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Modicon M340 with Unity Pro - CANopen - User Manual

1. Nd_asf The table below presents the Object Entry 4103 Nd_asf Index Hex Sub index Description Object type Data type Comments 4103 Nd_asf ARRAY 0 Number of entries Unsigned8 1 Nd_asf 0 1 2 3 Unsigned32 2 Nd_asf 4 5 6 7 Unsigned32 3 Nd_asf 8 9 10 11 Unsigned32 4 Nd_asf 12 13 14 15 Unsigned32 Nd_oper The table below presents the Object Entry 4104 Nd_oper Index Hex Sub index Description Object type Data type Comments 4104 Nd_oper ARRAY 0 Number of entries Unsigned8 1 Nd_oper 0 1 2 3 Unsigned32 2 Nd_oper 4 5 6 7 Unsigned32 3 Nd_oper 8 9 10 11 Unsigned32 4 Nd_oper 12 13 14 15 Unsigned32 Nd_stop The table below presents the Object Entry 4105 Nd_stop Index Hex Sub index Description Object type Data type Comments 4105 Nd_stop ARRAY 0 Number of entries Unsigned 1 Nd_stop 0 1 2 3 Unsigned32 2 Nd_stop 4 5 6 7 Unsigned32 3 Nd_stop 8 9 10 11 Unsigned32 4 Nd_stop 12 13 14 15 Unsigned32 35013944 07 2012 287 CANopen Master object dictionary Nd_preop The table below presents the Object Entry 4106 Nd_preop Index Hex Sub index Description Object type Data type Comments 4106 Nd_preop ARRAY 0 Number of entries Unsigned8 1 Nd_preop 0 1 2 3 Unsigned32 2 Nd_preop 4 5 6 7 Unsigned32 3 Nd_preop 8 9 10 11 Unsigned32 4 Nd_preo
2. Standard symbol Type Access Description Address SLAVE_ACTIV_1 BOOL R Slave operational on the bus device 1 IWr m c 35 0 SLAVE_ACTIV_2 BOOL R Slave operational on the bus device 2 SIWr m c 35 1 SLAVE_ACTIV_3 BOOL R Slave operational on the bus device 3 SIWr m c 35 2 SLAVE_ACTIV_4 BOOL R Slave operational on the bus device 4 IWr m c 35 3 SLAVE_ACTIV_5 BOOL R Slave operational on the bus device 5 SIWr m c 35 4 SLAVE_ACTIV_6 BOOL R Slave operational on the bus device 6 IWr m c 35 5 SLAVE_ACTIV_7 BOOL R Slave operational on the bus device 7 SIWr m c 35 6 SLAVE_ACTIV_8 BOOL R Slave operational on the bus device 8 SIWr m c 35 7 SLAVE_ACTIV_9 BOOL R Slave operational on the bus device 9 SIWr m c 35 8 SLAVE_ACTIV_10 BOOL R Slave operational on the bus device 10 SIWr m c 35 9 SLAVE_ACTIV_11 BOOL R Slave operational on the bus device 11 IWr m c 35 10 SLAVE_ACTIV_12 BOOL R Slave operational on the bus device 12 S IWr m c 35 11 SLAVE_ACTIV_13 BOOL R Slave operational on the bus device 13 SIWr m c 35 12 SLAVE_ACTIV_14 BOOL R Slave operational on the bus device 14 IWr m c 35 13 SLAVE_ACTIV_15 BOOL R Slave operational on the bus device 15 SIWr m c 35 14 SLAVE_ACTIV_16 BOOL R Slave operational on the bus device 16 IWr m c 35 15 The node number corresponds to the number of the bit 1 Operational Slaves from 17 to 32 The table below presents the word SIWr m c 36 Standard symbol Type Access
3. The table below shows the words sIWr m c 27 to 3IWr m c 30 Standard symbol Type Access Description Address SLAVE_EMCY_1_16 INT R Slaves from 1 to 16 SIWr m c 27 SLAVE_EMCY_17_32 INT R Slaves from 17 to 32 SIWr m c 28 SLAVE_EMCY_33_48 INT R Slaves from 33 to 48 SIWr m c 29 SLAVE_EMCY_49_63 INT R Slaves from 49 to 63 SIWr m c 30 If the bit is equal to 0 the slave is properly operating If the bit is equal to 1 the slave is improperly operating The node number corresponds to the number of the bit 1 Operational Slaves from 1 to 16 The table below presents the word IWr m c 35 Standard symbol Type Access Description Address SLAVE_ACTIV_1 BOOL R Slave operational on the bus device 1 SIWr m c 35 0 SLAVE_ACTIV_2 BOOL R Slave operational on the bus device 2 SIWr m c 35 1 SLAVE_ACTIV_3 BOOL R Slave operational on the bus device 3 SIWr m c 35 2 SLAVE_ACTIV_4 BOOL R Slave operational on the bus device 4 IWr m c 35 3 SLAVE_ACTIV_5 BOOL R Slave operational on the bus device 5 SIWr m c 35 4 SLAVE_ACTIV_6 BOOL R Slave operational on the bus device 6 SIWr m c 35 5 SLAVE_ACTIV_7 BOOL R Slave operational on the bus device 7 SIWr 63586 SLAVE_ACTIV_8 BOOL R Slave operational on the bus device 8 SIWr Polo SLAVE_ACTIV_9 BOOL R Slave operational on the bus device 9 SIWr 35 8 SLAVE_ACTIV_10 BOOL R Slave operational on the bus device 10 SIWr 35 9 SLAVE_ACTIV_11 BOOL R Slave operational on the bu
4. Error type Error Language object External The CANopen master is not operational MWr m c 2 0 One or several slaves are not operational MWr m c 2 1 Other Configuration detected error MWr m c 2 3 Overrun of the reception queue low priority lWr m c 0 0 CAN controller overrun Wr m c 0 1 CAN controller disconnected from the bus Wr m c 0 2 CAN controller detected error IWr m c 0 3 The CAN controller is no longer in error state Wr m c 0 4 Overrun of the transmission queue low priority lWr m c 0 5 Overrun of the reception queue high priority lWr m c 0 6 Overrun of the transmission queue high priority lWr m c 0 7 The task cycle time is greater than the CANopen lWr m c 0 8 master cycle time 180 35013944 07 2012 Diagnostics Diagnostic Events History The diagnostics events history is mainly used to analyze the boot up procedure of the CANopen bus You can clear or refresh the diagnostic right click on the box and select the clear or refresh command in the pop up menu The events are displayed on the following 6 columns table Error Code Error Cause Node ID Index Subindex Additional Information MSB LSB 1 SDO abort by client Slave Node ID Index Subindex SDO abort code see page 149 SDO abort by server Slave Node ID Index Subindex SDO abort code 3 Identity mismatch Slave Node ID I
5. Index Sub Description Object type Data type Comments Hex index 1000 Device Type VAR Unsigned32 0x000F 0191 1001 Error Register VAR Unsigned 1005 COB ID SYNC VAR Unsigned32 1006 Communication Cycle Period VAR Unsigned32 1007 Synchronous Window Length VAR Unsigned32 1008 Manufacturer Device Name VAR String BMX CPU 20x0 1009 Manufacturer Hardware Version VAR String MIDRANGE BASIC 100A Manufacturer Sofware Version VAR String COMM_FW_01_xx 1012 COB ID Time Stamp Message VAR Unsigned32 1016 Consumer Heartbeat Time ARRAY 0 Number of entries 64 Unsigned8 1 Consumer Heartbeat Time Unsigned32 Unsigned32 64 Unsigned32 1017 Producer Heartbeat Time VAR Unsigned16 1018 Identity Object RECORD 0 Number of entries Unsigned8 4 1 Vendor ID Unsigned32 0x0600 005A 2 Product Code Unsigned32 0x3300 FFFF 3 Revision Number Unsigned32 Oxyyyy XXXX 4 Serial Number Unsigned32 0x0 Unsigned32 1020 Verify Configuration ARRAY 0 Number of entries 2 Unsigned 1 Configuration date Unsigned32 2 Contiguration time Unsigned32 1200 1 Server SDO RECORD 0 Number of entries Unsigned8 1 COB ID Client gt Server Rx Unsigned32 600H Node ID 278 35013944 07 2012 CANopen Master object dictionary Index Sub Description Object type Data type Comments Hex index 2 COB ID Server gt Clie
6. Modify Force yy F K EE Name w Value Type w Comment DER BOOL 4 Mobile_at_position_B BOOL 4 Mobile_at_position_C BOOL Mobile_at_Start_Position BOOL i Run BOOL Stop BOOL New_Setpoint BOOL Target_Reached BOOL Lexium Target_position DINT Lexium Position_actual_value DINT 4 Lexium controlword INT Lexium Statusword INT 4 BusMaster COMM_STS INT BusMaster CAN_STS INT BusMasterEVT_STS INT tee For more information about the creation of the Lexium and the BusMaster objects see Declaration of I O objects page 248 NOTE The animation table is dynamic only in online mode display of variable values NOTE COMM_STS CAN_STS and EVT_STS words are used to check the application good operating For more information consult the CANopen user manual NOTE To fill the animation table quickly select several variables by maintaining the Control button 264 35013944 07 2012 Application using Unity Pro Creating the Operator Screen At a glance The operator screen is used to animate graphic objects that symbolize the application These objects can belong to the Unity Pro library or can be created using the graphic editor NOTE For more information see Unity Pro online help click on then Unity then Unity Pro then Operate modes and Operator screens Illustration of the Operator Screen The following illustration shows the
7. B PDO 1 gt Island Digonisti Digital input Block N f IC Configured Node J i kis 4002 04 gt Configured Node 4002 05 a O S g S amp Zz Z gt I Configured Node AIW PDO TER iii EE Topo Addr I Configured Node gt Operational Node Eremo on sw Parameters for transmit and receive PDOs are initialized with the default PDO mapping found in the EDS This default configuration can be changed by the user e PDOs can be enabled or disabled by checking unchecking them e Variables can be mapped or unmapped using drag and drop mechanism between PDOs and the variable windows e Transmission type Inhibit time Event timer of each PDO can be changed If the properties are not available for the PDO cells are painted in dark grey and are not editable A message box is displayed if the user enters a value of transmission not authorized Implicit rules of transmission are 120 35013944 07 2012 Catalog Manager e Values between 241 251 are not available since they are reserved value e Values 252 253 are not supported e Values between 0 240 are not available if the device doesn t support synchronous communication NOTE Inhibit time and Event timer are always disabled for PDO in reception The Topo Adrr field cannot be changed by the user The Catalog Manager calculates the fixed part of the topologic address for mapped vari
8. y Programming the application l Using READ_VAR Using PDO object WRITE_VAR function 4 eae Transfer of the application to the PLC Debugging and diagnostics Vv Documentation 35013944 07 2012 Performance Introduction Various CANopen performances are detailed below Impact on Task Cycle Time The time given to each task cycle is as follows Task Typical CANopen inputs 10 us PDO CANopen outputs 80 us 15 us PDO Diagnostics 120 us 42 35013944 07 2012 Communication by SDO The following figure gives an overview of the SDO management User task 5ms polling task SDO A SDO1 4 SDO2 Teycle T spoi Tsdo 4 SDOn Average T time f Y t 5ms _LSDO1 SDO2 The following table defines the terms that are used to describes the Communication by SDO graphic Term Definition Tcycle User task cycle n Number of SDO to execute in parallel Tsdo Time to process the n SDOs multiple of 5 ms due to the polling task Average Average time to execute all the SDO from SDO1 to SDOn time The average time depends on the Tcycle n and Tsdo e f Tcycle gt Tsdo then Average time Tcycle e f Tcycle lt Tsdo then Average time NB Tcycle and NB Tsdo Tcycle 1 NOTE A polling task runs every 5 ms and at each tas
9. The table below shows the words sIWr m c 11 to 3IWr m c 14 Standard symbol Type Access Description Address SLAVE_CONF_1_16 INT R For configured slaves from 1 to 16 IWr m c 11 SLAVE_CONF_17_32 INT R For configured slaves from 17 to 32 IWr m c 12 SLAVE_CONF_33_48 INT R For configured slaves from 33 to 48 3IWr m c 13 SLAVE_CONF_49_63 INT R For configured slaves from 49 to 63 IWr m c 14 If the bit is equal to 0 the slave is not configured and cannot start If the bit is equal to 1 the slave is configured and can be started The node number corresponds to the number of the bit 1 Slaves with Configuration Faults The table below shows the words sIWr m c 19 to 3I1Wr m c 22 Standard symbol Type Access Description Address SLAVE_FLT_1_16 INT R Slaves with configuration faults from 1 to 16 SIWr m c 19 SLAVE_FLT_17_32 INT R Slaves with configuration faults from 17 to 32 SIWr m c 20 SLAVE_FLT_33_48 INT R Slaves with configuration faults from 33 to 48 SIWr m c 21 SLAVE_FLT_49_63 INT R Slaves with configuration faults from 49 to 63 SIWr m c 22 If the bit is equal to 0 the assigned slave corresponds to the configuration If the bit is equal to 1 the assigned slave does not correspond to the configuration The node number corresponds to the number of the bit 1 202 35013944 07 2012 Language Objects Inoperative Slaves
10. 35013944 07 2012 27 CANopen slaves CANopen Input Output devices At a glance The Input Output modules function as remote modules These devices are Tego Power devices Advantys FTB Advantys OTB Advantys FTM Preventa devices Tego Power devices Tego Power is a modular system which standardizes and simplifies the implemen tation of motor starters with its pre wired control and power circuits In addition this system enables the motor starter to be customized at a later date reduces maintenance time and optimizes panel space by reducing the number of terminals and intermediate interfaces and also the amount of ducting The following figure gives an example of a Tego Power device NOTE The minimum version for TegoPower APP_1CCOO and TegoPower APP_1CCO2 is V1 0 28 35013944 07 2012 CANopen slaves Advantys FTB devices The Advantys FTB dispatcher is composed of several input outputs that allow sensors and activators to be connected NOTE The minimum firmware version for FTB is V1 07 NOTE For FTB 1CN16CMO operating is guaranteed from the minimum firmware version V1 05 The following figure gives an example of an Advantys FTB device Advantys OTB devices An Advantys OTB device enables you to constitute discrete input output islands max 132 channels in boundaries or analog max 48 channels IP20 and to connect them close to the active captors The following figure gives an exa
11. Mode Phase Description Offline Configuration Entry of configuration parameters Offline or online Symbolization Symbolization of the variables associated with the CANopen port of the BMX P34 ee eprocessor Programming Programming the specific functions e Bit objects or associated words Specific instructions Online Transfer Transferring the application to the PLC Debugging Different resources are available for debugging the Diagnostics application controlling inputs outputs and diagnostic messages e Language objects or IODDTs e The Unity Pro debugging screen e Signaling by LED Offline or online Documentation Printing the various information relating to the configuration of the CANopen port NOTE The above order is given for your information Unity Pro software enables you to use editors in the desired order of interactive manner A WARNING UNINTENDED EQUIPMENT OPERATION Use diagnosis system information and monitor the response time of the communication In case of disturbed communication the response time can be too high Failure to follow these instructions can result in death serious injury or equipment damage 40 35013944 07 2012 Implementation Method Overview The following flowchart shows the CANopen port implementation method for BMX P34 eeee processors Slave declaration and configuration y Configuration of the master
12. Declaration of I O objects The table below shows the procedure to load the configuration defined with the Advantys Configuration software Step Action 1 Open the 3 55 0 0 Lexium05 window by clicking on the Lexium module icon in the CANopen window Click on the Lexium05 and then on the I O object tab 2 Click on the I O object prefix address CH then on the Update grid button the channel address appears in the I O object grid 3 Click on the line CH 3 55 0 0 and then inthe I O object creation window enter a channel name inthe prefix for name zone Lexium for example 4 Now click on different Implicit I O object prefix adresses then on update grid button to see the names and addresses of the homicide I O objects H Overview H CANopen iz VO objects jae 7 i ress me VO variable creation TECHS SOOT Lexum Prefixe for name 2 ID 3 55 0 0 0 Lexium Cap1 Pos 3 ID 3 55 0 0 0 2 Lexium Cap2Pos Type bal 4 ID 3 5510 0 0 4 Lexium param2 Grae 5 ID 3 5510 0 0 6 Lexium param alai 6 IDI3 5510 0 08 Lexium p_actRAM 7 ID 3 59 0 0 0 10 _ Lexium position_a Comment 8 IDI3 5510 0 0 12 _ Lexium position Pod Ra Lexum Velocity a VO object 10 IW3 55 0 0 0 16 Lexium1O_act 1 MIS 5SOO 0 0 17 Lexum act
13. Reset node Application parameters 0x6000 gt Ox9FFF Check node v Check node option is used to bypass the device type M Device type 0x1000 or the device identity 0x1018 test W Device identity Download Configuration Download configuraion option is used to force the C Force communication parameters parameters to be sent even if they are equal to the defaut CI Force application parameters value Start Start option is used to configure whether the device shall M Start node be started automatically by the master or not 126 35013944 07 2012 Catalog Manager e The type of restore e No Restore option enabled by default e Restore communication parameters enabled option according to the object 0x1011sub02 If the option is checked all parameters between 0x1000 to Ox1FFF are restored e Restore application parameters enabled option according to the object 0x1011sub03 If the option is checked and if the device correctly implements the service all application parameters are restored e Restore all enabled option according to the object 0x1011sub01 If the option is checked all parameters are restored default value e The type of reset e Reset communication parameters option always enabled If the option is checked all communication parameters are reset e Reset node default value option always enabled If the option is checked all parameters are reset e The check device type and identity checked
14. 10 Lexium is in Run position IF Lexium statusword 2 THEN Operating mode Homing index subindex 16 00006060 CANopen parameter address SMW200 6 Definition of the Lexium Function Homing SMW162 5 Time out 500ms MW163 1 Length 1 byte WRITE VAR ADDM 0 0 2 55 SDO index subindex 0 MW200 1 SMW160 4 Lexium Config Step 20 END IF 20 Test WRITE VAR function result IF NOT SMW160 0 THEN test activity bit IF SMW161 0 THEN correct exchange Lexium Config Step 30 END IF END IF 30 Homing method set dimensions index subindex 16 00006098 MW150 35 Definition of Homing method SMW252 5 Time out 500ms S MW253 1 Length 1 byte WRITE VAR ADDM 0 0 2 55 SDO index subindex 0 MW150 1 SMW250 4 35013944 07 2012 261 Application using Unity Pro Lexium_ Config Step 40 40 Test WRITE VAR function result IF NOT SMW250 0 THEN test activity bit IF SMW251 0 THEN correct exchange New _Setpoint 0 Lexium_ Config Step 50 END_IF ti zZ D IF 50 Trigger homing New Setpoint 1 Lexium Config Step 60 60 Homing done IF Target Reached AND Homing Done THEN New Setpoint 0 Lexium Config Step 70 END_IF 70 Operating mode Positionnig index subindex 16 00006060 SMW450 1 Definition of Positionning method SMW352 5 Time ou
15. 35013944 07 2012 Device PDO and Memory Allocation At a glance The following table describes limits for each device and therefore specifies the maximum configuration of the application Familly Device F Tx Rx Tx Cob Rx Cob Extra MW MW M M PDO PDO id Id Cob Id JIN OUT IIN OUT Motor APP_1CC00 5 5 4 4 2 2 0 0 Control APP_1CC02 5 5 4 4 2 o bo TeSysT_MMC_L 4 4 4 4 0 46 0 0 TeSysT_MMC_L_EV40 4 4 4 4 0 62 12 0 0 TeSysT_MMC_R 4 4 4 4 0 46 8 0 0 TeSysT_MMC_R_EV40 4 4 4 4 0 62 12 0 0 TeSysU_C_Ad 4 4 4 4 0 16 8 0 0 TeSysU_C_Mu_L 4 4 4 4 0 50 10 0 0 TeSysU_C_Mu_R 4 4 4 4 0 38 12 0 0 TeSysU_Sc_Ad 4 4 4 4 0 14 10 0 0 TeSysU_Sc_Mu_L 4 4 4 4 0 48 10 0 0 TeSysU_Sc_Mu_R 4 4 4 4 0 36 12 0 0 TeSysU_Sc_St 4 4 4 4 0 14 10 0 0 Detection Osicoder 2 0 2 0 0 0 0 0 Distributed FTB_1CNO8EO8CMO 2 2 2 2 0 0 40 8 ue FTB_1CNO8E08SP0 2 kR k 2 0 o o0 e 35013944 07 2012 45 Familly Device F Tx Rx Tx Cob Rx Cob Extra MW MW M M PDO PDO lid Id Cob Id JIN OUT IN OUT FTB_1CN12E04SP0 2 2 2 2 0 2 0 28 4 FTB_1CN16CMO 2 2 2 2 0 2 0 56 16 FTB_1CN16CPO 2 2 2 2 0 2 0 56 16 FTB_1CN16EMO 2 2 2 2 0 2 0 24 0 FTB_1CN16EPO 2 2 2 2 0 2 0 24 0 FTM_1CN10 5 5 4 4 2 54 50 0 0 OTB Island Sta 8 8 4 4 8 68 20 0 0 Ext 6 8 4 4 6 102 54 0 0 OTB_1C0_DM9LP 8
16. The Bootup tab allows you to configure the Bootup procedure B 3 110 0 IclA_IFA Icl IFA CANopen IclA IFA eds Elicia IFA PDo Error control Bootup Object dictionary E Configuration BD Channel 0 Power ON Bootup procedure configuration Restore No Restore Restore option is used to define the allowed restore Restore communications parameters 1011 02 procedure for a CANopen device during startup Communication parameters 0x1000 gt 0x1FFF Restore application parameters 1011 03 tee Application parameters 0x6000 gt Ox9FFF Restore all parameters 1011 01 lt Reset option is used to configure the type of reset Reset 4 Reset communication parameters sent to the device Reset node Communication parameters 0x1000 gt 0x1FFF Application parameters 0x6000 gt O0x9FFF Check node 1000 00 Check the option is used to bypass the device type V Device identity 1018 xx 0x1000 or the device identity 0x1018 test Download configuration ee Force communication parameters Download configuration option is used to force the Ee S parameters to be sent even if they are equal to the Force application parameters default value Start ao i 7 Strat node Start option is used to configure whether the device shall be started automatically by the master or not Function AE Default v PDO transfer The goal of bootup procedure tab is to
17. The table below presents the bit 3Tr m c ERR Standard symbol Type Access Description Address CH_ERROR BOOL R Channel detected error SIr m c ERR Master Status and Event Indicator The table below shows the words IWr m c 0 to IWr m c 2 Standard symbol Type Access Description Address COMM_STS INT R Communication status of master SIWr m c 0 CAN_STS INT R Status of CANopen Master SIWr m c 1 EVT_STS INT R Event indicator SIWr m c 2 35013944 07 2012 197 Language Objects The following figure gives an example of Master status indicator CANopen Master CANopen Slaves In this example the word SIW0 0 2 1 gives the status of the CANopen Master The parameters are as follows er 0 e m 0 c 2The master is the only CAN device on the network It gets no acknowledge to its transmit frames All nodes marked as absent The master keeps its state until the alone situation is released CANopen channel The last parameter 1 indicates the used word CAN_ STS 198 35013944 07 2012 Language Objects The table below shows the meaning of bits from various status words from the master and event indicators Addresses Description Bit meaning IWr m c 0 Communicat Bit 0 1 Overflow of the reception queue low priority The CANopen master is ion status of receiving Heartbeat and Node guarding me
18. is recommended 35013944 07 2012 235 Application using Unity Pro The different steps in the process using Unity Pro At a glance The following logic diagram shows the different steps to follow to create the application A chronological order must be respected in order to correctly define all of the application elements Description Description of the different types Launching of Unit Pro and selection of the processor i y AA Configuration of project in Configuration y v Configuration of I O derived variables in Configuration Y v Creation of variables in Variables amp FB instances v v Creation of Section in Programs Tasks MAST y v Creation of an animation table in Animation tables i v v Creation of an operator screen in Operator screens v y Generation of project connection to API and switch to RUN mode 236 35013944 07 2012 Application using Unity Pro 11 2 Developping the application Subject of this section This section gives a step by step description of how to create the application using Unity Pro What Is in This Section This section contains the following topics Topic Page Creating the project 238 Configuration of the CANopen Bus 239 Configuration of the CANopen Master 244 Configuration of the equipment 245 Declaration of varia
19. 267 Starting the application Illustration of assigned variables The following screen shows the application variables assignment E Data Editor riables types Function blocks DFB types Bee Filter YT Name kd vV EDT DDT _ lODDT Name a Type w Address v Value Comment w paa icion Time TIME t 3s j lt Configuration_Done BOOL f amp a Homing_Done BOOL i index_subindex DINT j Lexium_Enable INT 55 je Lexiurn_operation_enable INT 15 Mobile_at_Position_A BOOL WN 210 0 0 167 7 A Mobile_at_Position_B BOOL lWW3 210 0 0 167 6 t 4M Mobile_at_Position_C BOOL IW3 210 0 0 167 5 Mobile_at_Start_Position BOOL SAlWWA3 210 0 0 167 4 j Mobile_In_Progress BOOL i New_SefPoint BOOL QW3 10 00 2564 s d Operation_Done BOOL Position_A DINT 1000 M Position_B DINT 2000 Position_C DINT 4000 t 4 Run BOOL lt lt Sequence_Number INT tee Start_Configuration EBOOL t Stop BOOL Target Reached BOOL IWA3 110 0 0 16 10 ae aad Description of variables assignment e The first four Boolean variables are assigned to the four discrete inputs of the STB DDI 3420 module e New Setpoint is assigned to the Lexium 05 control bit A positive transition of this bit triggers a new positioning e Target Reached is assigned to the Lexium 05 status bit which is set to 1 when the target is reached
20. 35013944 07 2012 Application using Unity Pro Creating a Program in LD for the operator screen animation At a glance This section animates the operator screen Illustration of the Operator_Screen_Animation section The section below is part of the MAST task It has no condition defined for it so is permanently executed Operator screen animation Init x Mobile_at_Start_Position Lexium_Gonfiguration x COMPARE Mobile_at_Position_B Sequence_Number 1 Mobile_Action x COMPARE Mobile_at_Position_A sequence rumoer COMPARE Mobile_at_Position_C sequence Number Management of the waming message on the operator screen Mobile_in_Progress Return_to_Start_Point x Move_to_Next_Position x Procedure for Creating an LD Section For creating a LD section see Procedure for Creating an LD Section page 258 35013944 07 2012 259 Application using Unity Pro Creating a program in ST for the Lexium configuration At a glance This section executes the different steps of the Lexium configuration This section is only active when the step Lexium_ Configuration is reached in the grafcet see Illustration of the Move_Sequence section page 255 Programming structure The programming structure is as follow Step number Step description 0 Starting command of the Lexium 10 If the Lexium is in Run State then it switch in Homing mode
21. Description Control byte 0 least significant BYTE Bit 0 activity bit Bit 1 cancellation bit Exchange ID 0 most significant BYTE Single number identifier of the exchange ComState 1 least significant BYTE 0x00 Exchange completed 0x01 Time Out 0x02 User cancelled 0x03 Incorrect address format 0x04 Incorrect destination address 0x06 Incorrect Com Fb parameters 0x07 Generic transmission interruption 0x09 Buffer received too small 0x0B No system resources OxFF Network exchange detected error ExchState 1 most significant BYTE If ComState 0x00 0x00 request treated 0x01 Cannot be treated 0x02 Incorrect response If ComState OxFF 0x07 Generic exchange detected error OxOB The destination device has no more resources Ox0D The device cannot be reached 0x2B SDO exchange detected error Timeout WORD Timeout value x 100 ms Length WORD Length in bytes 166 35013944 07 2012 Programming Example in ST language read the node 5 SDO index 1018 subindex 3 if SM400 then 16 00031018 SMW1052 50 timeout 5 secondes subindex_index READ VAR ADDM 0 0 2 5 SDO subindex index 0 MW1050 4 M W1100 2 SM400 0 end if Write the node 31 SDO index 203C subindex 2 if M401 then subindex index 16 0002203C MW1152 50 timeout 5 sec
