CANopen

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

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CANopenCANopen

Software 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 the individual stages

for a detailed description


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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


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-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 Sycon toolConfiguring the master and nodes with the Sycon toolConfiguring the master and nodes with the Sycon tool


Example with Addr1 = ATV58Addr 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 productExample of importing a BECKHOFF CANopen communication module


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Selecting the network and inserting the CANopen masterSelecting the network and inserting the CANopen masterSelecting the network and inserting the CANopen masterSelecting the network and inserting the CANopen 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 Sycon softwareSetting the operating mode parameters for the Sycon softwareSetting the operating mode parameters for the Sycon software


Settings - Global Settings1 Activate Process Data Auto Addressing if required

Activate Automatic COB-ID Allocation 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 PDOs and nodes.

Manual COB-ID allocation is used for PDO numbers >= 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 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 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


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

File - Copy EDS1

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

BackScreencam 5a


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Declaring the nodesDeclaring the nodesDeclaring the nodesDeclaring the nodes

Back


Screencam 5

3

Insert - Node1

Add English ATV58 version at address 2

2

Add BK5120at address 3


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Node configuration windowNode configuration windowNode configuration windowNode 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


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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 PDOsNode configuration with predefined PDOsNode configuration with predefined PDOsNode configuration with predefined PDOs

Click “Configuration Error Control Protocol”

to access the Node Guarding or Heartbeat

settings

1

2

3

3’


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Node configuration with predefined receive PDOsNode configuration with predefined receive PDOsNode configuration with predefined receive PDOsNode configuration with predefined receive PDOs

Click the predefined PDO you wish to activate1


Select the PDO receive mode (node side)

3

Click Add to configured PDOs2

3

Confirm5

Select the PDO triggering mode

(master side)

4


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Node configuration with predefined transmit PDOsNode configuration with predefined transmit PDOsNode configuration with predefined transmit PDOsNode configuration with predefined transmit PDOs



Select the PDO transmission 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 structureSample 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


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Viewing the mapping of configured PDOsViewing the mapping of configured PDOsViewing the mapping of configured PDOsViewing the mapping of configured PDOs

1


Click PDO Contents Mapping2Click the configured PDO you wish to view

List of objects mapped in the PDO

with their address:

Index and Sub-index


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Modifying a parameter settingModifying a parameter settingModifying a parameter settingModifying 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


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Node configuration for modular I/ONode 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 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’


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Click Device Profile1

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

Select profile 401

(Inputs/Outputs)2

Click Device Type

3

Select the I/O types that are

supported4


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



Select the PDO receive mode(node side)


4

Confirm6


(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.


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Node configuration for modular I/O: receive PDO 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 mappingModifying mapping

Double click on the configured PDO1

Add or delete mappable objects by

clicking “Append Object” or

“Delete mapped object”

2


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


Select the PDO transmission mode

(node side)


3

Confirm5


(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.


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Node configuration for modular I/O: transmit PDO 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 mappingModifying mapping

Double click on the configured PDO1

Add or delete mappable objects by

clicking “Append Object” or “Delete

mapped object”

2

Screencam 7 Back


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Point to point broadcast objects

Object Function Code Bin COB-ID Hex COB-ID DecEmergency 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 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.

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

This message appears if you

activate a PDO number

higher than 4Deactivate the COB-ID

allocation function

1

Assign an identifier value

that is not in use

e.g. use identifier PDO2

2


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Viewing the device tableViewing 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 tableViewing the process data address table


View - Address Table

Sort according to device addresses

Sort according to process data addresses

1

2

3


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


View - SDO Table


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Saving the Sycon configurationSaving the Sycon configurationSaving the Sycon configurationSaving the Sycon 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 itSelecting the configuration file in PL7 and saving it


BackScreencam 9

ClickSelect Database

1

Select the configuration file

****.co in the

Hilscher/Sycon/Project directory

2

Click Open3

If the number of input and output words

is inconsistent with the Sycon

configuration, an error message is

generated


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

Test PDO-type exchanges

Test SDO-type exchanges



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Interfacing with the applicationInterfacing 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 for reinitialising 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 master card.



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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 the CANopen 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 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 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 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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