ID Hex COB-ID Dec

Emergency 0001 0x081to 0x0FF 129 to 255Transmit PDO 1 0011 0x181 to 0x1FF 385 to 511Receive PDO 1 0100 0x201 to 0x27F 513 to 639Transmit PDO 2 0101 0x281 to 0x2FF 641 to 767Receive PDO 2 0110 0x301 to 0x37F 769 to 895Transmit PDO 3 0111 0x381 to 0x3FF 897 to 1023Receive PDO 3 1000 0x401 to 0x47F 1025 to 1151Transmit PDO 4 1001 0x481 to 0x4FF 1153 to 1279Receive PDO 4 1010 0x501 to 0x57F 1281 to 1407Server SDO 1011 0x581 to 0x5FF 1409 to 1535Client SDO 1100 0x601 to 0x67F 1537 to 1663NODE GUARD 1110 0x701 to 0x77F 1793 to 1919

Manual allocation of identifiersManual 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-standardobjects, 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 assignedto an undefined or free PDO between 1 and 4.

max

imum

of 1

024

iden

tifie

rs re

serv

e d fo

r PD

Os


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Predefined PDOs > 0x1404/0x1804Predefined Predefined PDOsPDOs > 0x1404/0x1804 > 0x1404/0x1804

This message appears if youactivate a PDO number

higher than 4Deactivate the COB-IDallocation function

1

Assign an identifier valuethat is not in use

e.g. use identifier PDO2

2


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Viewing the device tableViewing the device tableViewing the device table


View - Device Table


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Viewing the process data address tableViewing the process data address tableViewing the process data address table


View - Address Table

Sort according to device addresses

Sort according to process dataaddresses

1

2

3


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Viewing the identifiers tableViewing the identifiers tableViewing the identifiers table


View - ID Table


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Viewing the table of devices adapted by SDOViewing the table of devices adapted by SDOViewing the table of devices adapted by SDO


View - SDO Table


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Saving the Sycon configurationSaving the Saving the SyconSycon configuration configuration

Back

File - Save As1


Screencam 8Enter the name and click Save2


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Selecting the configuration file in PL7 and saving itSelecting the configuration file in PL7 and saving itSelecting the configuration file in PL7 and saving it


BackScreencam 9

ClickSelect Database

1Select the configuration file

****.co in theHilscher/Sycon/Project directory

2

Click Open3

If the number of input and output wordsis inconsistent with the Sycon

configuration, an error message isgenerated


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Verifying exchanges in the Debug screenVerifying exchanges in the Debug screenVerifying exchanges in the Debug screen

Test PDO-typeexchanges

Test SDO-typeexchanges



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Interfacing with the applicationInterfacing with the applicationInterfacing 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 forreinitialising error tables.



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Explicit object:

READ_STS %Chy.1

%Mwy.1.2:Input variable providing diagnostic information about the status of the mastercard.



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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 theCANopen master card, or reading the message handling error log



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Accessing configuration and adjustment variablesAccessing configuration and adjustment variablesAccessing configuration and adjustment variables

(* Request to write one word *)

(* Address ADR#0.1.SYSAddress of variable to be written: %MD3200Value of variable to be written: %MW3202Exchange 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;



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Accessing configuration and adjustment variablesAccessing configuration and adjustment variablesAccessing configuration and adjustment variables

(* Request to read one word *)(* Address ADR#0.1.SYS

Address of variable to read: %MD3220Value of variable read: %MW3222Exchange report: %MW3260:4 *)

IF %M104 AND NOT %MW3260:X0 THENREAD_VAR(ADR#0.1.SYS,'SDO',%MD3220,20,%MW3222:1,%MW3260:4);RESET %M104;

END_IF;



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Accessing diagnostic variablesAccessing diagnostic variablesAccessing 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 diagnostics128 = master card diagnostics130 = 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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CANopen Soft Setup En