22. MW185 6000 02 Parameter Name nd Island Diagnostics 4000 00 Island Diagnostics 4001 00 Configured Nodes 1 4002 01 Configured Nodes 3 4002 02 Configured Nodes 4 4002 03 Configured Nodes 6 4002 04 Configured Nodes 8 4002 05 Configured Nodes 9 1 4002 06 Receive Q Configured Nodes 1 4002 07 E Configured Nodes 1 4002 08 PDO _ Tr Ty Inhibi Even Symbol Topo Adar M CO Index Optional Nodes L 400301 3 H Optionnal Nodes 3 4003 02 E Digital 8 OW 3 210 0 MW559 6200 01 Optionnal Nodes 4 4003 03 Optionnal Nodes 6 4003 04 Optionnal Nodes 8 4003 05 Optionnal Nodes 9 4003 06 Optionnal Nodes 1 4003 07 Optionnal Nodes 1 4003 08 Nodes with Error 16 4004 01 Nodes with Error 32 4004 02 Nodes with Error 48 4004 03 Nodes with Error 64 4004 04 lt gt 5 On the right side of the window there is the list of STB mapped or unmapped variables The indexes are the same as Advantys Configuration Software Variables can be found quickly and easily Drag and drop the variables to the right PDO to configure the STB island NOTE It is possible to import the DCF file by clicking on the Import DCF button 35013944 07 2012 295 Relation between PDOs and STB variables 296 35013944 07 2012 Actions and transitions C Subject of this chapter This chapter contains the actions and the transitions used in the grafcet See Creating the
23. NOTE To configure the STB NCO 1010 it s necessary to determine all the objects that are valid for this device and to configure them manually in the PDOs For more information about the list of the associated objects please refer to the STB user manual For more information about the use of the PDOs see 74 35013944 07 2012 CANopen Configuration Error Control Tab The Error control tab for CANopen slave modules allows you to configure monitoring E Error control Bootup E Object dictionary E Configuration Error Control c Node Heartbeat Producer time 200 msec Node Heartbeat Producer time f 300 msec Two choices are possible e Heartbeat The Heartbeat mechanism consists of sending cyclical presence messages generated by a Heartbeat Producer A Heartbeat transmitter producer sends messages recurringly The sending time is configured with the Node Heartbeat Procucer Time Value One or several elements connected to the network receive this message The Heartbeat consumer surveys the Heartbeat message reception The default value of consumer time is set to 1 5 Producer Heartbeat Time If its duration exceeds the Heartbeat Consumer Time 1 5 Producer Heartbeat Time an Hearbeat event is created and the device is in default If a M340 Master PLC is used on the CANopen bus all the nodes using the Heartbeat control mode are producers The master surveys the
24. This area displays the information of an inputs outputs datum for all the channels It is divided into 3 columns the Parameter column displays the inputs outputs objects and the unmarked objects on which the inputs outputs datum is mapped e the Label column shows the name of the inputs outputs datum the Value column shows the value of the inputs outputs datum NOTE For standard devices the values are displayed in the following formats e decimal default e hexadecimal e binary To select the format right click on a value in the debug screen then choose the display mode For devices with boolean vision FTB the value can be forced NOTE In the Value column when a variable appears in red it shows that it s out of range The range of the variable can be seen by clicking on it The range is displayed in the status bar 176 35013944 07 2012 Diagnostics Aim of this Chapter This section introduces the diagnostic means of the CANopen bus What Is in This Chapter This chapter contains the following topics Topic Page How to perform a diagnostic 178 Master Diagnostics for CPUs 2010 2030 179 Master Diagnostics for CPUs 20102 20302 180 Slave Diagnostics 183 35013944 07 2012 177 Diagnostics How to perform a diagnostic At a Glance You can start by using the LEDs located on the forward face of the processor to search for detected errors see p
25. international organization of users and manufacturers of CAN devices COB Communication Object transport unit on CANopen bus A COB is identified by a unique identifier which is coded on 11 bits 0 2047 A COB contains a maximum of 8 data bytes The transmission priority of a COB is given by its identifier The weaker the identifier the more the associated COB is priority 35013944 07 2012 301 Glossary COB ID CSDO DINT Discrete Module DS EBOOL EDM EDS EMCY COB Identifier unique identifier of a COB on a CANopen network The identifier determines the priority of a COB SDO Client D Double integer 32 bit word Tout Ou Rien Draft Standard specifications document created by the CIA organization E Boolean with edge detection and forcing possibilities Multi language Electronic Data Sheet extended version of EDS file Extensions include European multilingual support as well as a description of physical character istics of a device Electronic Data Sheet Description of a CANopen device profile description normalized by the DSP306 CiA specification Emergency A trigger event generated by an internal error fault This object is transmitted with each new error since error codes are independent mechanisms 302 35013944 07 2012 Glossary ETS HEALTH INT IODDT Mapping NIM NMT Empty Terminal Support Additional information is stored in the PLC ap
26. 1 Reset the CANopen master useful to restart in Fatal Error without power down up The bit is set to zero after the reset of the master Bit 6 to bit 15 Reserved Explicit Exchanges Objects of the IODDT This part shows the explicit exchange language objects for the CANopen master These objects are exchanged on the application s request using the instruction READ STS The parameters r m and c shown in the following tables represent the topological addressing of the module Each parameter has the following signification e r represents the rack number e m represents the position of the module on the rack e c represents the channel number Execution Indicator EXCH_STS The table below shows the meanings of channel exchange control bits from channel EXCH STS SMWr m c 0 Symbol Type Access Description Number STS_IN_PROGR BOOL R Status parameter read in progress MWr m c 0 0 35013944 07 2012 207 Language Objects Exchange Report EXCH_RPT The table below presents the meaning of the run report bits of the channel EXCH RPT MWr m c 1 Symbol Type Access Description Number STS_ERR BOOL R Detected error while reading channel status MWr m c 1 0 Standard Channel Faults CH_FLT The following table explains the meaning of the CH_FLT MWr m c 2 status word bits Reading is performed
27. Channel F CH er 1 Lexum ANAC aci Lexium CapTCou Configuration AKW T KD T KF Select all 14 ANA 5500020 _ Lexium Cap2Cou S ry 15 IW3 5510 0 0 21__ Lexiurn actionStat ystem MN l ae ine 16 aN pap 0 022 Lexium Statuswo atus 4 Tene 17 QDS SN Lexium param 18 QD 35510 0 02 Lexium param2 _ Parameter AMW TMD MF 491 40185510004 Lexum param35_ Command MW I AMD M MF 20 Aa AROE Lexium param3o_ moleis ra Pam pan rae Poem poeta OD ea ea r 0 F OW F QD F OF 23 QD13 5510 0 0 12 _ Lexium GEARnu 24 QD 3 5510 0 0 14 Lexium Target_P Update 25 QD 3 9910 0 0 16 Lexium Profle Ve 26 Pal sous Lexium ergel Ve 27 QW Lexium Param Unsne arid 28 SOW i Lexium JOGactiva 29 QWN3 5510 0 0 22 Lexium CUR ta Filler on usage 30 QW13 9510 0 0 23 Lexum SPEEDn 31 QW 3 5510 0 0 24 Lexium param3 32 QW13 5510 0 0 25 Lexium Controlw NOTE Repeat the same procedure to create a CANopen I O object named BusMaster CHO 0 2 In the PLC bus window double click on the CANopen port then click on CANopen comm head to access the I O objects tab 248 35013944 07 2012 Application using Unity Pro Declaration of variables At a glance All of the variables used in the different sections of the program must be declared Undeclared variables cannot be used in the program NOTE For more information see Unity Pro online help click on then Unity then Unity Pro then Operate modes and Data editor Procedu
28. Hardened equipment has a conformal coating applied to its electronic boards This protection when associated with appropriate installation and maintenance allows it to be more robust when operating in harsh chemical environments 35013944 07 2012 15 CANopen on BMX P34 Processors Installation At a Glance BMX P34 2010 20102 2030 20302 processors equipped with a CANopen port are mounted on BMX XBP eee racks fed by BMX CPS eeee modules NOTE After an extract insert of the processor while running the bus is no longer operational In order to restart the bus the power supply must be re initialized CANopen Connectors The CANopen processor port is equipped with a SUB D9 connection The following figure represents the CANopen connector for modules male and cables female Male connector Female connector Ae SR S Pin Signal Description 1 Reserved 2 CAN_L CAN_L bus line Low 3 CAN_GND CAN mass 4 Reserved 5 Reserved CAN optional protection 6 GND Optional mass 7 CAN_H CAN_H bus line High 8 Reserved 9 Reserved CAN External Power Supply Dedicated to the optocouplers power and transmitters receivers Optional NOTE CAN_SHLD and CAN_V are not installed on the Modicon M340 range processors These are reserved connections 16 35013944 07 2012 CANopen on BMX P34 Processors Visual Diagnostics of CANopen Processors At a Gla
29. MW 32 gt e Index of 1st MW Index of 1st MW 32 i i Nb of bits M Nb of bits M 32 a gt Index of 1st M Index of 1st M 32 i Bus parameters Transmission speed 250 x kBaud SYNC Message COB ID SYNC Message Period 100 Function 88 35013944 07 2012 CANopen Configuration Elements and functions The table below describes the different areas which make up the master configuration screen Read Number Function 1 Tab The tab in the foreground indicates the type of screen displayed In this case it is the configuration screen 2 Module This area is made up of the abbreviated heading of the processor equipped with a CANopen port 3 Channel This zone allows you to select the communication channel to be configured By clicking on the device you display the tabs e Description gives the characteristics of the built in CANopen port Inputs outputs objects allows pre symbolizing of the input output objects By clicking on a channel you display the tabs e Config enables you to declare and configure the CANopen master e Debug accessible in online mode only e Fault accessible in online mode only 4 General parameters This field enables you to e associate the CANopen bus to an application task e MAST which is the master task e FAST which is the rapid task The tasks are asynchronous in relation to exchanges on the bus 5
30. More A 0 1 SDO abort by client 3 1000 00 050400 F 1 DO abort by client 3 1000 00 050400 Maximum bus load 21 1 SDO abort by client 3 1000 00 050400 Minimum bus load 0 1 SDO abort by client 3 1000 00 050400 M gt 1 SDO abort by client 3 1000 00 050400 Reset bus load 1 SDO abort by client 3 1000 00 050400 Function 1 SDO abort by client 3 1000 00 050400 Quality 1 SDO abort by client 3 1000 00 050400 Number of frames rec 221263 f 1 SDO abort by client 3 1000 00 050400 T 1 SDO abort by client 3 1000 00 050400 Number of frames tra 383813 1 SDO abort by client 3 1000 00 050400 unentenoniraness 0 35013944 07 2012 173 CANopen Debugging Elements and Functions The table below describes the different areas which make up the master debug screen Read Number Channel 1 Tab The tab in the foreground indicates the type of screen displayed In this case the debug screen 2 Module This area is made up of the abbreviated heading of the module equipped with a CANopen port as well as 3 LEDs indicating the status of the module 3 Channel This area allows you to select the communication channel to be debugged By clicking on the device you display the tabs e Description gives the characteristics of the built in CANopen port Inputs outputs objects allows pre symbolizing of the input output objects By clicking on the channel you disp
31. UserDevice Motion amp Drive Motor control Other Safety Sensors Third party products Build Catalog Abort Modifications Close aon HH oF ot 4 Build Almport Export Log For Help press F1 106 35013944 07 2012 Catalog Manager Functions A function is a sub category within a device The user can create functions in order to use only a limited subset of capabilities for that device A default name is proposed for the first function although it can be modified The function name must be unique within a given device Each function has its own IODDT There are two different kinds of function e Pre programmed function Information about these function is included with Unity Pro software The user cannot modify a pre programmed function this is indicated by a padlock on the left of the function e User function Any function which is not part of the Schneider offer is considered to be a User function User functions can be deleted or reconfigured in the Catalog Manager The following illustration shows a pre programmed device with both pre programmed and user functions 4 Hardware catalog manager _ Oo x File Edit View Service Help CANopen drop Distributed I Os Build Catalog amp FTB_1CN08E08CM0 A FTB 1CNO8E08CMO Abort Modifications User Function gZ FTB_1CNO8E08SP0 FTB_1CN12E04SP0 FTB_1CN16CM0
32. _p_actRAMPusr 301F 02 CUR_ _target 3020 04 SPEEDn_target 3021 04 PTPp_abs 3023 01 PTPp_relpref 3023 03 PTPp_target 3023 05 _ PTPp_relpact 3023 06 GEARdenom 3026 03 lexium T GEARnum 3026 04 _ lexium Controlword 6040 00 Statusword 6041 00 position actual valu 6063 00 Click on the Error control tab and set the Node Heartbeat producer time to 300ms Click on the button in the toolbar to validate the configuration 7 Close the window 35013944 07 2012 245 Application using Unity Pro Configuration of the STB The table below shows the procedure to load the configuration defined with the Advantys Configuration software Step Action 1 Inthe Project browser double click on Configuration then 3 CANopen 2 In the CANopen window double click on the Advantys STB representation The STB NCO2212 configuration window opens 3 In Function zone select Autoconf Function Autoconf X In this example we use the Autoconf function because autoconfigurable modules are inserted on the STB island see page 272 4 Click on the PDO tab to see the PDO configuration the variables and their topological addresses Click on the right button of the horizontal scroll bar to see the Import DCF button 5 Click on Import DCF button to load the DCF configuration file generated with the Advantys Configuration S
33. ao ojn jwn Function Basic Le 35013944 07 2012 175 CANopen Debugging Description of the Debug Screen for Standard Devices The following table shows the various parts of the debugging screen and their functions Number Element Function 1 Tabs The tab in the foreground indicates the type of screen displayed In this case the debug screen Module area Contains the abbreviated title of the module Two LEDs are found in the same area a green LED indicating that the device is operational ON OFF a red LED indicating an emergency ON OFF Channel area This area allows you to select the communication channel to be debugged By clicking on the device you display the tabs e Description gives the characteristics of the built in CANopen port Inputs outputs objects allows pre symbolizing of the input output objects e CANopen allows read write of SDO e Defaults accessible in online mode only By clicking on the channel you display the tabs e PDO enables you to configure the PDOs e Configuration enables you to declare and configure the CANopen master e Debug accessible in online mode only e Error control accessible in online mode only This area also has an LED indicating the channel status General parameters area Recalls the function associated with the channel Parameters in progress area
34. click on the button Build Catalog 35013944 07 2012 141 Catalog Manager How to close the Catalog Manager At a glance This is the procedure to close the Catalog Manager Procedure The table belows shows the procedure to close the Catalog Manager Step Action 1 Verify that your changes have been saved e f there is changes click on Build Catalog A window appears showing the progress of the catalog build When the build is complete go to the next step e lf there are not any changes go to the next step Select File gt Exit OR Select Close on the main windows 142 35013944 07 2012 Catalog Manager Example of how to create a dedicated and optimized STB Island At a glance The following procedure describes how to create a dedicated and optimized STB Island Step Action 1 Launch Advantys software 2 Create your optimized STB Island with the configuration that you want 3 Export the EDS file The following illustration describes the Export EDS file step OSRD MR R PX Export 2 CO 2212 7 g Target Information g g Directory C Program Files Schneider Electric Advensys Project etb 5 4 Filename STB_OPTIMIZE eds F Short file name Prefix c CANopes E Stylesheet InP UT A F amp e Js z Path l e q
35. during one cycle 2 Max number of high priority Unsigned8 receive queue accesses during one cycle RPDOs EMCY 3 Max number of low priority receive Unsigned8 35013944 07 2012 285 CANopen Master object dictionary CANopen Master Status The table below presents the Object Entry 4100 CANopen Master Status Index Hex Sub index Description Object type Data type Comments 4100 CANopen Master Status ARRAY 0 Number of entries Unsigned 1 Global_events Unsigned16 2 COMM_state Unsigned8 3 COMM_diagnostic Unsigned8 4 Config_bits Unsigned16 5 LED_control Unsigned16 6 Minimum Cycle Time Unsigned8 7 Maximum Cycle Time Unsigned8 Nd_asg The table below presents the Object Entry 4101 Nd_asg Index Hex Sub index Description Object type Data type Comments 4101 Nd_asg ARRAY 0 Number of entries Unsigned8 1 Nd_asg 0 1 2 3 Unsigned32 2 Nd_asg 4 5 6 7 Unsigned32 3 Nd_asg 8 9 10 11 Unsigned32 4 Nd_asg 12 13 14 15 Unsigned32 Nd_cfg The table below presents the Object Entry 4102 Nd_cfg Index Hex Sub index Description Object type Data type Comments 4102 Nd_cfg ARRAY 0 Number of entries Unsigned8 1 Nd_cfg 0 1 2 3 Unsigned32 2 Nd_cfg 4 5 6 7 Unsigned32 3 Nd_cfg 8 9 10 11 Unsigned32 4 Nd_cfg 12 13 14 15 Unsigned32 286 35013944 07 2012 CANopen Master object dictionary
36. s creation timeline What Is in This Section This section contains the following topics Topic Page Technological choices used 235 The different steps in the process using Unity Pro 236 234 35013944 07 2012 Application using Unity Pro Technological choices used At a glance There are several ways of writing a mobile driving application using Unity Pro The one proposed uses a Lexium 05 servo drives and Advantys STB island set up ona CANopen network Technological choices The following table shows the technological choices used for the application Objects Choices used Lexium Operating Mode Use of the Positioning Mode This mode allows you to send a target position to the Lexium 05 servo drives through the CANopen network Sensor Interface Use of a STB Advantys This device is an assembly of distributed I O power and other modules that function together as an island node on an open field bus network Supervision screen Use of elements from the library and new objects Main supervision program This program is developed using a sequential function chart SFC also called GRAFCET The various sections and transitions are created in Ladder Diagram LD language and in Structured Text language ST NOTE This example shows PDO and SDO exchange towards a speed drive However for speed drive configuration and control the use of Motion Function Block
37. 0c e eee eee eee Configuration of Communication on the CANopen Bus General POMS kss a gaa ies a eae arate pn a Gael fue Reece T AE Generalities nia h deer teed Se ees ed ea eed a Bus Configuration esie i a teens How to Access the CANopen Bus Configuration Screen CANopen Bus Editor 0 0 0 ect tees How to Add a Device on the BuS 0 0 c eee eee How to Delete Move Duplicate a Bus Device 2 View CANopen Bus in the Project Browser 0 0 0 ees 35013944 07 2012 4 3 4 4 Chapter 5 5 1 5 2 5 3 Chapter 6 Chapter 7 Device Configuration uaaa cect eee 61 Slave Functions ie a e ssa esas aag oak ata A lee ea 62 Configuration Using Unity with CPUs 2010 2030 66 Configuration Using Unity with CPUs 20102 20302 71 Configuration Using an External Tool Configuration Software 81 Manual Configuration 0 0 2 0 0 cee eee 84 Master Configuration 0 0 0 0 cece teens 85 How to Access the CANopen Master Configuration Screen 86 CANopen Master Configuration Screen with CPUs 2010 2030 88 Description of Master Configuration Screen for CPUs 2010 2030 90 CANopen Master Configuration Screen with CPUs 20102 20302 93 Description of Master Configuration Screen for CPUs 20102 20302 95 Catalog Manager Software Implementation 99 Catalog Manager Overview 0 0 0 c eect eee 100
38. 2 CAN baudrate table index Unsigned8 ro 3 Highest used Node ID Unsigned8 ro 4 Number of used RxPDOs Unsigned16 ro 5 Number of used TxPDOs Unsigned16 ro 6 Number of mapped objects PI input Unsigned16 ro 7 Number of mapped objects PI output Unsigned16 ro 8 Covered bytes by the concise DCF Unsigned8 ro 9 Byte size of the concise DCF buffer Unsigned16 ro 10 Configuration signature Unsigned16 rw 11 Control Unsigned16 rw Access type ro read only rw read write 290 35013944 07 2012 CANopen Master object dictionary Additional Slave Assignment The table below presents the Object Entry 4250 Additional Slave Assignment Index Hex Sub index Description Object type Data type Comments 4250 Additional Slave Assignment ARRAY 0 Number of entries Unsigned8 1 Boot behaviour for Node ID 1 Unsigned 127 Boot behaviour for Node ID 127 Unsigned8 Bit 0 0 Bootup according DS 302 Bit 1 1 Bootup do not overwrite config parameter 35013944 07 2012 291 CANopen Master object dictionary 292 35013944 07 2012 Relation between PDOs and STB variables B STB island configuration At a glance STB islands can be configured e using Advantys Configuration Software STB NCO 2212 e using Unity Pro Software STB NCO 2212 and NCO 1010 Configuration using Advantys Configuration Island The procedure for configuring a STB island using Advantys Config
39. 210 Language Objects Associated with Configuration 223 9 3 Emergency objects 00 0 eee ee eee 225 Emergency Objects 0 0 c eect eee eee 225 Part Ill Quick start example of CANopen implementation 229 Chapter 10 Description of the application 005 231 Overview of the application 0 0 0 0 cece ee 231 Chapter 11 Installing the application using Unity Pro 233 11 1 Presentation of the solution used 0 0 naaa anaa 234 Technological choices used 00 cece eee eee 235 The different steps in the process using Unity Pro 236 11 2 Developping the application 0 eee eee 237 Creating the project 0 0 0 0 0c eect eae 238 Configuration of the CANopen Bus 0 0c eee eee eee 239 Configuration of the CANopen Master 000 eee eee ee 244 Configuration of the equipment 000 anann eee 245 Declaration of variables 1 0 00 eee eee 249 Creating the program in SFC for managing the move sequence 252 Creating a Program in LD for Application Execution 257 Creating a Program in LD for the operator screen animation 259 Creating a program in ST for the Lexium configuration 260 Creating an Animation Table 0 0 0 c cece eee 263 Creating the Operator Screen 0 0 0 cee 265 Chapter 12 Starting the Application 00
40. 36 9 SLAVE_ACTIV_27 BOOL R Slave operational on the bus device 27 SIWr m c 36 0 SLAVE_ACTIV_28 BOOL R Slave operational on the bus device 28 SIWr m c 36 1 SLAVE_ACTIV_29 BOOL R Slave operational on the bus device 29 IWr m c 36 2 SLAVE_ACTIV_30 BOOL R Slave operational on the bus device 30 SIWr m c 36 3 SLAVE_ACTIV_31 BOOL R Slave operational on the bus device 31 SIWr m c 36 4 SLAVE_ACTIV_32 BOOL R Slave operational on the bus device 32 SIWr m c 36 5 204 35013944 07 2012 Language Objects Operational Slaves from 33 to 48 The table below shows the word 3IWr m c 37 Standard symbol Type Access Description Address SLAVE_ACTIV_33 BOOL R Slave operational on the bus device 33 SIWr m c 37 0 SLAVE_ACTIV_34 BOOL R Slave operational on the bus device 34 SIWr m c 37 1 SLAVE_ACTIV_35 BOOL R Slave operational on the bus device 35 SIWr m c 37 2 SLAVE_ACTIV_36 BOOL R Slave operational on the bus device 36 IWr m c 37 3 SLAVE_ACTIV_37 BOOL R Slave operational on the bus device 37 SIWr m c 37 4 SLAVE_ACTIV_38 BOOL R Slave operational on the bus device 38 SIWr C3765 SLAVE_ACTIV_39 BOOL R Slave operational on the bus device 39 SIWr m c 37 6 SLAVE_ACTIV_40 BOOL R Slave operational on the bus device 40 SIWr m c 37 7 SLAVE_ACTIV_41 BOOL R Slave operational on the bus device 41 SIWr m c 37 8 SLA
41. 59 IWr m c 38 10 SLAVE_ACTIV_60 BOOL R Slave operational on the bus device 60 IWr m c 38 11 35013944 07 2012 205 Language Objects Standard symbol Type Access Description Address SLAVE_ACTIV_61 BOOL R Slave operational on the bus device 61 SIWr m c 38 12 SLAVE_ACTIV_62 BOOL R Slave operational on the bus device 62 IWr m c 38 13 SLAVE_ACTIV_63 BOOL R Slave operational on the bus device 63 S IWr m c 38 14 Slave in Stop State The table below shows the words IWr m c 43 to 3IWr m c 46 Standard symbol Type Access Description Address SLAVE_STOPPED_1_16 INT R Stopped slaves from 1 to 16 SIWr m c 43 SLAVE_STOPPED_17_32 INT R Stopped slaves from 17 to 32 SIWr m c 44 SLAVE_STOPPED_33_48 INT R Stopped slaves from 33 to 48 IWr m c 45 SLAVE_STOPPED_49_ 63 INT R Stopped slaves from 49 to 63 SIWr m c 46 Pre Operational Slaves The table below shows the words sIWr m c 51 to IWr m c 54 Standard symbol Type Access Description Address SLAVE_PREOP_1_16 INT R Pre operational slaves from 1 to 16 IWr m c 51 SLAVE_PREOP_17_32 INT R Pre operational slaves from 17 to 32 SIWr m c 52 SLAVE_PREOP_33_48 INT R Pre operational slaves from 33 to 48 SIWr m c 53 SLAVE_PREOP_49_63 INT R Pre operational slaves from 49 to 63 SIWr m c 54 Master Cycle Time The table below shows the meaning of status words relative to th
42. Catalog Manager Description 00 0 eee eee eee 101 Catalog Manager Contents 00 0 cece eee 104 Using the Catalog Manager 0 0 c cece eee eee 108 How to launch the Catalog Manager 0 0c eee eee eee 109 How to add a device to the Catalog Manager 0 110 How to add a function on a device u assuausar eee 113 Basic configuration parameters sasas aaraa 115 Expert Mode configuration parameters 00e eee eee 119 MFB function for Expert Mode 0 cee eee eee 131 CANopen Compatibility Restrictions 0 0000 c eee eee 137 How to copy or delete a function 0 ce eee eee 138 How to import export or delete one or several user devices 139 How to close the Catalog Manager 00 cece eee eee 142 Example of how to create a dedicated and optimized STB Island 143 Catalog Manager Troubleshooting 000 cee eee eee eee 144 Troubleshootingis os25 cook Oke aye id ee ee Sh eee 145 SDO Abort Code Description 0 0 c eee ee 149 EDS DCF Import Anomaly Code 0 2 0 cece eee eee 150 Programming sss crore a ian eae eae eed ae ee Bae ae 153 Exchanges Using PDOs 0 00 0 c cece eee teas 154 Exchanges Using SDOs 0 00 e cece teas 159 Communication functions example 0 00 eee eee eee 162 Modbus request example 0 0 00 e eee eee 168 Debugging Communication on the C
43. CoBD CANopen Baud Rate is displayed Then press Enter Using the arrow keys configure the baud rate 500 Then press Esc Press the Esc until RDY displayed 35013944 07 2012 273 Starting the application 274 35013944 07 2012 Appendices Overview These appendices contain information that should be useful for programming the application What Is in This Appendix The appendix contains the following chapters Chapter Chapter Name Page A CANopen Master local object dictionary entry 277 B Relation between PDOs and STB variables 293 C Actions and transitions 297 35013944 07 2012 275 276 35013944 07 2012 CANopen Master local object dictionary entry A Subject of this chapter This chapter contains the local object dictionary entry for CANopen Master What Is in This Chapter This chapter contains the following topics Topic Page Object Dictionary entries according Profile DS301 278 Object Dictionary entries according Profile DS302 283 Midrange Manufacturer Specific Object Dictionary Entries 285 35013944 07 2012 277 CANopen Master object dictionary Object Dictionary entries according Profile DS301 Object Dictionary entries The table below presents the object dictionary entries according profile DS301
44. FTB_1CN16CP0 gp FTB_1CN16EM0 Close Build Almport Export A Log For Help press F1 Example Device Family Distributed I Os Device FTB_1CNO8EOBCMO Functions Default write protected Schneider functions TestFunction User functions 35013944 07 2012 107 Catalog Manager 5 2 Using the Catalog Manager Subject of this section This section presents the different steps to use the Catalog Manager What Is in This Section This section contains the following topics Topic Page How to launch the Catalog Manager 109 How to add a device to the Catalog Manager 110 How to add a function on a device 113 Basic configuration parameters 115 Expert Mode configuration parameters 119 MFB function for Expert Mode 131 CANopen Compatibility Restrictions 137 How to copy or delete a function 138 How to import export or delete one or several user devices 139 How to close the Catalog Manager 142 Example of how to create a dedicated and optimized STB Island 143 108 35013944 07 2012 Catalog Manager How to launch the Catalog Manager At a glance This is the procedure to launch the Catalog Manager NOTE Catalog Manager and Unity Pro software cannot both be running at the same time Procedure The table below shows the procedure to launch the Catalog Manager Step Action 1 Verify that Unity Pro software is not r
45. NOTE The function should be selected before configuring the slave Available Functions The available functions are as follows Function Description Devices involved Basic This function allows a simple control of the speed MFB This function allows control of the device through PLCOpen Motion function block library Standard This function allows control of the speed and or torque All the parameters that can be mapped are mapped in the supplemental PDOs for e an adjustment of the operating parameters length of acceleration e additional surveillance current value e additional control PID outputs command Advanced This function allows control of the speed and or torque Certain parameters can be configured and can also be mapped in the PDOs to allow e an adjustment of the operating parameters length of acceleration additional surveillance current value e additional control PID outputs command Altivar 62 35013944 07 2012 CANopen Configuration Function Description Devices involved Simple Use this profile if the island does not contain high resolution analog I O module or STB the TeSys U STB modules NCO1010 amp This profile contains NCO2212 e NIM diagnostic information index 4000 index 4006 e 8 bit discrete input information index 6000 e 16 bit discrete information index 6100 e 8 bit disc
46. Profile Event if checked then asynchronous profile event Transmission Type range is available in Unity Pro Parameters tab The parameters tab is used to modify the properties of parameters The properties of parameters are Index indicates the index and the sub index of the parameter not editable Parameter name indicates the name of the parameter not editable Minimum Maximum indicates the range of authorized value not editable Value indicates the parameter value editable and is initialized with the default value find in the EDS Attribute e Editable The parameter is editable in Unity Pro CANopen screen default value e Read only The parameter is visible in Unity Pro but not editable e Hide The parameter is not visible in Unity Pro but the value is sent to the device 124 35013944 07 2012 Catalog Manager The following illustration shows the parameters tab General Overview PDO Mapping Parameters Bootup Procedure Object Dictionary EDS Index Parameter Name Minimum Maximum Value Attributes 1 6423 00 Analogue Input Global Interrupt Enable 0 Editable The user can have more information via a right click on the Line Number column e Set as parameter This converts the variable to a parameter e Set Bit Mapping This opens a dialog box to define the bit mapping The bit mapping creates a boolean view of the CANopen object mapped on the l or Q topological variable
47. There are different ways to access the configuration screen e Right click on a device Select Add Function OR e Select a device in the Catalog Manager Select Edit gt Add Function 35013944 07 2012 113 Catalog Manager Step Action 3 The window below appears showing the basic configuration parameters Device Profile Name TestDevice Family Distributed 1 0s 7 ExpertMode Image File P P Unit DewBinD C onfC atalog Bmp CanOpen_Default jpg l Function Default IODDT T_TestDevice_Default VO Objects Sort oF D WW Index Sublndex x Genera Overview L Pdo vO 10 I0DDT 10DDT ifetface_ mapped Index Daa Name Object Pank Used Feld Name a ia M 1002 00 Manufacturer Status register D 0 M Manufacturer_Status_register_0 pe v 2022 01 Position QD 0 v Position_0 23 bi 2022 02 Speed OW 94 Iv Speed_0 p e 2022 03 Moton Task Type AAW 95 a Motion_Task_Type_0 EES v 2022 04 Trajectory OD 2 M Trajectory_0 e d 2022 05 Motion Task Number HAW 96 Tal Motion_Task_Number_0 zZz ke 2022 06 Acceleration Time OW 97 Iv Acceleration _Time_0 g v 2022 07 Braking Time KAW 98 v Braking_Time_0 3 2 2022 08 Rate of Change limiting Acceleration AAW 99 M Rate_of_Change lirriting_Acceleration 40 E 2022 09 Rate of Change limniing Deceleration AQA 100 M Rate_of_Change lirriting_Decel
48. Type of data Topologic address 2 input words IW 3 4 0 0 0 0 or IW 3 4 0 0 0 1 1 double input word ID 3 4 0 0 0 2 1 floating input IF 3 4 0 0 0 4 1 output word QW 3 4 0 0 0 6 An object can be mapped in a PDO only once If the same object is mapped several times in the same PDO Unity Pro displays a message If there s several PDOs with the same mapped object only one PDO can be enabled If several PDOs with the same mapped object are enabled Unity Pro displays a message when the application is rebuilt 35013944 07 2012 157 Programming Example with a Lexium 05 H PDO Bh Error contol R Config Transmit 6l PDO Tr Ty Inhibi Even Symbol Topo Addr M PDO 1 Static 255 0 0 Detected error the same ee alusword WIB 110 0 0 16 object is mapped in two zi mi PDO 2 tatic n aN atusword IW 110 0 0 16 enabled PDOs ID 3 110 0 0 8 PDO 3 Static 255 0 100 E Statusword M3 10 0 0 16 Velocity actual ID 3 110 0 0 10 PDO 4 254 0 0 Receive Q Only one PDO is enabled PDO Tr Ty jinhibi Even Symbol Topo Addr M 3 PDO 1 Static 255 Ean ontrolwo IWS 110 0 0 16 2 PDO Static 255 ee ees ntrohwor GNWN3 110 0 0 16 9 Target position ID 3 110 0 0 8 PDO 3 Static 255 F nirohwon GIS 110 0 0 16 5 Target
49. active when the mobile operation is over Back_to_start_point This transition is active when the sequence is over or when a stop request is ordered Return_to_start_point The start point is defined at the target position Disable_Lexium The Lexium 05 drive is disabled Lexium_disabled This transition is valid when the Lexium is disabled NOTE You can see all the steps and actions and transitions of your SFC by clicking on in front of the name of your SFC section 256 35013944 07 2012 Application using Unity Pro Creating a Program in LD for Application Execution At a glance This section executes the mobile action delay time and resets the positioning start bit New Setpoint Illustration of the Application Section The section below is part of the MAST task It has no condition defined for it so is permanently executed FBILA TON Delay time to simulate the mobile IEN enol action at the target position Mobile_action x Operation_Done IN Q Action_Time PT El Ready_for_stop s Management of Lexium 05 control bit Target_reached New_Setpoint i e Description of the Application Section e The first line is used to simulate the action time once the mobile is at the target position When the Mobile_Action step is active a TON timer is triggered When the PT time is reached the TON output switches to 1 validate th
50. application operator screen Start Sequence Stop Sequence Start Point Position A Position B Position C 35013944 07 2012 265 Application using Unity Pro The associated variables are presented in the table below N Description Associated variable 1 Start button Run 2 Start point light indicator Mobile_At_Start_Position 3 Position A light indicator Mobile_At_Position_A 4 Position B light indicator Mobile_At_Position_B 5 Position C light indicator Mobile_At_Position_C 6 Mobile in progress light indicator Mobile_in_Progress 7 Stop button Stop NOTE To animate objects in online mode you must click on m By clicking on this button you can validate what is written Procedure for Creating an Operator Screen The table below shows the procedure for creating the Start button Step Action 1 Inthe Project browser rightclick on Operator screens and click on New screen The operator screen editor appears Click on the and position the new button on the operator screen Double click on the button and in the Control tab select the Run variable by clicking the button and confirm with OK Then enter the button name in the text zone The table below shows the procedure for inserting and animating indicator light Step Action 1 In the Tools menu select Operator sc
51. are mapped by default in the EDS file are checked as PDO mapped 35013944 07 2012 117 Catalog Manager Overview tab In this screen the user can enter a text description of the device and the related functions It will be displayed in the Unity Module Editor The following illustration shows an example overview tab General Overview Here you may enter any comment to explain functions of the device characteristics IODDT diagnostic power consumption og You can copy amp paste special characters from the area at right characteristics CANopen features Conformance class 20 Standard DS 301 V4 02 DR 303 2 Profile DS 401 v2 1 Specials Structure Physical interface M12 Data rate k ps 50 125 250 500 1000 Medium Shielded dual twisted pairs CANopen Operating temperature xC 0 55 communication Degree of protection IP67 module LED indicators 2 bus diagnostic LEDs 2 24 V sensor and actuator supply status LEDs 8 channel status indicator LEDs 8 channel status indicator LEDs or channel diagnostic indicator LEDs gt Ki ibd The entry field can be filled by the user It is possible to draw grid lines by copying special characters from the top right area in the windows 118 35013944 07 2012 Catalog Manager Expert Mode configuration parameters At a glance This paragraph speaks about the Expert Mode configuration parameters The Exp
52. are not followed personal injury hazards Obey all safety messages that follow this symbol to avoid possible injury or death A DANGER DANGER indicates an imminently hazardous situation which if not avoided will result in death or serious injury A WARNING WARNING indicates a potentially hazardous situation which if not avoided can result in death or serious injury This is the safety alert symbol It is used to alert you to potential 35013944 07 2012 7 PLEASE NOTE A CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in minor or moderate injury NOTICE NOTICE is used to address practices not related to physical injury Electrical equipment should be installed operated serviced and maintained only by qualified personnel No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material A qualified person is one who has skills and knowledge related to the construction and operation of electrical equipment and its installation and has received safety training to recognize and avoid the hazards involved 35013944 07 2012 About the Book A At a Glance Document Scope This manual describes the implementation of a CANopen network on PLCs of the Modicon M340 range NOTE Regarding Safety considerations Emergency objects and Fatal error are mentioned in this
53. c 6 Number of received emergency messages with code 81xxH Protocol detected error count SMWr m c 7 Number of received emergency messages with code 82xxH External detected error count SMWr m c 8 Number of received emergency messages with code 90xxH SMWr m c 9 Device specific Number of received emergency messages with code FFxxH 222 35013944 07 2012 Language Objects Language Objects Associated with Configuration At a Glance The configuration of a CANopen master is stored in the configuration constants SKW The parameters r m and c shown in the following tables represent the topologic addressing of the module Each parameter has the following signification e r represents the rack number e m represents the position of the module on the rack e c represents the channel number Configuration Objects The following table lists all process control language objects associated with the configuration of CANopen network Number Type Function Description KWr m c 0 INT Constant value used by Least significant byte the system Bit 2 to 7 0 and e Bit O 0 and Bit 1 0 reset of outputs if task in STOP or HALT e Bit O 1 and Bit 1 0 maintain of outputs if task in STOP or HALT Bit O 0 and Bit 1 1 bus in STOP if task in STOP or HALT Most significant byte 16 38 KWr m c 1 INT Baud Rate see Premium Values are
54. configure a slave perform the following actions Step Action Access the CANopen see page 52 bus configuration screen Double click on the slave to be configured Configure the usage function using the Config tab Configure the PDOs using the PDO tab a AJOJ N Select the error control using the Error control tab 66 35013944 07 2012 CANopen Configuration Config tab The following figure shows an example of the configuration screen of a slave 1 2 IcIANOG5 based on profile DS301V4 01 and DSP402V2 0 BLICLAN65_0100E eds m IclA_NOGS i H PDO H Error control H Config 1H Debugging Channel 0 Index Label Value 2004 01 user profile velocity 1 2004 02 luser profile velocity 2 2004 03 luser profile velocity 3 200404 luser profile velocity 4 200405 luser profile velocity 5 2004 06 luser profile velocity 6 200407 luser profile velocity 7 7 200408 user profile velocity 8 8 2004 09 user profile velocity 9 20040A luser profile velocity 10 10 20001 user profile acceleration 1 11 200602 user profile acceleration 2 42 2005 03 luser profile acceleration 3 13 2005 04 luser profle acceleration 4 14 20060 luser profle acceleration Function 15 20005 luser profle acceleration 6 16 20007 user profle acceleration 7 4 17 200 08 _ user profile acceleration 8 18 2005 09 luser profile acceleration 9 19 2005 0A user profile acceleration 10 20 2006 01 luser p
55. devices special features as run time parameters along with high resolution analog I O module or HMI or the TeSys U STB modules This profile contains e NIM diagnostic information index 4000 index 4006 8 bit discrete input information index 6000 16 bit discrete information index 6100 8 bit discrete output information index 6200 16 bit discrete output information index 6300 low resolution analog input information index 6401 low resolution analog output information index 6411 high resolution analog input information or HMI words index 2200 221F high resolution analog output information or HMI words index 3200 321F TeSys U input information index 2600 261F TeSys U output information index 3600 361F 3rd party CANopen devices index 2000 201F RTP information index 4100 amp index 4101 This profile limits the number of index or subindex entries for any of the above objects to 32 If the island configuration exceeds this limitation please use the Large profile STB NCO2212 Large Profile Use this profile if the island configuration does not fit any of the above profiles This profile contains all the objects available for the STB island and hence will consume more memory address location in the CANopen master STB NCO1010 amp NCO2212 Controlling This function is especially created for CANopen communications with the built in controller card and all the application cards pump con
56. e Configuration enables you to declare and configure the CANopen master e Debug accessible in online mode only e Faults accessible in online mode only This area also has an LED indicating the channel status 4 General parameters This area is used to view e the communication function the task associated with the CANopen bus 5 Display and command This area is composed of 3 windows which let you know e the CANopen slaves status e the status of the CANopen master see page 149 e the status of the detected error counters 172 35013944 07 2012 CANopen Debugging Debugging Screen of the CANopen Master for CPUs 20102 20302 At a Glance This screen can only be used in online mode Illustration The figure below shows a master debug screen 1 2 Communicator head CANopen Version 2 5 O Run _ERR_IO El CANopen comm M Configuration M Debug Fault p CANopen Slave state Master state A Channel 2 Adr Device Name State NMT Emcg A CANopen Master state 0X00AD 1 P2M2HBVC11600 Configured Operational 2 CPV_CO2 Configured Operational E Communication status 0X0000 k Osicoder Failed Unknown Event indication 0x0080 Counters Generic error count 0 Device hardware err 0 Device software err 0 Communication err 0 Protocol error count 0 External error count 0 Device specific 0 Diagnostic events history Bus load Err Error Cause Nod Inde Sub
57. eee eens 267 Execution of Application in Standard Mode 0 005 267 Appendices iccrncccies seu eaa caw ek oe Sten ein eee a i 275 35013944 07 2012 5 Appendix A CANopen Master local object dictionary entry 277 Object Dictionary entries according Profile DS301 278 Object Dictionary entries according Profile DS302 283 Midrange Manufacturer Specific Object Dictionary Entries 285 Appendix B Relation between PDOs and STB variables 293 STB island configuration 00 0 cece tees 293 Appendix C Actions and transitions 000e eee eee 297 Transitions sone nt aoe Rete Cabs ned Soke Beis Et Se a 298 ACHONS isa Boa hie i i oe ac ie ao tea ae aw aha eae ae 299 Glossary wae eee es eee takave eee ee ee eee ee ad 301 Index ioe ates i wince tees pie Bae ak eee es Ge ee el 307 35013944 07 2012 Safety Information A Important Information NOTICE Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure The addition of this symbol to a Danger safety label indicates that an electrical hazard exists which will result in personal injury if the instructions
58. i T 7 Export Format _ PLC Information ia I x H DCF for TwidoSoft CoDeSys etc Address Type z Ta Guan Topological Address _ Douru _ lt EDS for SyCon etc E ry onnection pant amp i e GSD for PL7 Rack EB s e SCY for PL7 Slot jae EOR e TXT for Concept emory Address XSY for Unity Pro Input Output e XML Help OK Cancel Open the Catalog Manager software Add a device to the Catalog Manager How to add a device to the Catalog Manager see page 110 35013944 07 2012 143 Catalog Manager 5 3 Catalog Manager Troubleshooting Subject of this section This section presents the troubleshooting of the Catalog Manager What Is in This Section This section contains the following topics Topic Page Troubleshooting 145 SDO Abort Code Description 149 EDS DCF Import Anomaly Code 150 144 35013944 07 2012 Catalog Manager Troubleshooting At a glance Use this section to find solutions to any difficulties that may be encountered when using the Catalog Manager Messages that need to be acknowledged by the user are shown in message boxes All other messages are shown in the Output windows using a text color corresponding to the type of message e Red for detected errors during analysis e Orange for important information that must be checked e Blue for information m
59. index supported Unsigned 1 COB ID used by PDO Unsigned32 2 Transmission type Unsigned8 3 Inhibit time Unsigned16 4 Reserved Unsigned8 5 Event timer Unsigned16 18FF 256 Transmit PDO RECORD 0 Largest sub index supported Unsigned8 1 COB ID used by PDO Unsigned32 2 Transmission type Unsigned8 3 Inhibit time Unsigned16 4 Reserved Unsigned8 5 Event timer Unsigned16 1A00 1 Transmit PDO Mapping 0 Number of mapped application Unsigned8 Depends on PDO objects in PDO mapping of the application 1 PDO mapping for the 1 Application Unsigned32 Index 16 bit Sub index object to be mapped 8 bit length 8 bit 2 PDO mapping for the 2 Application Unsigned32 object 8 PDO mapping for the 8 Application Unsigned32 object 1A01 2 Transmit PDO Mapping 0 Number of mapped application Unsigned8 Depends on PDO objects in PDO mapping of the application 1 PDO mapping for the 1 Application Unsigned32 Index 16 bit Sub index object to be mapped 8 bit length 8 bit 35013944 07 2012 281 CANopen Master object dictionary object Index Sub Description Object type Data type Comments Hex index 2 PDO mapping for the 2 Application Unsigned32 object 8 PDO mapping for the 8 Application Unsigned32 object 1AFF 256 Transmit PDO Mapping 0 Number of mapped application Unsigned8 Depends on PDO objects in PDO mapping of the application 1 PDO mapping for the 1 Application Unsigned32 Index 16 b
60. manual in conformance with the definition from the DS301 document of the CiA CAN in Automation Validity Note This documentation is valid from Unity Pro v7 0 Product Related Information A WARNING UNINTENDED EQUIPMENT OPERATION The application of this product requires expertise in the design and programming of control systems Only persons with such expertise should be allowed to program install alter and apply this product Follow all local and national safety codes and standards Failure to follow these instructions can result in death serious injury or equipment damage User Comments We welcome your comments about this document You can reach us by e mail at techcomm schneider electric com 35013944 07 2012 9 10 35013944 07 2012 CANopen Hardware Implementation Subject of this Part This part describes the various hardware configuration possibilities of a CANopen bus architecture What Is in This Part This part contains the following chapters Chapter Chapter Name Page 1 Hardware Implementation of BMX P34 Processors 13 2 Presentation of CANopen devices 21 35013944 07 2012 11 CANopen Bus 35013944 07 2012 Hardware Implementation of BMX P34 Processors Aim of this Chapter This chapter presents BMX P34 processors equipped with a CANopen port as well as their implementation To see the differences between the CP
61. objects SMWr m c 0 0 READ_ STS for example are not sent to the module STS_IN PROG 0 but the words are refreshed RPT SMWr m c 1 report bits Standard symbol Type Access Meaning Address STS_ERR BOOL R Detected error reading channel status words 1 failure MWr m c 1 0 35013944 07 2012 195 Language Objects 9 2 Language Object of the CANopen Specific IODDT Subject of this Section This section describes the implicit and explicit language objects of the CANopen specific IODDT T_COM_CO_BMx What Is in This Section This section contains the following topics Topic Page Details of T COM_CO_BMX IODDT 197 Details of T COM_CO_BMX_EXPERT IODDT 210 Language Objects Associated with Configuration 223 196 35013944 07 2012 Language Objects Details of T COM_CO_BMX IODDT Implicit Exchange Objects of the IODDT Implicit exchange objects are automatically exchanged at each cycle of a task associated with the channel These objects are 1 sIW 3Q and QW Channel Error The table below presents the various implicit exchange objects of IODDT T COM CO BMX The parameters r m and c shown in the following tables represent the topological addressing of the module Each parameter has the following signification e r represents the rack number e m represents the module number e c represents the channel number
62. unable to run correctly and stops Bit 2 and Bit 3 Reserved Bit 4 1 There is a detected identity error for an optional module The boot slave process is repeated Bit 5 and Bit 6 Reserved Bit 7 1 This bit is set if a bit in one of the bitlists changes Bit 8 1 At the beginning of the start up procedure the CANopen Master checks the individual slave assignments This bit is set by the slave assignment if a module that contain features which are not supported by the CANopen Master for example bit 4 to bit 6 of object 1F81H the CANopen Master is unable to run correctly and stops Bit 9 1 The CANopen Master has received an RPDO with not enough data bytes The CANopen Master does not change its state Bit 10 1 Inconsistent or mismatch DCF bit If a DCF inconsistent error is detected and if the state is e lt CLEAR then the CANopen Master is unable to run correctly and stops e gt CLEAR then there is an indication in the event queue and slave is not rebooted If there is a mismatch between a DCF and the slave s Object Dictionary which results in an SDO abort during the DCF download then there is an indication in the event queue and the manager retries downloading the DCF Bit 11 Reserved Bit 12 1 The last Master Manager cycle time is greater than 256 ms Bit 13 1 The Master is the only CAN device on the network It gets no acknowledgment to its transmitted frames All nodes are marked as absen
63. using a WRITE_VAR function 20 If the result of WRITE_VAR is conclusive then go to step 30 30 Homing method definition using a WRITE_VAR function For more information about the reference movement method please refer to the Lexium user manual 40 If the result of WRITE_VAR is conclusive then go to step 50 50 Starting of the Homing method 60 The Homing is done 70 The Lexium switches in Positionning Mode using a WRITE_VAR function 80 If the result of WRITE_VAR is conclusive then the Lexium configuration is done NOTE For a correct variable declaration click on Tools Project Settings Language extension then check Directly represented array variables and Allow dynamic arrays Data types Allow usage of EBOOL edge Allow INT DINT in place of ANY_BIT Allow bit extraction of INT amp WORD Directly represented array variables U4 4 Allow dynamic arrays ANY_ARRAY 20X Directly represented array variables im a 260 35013944 07 2012 Application using Unity Pro ST Program The example is programmed in ST structured litteral language The dedicated section is under the same master task MAST CASE Lexium Config Step OF O Lexium is in Ready to switch on position IF Lexium statusword 0 THEN Lexium controlword Lexium_ operation enable Lexium_ Config Step 10 END IF
64. with ATV31 1 2 profile In this case only the ATV31 V1 2 functions will be available NOTE ATV71 if you have to disconnect it from the CANopen bus power off the device else when reconnecting it on the bus it will provoke a Bus Fatal error This is fixed with the ATV71 firmware version V1 2 and later NOTE ATV61 if you have to disconnect it from the CANopen bus power off the device else when reconnecting it on the bus it will provoke a Bus Fatal error This is fixed with the ATV61 firmware version V1 4 and later 35013944 07 2012 23 CANopen slaves Lexium devices The range of Lexium 05 servo drives that are compatible with BSH servo motors constitutes a compact and dynamic combination for machines across a wide power 0 4 6 kW and power supply voltage range The compact design of the Lexium 05 servo drive and the integrated components line filter braking resistor and safety function reduces the space required in the switch cabinet to a minimum It integrates the Power Removal safety function which prevents accidental starting of the motor Another advantage of the servodrive Lexium 05 is the versatile application options e as torque or speed controller via the analogue inputs e as electronic gearbox via the RS422 interface e as positioning or speed controller via the field bus interface The servodrive is available in four voltage types e 115 VAC single phase e 230 VAC single phase and 3 phase e 40
65. 0 480 VAC 3 phase The following figure gives an example of a Lexium device NOTE The recommended minimum version of the firmware for Lexium 05 MFB device is V1 003 NOTE The recommended minimum version of the firmware for Lexium 05 device is V1 120 NOTE The recommended minimum version of the firmware for Lexium 15 LP is V1 45 NOTE The recommended minimum version of the firmware for Lexium 15 MH is V6 64 24 35013944 07 2012 CANopen slaves IcLA devices IcLA devices are intelligent compact drives They integrate everything required for motion tasks positioning controller power electronics and servo EC or stepper motor The following figure gives an example of an IcLA device A WARNING UNINTENDED EQUIPMENT OPERATION Use ICLA IFA devices with minimum firmware version V1 105 Use ICLA IFE devices with minimum firmware version V1 104 Use ICLA IFS devices with minimum firmware version V1 107 Failure to follow these instructions can result in death serious injury or equipment damage 35013944 07 2012 25 CANopen slaves Osicoder devices The Osicoder device is an angular position sensor Mechanically coupled to a driving spindle of a machine the shaft of the encoder rotates a disc that comprises a succession of opaque and transparent sectors Light from leds passes through the transparent sectors of the disc as they appear and is detected by photosensitive diodes The
66. 021 04 7 PTPp_abs 3023 01 T ONG 110 0 EE p relpret 2730 7 TPp_target y OQD 3 110 0 PTPp_relpact 3023 06 13K z GEARdenom 3026 03 i 7 OWE 110 0 j GEARnum 3026 04 i 3 QDN8 1100 Controword 6040 00 ee BL Statusword 6041 00 a a position actual valu 6063 00 E T e Transmit PDOs information transmitted by the Slave to the Master e Receive PDOs information received by the Slave from the Master e Variables variables that can be mapped to the PDOs To assign a variable to a PDO drag and drop the variable into the desired PDO No variable can be assigned with a static PDO NOTE To configure the STB NCO 1010 it s necessary to determine all the objects that are valid for this device and to configure them manually in the PDOs For more information about the list of the associated objects please refer to the STB user manual For more information about the use of the PDOs see 35013944 07 2012 69 CANopen Configuration Error Control Tab The Error control tab for CANopen slave modules allows you to configure monitoring o A Error Control j Configuration Error Control Use Node Guarding Protocol Guard Time 200 msec Life Time Factor 2 ms is Two choices are possible e Heartbeat The Heartbeat mechanism consists of sending cyclical presence messages generated by a Heartbeat Producer A Heartbeat transmitter producer sends messages recurrin
67. 12 135 Catalog Manager Build The Catalog To integrate this new function in the Unity s Catalog click on the Build Catalog Button Therefore the new function appears in the Hardware Catalog Manager NOTE The creation of new MFB_xxx function is not available for the ICLA Hardware Catalog Manager File Edit View Service Help B CANopen drop Distributed 1 Os ic Motion amp Drive Past ERAS M12 ATV31_V1_7 PANsiT_v13 Parvet_vit Ean Basic amp Controller amp Controller2 MFB MFB_My_Function Standard P icia Fa P oA re Pio irs PLxw05_MrB LXMO5_V1_12 LXMI5LP_V1_45 P Lxm5MH v6 _64 DEA ew Done 0 error s and 0 warning s Clean up of temporary files Catalog building ended at 10 54 14 N Build Import Export Log 136 35013944 07 2012 Catalog Manager CANopen Compatibility Restrictions Compatibility Table In a CANopen compatibility point of view the CPU 2010 2030 are identical Please note that there is no ascendant compatibility between an application developed with a CPU 2010 2030 and 20102 20302 20302H see page 15 Before launching your application please refer to the following table in order to check its compatibility with your configuration Developed application with Restrictions Unity Pro V3 0 or Unity Pro V4 0 with a CPU 2010 2030 Download on CPU 20102 20302 20302H see page 15 not compatible without
68. 13944 07 2012 Language Objects Detected error code 50xx The following table describes the content of detected error code 50xx Detected error code hex Description 50xx Device hardware Detected error code 6xxx The following table describes the content of detected error code 6xxx Detected error code hex Description 60xx Device software 61xx Internal software 62xx User software 63xx Data set Detected error code 70xx The following table describes the content of detected error code 70xx Detected error code hex Description 70xx Additional modules Detected error code 8xxx The following table describes the content of detected error code 8xxx Detected error code Description hex 80xx Monitoring 81xx Communication 8110 CAN overflow objects lost 8120 CAN in passive error mode 8130 Life Guard error or Heartbeat error 8140 Recovered from bus 8150 Collision during COB ID transmission 82xx Protocol error 8210 PDO not processed due to length error 8220 PDO length exceeded 35013944 07 2012 227 Language Objects Detected error code 90xx The following table describes the content of detected error code 90xx Detected error code hex Description 90xx External error Detected error code Fxxx The following table describes t
69. 20 0 0 Safety XPSMC16ZC 4 0 4 0 0 28 0 0 XPSMC32ZC 4 0 4 0 0 28 0 0 35013944 07 2012 47 Familly Device F Tx Rx Tx Cob Rx Cob Extra MW MW M M PDO PDO lid Id Cob Id JIN OUT JIN OUT Third party CPV_C02 Bas 1 1 1 1 0 8 4 0 0 devices Adv it 1 ft 1 0 10 o b CpEx 1 1 1 1 0 10 0 0 CPX_FB14 BDIO 4 4 4 4 0 56 50 0 0 GDIO 4 4 4 4 0 26 20 0 0 Adv 4 4 4 4 0 72 66 0 0 P2M2HBVC11600 1 1 1 1 0 2 2 0 0 Legend for F Ext Extended Sta Standard Sim Simple Lar Large Bas Basic MFB MFB Con Controler Def Default Adv Advanced CpEx CP Extension BDIO Basic DIO only GDIO Generic DIO AlO F Function 48 35013944 07 2012 Configuration of Communication on the CANopen Bus 4 Aim of this Chapter This chapter presents the configuration of the CANopen field bus and of the bus master and slaves What Is in This Chapter This chapter contains the following sections Section Topic Page 4 1 General Points 50 4 2 Bus Configuration 51 4 3 Device Configuration 61 4 4 Master Configuration 85 35013944 07 2012 49 CANopen Configuration 4 1 General Points Generalities Introduction Configuration of a CANopen architecture is integrated into Unity Pro When the channel of the CANopen master has been configured a node is automatically created
70. 200 wrrrenea A 3 BMX DDI 1603 CANopen zza O 1 CANopen drop orreenzn M 00 Aava v 4 Qe 2 CANopen drop baronnen T 0 0 Lexiumo5 teeeeeens 2 Derived Data Types pisses 29 Derived FB Types BI PPRPP 2 Variables amp FB instances BI Communication Movement 60 35013944 07 2012 CANopen Configuration 4 3 Device Configuration Subject of this Section This section presents the configuration of the initial parameters of the CANopen devices There are three ways of configuring the initial parameters e Configuration using Unity e Configuration using an external tool e Manual Configuration NOTE Before configuring a device it is strongly recommended to select the function when available What Is in This Section This section contains the following topics Topic Page Slave Functions 62 Configuration Using Unity with CPUs 2010 2030 66 Configuration Using Unity with CPUs 20102 20302 71 Configuration Using an External Tool Configuration Software 81 Manual Configuration 84 35013944 07 2012 61 CANopen Configuration Slave Functions At a Glance So as to facilitate their configuration certain CANopen devices are represented through functions Each function defines premapped PDOs as well as certain debugging variables which can be mapped PDO tab of the slave configuration screen
71. 2000 01 Parameter InputiDiagnost 0 Bit Offset 0 Rank 0 First Channel OK 0 Length Cancel e Reset Bit Mapping This resets bit mapping of the variable e Move up and Move down This can be used to sort the parameters in the Unity Pro configuration screen 35013944 07 2012 125 Catalog Manager Bootup Procedure Tab The goal of bootup procedure tab is to bypass the standard bootup procedure for devices which do not comply with CANopen standards A WARNING UNEXPECTED EQUIPMENT OPERATION Manually verify all deactivated standard checks on the device before operating the system Changing the default parameters of the Boot Up Procedure tab will bypass standard system checks Failure to follow these instructions can result in death serious injury or equipment damage The following illustration describes the Bootup Procedure tab General Overview PDO Mapping Parameters Bootup Procedure Object Dictionary EDS Restore Restore option is used to define the allowed restore procedure for a CANopen device during startup Ne RES See Communication parameters 0x1000 gt 0x1FFF Restore communication parameters Application parameters 0x6000 gt Ox9FFF Restore application parameters Restore all parameters 4 Reset option is used to configure the type of reset sent to Reset the device Reset communication parameters Communication parameters 0x1000 gt 0x1FFF
72. 2012 305 Glossary 306 35013944 07 2012 Index A addressing topological 154 BMXP342010 13 BMXP342030 13 C CANopen connectors 16 channel data structure for communication protocols T_COM_STS_GEN 186 channel data structure for communication protocols T_COM_CO_BMX 196 COB ID 225 configuring 49 steps of configuration 41 configuring the devices STB 81 Tesys U 81 configuring the servodrives ATV31 81 ATV61 81 ATV71 81 IclA 81 Lexium 05 81 D debugging 169 devices 21 diagnosing 17 diagnostics 177 E emergency objects EMCY 225 error codes 225 error control heartbeat 66 71 node guarding 66 71 event timer 154 inhibit time 154 M M340 hardened 15 ruggedized 15 N NMT network management 66 71 35013944 07 2012 307 Index O object dictionary 277 P parameter settings 186 PDO mapping 157 PDOs 154 performance 42 programming 153 Q quick start 229 R READ_VAR 162 S SDOs 159 T T_COM_CO_BMX 196 T_COM_STS_GEN 186 transmission type 154 W WRITE_VAR 162 308 35013944 07 2012
73. 268 35013944 07 2012 Starting the application CANopen bus wiring The CANopen bus is connected as follow AdvantysSTB BMX P34 2010 i C m NOTE The Lexium 05 is at the end of the CANopen Bus Set the Terminating resistor CAN switch to 1 35013944 07 2012 269 Starting the application The assignment of the pins connectors is as follow BMX P34 2010 STB Terminal block Terminal block SUB D9 Male SUB D9 Male BMX P34 2010 Lexium 05 Terminal block Terminal block SUB D9 Male BMX P34 2010 20102 terminal block description Pin Symbol Description number 1 Reserved 2 CAN_L CAN_L bus line Low 3 CAN_GND CAN ground 4 Reserved 5 Reserved Optional CAN protection 6 GND Optional ground 7 CAN_H CAN_H bus line High 8 Reserved 9 Reserved CAN external positive supply optionnal 270 35013944 07 2012 Starting the application STB terminal block description Pin Symbol Description number 1 Reserved 2 CAN_L CAN_L bus line Low 3 CAN_GND CAN ground 4 Reserved 5 CAN_SHLD Optional CAN protection 6 GND Optional ground 7 CAN_H CAN_H bus line High 8 Reserved 9 Reserved Lexium 05 terminal block description Pin Symbol Description number 21 CAN_GND CAN ground 22 CAN_L CAN_L b
74. 301B 08 JOGactivate 301B 09 _actionStatus 3016 04 _p_actRAMPusr 301F 02 CUR target 3020 04 SPEEDn_target 3021 04 PTPp_abs 3023 01 PTPp_relpref 3023 03 PTPp_t egs lexium QW 3 10 0 0 16 Wey PD02 C Status QWB 110 0 0 16 WMWIG lexium Q018 110 0 08 MINS amp Status ium QW13 110 0 0 16 WMW6 ium QD18 110 0 0 10 MW10 Statusword position actual valu 6063 00 X PDO4_ 2 pe gt There is an equivalence between topologic addresses and internal variables For example in the figure above the topologic address IW 3 1 0 0 0 16 is equivalent to MW1 6 for the PDO 1 A PDO can be enabled or disabled According with the EDS file some PDOs are already mapped 154 35013944 07 2012 Programming A double click on the transmission type column displays the following window PDO4 r Transmission type Synchronous acyclic 0 Synchronous cyclic 1 240 c x Sync period Asynchronous Manuf Event 254 Asynchronous Profile Event 255 Properties Inhibit time 0 65535 c 1 x 100 ps Event timer 0 65535 E ms This window allows to configure e the transmission type e synchronous acyclic 0 a transmission type of 0 means that the message shall be transmitted synchronously with the SYNC message but not periodical
75. 35013944 06 Modicon M340 with Unity Pro CANopen User Manual 07 2012 Schneider Electric www schneider electric com The information provided in this documentation contains general descriptions and or technical characteristics of the performance of the products contained herein This documentation is not intended as a substitute for and is not to be used for determining suitability or reliability of these products for specific user applications It is the duty of any such user or integrator to perform the appropriate and complete risk analysis evaluation and testing of the products with respect to the relevant specific application or use thereof Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for misuse of the information contained herein If you have any suggestions for improvements or amendments or have found errors in this publication please notify us No part of this document may be reproduced in any form or by any means electronic or mechanical including photocopying without express written permission of Schneider Electric All pertinent state regional and local safety regulations must be observed when installing and using this product For reasons of safety and to help ensure compliance with documented system data only the manufacturer should perform repairs to components When devices are used for applications with technical safety requirements the relevant inst
76. 4 0001h Client Server command specifier not valid or unknown 0504 0002h Invalid block size block mode only 0504 0003h Invalid sequence number block mode only 0504 0004h CRC error block mode only 0504 0005h Out of memory 0601 0000h Unsupported access to an object 0601 0001h Attempt to read a write only object 0601 0002h Attempt to write a read only object 0602 0000h Object does not exist in the object dictionary 0604 0041h Object cannot be mapped to the PDO 0604 0042h The number and length of the objects to be mapped would exceed PDO length 0604 0043h General parameter incompatibility reason 0604 0047h General internal incompatibility in the device 0606 0000h Access failed due to an hardware anomaly 0607 0010h Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service parameter too high 0607 0013h Data type does not match length of service parameter too low 0609 001 1h Sub index does not exist 0609 0030h Value range of parameter exceeded only for write access 0609 0031h Value of parameter written too high 0609 0032h Value of parameter written too low 0609 0036h Maximum value is less than minimum value 0800 0000h General anomaly 0800 0020h Data cannot be transferred or stored to the application 0800 0021h Data cannot be transferred or stored to the application because of local control 0800 0022h Data cannot be transferred or stored to the application becau
77. 4M Position A DINT 50000 4p Position_B DINT 100000 t 4M Position_C DINT 200000 ReaFosop lexa 4 z Run BOOL 4 Sequence_Number INT r Start Configuration EBOOL 4 Stop BOOL 1z Target Reached BOOL IW 3 5510 0 0 22 10 Y NOTE At start up the Lexium 05 is in Ready to switch on state rdy is displayed To be able to drive the motor the Lexium must be in Operation enable state To switch in this state a bus command sets the 4 last bits of the Lexium control word to 1 00001111 binary 15 decimal To switch the Lexium 05 to the Ready to switch on state a bus command sets the sixth and the seventh bit of the Lexium control word to 1 00000110 binary 6 decimal For more information on Lexium control word consult the Lexium manufacturer manual 35013944 07 2012 251 Application using Unity Pro Creating the program in SFC for managing the move sequence At a glance The main program is written in SFC Grafcet The different sections of the grafcet steps and transitions are written in LD This program is declared in a MAST task and will depend on the status of a Boolean variable The main advantage of SFC language is that its graphic animation allows us to monitor in real time the execution of an application Several sections are declared in the MAST task e The Move_Sequence See Illustration of the Move_Sequence section
78. 5A_0112E EDS Motor Control o Safety o o In the New Device window enter the node number 55 then double click on Motion and select the Lexium05 240 35013944 07 2012 Application using Unity Pro Step Action 4 Confirm with OK Result the slave module is declared CANopen m m Bus 3 CANopen comm head 01 00 Connections configured 1 LEXIUMO5S 5 Follow the same procedure to declare the Advantys STB island In the New Device window enter the node number 54 then double click on Other and select the STB_NCO_2212 NOTE This example shows PDO and SDO exchange towards a speed drive However for speed drive configuration and control the use of Motion Function Block is recommended NOTE This Advantys STB island configuration has to be set up using the Advantys Configuration Software 35013944 07 2012 241 Application using Unity Pro STB island configuration The table below shows the procedure to configure a STB island with Advantys Configuration Software Step Action 1 Open Advantys Configuration Software Version 2 2 0 2 and create a new STB Island Insert a STB NCO2212 supply module a STB DDI3420 discrete input module and a STB DD03410 discrete output module on the island Save the configuration and click on File Export for exporting the island in DCF format The Export window open
79. 8 4 4 8 38 10 0 0 STB_NCO_1010 Sim 32 32 4 4 56 132 96 0 0 Ext 32 32 4 4 56 228 192 0 0 STB_NCO_2212 Sim 32 32 4 4 56 132 96 0 0 Ext 32 32 4 4 56 228 192 JO 0 Adv 32 32 4 4 56 278 244 0 0 Lar 32 32 4 4 56 694 484 O 0 Motion amp jATV31_V1_1 Bas 2 2 2 2 0 4 4 0 0 DIVER Sa 2 k k 2 0 6 10 0 b Ext 2 2 2 2 0 20 16 0 0 ATV31_V1_2 Bas 2 2 2 2 0 4 4 0 0 Sta 2 2 2 2 0 10 0 0 Ext 2 2 2 2 0 20 16 0 0 MFB 2 2 2 2 0 2 0 0 ATV31_V1_7 Bas 2 2 2 2 0 4 0 0 Sta 2 2 2 2 0 10 0 0 Ext 2 2 2 2 0 20 16 0 0 46 35013944 07 2012 Familly Device F Tx Rx Tx Cob Rx Cob Extra MW MW M M PDO PDO lid Id Cob Id JIN OUT JIN OUT ATV31T_V1_3 Bas 2 2 2 2 0 4 0 0 Sta 2 2 2 2 0 10 0 0 Ext 2 2 2 2 0 20 16 0 0 ATV61_V1_1 Bas 3 3 3 3 0 8 8 0 0 Sta 3 3 3 3 0 32 20 0 0 Ext l3 3 3 3 0 70 62 0 0 Con 3 3 3 3 0 76 62 0 0 ATV71_V1_1 Bas 3 3 3 3 0 8 8 0 0 Sta 3 3 3 3 0 16 10 0 0 Ext l3 3 3 3 0 22 14 0 0 Con 3 3 3 3 0 80 58 0 0 MFB 3 3 3 3 0 6 6 0 0 IclA_IFA Def 1 1 1 1 0 8 10 0 0 MFB 1 1 1 1 0 6 6 0 0 IclA_IFE Def 1 1 1 1 0 8 10 0 0 MFB 1 1 1 1 0 6 6 0 0 IclA_IFS Def j1 1 1 1 0 8 10 0 0 MFB 1 1 1 1 0 6 6 0 0 LXM05_MFB 4 4 4 4 0 10 10 0 0 LXM05_V1_12 4 4 4 4 0 24 26 0 0 LXM15LP_V1_45 4 4 4 4 0 8 10 0 0 LXM15MH_V6_64 Def 4 4 4 4 0 96 134 0 0 MFB 4 4 4 4 0 8 10 0 0 SD3_28 4 4 4 4 0 22
80. ANopen Bus 169 How to Access the Debug Screens of Remote Devices 170 Debugging Screen of the CANopen Master for CPUs 2010 2030 171 Debugging Screen of the CANopen Master for CPUs 20102 20302 173 Slave Debug Screens e605 believed bene A vehi teense eee 175 35013944 07 2012 Chapter 8 Diagnostics 000 cece eee eee eee eee 177 How to perform a diagnostic 0 0 cee ee 178 Master Diagnostics for CPUs 2010 2030 00 00 eee 179 Master Diagnostics for CPUs 20102 20302 20 eee 180 Slave Diagnostics i orgien etree cece eee 183 Chapter 9 Language Objects 00ce eee eee eee eee 185 9 1 General Information 0 0 0 eee 186 Introduction to the Language Objects for CANopen Communication 187 Implicit Exchange Language Objects Associated with the Application Specific Function 0 0 cee 188 Details of IODDT Implicit Exchange Objects of Type T_ COM_STS_GEN 189 Explicit Exchange Language Objects Associated with the Application Specific FUNCION di asd i ose ache aided adratd Payson aitacita 190 Details of IODDT Explicit Exchange Objects of Type T_ COM_STS_GEN 192 Management of Exchanges and Reports with Explicit Objects 194 9 2 Language Object of the CANopen Specific IODDT 196 Details of TCOM_CO_BMXIODDT 00 000 e eee eee 197 Details of T CCOM_CO_BMX_EXPERT IODDT
81. Asynchronous Profile Event 255 Properties Inhibit Time 0 65535 w Ea x 100 us Event Time 0 65535 o x1 ms Inhibit Time and Event Time are accessible only if an asynchronous transmission type has been chosen The unauthorized values of Transmission Type must be disabled according to the PDO attributes 122 35013944 07 2012 Catalog Manager Name Description 3 PDO attributes permissions This is used to define general access right attributes of PDO These attributes are used in Unity Pro CANopen screen and in the Catalog Manager to authorize or not the modification of PDO The following illustration shows the general PDO attributes screen E Authorize PDO Attribute modification in PUNIT General Transmission type Transmission Pdo Activate Mapping me Inhibit time Event time PDO 1 Tx PDO 6 Tx PDO 1 Rx PDO 6 Rx lt l lt HAAA 4 4 4 6 HAA OK Cancel The grid is initialized with the list of all PDO found in the device and the followig information is displayed for each PDO PDO This is the list of available PDO TX and RX and it is not modifiable Activate If checked then the PDO can be activated Thus associated PDO can be enabled or disabled in Unity Pro CANopen screen Mapping If checked then mapping is editable in UnityPro CANopen screen Tran
82. Configuration This field enables you to e configure the PLC internal memory addresses where inputs from the CANopen devices will periodically be copied e configure the PLC internal memory addresses where outputs from the CANopen devices will periodically be read e configure the parameters of the CANopen bus 35013944 07 2012 89 CANopen Configuration Description of Master Configuration Screen for CPUs 2010 2030 At a Glance The configuration screen allows configuration of the bus parameters as well as the inputs and outputs Inputs The figure below illustrates the inputs configuration area Inputs No of words MA Index of first MW Nb of bits 9 Index of frst M To configure the inputs of the bus slaves it is necessary to indicate the memory areas to which they will be periodically recopied To define this zone you must indicate a number of words SMW from 0 to 32 464 the address of the first word from 0 to 32 463 the number of bits 3 from 0 to 32 634 the address of the first bit from 0 to 32 633 Outputs The figure below illustrates the outputs configuration area Outputs Fallback C Maintain RESET Nb of words MW 32 Index os 1st MW 32 Nb of bits M 32 Index os 1st M 32 BE 90 35013944 07 2012 CANopen Configuration The fallback information area contains two radio buttons as well which defines the behaviour of the
83. Description Address SLAVE_ACTIV_17 BOOL R Slave operational on the bus device 17 IWr m c 36 0 SLAVE_ACTIV_18 BOOL R Slave operational on the bus device 18 SIWr m c 36 1 SLAVE_ACTIV_19 BOOL R Slave operational on the bus device 19 SIWr m c 36 2 SLAVE_ACTIV_20 BOOL R Slave operational on the bus device 20 SIWr m c 36 3 SLAVE_ACTIV_21 BOOL R Slave operational on the bus device 21 SIWr m c 36 4 SLAVE_ACTIV_22 BOOL R Slave operational on the bus device 22 SIWr m c 36 5 SLAVE_ACTIV_23 BOOL R Slave operational on the bus device 23 SIWr m c 36 6 SLAVE_ACTIV_24 BOOL R Slave operational on the bus device 24 SIWr m c 36 7 SLAVE_ACTIV_25 BOOL R Slave operational on the bus device 25 SIWr m c 36 8 SLAVE_ACTIV_26 BOOL R Slave operational on the bus device 26 SIWr m c 36 9 216 35013944 07 2012 Language Objects Standard symbol Type Access Description Address SLAVE_ACTIV_27 BOOL R Slave operational on the bus device 27 SIWr m c 36 10 SLAVE_ACTIV_28 BOOL R Slave operational on the bus device 28 SIWr m c 36 11 SLAVE_ACTIV_29 BOOL R Slave operational on the bus device 29 SIWr m c 36 12 SLAVE_ACTIV_30 BOOL R Slave operational on the bus device 30 SIWr c 36 13 SLAVE_ACTIV_31 BOOL R Slave operational on the bus device 31 SIWr m c 36 14 SLAVE_ACTIV_32 BOOL R Slave operational on
84. Device Profile ATV71_V1_1 Dialog Box 2 Select the objects you wish by ticking them in the Language Interface Column HB Device Profile ATV71_V1_1 Name ATV71_V1_1 __ Local Configuration Possible Family M Expert mode Image File Function MFB_My_fonction IODDT T_ATV71_V1_1_MFB_My_fonction General Overview PDO Mapping Parametars EDS Error code Control word Control word Status word Target velocity Target velocity Control effort W 132 35013944 07 2012 Catalog Manager PDO Mapping To map your PDOs click on the PDO Mapping tab and do the following guideline Step Action 1 To see your new selected objects in the Parameter Name Window select Unmapped Variables in the List which is above the Parameter Name Window Hl Device Profile ATV71_V1_1 Name ATV71 V11 _ Local Configuration Possible Family n Expert Mode Image File am VI UsersiAppicaton D neder Sle og aN ot Function MFB_My_fonction IODDT T_ATV71_V1_1_MFB_My_fonction VO Objects Sort F D W PDOs order General Overview PDO Mapping Parameters EDS Transmit 1 PDO Attributes Permissions Unmapped Variables Tran Inh
85. It is possible to access SDOs using the communication functions READ_VAR and WRITE_VAR There are 3 possible representations e the FBD representation e the Ladder representation e the IL representation FBD representation The FBD representations of the communication functions are the following WRITE_VAR ADDM r m c node ADR SDO OBJ subindex index NUM offset NB 3MW200 2 4 EMIS MW210 4 GEST GEST SMW210 4 READ VAR ADDM r m c node 4 ADR RECP SMW200 16 SDO OBJ subindex index NUM offset NB amp MW210 4 GEST GEST SMW210 4 162 35013944 07 2012 Programming Ladder representation The Ladder representations of the communication functions are the following ADDM r m c node SDO subindex index offset SMW200 2 SMW210 4 EN ADR OBJ NUM NB EMIS GEST WRITE_VAR ENO GEST ADDM r m c node SDO subindex index offset SMW210 4 EN ADR OBJ NUM NB READ_VAR ENO RECP GEST GEST SMW210 4 SMW200 16 SMW210 4 35013944 07 2012 163 Programming IL representation The communication function syntax is as follows ADDM IN 0 0 2 2 ST MW2100 8 LD 50 ST SMW2182 timeout 5 secondes LD 2 ST SMW2183 Length Read the Vendor ID object slave 2 CANopen Network READ VAR ADR MW2100 8 OB
86. J SDO NUM 16 00011018 NB 0 GEST MW2120 4 RECP MW2110 4 Write the value 16 FFFF slave 2 ouputs CANopen Network LD 16 ffff ST SMW2200 WRITE VAR ADR MW2100 8 OBJ SDO NUM 16 00016300 NB 0 EMIS SMW2200 1 GEST MW2180 4 NOTE The offset parameter must be set to 0 NOTE The subindex index parameter is encoded in a simple word subindex is the higher byte 164 35013944 07 2012 Programming Parameter Description of the WRITE_VAR Function The following table outlines the various parameters of the WRITE VAR function Parameter Description ADDM r m c node Address of the destination entity of the exchange e r the processor rack number m processor slot in the rack 0 e c channel only use the channel 2 for CANopen e node identifier of the transmitting device on the CANopen bus SDO SDO object type subindex index Double word or immediate value identifying the CANopen SDO index or subindex The most significant word making up the double word contains the sub index and the least significant word contains the index Example if you use the double word subindex index e the 16 most significant bits contain the subindex e the 16 least significant bits contain the index EMIS Table of words containing the SDO datum to send MW200 2 The recept buffer of the W
87. NIM STB modules can only be used in an STB island The following figure gives an example of an island PDT 3100 EHC 3020 35013944 07 2012 31 CANopen slaves Description Number Designation 1 Network Interface Module Power supply Distribution Module Distributed input output modules These modules can be e digital input output modules e analog input output modules e special purposes Termination plate of island bus Tesys U Devices TeSys U Line motor starters provide motor control for choices ranging from a basic motor starter with solid state thermal overload protection to a sophisticated motor controller which communicates on networks and includes programmable motor protection This device performs the following functions e Protection and control of 1 phase or 3 phase motors e Isolation breaking function e Electronic short circuit protection e Electronic overload protection e Power switching e Control of the application e Status protection functions e g overload pending e Status monitoring running ready e Applic ation monitoring running time number of anomalies motor current values e Detected fault logging last 5 anomalies saved together with motor parameter values 32 35013944 07 2012 CANopen slaves The following figure gives an example of a Tesys U device 35013944 07 2012 33 CANo
88. Nodeld the name and the timeout value 35013944 07 2012 97 CANopen Configuration Language Objects The parameters presented below are represented in the KW language objects Read Parameter Language object Inputs Number of words MW KWSE Index of the first word KW10 Number of bits M KW4 Index of the first bit KWE Outputs Fallback mode KWO Least Significant Byte 16 00 Bit 2 to 7 0 and e Bit O 0 and Bit 1 0 reset of outputs if task in STOP or HALT e Bit 0 1 and Bit 1 0 maintain of outputs if task in STOP or HALT e Bit O 0 and Bit 1 1 bus in STOP if task in STOP or HALT Number of words MW KWI Index of the first word KW11 Number of bits M KW5 Index of the first bit KW7 Bus parameters Transmission speed KW1 SYNC message COB ID KW2 SYNC message period KW3 98 35013944 07 2012 Catalog Manager Software Implementation 5 Subject of this chapter This chapter describes the Catalog Manager Software Implementation What Is in This Chapter This chapter contains the following sections Section Topic Page 5 1 Catalog Manager Overview 100 5 2 Using the Catalog Manager 108 5 3 Catalog Manager Troubleshooting 144 35013944 07 2012 99 Catalog Manager 5 1 Catalog Manager Overview Subject of this section This section presents the Catalog Manager overview What Is in This S
89. PDO type In Out PDO number 150 35013944 07 2012 Catalog Manager E_IMP_COBID COBID check for objects ecCOBID COBID as Anomaly 1005 1012 1014 COBID number must be in range 1h 7FFh if 11bits CAN Identifiers are used COBID must be in rangeth 1FFFFFFF if 29bit CANIdentifiers are used E_IMP_PDO_COBID PDO communication parameter ecPDOCOBID PDO type Anomaly COBID check for objects In Out 14xxsub1 and 18xxsub1 PDO number COBID must be in rangeth 7FFh COBID as number if 11bits CAN Identifiers are used COBID must be inrange 1h 1FFFFFFF if 29bitCAN Identifiers are used E_IMP_PDO_TTYPENOSYNC PDO communication parameter ecPDO Anomaly transmission type check for PDO type objects 14xxsub2 and In Out 18xxsub2 values 0 252 are PDO number allowed only if 1005 exists E_IMP_MAPP_NOENTRY PDO mapping entry check for ecPDOmapp PDO type Anomaly objects 16xx and 1Axx In Out Mapped object must exist PDO number excluding NWVs Mapping entry number E_IMP_MAPP_NOTMAPPABLE PDO mapping entry check ecPDOmapp PDO type Anomaly forobjects 16xx and 1Axx In Out Mapped object must be mappable PDO number PDOMapping 1 Mapping entry index E_IMP_MAPP_INVALIDDATATYPE PDO mapping entry check for ecPDOmappPDO type Anomaly objects 16xx and 1Axx In Out Mapped object not mappable due PDO number to da
90. RITE_VAR function must be greater than the SDO The length of a SDO is indicated in device documentation GEST Table of words with 4 inputs MW210 4 Parameter Description of the READ_VAR Function The following table outlines the various parameters for the READ_VAR function Parameter Description ADDM r m c node Address of the destination entity of the exchange e r the processor rack number e m processor slot in the rack 0 e c channel only use the channel 2 for CANopen e node identifier of the destination device on the bus SDO SDO object type subindex index Double word or immediate value identifying the CANopen SDO index or subindex The most significant word making up the double word contains the sub index and the least significant word contains the index Example if you use the double word subindex index e the 16 most significant bits contain the subindex e the 16 least significant bits contain the index GEST Table of words with 4 inputs MW210 4 RECP Table of words with at least one input to receive the SDO datum received MW200 16 The recept buffer of the READ_VAR function must be greater than the SDO The length of a SDO is indicated in device documentation 35013944 07 2012 165 Programming Description of control block words The following table describes the various words of the control block Fields Word Type
91. Some devices only support Heartbeat or Node Guarding For devices which support Heartbeat and Node Guarding the only choice in Unity Pro is the Heartbeat mechanism 70 35013944 07 2012 CANopen Configuration Configuration Using Unity with CPUs 20102 20302 At a Glance The devices which can be configured using Unity are shown in the Hardware Catalog Hardware catalog CANopen drop Distributed I O s Procedure 5 Motion amp Drive Motor control Safety XPSMC16ZC XPSMC32ZC Sensors Osicoder Third party products CPV_C02 CPX_FB14 P2M2HBVC11600 CANopen To configure a slave perform the following actions Step Action Access the CANopen see page 52 bus configuration screen Double click on the slave to be configured Configure the Bootup Procedure using the Bootup tab Integrate a third pary product using the Object Dictionary tab Configure the usage function using the Config tab Configure the PDOs using the PDO tab NI OO oO AJOIN Select the error control using the Error control tab 35013944 07 2012 71 CANopen Configuration Configuration Tab The following figure shows an example of the configuration screen of a slave E 3 110 0 IcIA_IFA Elicia IFA fee Object dictionary E Configuration B Channel 0 Label Settings name1 O eMINJoala alwlr
92. Subindex Info default value not set presuming 0 _IMP_CORR_DEFVALUECOMMPAR Auto correction applied PDO ecPDOPDO type Info transmission type default value In Out not set presuming 255 PDO number _IMP_CORR_INVALIDATEPDO Auto correction applied ecPDOPDO type In Out Info Deactivated PDO outside PDO number 152 35013944 07 2012 Programming Introduction This section describes the programming of a CANopen architecture What Is in This Chapter This chapter contains the following topics Topic Page Exchanges Using PDOs 154 Exchanges Using SDOs 159 Communication functions example 162 Modbus request example 168 35013944 07 2012 153 Programming Exchanges Using PDOs At a Glance PDOs use topologic addresses 1 SIW SQ SQW and internal variables SM or SMW H PDO EB Error conto H Config Transmit 6l PDO Tr Ty Inhibi Even Symbol Topo Addr OM a Variables Status lexigme 4IWV 3 1 0 0 0 16 Qrwie C Display only umapped varia Gy PDO2 255 pm bat Status lexiur IWA3 110 0 0 16 MW16 lexium 61D 3 110 0 0 8 AMW T D 255 o 100 Topologic address i E Status lexium IAN3 110 0 0 16 aay d 7 gt PLCopenRx 301B 05 o lexium AMW10 emi F open 301B 06 LCopenTx1 301B 07 Internal variable PLCopenTx2
93. TED EQUIPMENT OPERATION Manually verify all Object Dictionary values Changing the default values of the Object Dictionary table will generate non standard behaviour of the equipment Failure to follow these instructions can result in death serious injury or equipment damage The object dictionary screen is a CANopen Expert editor and allows to e Force parameters to be transmitted even if they are unchanged e Suppress parameters that do not need to be sent to the device e Set objects to a specific value just before prologue or just after epilogue the standard boot up procedure e Modify the current value of an object except read only objects The following illustration describes the Object Dictionary tab General Overview PDO Mapping Parameters Bootup Procedure Object Dictionary EDS Area All v Status All v Index Subindex Name Value Default Value Access I Type Min Max 128 35013944 07 2012 Catalog Manager You can select 2 filters to reduce the number of displayed objects on the grid Area filter All show all area Prologue Epilogue show only prologue and epilogue projects XXXX XXXX show only objects between XXXX to XXXX Status filter All show all objects Configured show only transmitted objects to the device during boot up Not Configured show only not transmitted objects to the device Modi
94. U P34 201 2030 and 20102 20302 please refer to the chapter CANopen Compatibility Restrictions see page 137 What Is in This Chapter This chapter contains the following topics Topic Page Description of Processors BMX P34 2010 20102 2030 20302 14 Modicon M340H Hardened Equipment 15 Installation 16 Visual Diagnostics of CANopen Processors 17 35013944 07 2012 13 CANopen on BMX P34 Processors Description of Processors BMX P34 2010 20102 2030 20302 At a Glance Each PLC station is equipped with a BMX P34 eeeee processor There are five processors in the Modicon M340 range that have a CANopen port e The BMX P34 2010 20102 which also has a USB port and serial port e The BMX P34 2030 20302 20302H see page 15 which also has a USB port and Ethernet port BMX P34 eeeee processors have a simple design and include a memory card slot The following figures present the front sides of the BMX P34 2010 and BMX P34 2030 BMX P34 2010 BMX P34 2030 Number Designation 1 Display panel 2 USB Port 3 SD Card slot 4 SerialPort 5 Ethernet Port 6 CANopen Port These processors are bus masters they cannot function as slaves They are linked by SUB D 9 connector points and allow the connect
95. Unity Pro New devices have to be imported to the Hardware Catalog from the Hardware Catalog Manager This import is available since Unity 4 0 NOTE An overview of the Hardware Catalog Manager in read only mode is available in Unity Pro through the Hardware Catalog Motion Command Devices Motion command devices enable you to control motors These devices are Altivar Lexium IcLA Osicoder Telsys T SD328A Stepper Drive Input Output Devices Other Devices Input Output modules function as remote modules These devices are e Tego Power devices e Advantys FTB e Advantys OTB e Advantys FTM e Preventa devices These are e Advantys islands STB e Tesys U e Festo Valve Terminal e Parker Moduflex The STB islands also allow the monitoring of inputs outputs 22 35013944 07 2012 CANopen slaves CANopen motion command devices At a glance Altivar devices Motion command devices enable you to control motors These devices are Altivar Lexium IcLA Osicoder Tesys T SD328A Stepper Drive An Altivar device enables to control the speed of a motor by flux vector control The following figure gives an example of an Altivar device NOTE The recommended minimum version of the firmware is V1 3 for ATV31 T NOTE The recommended minimum version of the firmware is V1 1 for ATV31 ATV61 and ATV71 NOTE ATV31 V1 7 is not supported However it can be used by configuring it
96. VAR Unsigned8 Emergency History The table below presents the Object Entry 4118 Emergency History Index Hex Sub index Description Object type Data type Comments 4118 Emergency History ARRAY 0 Number of entries Unsigned8 1 Emergency history of node number 1 Domain 127 Emergency history of node number 127 Domain input Process Image The table below presents the Object Entry 4200 Input Process Image Index Hex Sub index Description Object type Data type Comments 4200 Input Process Image RECORD 0 Number of entries Unsigned8 1 Current byte length Unsigned16 Read only access Updated by the Master Manager 35013944 07 2012 289 CANopen Master object dictionary Output Process Image The table below presents the Object Entry 4201 Output Process Image Index Hex Sub index Description Object type Data type Comments 4201 Output Process Image RECORD 0 Number of entries Unsigned8 1 Current byte length Unsigned16 Read only access Updated by the Master Manager Additional Master Information The table below presents the Object Entry 4205 Additional Master Information Index Hex Sub index Description Object type Data type Comments 4205 Additional Master Information RECORD 0 Number of entries Unsigned ro 1 Coupler CPU type Unsigned8 rw
97. VE_ACTIV_42 BOOL R Slave operational on the bus device 42 IWr m c 37 9 SLAVE_ACTIV_43 BOOL R Slave operational on the bus device 43 SIWr m c 37 10 SLAVE_ACTIV_44 BOOL R Slave operational on the bus device 44 IWr m c 37 11 SLAVE_ACTIV_45 BOOL R Slave operational on the bus device 45 S IWr m c 37 12 SLAVE_ACTIV_46 BOOL R Slave operational on the bus device 46 IWr m c 37 13 SLAVE_ACTIV_47 BOOL R Slave operational on the bus device 47 IWr m c 37 14 SLAVE_ACTIV_48 BOOL R Slave operational on the bus device 48 IWr m c 37 15 Operational Slaves from 49 to 63 The table below shows the word IWr m c 38 Standard symbol Type Access Description Address SLAVE_ACTIV_49 BOOL R Slave operational on the bus device 49 SIWr m c 38 0 SLAVE_ACTIV_50 BOOL R Slave operational on the bus device 50 SIWr m c 38 1 SLAVE_ACTIV_51 BOOL R Slave operational on the bus device 51 SIWr m c 38 2 SLAVE_ACTIV_52 BOOL R Slave operational on the bus device 52 IWr m c 38 3 SLAVE_ACTIV_53 BOOL R Slave operational on the bus device 53 SIWr m c 38 4 SLAVE_ACTIV_54 BOOL R Slave operational on the bus device 54 SIWr c 38 5 SLAVE_ACTIV_55 BOOL R Slave operational on the bus device 55 SIWr m c 38 6 SLAVE_ACTIV_56 BOOL R Slave operational on the bus device 56 SIWr m c 38 7 SLAVE_ACTIV_57 BOOL R Slave operational on the bus device 57 SIWr m c 38 8 SLAVE_ACTIV_58 BOOL R Slave operational on the bus device 58 IWr m c 38 9 SLAVE_ACTIV_59 BOOL R Slave operational on the bus device
98. Valve System provides flexible pneumatic automation Depending on application you can assemble short or long islands up to 16 outputs IP 65 67 water and dust protection allows the valve to be installed near the cylinders for shorter response time and lower air consumption The Parker Moduflex Valve System CANopen module P2M2HBVC1 1600 can be used as an enhanced CANopen device in an Modicon M340 configuration The firmware version of the PEM2HBVC11600 must be V 1 4 or later For detailed descriptions of PEM2HBVC11600 wiring LED patterns set up procedures and functionality refer to user documentation provided by Parker S Series Stand Alone Valves For isolated cylinders on a machine it is preferable to locate the valve close by Therefore a stand alone module is ideal response time and air consumption are then reduced to a minimum Peripheral modules can be installed directly into the valve 35013944 07 2012 35 CANopen slaves The following figure gives an example of a S Series Single Solenoid device T Series Valve Island Modules For small groups of cylinders requiring short localized valve islands Modules with different functions and flow passages may be combined in the same island manifold giving total flexibility to adapt to all machine requirements The following figure gives an example of a T Series Valve Island Module device 36 35013944 07 2012 Software Implementation of CANo
99. Wr m c 2 Reading is performed by a RI EAD STS IODDT_VAR1 Standard Symbol Type Access Meaning Address NO_DEVICE BOOL No device is working on the channel MWr m c 2 0 1_DEVICE_FLT BOOL R A device on the channel is inoperative MWr m c 2 1 BLK BOOL R Terminal block not connected MWr m c 2 2 TO_ERR BOOL R Time out exceeded anomaly MWr m c 2 3 INTERNAL_FLT BOOL R Internal detected error or channel self testing MWr m c 2 4 CONF_FLT BOOL R Different hardware and software configurations MWr m c 2 5 COM_FLT BOOL R Interruption of the communication with the PLC MWr m c 2 6 APPLI_FLT BOOL R Application detected error adjustment or MWr m c 2 7 configuration 35013944 07 2012 193 Language Objects Management of Exchanges and Reports with Explicit Objects At a Glance When data is exchanged between the PLC memory and the module the module may require several task cycles to acknowledge this information All IODDTs use two words to manage exchanges EXCH STS SMWr m c 0 exchange in progress EXCH RPT SMWr m c 1 report NOTE Depending on the localization of the module the management of the explicit SMWO 0 MOD 0 0 for example will not be detected by the application e for in rack modules explicit exchanges are done immediately on the local PLC Bus and are finished before the end of the execution task so the READ STS for example is always finishe
100. _Position Back_to_ tart_Point e Target_Reached Return_to_Start_Roint obile_Action cE Target_Reache Operation Done isable_Lexium Hove Next_Position Lexium_disabled For actions and transitions used in the grafcet see Actions and transitions page 297 NOTE For more information on creating an SFC section see Unity Pro online help click on then Unity then Unity Pro then Operate modes then Programming and SFC editor 35013944 07 2012 255 Application using Unity Pro Description of the Move_Sequence Section The following table describes the different steps and transitions of the Move_Sequence Grafcet Step Transition Description Init This is the initial state Start_Configuration This transition is active when the variables e Stop 0 e Run 1 Lexium_Configuration The Lexium 05 is enabled and the 0 position is defined using the Lexium s Homing function Configuration_done The transition is active when the Lexium is initialized Move_to_next_position The next target position is loaded in the Lexium 05 When this step is activated the sequence number is incremented Target_reached This variable is set to 1 by the Lexium 5 when the target position is reached Mobile_action The mobile is at the target position and is operating an action Operation_done This transition is
101. ables e Access type e Data type e Channel number e Rank The module address is known only when the device is instantiated in an application Therefore the catalog expert screen shows lt mod gt instead of the real module address NOTE Variables can be mapped to a PDO even if it is disabled In this case these variables still have a memory address static memory mapping but they will not exchange on the bus and a warning message is shown on analyzing the application The user can access to different menus on the PDO Mapping tab Name Description 1 Drag and Drag and drop of variables on the PDO Mapping tab is possible drop of e Inside the same PDO to another position variables e From one PDO to another of the same type Transmit and Receive e From a PDO to the variables window unmap this variable e From the variables windows to a PDO if access type and PDO type are compatible and if the amount of the memory needed for the PDO will not exceed the limit of 8 bytes e Inside the same PDO to another position e Inside the same PDO to another position 35013944 07 2012 121 Catalog Manager Name Description 2 Transmissi A double click on these columns opens the following screen on type Inhibit time PDO 6 x and Event x timer Transmission Type OK Synchronous acyclic 0 Cancel Synchronous cyclic 1 240 0 x Sync period Asynchronous Manuf Event 254
102. age 197 on the CANopen bus Next you can use the procedure described below which details bus start up management and the checks to be carried out using the language objects provided by the PLC Procedure The following diagram indicates the different phases of the procedure A Identify inactive slaves a pa v CANstate has the valu 16 Ax NOK y Check the active slaves ok of Slave diagnostics OK YES Check lW0 y 2 0 YES Bits 0 1 2 3 5 6 and7 0 1 YES Check IW0 y 2 1 CANopen Master must be in RUN state tl YES Check IW0 y 2 3 to IW0 y 2 42 Assigned devices IW0 y 2 3 to IW0 y 2 3 must be without configuration error IW0 y 2 19 to IW0 y 2 22 without emergency error IW0 y 2 27 to lW0 y 2 30 In operationnal state IW0 y 2 35 to IW0 y 2 38 Normal operation A A l0 y 2 ERR 1 How to check IW0 y 2 For the various states of IW refer to the T COM_CO_BMX IODDT see page 197 178 35013944 07 2012 Diagnostics Master Diagnostics for CPUs 2010 2030 At a Glance The CANopen bus master can be diagnosed e at module level e at channel level Module Diagnostics The Module diagnostics screen displays current errors classed according to their category e Internal e External e Other Channel Diagnostics The Channel diagnostics screen displays current an
103. anges on the bus Configuration This field enables you to e configure the PLC internal memory addresses where inputs from the CANopen devices will periodically be copied e configure the PLC internal memory addresses where outputs from the CANopen devices will periodically be read e configure the parameters of the CANopen bus 94 35013944 07 2012 CANopen Configuration Description of Master Configuration Screen for CPUs 20102 20302 At a Glance The configuration screen allows configuration of the bus parameters as well as the inputs and outputs Inputs The figure below illustrates the inputs configuration area Inputs No ofwords MA 32 E Index offirst MW OES Nb ofits M 32 FA Index offirst M 0 fe To configure the inputs of the bus slaves it is necessary to indicate the memory areas to which they will be periodically recopied To define this zone you must indicate e a number of words Mw from O to 32 464 e the address of the first word from 0 to 32 463 e the number of bits M from 0 to 32 634 e the address of the first bit from 0 to 32 633 Outputs The figure below illustrates the outputs configuration area Fallback z Bus Stop when PLC stop Maintain f RESET Ib of words XM 32 idek oF ist siw 32 i Ib of bits 2411 32 H wen of 1st 1m1 32 ae NOTE The checkbox Bus Stop when PLC stop in the fallback area configuratio
104. apped on Reception PDO number 1 position 2 35013944 07 2012 115 Catalog Manager General tab The General tab shows the list of all mappable variables found in the EDS file Genera Overview erage es Index Data ae object Rank ea Field Homme It p Ind m 2000 01 Parameter Input Diagnostic at Pin 2 AAW 0 Parameter_InputDiagnostic_at_Pin 20 j2 M 2001 01 Parameter Input Output at Pin 4 AAN 4 Pararneter_Input Oufput_atPin 40 23 l K E 3000 01 Common diagnosis Aw 0 M Common _diagnosis_0 4 iv 3000 02 Sensor short circuit Ww 1 M Sensor_short_circuit_0 5 ba 4 3000 03 Actuator shutdown Pin 4 WwW 2 m Actuator_shutdown_Pin_4_0 ed v M 3000 05 Actuator warning Pin 4 Ww 3 m Actuator_warning_Pin 4 0 zg K 3000 07 Desina inputs Ww 4 M Desina_inputs_0 gg M M 6000 01 Digital Input 8 Bits Pind SW 5 _ Digital_Input_8_Bits_Pin4_0 a 6U0U02 Digital Input amp Bits Ping AN 6 a Diyilal_Inpul_ _Bils_Pin2_O ol ii 6100 01 Digtal Input 16 Bits Aw 7 Digital_Input_16_Bits_0 a 6102 01 Polarity 46 Inputs HAN 2 Polarity_16_Inputs_0 i2 ma 6200 01 Write Outputs 1 to 8 AAN 3 Wtite_Outputs_1_to_8_0 agm m 6300 01 Digtal Oulput 16 Bits HAW 4 Digital_Output_16_Bits_0 4 gt hal NOTE A left click on the header of each column can be used to sort the grid first click ascending order second click descending order The fol
105. atalog Manager see page 110 e How to add a function on a device see page 113 An IODDT with this name already exist The following messages can appears on the output windows Follow these instructions to solve the anomailis e The function name already exists The function name must be renamed to solve it The IODDT name already exists The IODDT must be rename to solve it The following message appears CfCatGui An IODDT with this name already exist Please change the IODDT name OK Wrong File Format The following message can appears on the Export User Devices action e Wrong file format Follow these intructions to resolve this situation e How to import export or delete one or several user devices see page 139 Delete Device Applications using the deleted device are no longer usable This function is enabled only if the list of selected items in the tree control contains only User Device item When all conditions for the Delete Device s function are fulfilled Main menu item Edit Delete or Context menu Delete on a selection of one or more User devices The user is asked for confirmation of this action The confirmation message informs about possible consequences Applications using the deleted device are no longer usable They cannot be opened The following message appears CfCatGui lt Applications using the deleted device are no longer usable Do you want to continu
106. ation The equipments can be connected as follow BMX P34 2010 Pina y Lexium Motor sore CANopen Bus Operating mode The operating mode is as follows e A Start Sequence button is used to start the defined sequence e inthis example the mobile first goes to B position then to the A position and at the end to the C position before coming back to the Start Point waiting for a new start up request e The mobile stops for few seconds at each position to simulate an action time e A Stop Sequence button interrupts the mobile sequence The mobile stops to the last targeted position and comes back to the Start Point waiting for a new start up request 232 35013944 07 2012 Installing the application using Unity Pro 11 Subject of this chapter This chapter describes the procedure for creating the application described It shows in general and in more detail the steps in creating the different components of the application What Is in This Chapter This chapter contains the following sections Section Topic Page 11 1 Presentation of the solution used 234 11 2 Developping the application 237 35013944 07 2012 233 Application using Unity Pro 11 1 Presentation of the solution used Subject of this section This section presents the solution used to develop the application It explains the technological choices and gives the application
107. atus Bar e Output Window Show Hide Output Window e View Function Display the selected function 104 35013944 07 2012 Catalog Manager Devices Devices are individual external units that may offer one or several different functions A device is identified in the catalog by its name The default name is taken from the EDS file although this can be modified The device name must be unique in the catalog There are two different kinds of device e Pre programmed devices Information about these devices is included with Unity Pro software The user cannot modify the list of pre programmed devices An icon with a Schneider logo is shown on the left of a Schneider device name e User devices Any device which is not part of the Schneider offer is considered to be a User device User devices can be deleted or reconfigured in the Catalog Manager User devices that have been added but not yet built are shown with a icon Devices that have been built are indicated with a E icon 35013944 07 2012 105 Catalog Manager The following illustration shows a list of Distributed I O devices and one User device 48 gt Hardware catalog manager Bek File Edit View Service Help BT CANopen crop Distributed I Os FTB_1CNO8E08CMO ge FTB_1CNO08E08SP0 FTB_1CN12E04SPO FTB_1CN16CMO FTB_1CN16CMPO ge FTB_1CN16EMO a FTB_1CN16EPO FTM_1CN10 P OTB_1C0_DM9LP g2 OTB_ISLAND STB_NCO_1010 STB_NCO_2212
108. bles 249 Creating the program in SFC for managing the move sequence 252 Creating a Program in LD for Application Execution 257 Creating a Program in LD for the operator screen animation 259 Creating a program in ST for the Lexium configuration 260 Creating an Animation Table 263 Creating the Operator Screen 265 35013944 07 2012 237 Application using Unity Pro Creating the project At a glance Developing an application using Unity Pro involves creating a project associated with a PLC Procedure for creating a project The table below shows the procedure for creating the project using Unity Pro Etape Action 1 Launch the Unity Pro software 2 Click on File then New to select a CANopen Master PLC BMX P34 2010 for example New project Show all versions PLC Min OS version Description ok Modicon M340 Cancel BMX P34 1000 02 10 CPU 340 10 Modbus BMX P34 2000 02 10 CPU 340 20 Modbus Help BMX P34 2010 02 00 CPU 340 20 Modbus CANopen BMX P34 20102 CPU 340 20 Modbus CANopen2 BMX P34 2020 CPU 340 20 Modbus Ethernet BMX P34 2030 CPU 340 20 Modbus CANopen BMX P34 20302 CPU 340 20 Modbus CANopen2 Project Setting p Setting File To see all PLC versions click on the box Show all versions Select the processor you wish to use from those proposed To create a project with specific values of project settings check the box Settings F
109. by a READ STS Object Function Standard Symbol Type Access Meaning sMWr m c 2 Statusofthe CAN FLT BOOL R Bit 0 1 The CANopen Master is not in CANopen operational state Master FEW SLAVE FLT BOOL R Bit 1 1 One or more slaves are not in an operational state CAN_OFF BOOL R Bit 2 Reserved CONF_FLT BOOL R Bit 3 1 Configuration detected error Bit 4 to bit 7 Reserved Bit 8 to Bit 10 CAN ERR led e 000 off e 001 single flash e 010 double flash e 011 triple flash e 111 0n Bit 11 to Bit 13 CAN RUN led e 001 single flash e 100 blinking e 111 o0n Bit 14 to Bit 15 Reserved SMWr m c 3 Generic Number of received emergency detected error messages with code 10xxH count SMWr m c 4 Device Number of received emergency hardware messages with code 50xxH detected error count SMWr m c 5 Device Number of received emergency software messages with code 60xxH detected error count 208 35013944 07 2012 Language Objects Object Function Standard Symbol Type Access Meaning SMWr m c 6 Communicati Number of received emergency on detected messages with code 81xxH error count SMWr m c 7_ Protocol Number of received emergency detected error messages with code 82xxH count SMWr m c 8 External Number of received emergency detected error messages with code 90xxH count SMWr m c 9_ Device Number of re
110. by default e If the device type identification value for the slave in object dictionary 0x1F84 is not Ox0000 don t care compare it to the actual value e Ifthe configured Vendor ID in object dictionary 0x1F85 is not 0x0000 don t care read slave index 0x1018 Sub Index 1 and compare it to the actual value e The same comparison is done with ProductCode RevisionNumber and SerialNumber with the according objects 0x1F86 0x1F88 NOTE Unchecked option DeviceType forces the object dictionary 0x1F84 to 0x0000 NOTE Unchecked option identity forces the object dictionary 0x1F86 0x1F88 sub device nodelD to 0x0000 e Force the download of communication or configuration parameters unchecked by default If option is checked it forces all the corresponding objects to be downloaded If the option is unchecked you must follow these standard rules e Parameters are downloaded if they are different from the default value e Parameters are downloaded if they are forced in the object dictionary e Parameters are not downloaded in the other cases e The Start Node If option is checked default value the CANopen master starts automatically the device after the bootup procedure If option is unchecked the device stays in pre operational state after bootup procedure In this case the device must be started by the application program 35013944 07 2012 127 Catalog Manager Object Dictionary Tab A WARNING UNEXPEC
111. bypass the standard bootup procedure for devices which do not comply with CANopen standards 76 35013944 07 2012 CANopen Configuration The following paragraph defines the different functionalities of the Bootup procedure e The type of restore e No Restore option enabled by default e Restore communication parameters enabled option according to the object 0x1011sub02 If the option is checked all parameters between 0x1000 to Ox1FFF are restored e Restore application parameters enabled option according to the object 0x1011sub03 If the option is checked and if the device correctly implements the service all application parameters are restored e Restore all enabled option according to the object 0x1011sub01 If the option is checked all parameters are restored default value e The type of reset e Reset communication parameters option always enabled If the option is checked all communication parameters are reset e Reset node default value option always enabled If the option is checked all parameters are reset e The check device type and identity checked by default e lf the device type identification value for the slave in object dictionary 0x1F84 is not Ox0000 don t care compares it to the actual value e f the configured Vendor ID in object dictionary 0x1F85 is not 0x0000 don t care read slave index 0x1018 Sub Index 1 and compare it to the actual value e The same comparison is done wi
112. ceived emergency specific messages with code FFxxH 35013944 07 2012 209 Language Objects Details of T COM_CO_BMX_EXPERT IODDT Implicit Exchange Objects of the IODDT Implicit exchange objects are automatically exchanged at each cycle of a task associated with the channel These objects are 31 sIW 3Q and QW Channel Error The table below presents the various implicit exchange objects of IODDT T COM _CO BMX EXPERT The parameters r m and c shown in the following tables represent the topological addressing of the module Each parameter has the following signification e r represents the rack number e m represents the module number e c represents the channel number The table below presents the bit Ir m c ERR Standard symbol Type Access Description Address CH_ERROR BOOL R Channel detected error SIr m c ERR Master Status and Event Indicator The table below shows the words IWr m c 0 to IWr m c 2 Standard symbol Type Access Description Address COMM_STS INT R Communication status of Master SIWr m c 0 CAN_STS INT R Status of CANopen Master SIWr m c 1 EVT_STS INT R Event indicator SIWr m c 2 210 35013944 07 2012 Language Objects The following figure gives an example of Master status indicator CANopen Master CANopen Slaves In this example the word 3IW0 0 2 1 gives the status of the CANop
113. ctions used in the application must be animated in online mode See Execution of Application in Standard Mode page 267 with the PLC in RUN NOTE If task cycle is faster than CANopen Master cycle outputs can be overwritted To avoid that it is recommended to have a task cycle higher than the CANopen Master cycle 35013944 07 2012 253 Application using Unity Pro Procedure for Creating an SFC Section The table below shows the procedure for creating an SFC section for the application Step Action 1 In Project Browser Program Tasks double click on MAST 2 Right click on Section then select New section Give your section a name Movement_sequence for the SFC section then select SFC language 3 The name of your section appears and can now be edited by double clicking on it 4 The SFC edit tools appear in the window which you can use to create your Grafcet For example to create a step with a transition e To create the step click on then place it in the editor e To create the transition click on T then place it in the editor generally under the preceding step 254 35013944 07 2012 Application using Unity Pro Illustration of the Move_Sequence section The following screen shows the application Grafcet There is no condition defined gt Init Start_Corjfiguration Lexium_Configuration Configuraion_Done Move_to_Next
114. d when theSMW 0 0 MOD 0 0 bit is checked by the application e for remote bus Fipio for example explicit exchanges are not synchronous with the execution task so the detection is possible by the application Illustration The illustration below shows the different significant bits for managing exchanges Reconfiguration bit 15 Adjustment bit 2 Command bit 1 y Status bit 0 EXCH_RPT MWr m c 1 EXCH STS MWr m c 0 Status parameters READ STS Description of Significant Bits The rank 0 bits of the words EXCH_STS sMWr m c 0 and EXCH_RPT SMWr m c 1 are associated with the status parameters e The STS_IN_ PROGR bit sMWr m c 0 0 indicates whether a read request for the status words is in progress e The STS_ERR bit sMWr m c 1 0 specifies whether a read request for the status words is accepted by the module channel 194 35013944 07 2012 Language Objects Execution Indicators for an Explicit Exchange EXCH_STS Explicit Exchange Report EXCH_RPT The table below presents the EXCH __ The table below shows the 1 EXCH STS SMWr m c 0 explicit exchange control bits Standard symbol Type Access Meaning Address STS_IN_PROGR BOOL R Reading of channel status words in progress MWr m c 0 0 NOTE If the module is not present or is disconnected explicit exchange
115. description of the variables repeat of communication the supported IODDT only T COM_CO_BMX and T_COM_CO_BMX EXPERT 35013944 07 2012 159 Programming The CANopen screen is brought up as follows m CANopen lal I O objects CANopen slave details Device name Vendor name Description Request to send Request to send Parameter name Index 16 Parameter size Byte Subindex 16 Response received Status SDO information read or written are displayed in their native format Byte Word and DWord You can change the display format to Binary Decimal and Hexadecimal with popup menu The Status Box can display OK or an abort code see page 149 160 35013944 07 2012 Programming Modbus Request From a Human Machine interface example XBT itis possible to access the SDOs using the Modbus FC43 request BMX P34 2010 2030 Sending request FC43 ead Write SDO For more information about the use of the Modbus request FC43 0xD see Modbus request example page 168 SDO Timeouts Various time outs are implemented They depend on the type of object as well as the type of access read write Object Timeout 1010h 15s 1011h 3s 2000h to 6000h 8s All other objects SDO Reading 1s SDO Writing 2s 35013944 07 2012 161 Programming Communication functions example At a Glance
116. device when the CPU is in STOP or in HALT e Maintain maintains outputs values are kept e Reset resets outputs values are set to 0 To configure the outputs it is necessary to indicate as for the inputs the word and bits tables that will contain the values of the bus slave outputs a number of words Mw from 1 to 32 464 the address of the first word from 0 to 32 463 the number of bits M from 1 to 32 634 the address of the first bit from 0 to 32 633 NOTE The word tables and bit tables are found in the PLC internal memory Any crossover between two areas of each table is prohibited The bits area for the inputs cannot overlap the bits area for the outputs The words area for the inputs cannot overlap the words area for the outputs 4 WARNING UNEXPECTED EQUIPMENT OPERATION In case of a CANopen bus interruption verify the fallback positions of all devices on the bus are as expected Consult the relevant equipment s documentation for additional information Failure to follow these instructions can result in death serious injury or equipment damage Bus Parameters The figure below illustrates the bus parameters configuration area Bus parameters Transmission speed 250 SYNC message COB ID 128 SYNC message period 100 ms To configure the bus it is necessary to indicate e The transmission speed see Premium and Atrium using Unity Pro CANopen Field Bus User manual 250kBauds defa
117. doing replace CPU command Unity Pro V4 1 or later with a CPU 2010 2030 Open with Unity Pro V3 0 compatible with import of the XEF file Download on CPU 20102 20302 20302H see page 15 not compatible without doing replace CPU command Unity Pro V4 1 or later with a CPU 20102 20302 20302H see page 15 Note CANopen expert functions are only viable with these CPU Open with Unity Pro V3 0 not compatible Download on CPU 2010 2030 not compatible without doing replace CPU command but Expert Functions Boot Up Procedure and Object Dictionary will be no longer available 35013944 07 2012 137 Catalog Manager How to copy or delete a function At a glance Functions can be copied from one device to another or deleted from the Catalog Manager database Copy The Copy function is only available if a Function item on a device is selected in the Catalog Manager main screen Follow the instructions below to copy a function e Select Edit gt Copy e Right click on the function name and select Copy The function parameters are stored in the clipboard and can then be pasted to a compatible device Paste The Paste function is only available if a Function is in the Clipboard and if a device is selected in the Catalog Manager main screen Follow the instructions below to paste a function e Select Edit gt Paste e Right click on the device and select Paste There is no
118. e OK Cancel Follow these intructions to resolve this situation e How to import export or delete one or several user devices see page 139 35013944 07 2012 147 Catalog Manager Anomaly Solution Delete Function Applications using the deleted device are no longer usable This function is enabled only if the list of selected items in the tree control contains only User Function item The default function of a device cannot be deleted When all conditions for the Delete Function s service are fulfilled Main menu item Edit Delete or Context menu Delete on a selection of one or more User functions The user is asked for confirmation of this action The confirmation message informs about possible consequences Applications using the deleted function are no longer usable They cannot be opened The folllowing message appears CfCatGui xX Applications using the deleted device are no longer usable Do you want to continue OK Cancel Follow these intructions to resolve this situation e How to copy or delete a function see page 138 148 35013944 07 2012 Catalog Manager SDO Abort Code Description Table The following table describes the Abort Code Description 0503 0000h Toggle bit not alternated 0504 0000h SDO protocol see page 159 timed out 050
119. e transition variable Operation done and set the Ready for stop variable e The second line resets the variable New Setpoint onthe Target reached positive transition 35013944 07 2012 257 Application using Unity Pro Procedure for Creating an LD Section The table below describes the procedure for creating part of the Application section Step Action 1 In Project Browser Program Tasks double click on MAST 2 Right click on Section then select New section Name this section Application then select the language type LD The edit window opens 3 To create the contact Action_Mobile x click on 1 F then place it in the editor Double click on this contact then enter the name of the step with the suffix x at the end signifying a step of an SFC section Confirm with OK 4 To use the TON block you must instantiate it Right click in the editor then click on Data Selection and on E Click on the Function and Function Block Types tab Click on Libset select the TON block in the list then confirm with OK and position your block To link the Action_Mobile x contact to the Input of the TON function block align the contact and the input horizontally click on and position the link between the contact and the input NOTE For more information on creating an LD section see Unity Pro online help click on then Unity then Unity Pro then Operate modes then Programming and LD editor 258
120. e imiting_Deceleration E ME 2022 0A Number of the following moton task AAW 101 M Number_of the following_motion_task A Iv gt 2022 08 Start delay for following task OW 102 Iv Start_delay_for_following_task_O Ws Oo F 2022 0D Weighing Factor Speed for PDO OD 4 M Weighting_Factor_Speed_for_PDO_0 d4 2022 0E Speed for direct Motion Task QD 6 q Speed _for_direct_Moton Task_0 5 M 2054 01 Ubernachung ein 3 ausschatten ANA 103 Iv Uberwachung ein ausschalten 0 d6 Iv m 2054 02 Meldeart umlaufend einmalig OW 104 a Meldeart_uriaufend_einrralig_0 f Fam e 2051 03 Polarit t f r Positionsmeldung OW 105 re Polaritat_fir_Positionsmeldung_0 RE iv 2052 01 Positions register P4 absolut OD 8 i Positions_register_P1_absolut_0 4 ok Cance Hep In this tab you can sort the objects in different ways either clicking on the column head or ticking the checkboxes then clicking on the column head again 35013944 07 2012 111 Catalog Manager Step Action 6 Some parameters on the device profile screen can be changed by the user e Family select the device family from the list e Image File select the image file BMP or JPG format associated to the device which will be displayed in the graphical Catalog Manager Configurator Editor There is no limit to the size of the image In the boxes included in the label zone you define the device name position compared to the bi
121. e list Configured If checked the object is transmitted to the device Expand all Expand all nodes of the tree Collapse all Collapse all nodes of the tree Right click on an object in the standard sections Copy Copy the object on the clipboard Configured If checked the object is transmitted to the device Expand all Expand all nodes of the tree Collapse all Collapse all nodes of the tree NOTE some functions are only available in prolog epilog section 80 35013944 07 2012 CANopen Configuration Configuration Using an External Tool Configuration Software At a Glance To configure a Lexium 05 15 an IcLA a Tesys U or an ATV61 71 device it is necessary to use an external tool Advantys Configuration Software for the STB PowerSuite V2 5 Software for Lexium 05 Powersuite V2 5 Software for the ATV31 ATV61 ATV71 and the Tesys U UNILINK V1 5 for the Lexium 15 LP UNILINK V4 0 for the Lexium 15 MH e EasylclA V1 104 for ICLA_IFA ICLA_IFE ICLA_IFS NOTE To facilitate the configuration and programming of the motion and drives devices it is highly recommended to use the software in conjonction with the Unity MFBs NOTE You can do autoconfiguration with NCO2212 as with a NCO1010 Advantys Configuration Software Advantys Configuration Software Version 2 5 or higher has to be used to configure a STB NCO 2212 The Advantys Configuration Software validates the configuration and cr
122. e time cycle of the master Addresses Description Meaning SIWr m c 59 Minimum master cycle time Minimum value of the CANopen master cycle time in ms SIWr m c 60 Current master cycle time Current value of the CANopen master cycle time in ms SIWr m c 61 Maximum master cycle time Maximum value of the CANopen master cycle time in ms The following symbols are accessible sIW r m c 59 to SIW r m c 61 e INT ERR BIT gt BitO 206 35013944 07 2012 Language Objects Reset Emergency Default The table below shows the meaning of the Reset Emergency Default objects Addresses Description Standard Symbol Bit meaning SQWr m c 0 Command word of the CANopen master INT ERR BIT Bit 0 1 Reset emergency slaves bit list This bit is set to zero after the reset of the bitlist Bit 1 1 Reset bit 8 overrun in common status SIWO 0 2 0 The bit 1 is set to zero after the reset of the bit 8 Bit 2 1 Reset bit 7 change bit list of event indicator SIWO 0 2 2 The bit 2 is set to zero after the reset of the bit 7 Bit 3 1 Reset quality information sID0 y 2 66 to IW0 y 2 72 This bit is set to zero after the reset of the words and the measure restarts Bit 4 1 Reset bus load information 31W0 y 2 62 to sIWO0 y 2 64 This bit is set to zero after the reset of the words and the measure restarts Bit 5
123. eates a DCF file that contains all the objects used in the configuration ordered in the proper sequence The DCF file can be imported from Unity Pro NOTE The creation of the DCF file is only possible from the full version of Advantys A WARNING RISK OF UNINTENDED OPERATION The symbol file xsy generated by Advantys must not be used in Unity Pro during the configuration of an STB Island The assignment of inputs and outputs to MW objects is different Failure to follow these instructions can result in death serious injury or equipment damage 35013944 07 2012 81 CANopen Configuration The procedure for adding an island to a CANopen bus is as follows Step Action 1 In Advantys Configuration Software Version 2 2 or above create a new Island 2 Select the STB NCO 2212 Network Interface Module 3 Select the modules which will be used in the application 4 Configure the island 5 When the configuration is over click on File Export to export the island in DCF format The following window is displayed Export Target Information Directory DADATA 2 Filename TestNC02212 dcf F Short file name Prefix Export Format PLC Information DCF for TwidoSoft CoDeSys etc Address Type Ly O EDS for SyCon etc Topological Adress Connection Point CSD on etc Rack O SCY for PL7 Sieh O 17 fer Conce Memory Address I
124. ect dictionary Index Hex Sub index Description Object type Data type Comments 127 Device with Node ID 127 Unsigned32 1F85 Vendor Identification ARRAY 0 Number of entries Unsigned8 1 Device with Node ID 1 Unsigned32 127 Device with Node ID 127 Unsigned32 1F86 Product Code ARRAY 0 Number of entries Unsigned8 il Device with Node ID 1 Unsigned32 127 Device with Node ID 127 Unsigned32 1F87 Revision Number ARRAY 0 Number of entries Unsigned8 Device with Node ID 1 Unsigned32 127 Device with Node ID 127 Unsigned32 284 35013944 07 2012 CANopen Master object dictionary Midrange Manufacturer Specific Object Dictionary Entries Project Data The table below presents the Object Entry 2010 Project Data Index Hex Sub index Description Object type Data type Comments 2010 Project Data RECORD 0 Number of entries Unsigned8 1 Current byte length Unsigned16 Read only access Updated by the Master Manager 2 Project data domain DOMAIN CANopen Master Timing Control The table below presents the Object Entry 2100 CANopen Master Timing Control queue accesses during one cycle SDOs Heartbeat Guarding Index Hex Sub index Description Object type Data type Comments 2100 CANopen Master Timing Control ARRAY 0 Number of entries Unsigned8 1 Max number of TPDOs to transmit Unsigned8
125. ection This section contains the following topics Topic Page Catalog Manager Description 101 Catalog Manager Contents 104 100 35013944 07 2012 Catalog Manager Catalog Manager Description Overview The Catalog Manager is a software tool that allows management of CANopen devices in the Unity Pro catalog database The Catalog Manager is a separate software that can be used to e Integrate third party products e Add remove and configure access to CANopen devices on the fieldbus e Minimize the size of the CPU memory reserved for a given equipment e Customize the user interface The Unity user interface works on a catalog database which is installed with Unity Pro and uses some basic services from the Unity Pro installation Therefore Unity Pro software must be installed on your workstation for the Catalog Manager to work NOTE An overview of the Catalog Manager in read only mode is available in Unity Pro through the Hardware Catalog The devices are added in the standard catalog in Unity Pro and the devices can be used in projects as any devices that are provided with Unity Pro 35013944 07 2012 101 Catalog Manager The following illustration shows the Catalog Manager main screen 4 Hardware catalog manager TAx File Edit View Service Help CANopen drop Distributed I Os stele Motion amp Drive Abort Modifications Motor control Other ra ee aa Safety Senso
126. el The diagram below shows the different types of explicit exchanges that can be made between the processor and module PLC processor MWr m c Status parameters wt READ_STS Communication module Communication channel Command parameters Adjustment parameters Initial adjustment parameters Status parameters Command parameters Current adjustment parameters 190 35013944 07 2012 Language Objects Managing Exchanges During an explicit exchange it is necessary to check its performance in order that data is only taken into account when the exchange has been correctly executed To do this two types of information are available e Information concerning the exchange in progress e The exchange report The following diagram describes the management principle for an exchange Explicit Exchange Execution m Exchange in progress Exchange Report NOTE In order to avoid several simultaneous explicit exchanges on the same channel it is necessary to test the value of the word EXCH_STS Mwr m c 0 of the IODDT associated to the channel before to call any EF using this channel 35013944 07 2012 191 Language Objects Details of IODDT Explicit Exchange Objects of Type T_ COM_STS_GEN Introduction This section presents the T COM STS_ GEN type IODDT explicit exchange objects appl
127. en Bus 7 Aim of this Chapter This chapter presents the debugging of the CANopen bus master and slaves What Is in This Chapter This chapter contains the following topics Topic Page How to Access the Debug Screens of Remote Devices 170 Debugging Screen of the CANopen Master for CPUs 2010 2030 171 Debugging Screen of the CANopen Master for CPUs 20102 20302 173 Slave Debug Screens 175 35013944 07 2012 169 CANopen Debugging How to Access the Debug Screens of Remote Devices At a Glance The following operations describe how to access different debug screens of the CANopen network elements NOTE The debug screenscan only be accessed in online mode Master Debug Screen To access the master debug screen perform the following actions Step Action 1 Connect to the manager PLC 2 Access the CANopen master configuration screen see page 86 3 Select the Debug tab Slave Debug Screen To access the slave debug screen perform the following actions Step Action 1 Connect to the manager PLC 2 Access the CANopen slave configuration screen see page 66 3 Select the Debug tab 170 35013944 07 2012 CANopen Debugging Debugging Screen of the CANopen Master for CPUs 2010 2030 At a Glance This screen can only be used in online mode Illustration The figure below shows a master debug screen 1 2 Communicator head CANop
128. en Master The parameters are as follows er 0 e m 0 e c 2 CANopen channel The last parameter 1 indicates the used word CAN _STS 35013944 07 2012 211 Language Objects The table below shows the meaning of bits from various status words from the master and event indicators Addresses Description Bit meaning SIWr m c 0 Communication status of Master Bit 0 1 Overflow of the low priority reception queue The CANopen Master receives Heartbeat and Node guarding messages as well as SSDOs and CSDOs via the low priority queue Bit 1 1 FIFO overwrites the CAN controller Bit 2 1 The CAN controller has the status BUS OFF Bit 3 1 CAN controller doesn t run correctly and stops This bit is reset when the condition disappears Bit 4 1 The CAN controller has left an abnormal state Bit 5 1 Overflow of the low priority emission queue The CANopen Master transmits Heartbeat and Node guarding messages as well as SSDOs and CSDOs via the low priority transmission queue Bit 6 1 Overflow of the high priority reception queue The CANopen Master receives RPDOs NMT commands the message Sync and emergency messages via the high priority reception queue Bit 7 1 Overflow of the high priority transmit queue The CANopen Master sends TPDOs NMT commands the message Sync and emergency messages via the high priority queue Bit 8 1 Indicates that the task cycle is faste
129. en Version 0 04 e Run Er 10 al Aopen comm head E Config Debugging E Error 4 Channel 2 Status of slaves Status of master Addr Name of device Status NMT Emcy 1 ATVI VII i Configured Operational Emergency Status of CANopen Master Communication status 0 Event indicator Counters Generic error counter 4 Hardware error counter Software error counter Communication error counter Protocol error counter External error counter Specific to the device 35013944 07 2012 171 CANopen Debugging Elements and Functions The table below describes the different areas which make up the master debug screen Read Number Channel 1 Tab The tab in the foreground indicates the type of screen displayed In this case the debug screen 2 Module This area is made up of the abbreviated heading of the module equipped with a CANopen port as well as 3 LEDs indicating the status of the module 3 Channel This area allows you to select the communication channel to be debugged By clicking on the device you display the tabs e Description gives the characteristics of the built in CANopen port Inputs outputs objects allows pre symbolizing of the input output objects By clicking on the channel you display the tabs
130. encoded and Atrium using Unity e 0 1000 Kbaud Pro CANopen Field Bus 2 500 Kbaud User manual e 3 250 Kbaud 4 125 Kbaud e 5 50 Kbaud e 6 20 Kbaud KWr m c 2 INT COB ID Synchronization Default value 0080h KWr m c 3 INT Synchronization period 1 5000 ms KWr m c 4 INT Configuration bits Size of input image zone TOR in the memory in number of bits KWr m c 5 INT Configuration bits Size of output image zone TOR in the memory in number of bits KWr m c 6 INT Configuration bits Address of the start of the input image zone TOR M KWr m c 7 INT Configuration bits Address of the start of the output image zone TOR M KWr m c 8 INT Configuration words Size of input image zone in the memory in number of words 35013944 07 2012 223 Language Objects Number Type Function Description KWr m c 9 INT Configuration words Size of output image zone in the memory in number of words KWr m c 10 INT Configuration words Address of the start of the input image zone MW KWr m c 11 INT Configuration words Address of the start of the input image zone MW KWr m c 12 INT NMT inhibit time Minimum time in 1 10ms between 2 NMT commands on the bus Default value 50 5 ms KWr m c 13 INT Device Bootup timeout Timeout in ms for reading object 1000 during configuration of the devices Default value 50 ms KWr m c 14 INT Device SDO timeout SDO timeout i
131. eration am id 2022 0A Number of the following moton task AAW 101 M Number_of_the_following_motion_task 42 hd 2022 0B Start delay for following task HAW 102 ye Start_delay_for_following_task_0 43 z 2022 0D Weighting Factor Speed for PDO OD 4 2 Weighting _Factor_Speed_for_PDO_0 i4 a 2022 0E Speed for direct Moton Task QD amp a Speed_for_direct_Motion Task_0 45 v I 2051 01 berwachung ein ausschalten OW 103 v berwachung _ein_ausschalten 0 46 zd 2051 02 Meldeart umlaufend einmalig HAN 104 Meldeart_umlaufend_einmalig_0 i7 hd 2051 03 Polaritat flr Posifionsrneldung HOW 105 lv Polaritat_fur_Positionsmeldung_0 aie y 2052 04 Positions register P1 absolut OD 8 i Fests ogee Peat bs 4 OK Cancel Hep To configure the function parameters Basic Configuration Parameters see page 115 Expert Mode Configuration Parameters see page 119 4 When configuration is complete click OK Return to the Catalog Manager main screen and click on the button Build Catalog in order to save any changes and to load the new function into the Catalog Manager database 114 35013944 07 2012 Catalog Manager Basic configuration parameters At a glance The basic configuration parameters can be set in the Device Profile screen using the General and Overview tabs Function parameters The user can customize the function which has been added to the Catalog Manager in order to select the specific capabilities required Before startin
132. eration is used to delete via the software a device connected to the CANopen bus Step Action 1 Access the CANopen configuration screen 2 Delete the drop Right click on the connection point of the device to be deleted then click on Procedure for Moving a Device Moving a device does not involve a physical move on the bus but rather a change in the device address logic A movement thus triggers modification of the address of inputs outputs objects in the program and movement of the variables associated with these objects Step Action Access the CANopen configuration screen Select the connection point to be moved a frame surrounds the selected connection point Drag and drop the connection point to be moved to an empty connection point Result the Move Device screen appears Move Device Topologic address Node identification 5 62 5 OK Cancel Help au Enter the number of the destination connection point Confirm the new connection point by pressing OK Result the Move Device screen appears Move Device Do you want to update all references with the variables program amp data 8 Ifyes then you will not be able to go back with the Undo command lt may take several minutes to update variables if many moved I O variables are used Yes No Cancel Confirm the modification by pressing Yes
133. ert Mode check box has to be selected to get the Expert Mode configuration parameters The Expert Mode configuration parameters are used to Remove variables Change variables mapping Modify variables parameters Substitute the standard bootup procedure for devices which do not comply with CANopen standards Display in read only mode the content of the EDS used to build the device The Expert Mode configuration parameters are composed of five tabs PDO mapping tab Parameters tab Bootup Procedure tab Object Dictionary tab EDS tab NOTE Configuring a device using one of the five tabs of the Expert mode will only be available on CPU 20102 or 20302 NOTE Bootup procedure and Object Dictionary tabs are provided for CANopen expert users Configuration changes via these tabs can result in incorrect configuration of the device which can disturb the CANopen bus 35013944 07 2012 119 Catalog Manager PDO Mapping The PDO mapping tab opens a CANopen expert screen for PDO configuration The PDO mapping configuration is composed of three parts e Transmit PDOs e Receive PDOs e Variables The following illustration describes the PDO Mapping tab General Overview PDO Mapping Parameters I Bootup Procedure I Object Dictionary I EDS PDO Attributes Permissions All Variables Transmit Blk PDO Tran Inhibi Even Topo Addr Parameter Na X In Wv 4000 00
134. essages Troubleshooting The following table describes the troubleshooting for the Catalog Manager Anomaly Solution Only available in read only If Unity Pro is open then the Catalog Manager will be opened in read mode Therefore mode all the functions which modify the Catalog Manager will be disabled A message prompts to inform the user about the behaviour CfCatGui A The database is open in ReadOnly mode all action with write permission are disable OK Follow these intructions to solve this issue e Close Unity Pro before opening the Catalog Manager Unity Pro and the Catalog Manager can not be launched at the same time 35013944 07 2012 145 Catalog Manager Anomaly Solution The device name already exist The EDS file is required when the user wants to add or to import a device on the Catalog Manager database e f a device name already exists in the Catalog Then the user is asked if he wants to add a new function to the device e lfyes then the existing device becomes selected in the main screen and the Add Function service is called automatically e f no then the Add Device service is refused Follow these intructions to solve the anomalies e Rename the device e Ifthe EDS file is refused then the reason is shown in a message and the Open screen remains open The user can select another EDS file or cancel the action A message prompts to inform the u
135. evice on the Bus Procedure This operation is used to add via the software a device connected to the CANopen bus Step Action 1 Access the CANopen see page 52 configuration screen 2 Double click on the place where the module should be connected Result the New Device screen appears New Device Topologic address 1 63 lode identification 1 a ance Description a Help open gt e Vo Va J eds open Slave DSP402 TEATV3112E eds ic FS CANopen GATES ed IelA_NO65 IcIANO65 based on profile DS301V4 OT and DSPAD2V2 Ia DOANE f aes Lexium S_HP LEXIUM 15 HP servodrive Lexium 15 MP HPeds __ bexium15_MP LEKUM 15 MP servodive Lexum 15 MP HPeds v r Drop end communicator 3 Enter the number of the connection point corresponding to the address By default the Unity Pro software offers the first free consecutive address 4 In the Communicator field select the element type enabling communication on the CANopen bus For modules with built in communicators this window does not appear 56 35013944 07 2012 CANopen Configuration Step Action Validate with Ok Result the module is declared Bus CANopen comm head Expert 0 Connections configured 35013944 07 2012 57 CANopen Configuration How to Delete Move Duplicate a Bus Device Procedure for Deleting a Device This op
136. exium 15LP MP HP drives according to the associated SER BPH brushless motor and the application requirements For more information about the configuration of a Lexium 15 using UNILINK please refer to the Lexium user manual 35013944 07 2012 83 CANopen Configuration Manual Configuration At a Glance ATV 31 and Icla devices can be configured manually from their front panel Configuration of the ATV 31 The following figure presents the different front panels of the ATV 31 servodrive Altivar 31 AT V31 Xxxxx AT V31 XxxxxxA The ATV 31 may be configured as follows Step Action 1 Press on the ENT key to enter the ATV31 configuration menu 2 Use the Arrows keys to select the COM Communication menu then confirm using the ENT key Use the Arrows keys to select the AdCO menu then confirm using the ENT key Enter a value Address on the CANopen bus Confirm using the ENT key then exit the menu using the ESC key Use the Arrows keys to select the bdCO menu then confirm using the ENT key Enter a value Speed on the CANopen bus Confirm using the ENT key then exit the menu using the ESC key 5 Press several times on the ESC key to exit the configuration menu NOTE The configuration may be modified only when the motor is stopped and when the variable speed controller is locked cover closed Any modification entered will become effective af
137. fied show only objects from which values are different from default values You can right click on an object to execute function Right click on an object in the prologue and epilogue sections Cut Cut the row and copy the object in the clipboard Copy Copy the object in the clipboard Paste Paste the object in the selected row Delete Delete the selected object Move up Used to manage the order of the list Move down Used to manage the order of the list Configured If checked the object is transmitted to the device Expand all Expand all nodes of the tree Collapse all Collapse all nodes of the tree Right click on an object in the standard sections Copy Copy the object in the clipboard Configured If checked the object is transmitted to the device Expand all Expand all nodes of the tree Collapse all Collapse all nodes of the tree 35013944 07 2012 129 Catalog Manager EDS tab The EDS tab displays in read only mode the content of the EDS used to build the device The following illustration shows the EDS tab General Overview PDO Mapping Parameters Bootup Procedure Object Dictionary EDS Contents of Device s EDS file Comments A Lines 3 Line1 Advantys Electronic Data Sheet Line2 C 2003 2005 Schneider Electric Line3 Generated by Advantys Configuration Software Filelnfo FileName Node_2 eds FileVersion 1 FileRevision 0 Descr
138. g the configuration be aware of the following rules e Each function name must be unique within a device The name of the default function is Default although it can be modified by the user e An IODDT is generated for the function if at least one of the variables in the grid is checked for usage in IODDT e The IODDT name must be unique in the whole catalog By default it is derived by combining the device name and the function name preceded by T_ The user can modify the IODDT name but the new name must be unique e Predefined or user defined IODDTs cannot be reused However they can be duplicated with new names The configuration parameters can be sorted by I O objects using a pull down menu The list of available sort modes are e Object Sort 1 Type and Index Sub Index I O are sorted by type F D W and by index and Sub Index in each type e Object Sort 2 PDOs order I O are sorted by type F D W and by PDO order in each type for unmapped object e Object Sort 3 Index Sub Index I O are sorted by index and Sub Index The following illustration shows examples of I O object allocation for the three sort types listed above Objects PDO Dictionary Mapping 0x2004 06 WwW Txt 0x2004 07 IW d2 0x2008 01 WAW Rod4 0x2008 05 QW Rx41 2 0x3000 02 QF Pod 0x3000 01 QD Rx 2 0x3000 04 IF T44 0x3000 03 ID Tx4 2 Type NOTE Tx 1 2 Object mapped on Transmission PDO number 1 position 2 Rx 1 2 Object m
139. gly The sending time is configured with the Node Heartbeat Procucer Time Value One or several elements connected to the network receive this message The Heartbeat consumer surveys the Heartbeat message reception The default value of consumer time is set to 1 5 Producer Heartbeat Time If its duration exceeds the Heartbeat Consumer Time 1 5 Producer Heartbeat Time an Hearbeat event is created and the device is in default If a M340 Master PLC is used on the CANopen bus all the nodes using the Heartbeat control mode are producers The master surveys the transmission and the reception of the messages and it is the only receiver of the Heartbeat messages sent by the nodes Unity supports devices that are only heartbeat producer no consumer and does not support the node guarding In this case the value of node heartbeat consumer time is set to 0 This value is displayed on the error control tab of the device The Master can send Heartbeat messages to the slaves The Master Heartbeat producer time is set at 200 ms and is not modifiable e Node guarding Node Guarding is the monitoring of network nodes The NMT Network Management master sends an RTR Remote Transmission Request at regular intervals this period is called Guard Time and the concerned node must answer in a given time lapse the Node Life Time equals the Guard Time multiplied by the Life Time Factor The Life Time value is set at 2 and is not modifiable NOTE
140. guage Object of the CANopen Specific IODDT 196 9 3 Emergency objects 225 35013944 07 2012 185 Language Objects 9 1 General Information Subject of this Section This section describes e The language objects and IODDT of CANopen communication e The language objects and generic IODDT applicable to communication protocol except Fipio and Ethernet What Is in This Section This section contains the following topics Topic Page Introduction to the Language Objects for CANopen Communication 187 Implicit Exchange Language Objects Associated with the Application Specific 188 Function Details of IODDT Implicit Exchange Objects of Type T COM_STS_GEN 189 Explicit Exchange Language Objects Associated with the Application Specific 190 Function Details of IODDT Explicit Exchange Objects of Type T_ COM_STS_GEN 192 Management of Exchanges and Reports with Explicit Objects 194 186 35013944 07 2012 Language Objects Introduction to the Language Objects for CANopen Communication General The IODDTs are predefined by the manufacturer and contain inputs outputs language objects belonging to a channel of a specific application module CANopen communication has one associated IODDT e T_COM_STS_GEN used by communication protocols except Fipio and Ethernet NOTE the creation of an IODDT type variable is performed in two ways e I O object tab e Data editor Language Objec
141. he concise DCF s download the indication is in the event queue and the manager retries the download of the DCF or the indication does not match with the Object Dictionary of the slave module therefore the CANopen master is unable to run correctly and stops Bit 11 1 This bit indicates an indication queue overrun of the application specific SDO interface Bit 12 1 The last master cycle time is greater than 256 ms Bit 13 1 The master is the only CAN device on the network It gets no acknowledgment to its transmitted frames All nodes are marked as absent The master keeps its state until the alone situation is released Bit 14 1 Reserved Bit 15 1 The Master is alone on the bus Check that the cable is connected 35013944 07 2012 201 Language Objects Assigned Slaves The table below shows the words IWr m c 3 to IWr m c 6 Standard symbol Type Access Description Address SLAVE_ASSIGNED_1_16 INT R For assigned slaves from 1 to 16 SIWr m c 3 SLAVE_ASSIGNED_17_32 INT R For assigned slaves from 17 to 32 3IWr m c 4 SLAVE_ASSIGNED_33_48 INT R For assigned slaves from 33 to 48 3IWr m c 5 SLAVE_ASSIGNED_49_ 63 INT R For assigned slaves from 49 to 63 SIWR m c 6 If the bit is equal to 0 no slave is assigned to this bit If the bit is equal to 1 a slave is assigned to this bit The node number corresponds to the number of the bit 1 Slaves Configured
142. he content of detected error code Fxxx Detected error code hex Description FOxx Additional functions FFxx Specific to the device 228 35013944 07 2012 Quick start example of CANopen implementation Overview This section presents an example of CANopen implementation What Is in This Part This part contains the following chapters Chapter Chapter Name Page 10 Description of the application 231 11 Installing the application using Unity Pro 233 12 Starting the Application 267 35013944 07 2012 229 Example of CANopen implementation 230 35013944 07 2012 Description of the application 10 Overview of the application At a glance The application described in this document is used for the driving of a working mobile The mobile goes to different working positions following a defined position sequence The mobile stops for few seconds at these positions The application s control resources are based on an operator screen which shows the status of the various position sensors and the actual mobile position value A red message blinks when the mobile is moving Illustration of the application This is the application s final operator screen Start Sequence Stop Sequence Start Point Position A Position B Position C 35013944 07 2012 231 Description of the applic
143. he table below presents the meaning of the run report bits of the channel EXCH RPT SMWr m c 1 Symbol Type Access Description Number STS_ERR BOOL R Detected error while reading channel status MWr m c 1 0 35013944 07 2012 221 Language Objects Standard Channel Faults CH_FLT The following table explains the meaning of the CH_FLT MWr m c 2 status word bits Reading is performed by a READ STS Object Function Standard Symbol Type Access _ Meaning sMWr m c 2 Status of the CAN_FLT BOOL R Bit 0 1 The CANopen Master is CANopen Master not in operational state FEW SLAVE FLT BOOL R Bit 1 1 One or more slaves are not in an operational state CAN_OFF BOOL R Bit 2 Reserved CONF_FLT BOOL R Bit 3 1 Configuration detected error Bit 4 to bit 7 Reserved Bit 8 to Bit 10 CAN ERR led e 000 off 001 single flash 010 double flash 011 triple flash 111 0n Bit 11 to Bit 13 CAN RUN led e 001 single flash e 100 blinking e 111 0n Bit 14 to Bit 15 Reserved Generic detected error count SMWr m c 3 Number of received emergency messages with code 10xxH Device hardware detected error count SMWr m c 4 Number of received emergency messages with code 50xxH Device software detected error count SMWr m c 5 Number of received emergency messages with code 60xxH Communication detected error count oe MWr m
144. ibi Even TopoAddr Parameter Name w og 255 300 1000 Received PD02 1 f Statusword W lt mod gt 0 0 Control Effort iW lt mod gt 0 1 Transmit PD02 1 o i Poo2 1000 Eror Code Oo Wi Poosistatiy 1000 Transmit PDO3 1 fW lt mod gt 0 2 Transmit PDO3 2 IW lt mod gt 0 3 Transmit PDO3 3 fW lt mod gt 0 4 Receive Q PDO Inhibi Even TopoAddr emo Poot Controword QW lt mod gt 0 0 B Target Velocity QW lt mod gt 0 1 o amp ppo2 E o Wt pcos static Received PDO3 1 QW lt mod gt 0 2 Received PDOS 2 QW lt mod gt 0 3 Received PDO3 3 QW lt mod gt 04 vy OK Cancel Help 2 Drag and drop your IW objects from the Parameter Name Window to Transmit Window NOTE Drop your selected objects in the activated PDOs i e after the already mapped objects in the PDOs 4 words are authorized by PDO NOTE If a few PDOs are already activated you must choose the last activated PDO to insert your objects NOTE The topological addresses of the MFB Objects must be kept 35013944 07 2012 133 Catalog Manager Step Action 3 Do the step 2 for your QW objects from Parameter Name Window to Receive Window _ Device Profile ATV71_V1_1 Name ATV7A_V11 _ Local Configuration Possible Family Expert Mode f Image File DatalS C mi Function MFB_My_fo
145. icable to all communication protocols except Fipio and Ethernet It includes the word type objects whose bits have a specific meaning These objects are presented in detail below Sample Variable Declaration IODDT_VAR1 of type T_ COM STS_GEN Observations e In general the meaning of the bits is given for bit status 1 In specific cases an explanation is given for each status of the bit e Not all bits are used Execution Flags of an Explicit Exchange EXCH_STS The table below shows the meaning of channel exchange control bits from channel EXCH STS SMWr m c 0 Standard Symbol Type Access Meaning Address STS_IN_PROGR BOOL R Reading of channel status words in progress MWr m c 0 0 CMD_IN_PROGR BOOL R Current parameter exchange in progress MWr m c 0 1 ADJ_IN_PROGR BOOL R Adjustment parameter exchange in progress MWr m c 0 2 Explicit Exchange Report EXCH_RPT The table below presents the meaning of the exchange report bits EXCH_RPT SMWr m c 1 Standard Symbol Type Access Meaning Address STS_ERR BOOL R Reading error for channel status words MWr m c 1 0 CMD_ERR BOOL R Error during command parameter exchange MWr m c 1 1 ADJ_ERR BOOL R Error during adjustment parameter exchange MWr m c 1 2 192 35013944 07 2012 Language Objects Standard Channel Faults CH_FLT The table below shows the meaning of the bits of the status word CH_FLT SM
146. ice with user function Listbox supports multi selection Devices to export are selected in usual Windows manner by Ctrl Click or Shift click Alternatively all devices can be selected by clicking the Select All button The following illustration shows the export devices screen Mi Export devices User devices FTB_1CNO8E08CMO FTB_1CNO8E08SP0 LXM05_MFB MFB_LEXIUM17D Select All OK Cancel On validation of this dialog and if one or more devices are selected a standard windows Save dialog is shown allowing the user to choose file name and location of the export file The extension of the file name is cpx The export file is a zip file composed of all catalog source files of the exported devices The user cannot export only one function he must export all user functions from a device On validation of this dialog the cpx catalog source file is extracted from the database and saved 35013944 07 2012 139 Catalog Manager Import User Devices Import User Devices is enabled only e f nothing has been modified or if all modifications are already built in the catalog database e Itis independent of the current item selection in the tree control The user must follow the instructions below to import user devices Select File gt Import User Devices A standard Windows Open screen appears Only cpx files are accepted On opening the cpx file the following modal dialog is d
147. ile and use the browser button to localize the XSO file Project Settings file It is also possible to create a new one If the Settings File box is not checked default values of project settings are used Confirm with OK 238 35013944 07 2012 Application using Unity Pro Configuration of the CANopen Bus At a glance Developing a CANopen application involves choosing the right slave devices and appropriate configuration Illustration of the CANopen bus The following screen shows the configured CANopen bus CANopen Jo Bus 3 CANopencommhead 01 00 Connections configured 2 LEXIUMO5 Lexium 1 x ah 35013944 07 2012 239 Application using Unity Pro CANopen bus Configuration The table below shows the procedure for selecting the CANopen slaves Step Action 1 Inthe Project brower double click on Configuration thenon 3 CANopen The CANopen window opens In the CANopen window double click on the node where the slave must be linked to Result the following window opens New Device Topological Address 1 63 Node ID Part Number Description CANopen drop _ _ Distributed I Os ooo Motion amp Drive PO Pp ATV31_VI_1___ Altivar 31 CANopen Slave DSP402 TEATV3111E eds _ ATV31T V13 Altivar 31 CANopen Slave DSP402 TEATV31113E eds E o5 V112 LXMO5A CANopen TELXM0
148. in the project browser It is then possible to launch Bus Editor from this node in order to define the topology of the bus and configure the CANopen elements NOTE You cannot modify the configuration of the CANopen bus in connected mode 50 35013944 07 2012 CANopen Configuration 4 2 Bus Configuration Subject of this Section This section presents the configuration of the CANopen bus What Is in This Section This section contains the following topics Topic Page How to Access the CANopen Bus Configuration Screen 52 CANopen Bus Editor 54 How to Add a Device on the Bus 56 How to Delete Move Duplicate a Bus Device 58 View CANopen Bus in the Project Browser 60 35013944 07 2012 51 CANopen Configuration How to Access the CANopen Bus Configuration Screen At a Glance This describes how to access the configuration screen of the CANopen bus for a Modicon M340 PLC with a built in CANopen link Procedure To access the CANopen field bus perform the following actions Step Action 1 From the project navigator deploy the Configuration directory Result the following screen appears E CQ Station Bh ao 0 PLC bus Eh ta 3 CANopen crccccrs ia Derived Data Types PIPPA fa Derived FB Types E Subeewen a Variables amp FB instances I PEEPS fa Communication Lececeuce fa Program PPPPIPPEE 6a Animation Tables PEIRA O
149. integrate third party products by e Force parameters to be transmitted even if they are unchanged by ticking the associated checkbox of each parameter e Block parameters that do not need to be sent to the device by removing tick of the associated checkbox of each parameter e Set objects to a specific value just before prologue or just after epilogue the standard boot up procedure e Modify the current value of an object except read only objects if the value box is not greyed out by typing value you wish in the box By default if the current value is modified the object is sent Nevertheless after filling the box you still have the choice to modify this behaviour by removing the mark of the checkbox in order to block the object sending To prevent programming redundancies or conflicts parameters which can be modified in other tabs Configuration PDO or Error Control are greyed out in the Object Dictionary tab 78 35013944 07 2012 CANopen Configuration The following illustration describes th Object Dictionary tab 3 1 0 0 IcIA_IFA Icl IFA CANopen IclA IFA eds E clA_IFA PDO Error control Bootup Object dictionary EL Configuration B chenno o Aroa Fitter fai Status Filter All Error register Error register indentity Object receive PDO4 communication parameter recei
150. ion of slave devices which support the CANopen protocol NOTE There is only one BMX P34 eeeee master by bus 14 35013944 07 2012 CANopen on BMX P34 Processors Modicon M340H Hardened Equipment M340H The Modicon M340H hardened equipment is a ruggedized version of M340 equipment It can be used at extended temperatures 25 70 C 13 158 F and in harsh chemical environments This treatment increases the isolation capability of the circuit boards and their resistance to e condensation e dusty atmospheres conducting foreign particles e chemical corrosion in particular during use in sulphurous atmospheres oil refinery purification plant and so on or atmospheres containing halogens chlorine and so on The M340H equipment when within the standard temperature range 0 60 C 32 140 F has the same performance characteristics as the standard M340 equipment At the temperature extremes 25 0 C and 60 70 C 13 32 F and 140 158 F the hardened versions can have reduced power ratings that impact power calculations for Unity Pro applications If this equipment is operated outside the 25 70 C 13 158 F temperature range the equipment can operate abnormally 4 CAUTION UNINTENDED EQUIPMENT OPERATION Do not operate M340H equipment outside of its specified temperature range Failure to follow these instructions can result in injury or equipment damage
151. ional stopped operational or master self test Triple Loading of initialization in CANopen firmware in progress process CAN ERR Bus stopped The CAN network is Invalid OK An anomaly occured red The CAN disturbed configuration or during the CANopen controller has Simple at least one logic configuration coprocessor start status BUS of the counters has different from The CANopen master OFF attained or exceeded physical cannot start If this the alert level configuration state is maintained Double Monitoring missing different you must change the detected fault or additional slaves CPU Nodeguarding or detected Heartbeat 35013944 07 2012 19 CANopen on BMX P34 Processors 20 35013944 07 2012 Presentation of CANopen devices 2 Subject of this Section This section presents the different CANopen devices What Is in This Chapter This chapter contains the following topics Topic Page CANopen Devices 22 CANopen motion command devices 23 CANopen Input Output devices 28 Other Devices 31 35013944 07 2012 21 CANopen slaves CANopen Devices At a Glance The devices that you can connect to a CANopen bus and that can be configured in Unity Pro are grouped according to their functions e motion command devices e input output devices e other devices NOTE Only devices from the Hardware Catalog can be used with
152. iption Advantys Node_2 CreationTime 05 57PM CreationDate 05 16 2008 CreatedBy Advantys Configuration Software Modification Time 05 57PM ModificationDate 05 16 2008 ModifiedBy Advantys EDSVersion 4 0 Devicelnfo VendorName Telemecanique VendorNumber 0x0400005A ProductName Node_2 v 130 35013944 07 2012 Catalog Manager MFB function for Expert Mode Function Creation Before configuring your MFB function create it by following this guideline Step Action 1 In the Hardware Catalog Manager select the CANopen Motion amp Drive node then select the drive you wish ATV71_V1_1 for example Select the MFB function then execute the copy function after a right click Select again the CANopen drive node ATV71_V1_1 then execute the paste function after a right click IODDT Creation After the paste function the Device Profile ATV71_V1_1 Dialog Box appears Step Action 1 Tick Expert Mode check box 2 Select F D W PDOs Order in the I O Objects Sort box 3 Type the function name you wish in the Function box MFB_My_Function for instance NOTE The function name must begin with MFB_ 4 The lODDT with the name T_ATV71_V1_1_MFB_My_Function is automatically created It is shown on the IODDT box 35013944 07 2012 131 Catalog Manager Objects Selection Now you have to select your objects Step Action 1 Select the General tab in the
153. isplayed allowing the user to choose a subset of devices in cpx files Mi Import User Devices User devices FTB_1CNO8E08SP0 Select All OK Cancel This dialog works in the same way as for Export User Devices multi selection listbox On validation all necessary catalog source files are extracted from the cpx file and a new catalog database is built This new database contains e All Schneider core devices present in the old database e All User devices present in the old database e All User devices selected to Import in this dialog All user functions must be imported from a device it is not possible to import only one function In case of conflicts a device or a function already present in the database with the same name but without the same ID the device will not be imported and a message box will appear The outputsheet is used for messages that don t need to be acknowledged Please see chapter Troubleshooting for more details on possible conflicts and how they are handled At the end of the Import function the main window is refreshed from the new database 140 35013944 07 2012 Catalog Manager Delete User Devices User devices can be deleted by the user The user must follow the instructions below to delete user devices Select a user device from one device family Delete it by a right click A message box will appear for confirmation then click OK To save any changes
154. it Sub index object to be mapped 8 bit length 8 bit 2 PDO mapping for the 2 Application Unsigned32 object 8 PDO mapping for the 8 Application Unsigned32 282 35013944 07 2012 CANopen Master object dictionary Object Dictionary entries according Profile DS302 Object Dictionary entries The table below presents the object dictionary entries according profile DS302 Index Hex Sub index Description Object type Data type Comments 1F22 Concise DCF ARRAY 0 Number of entries VAR Unsigned8 1 Device with Node ID 1 VAR DOMAIN 127 Device with Node ID 127 DOMAIN 1F26 Expected Configuration Date ARRAY 0 Number of entries Unsigned8 1 Device with Node ID 1 Unsigned32 127 Device with Node ID 127 Unsigned32 1F27 Expected Configuration Time ARRAY 0 Number of entries Unsigned8 Device with Node ID 1 Unsigned32 127 Device with Node ID 127 Unsigned32 1F80 NMT Startup VAR Unsigned32 1F81 Slave Assignment ARRAY 0 Number of entries Unsigned8 1 Device with Node ID 1 Unsigned32 127 Device with Node ID 127 Unsigned32 1F82 Request NMT ARRAY 0 Number of entries Unsigned Request NMT for Node ID 1 Unsigned 128 Request NMT for all Nodes Unsigned8 1F84 Device Type Identification ARRAY 0 Number of entries Unsigned8 1 Device with Node ID 1 Unsigned32 35013944 07 2012 283 CANopen Master obj
155. jects are mapped the EDS file cannot be imported e A R W variable must be mapped only once either on a RX PDO or ona TX PDO e The CANopen module with profile V2 0B coded COB ID on 29 bits is not supported Profile V2 0A coded COB ID on 11 bits is supported e Bitmapping for an Input Output Module you can configure it like an FTB device each Input Ouput is linked to a channel which can be associated to a topological address bit Therefore it will be possible to retrieve and use the signal directly on this bit instead of extracting it from the IW Unity Pro S lt No name gt 3 1 0 0 FTB_1CN16EMO la File Edit View Services Tools Build PLC Debug Window Help aa Desb yen easa orean m oA eene BENERE ai Projest Browsar x FTB 1CN16EMO Digital 24VDC I O 16 Input Points TEFTBO3MO1E eds Pal Project iS Configuration g 4 oPLcbu Frescwreemo p00 EnorContel Boowp I Object Dictionary Configuration Ml ie D ctameto Bp Transmit CI Display Only active PDO 3 CANop PDO T Type inhibit Time Event Tim Symbol Topo Addr om A cga o eee Herts ch M a a Ee T _Didtalinrseisrngcno TT TT o osata TT OOOO O stot Didital Input 8 Bits Pind Ch 2 O mma f Didital Input 8 Bits Pind Ch 3 rived Data rived FBT ariables amp D e899 Elementar Derived V 1O Derive Elementar Derived F Didital Input 8 Bi
156. k cycle in order to check the end of the exchange This is useful if the user runs many SDOs 35013944 07 2012 43 Bus Start Example for a task cycle of 50 ms a number of 10 SDOs Mast Cycle and a SDO exchange time of 3 ms With the polling task you can treat 2 SDOs 5ms In order to do that these SDOs must be addressed to two different devices Therefore we can launch 10 SDOs task cycle The CANopen bus start time depends on the number of devices The minimum time to start a CANopen bus is 7 seconds The time to configure one device is about 0 8 second The start time of a CANopen bus with 64 devices is about 1 minute Disconnection Reconnection of a Device Disconnection The time to detect the disconnection of a device depends on the error control Error control Description Guardtime The time to detect the disconnection is Guardtime life time factor Heartbeat The time to detect the disconnection is Heartbeat producer time Heartbeat producer time 2 Reconnection Each second the master polls on the device to check the reconnection of the device The time to reconnect the device is about 1 second if the device is not alone on the bus If the device is alone on the bus the disconnection of the device set the master in the same case as the disconnection of the complete bus After this state the master restarts the bus and the reconnection time of the device is about 7 seconds 44
157. l tool In this case the configuration is stored in the device and you cannot enter configuration parameters because this field is empty NOTE Refer to the documentation of each device for information on general configuration adjustment and debugging parameters NOTE All parameters are not sent when the device takes its configuration The CPU send only parameters which are different from the default values 68 35013944 07 2012 CANopen Configuration PDO Tab PDOs make it possible to manage the communication flow between the CANopen Master and the slaves The PDO tab allows to configure a PDO This screen is divided into 3 parts H PDO ff Eror contro B Config ransmi Een orrea Tope ae RN CO rer Variables lexium 96NV13 110 0 96MW16 6041 C Display only umapped variables Parameter Name Ind Em IVWAB 110 0 RAMPsym 3006 01 lexium 9ID 3 10 0 0 Oac 3008 01 ANAT _act 3009 01 lexium 6IW13 110 0 MW16 ANA2_act j 3009 05 PLCopenRx 301B 05 BID 3 110 0 0 MW10 ea PLCopenRx2 301B 06 PLCopenTx1 301B 07 PLCopenTx2 3018 08 JOGactivate 301B 09 _actionStatus 3010 04 Topo Addr _p_aciRAMPusr 301F 02 E j CUR target 3020 04 rt 7 lexium QNV 3 110 0 a SPEEDn_target 3
158. lay the tabs e Configuration enables you to declare and configure the CANopen master e Debug accessible in online mode only e Faults accessible in online mode only This area also has an LED indicating the channel status 4 General parameters This area is used to view e the communication function the task associated with the CANopen bus 5 Display and command This area is composed of 3 windows which let you know the CANopen slaves status The status of the CANopen master see page 197 the status of the detected error counters the status of bus load see page 182 the status of bus quality see page 182 the status of the diagnostics events table see page 181 174 35013944 07 2012 CANopen Debugging Slave Debug Screens At a Glance This screen can only be used in online mode Illustration The figure below shows a slave debug screen 1 2 Altivar 31 CANopen Slave DSP402 TEATV3112E eds 3 ig T Operational Emergency A AWS1_V1_2 H PDO H Eror contro J Hl Configuration HDebug Channel0 Test Parameter Label Value W3 210 0 0 0 Test Drivecom_status_register_ 0 IWA3 210 0 0 1 fest Control_effort 0 HWB 2000 2 Mest Ouput frequency 0 SIWA3 210 00 3 fest Motor_current 0 0 0 0 QW B 210 0 0 0 Test Frequency_reference QW3 200 0 1 Test Drivecom_commanc_re OQWB 2100 0 2 Test Target_velocity
159. low nibble contains additional information e Bit 0 Detected error bit for optional and unexpected modules e 0 No error is detected e 1 There is at least one optional or unexpected module that does not correspond to the expected network configuration e Bit 2 General operational bit e 0 No module including the CANopen Master is in the CANopen OPERATIONAL state e 1 Atleast one module but not including the CANopen Master is in the CANopen OPERATIONAL state e Bit 3 General operational bit e 0 The CANopen Master is not in the OPERATIONAL state e 1 The CANopen Master is in the OPERATIONAL state 0x8x CLEAR The network is scanned The Master is waiting for a start command START CANopen MASTER MANAGER or START NETWORK OxAx RUN The network is in the OPERATIONAL state OxCx STOP The network is in the STOP state OxEx PREOPERATIONAL The network is in the PREOPERATIONAL state 0x9x FATAL ERROR The CANopen Master is inoperative and must be re initialized 35013944 07 2012 213 Language Objects Addresses Description Bit meaning IWO y 2 2 Event indicator Bit 0 1 This bit is always set when a detected error has occurred in communication with the network The communication status of CANopen Master gives the exact reason The CANopen Master is unable to run correctly and stops Bit 1 1 A module is using the node number of CANopen Master The CANopen Master is
160. lowing information is listed for each variable Name Description Line number The user can have more information via a right click on the Line Number column e Set as parameter This converts the variable to a parameter e Set Bit Mapping This opens a dialog box to define the bit mapping The bit mapping creates a boolean view of the CANopen object mapped on the l or Q topological variable 2000 01 Parameter Input Diagnost 0 Rank 0 First Channel OK 0 Bit Offset 0 Length Cancel e Reset Bit Mapping This resets bit mapping of the variable Language Interface If checked the variable will have a language interface Therefore this variable can be used in the program and its value is displayed in the debug screen If unchecked the variable will be unavailable To minimize the amount of memory needed for the function it is useful to uncheck variables which are not required by the user All variables are checked by default The user can check or uncheck all variables in the column by a right click All Language Interface variables have a static language interface defined in the catalog 116 35013944 07 2012 Catalog Manager Name Description PDO This indicates if the variable is currently mapped to a PDO It can be changed Mapped not in the expert mode refer to expert mode configuration parameters modifiable The default function uses
161. ly according with the value e synchronous cyclic 1 240 a value between 1 and 240 means that the PDO is transmitted synchronously and cyclically the transmission type value indicating the number of SYNC messages between two PDO transmissions e asynchronous Manuf Event 254 the transmission type 254 the PDO is transmitted asynchronous It is fully depending on the implementation in the device Mainly used for digital I O e asynchronous Profile Event 255 the transmission type 255 the PDO is transmitted asynchronous when the value changes Verify that the configured transmission type is supported by the selected device e the inhibit time to mask the communication during this time e the event timer time to manage an event in order to start a PDO NOTE PDOs can only be configured using Unity Pro 35013944 07 2012 155 Programming Structure of Topologic Address The topologic address of input output objects of a CANopen bus slave is structured in the following way LQ XW DF be r m c d Family Element Values Meaning Symbol Indicates an IEC object Object type l Input object Q Output object Format size X 8 bits Ebool Ebool type Boolean not compulsory WwW 16 bits 16 bit WORD type word D 32 Bit 32 bit DINT type word F 32 Bit 32 bit REAL type word Module channel b 3 to 999 Bus number address and i e 1 to 63 Connection point number CANope
162. m ato wlofolm m yim w y yi yin yls sfs s s 2 s s s 2 R SLS LOlo NIa ALRLAIN S GlolaofNlolalaAlolrn sto Function I Defaut x w w Ajo i 1 0 lO_act pi e ETS E VO10_ def nice eeme Loess cesnteseteevieedueseaveee ee E AS w a 72 35013944 07 2012 CANopen Configuration The next table shows the various elements of the configuration screen and their functions Number Element Function 1 Tabs The tab in the foreground indicates the type of screen displayed In this case it is the configuration screen Module area Gives a reminder of the device s shortened name Channel area This zone allows you to select the communication channel to be configured By clicking on the device you display the following tabs e Description gives the characteristics of the device e CANopen allows you to access SDO in online mode e 1 0 Objects allows pre symbolizing of the input output objects e Fault accessible in online mode only By clicking on the channel you display the following tabs PDO input output objects Error control Bootup Object Dictionary Configuration Debug which can be accessed only in online mode Diagnostics accessible only in Online mode General parameters area This field allows you to select the slave function Configuration area This area is used to set up the channels of the devices Some de
163. m c 46 Standard symbol Type Access Description Address SLAVE_STOPPED_1_16 INT R Stopped slaves from 1 to 16 SIWr m c 43 SLAVE_STOPPED_17_32 INT R Stopped slaves from 17 to 32 SIWr m c 44 SLAVE_STOPPED_33_48 INT R Stopped slaves from 33 to 48 SIWr m c 45 SLAVE_STOPPED_49_ 63 INT R Stopped slaves from 49 to 63 SIWr m c 46 Pre Operational Slaves The table below shows the words IWr m c 51 to SIWr m c 54 Standard symbol Type Access Description Address SLAVE_PREOP_1_16 INT R Pre operational slaves from 1 to 16 SIWr m c 51 SLAVE_PREOP_17_32 INT R Pre operational slaves from 17 to 32 SIWr m c 52 SLAVE_PREOP_33_48 INT R Pre operational slaves from 33 to 48 SIWr m c 53 SLAVE_PREOP_49_63 INT R Pre operational slaves from 49 to 63 SIWr m c 54 218 35013944 07 2012 Language Objects Master Cycle Time The table below shows the meaning of status words relative to the time cycle of the master Addresses Description Meanin g S IWr m c 59 Minimum master cycle time Minimum value of the CANopen master cycle time in ms SIWr m c 60 Current master cycle time Current value of the CANopen master cycle time in ms SIWr m c 61 Maximum master cycle time Maximum value of the CANopen master cycle time in ms The following symbols are accessible sIW r m c 59to SIW r m c 61 e INT ERR BIT gt Bit O e BUS QUALITY RES e BUS_LOAD RES Bus Analysis Informa
164. mentation for additional information Failure to follow these instructions can result in death serious injury or equipment damage 96 35013944 07 2012 CANopen Configuration Bus Parameters The figure below illustrates the bus parameters configuration area Bus parameters Transmission speed 250 kBaud SYNC Message COB ID fez SYNC Message Period foo ine MMT inhibit time Booo ms Device Bootup Time Dut o mE Adr Device Name Specific SOO timeout ms Pas 1000 1000 1000 To configure the bus it is necessary to indicate the transmission speed see Premium and Atrium using Unity Pro CANopen Field Bus User manual 250kBauds default the COB ID of the synchronization message 128 default the synchronization message period 100 ms default the NMT inhibit time 5 ms default During Bootup the CANopen Master implements a delay between each NMT messages to avoid slave overload The value must be given in multiple of 100 us The value 0 disables the inhibit time the Device Bootup Time Out 50 ms default The global SDO timeout for the master is related to the scanning of the network During this time the master reads the object 1000 of each slave to analyze the CANopen bus configuration the Specific SDO timeout 15000 ms default The slaves SDO timeout is necessary for devices with long response times i e for accesses to the objects 1010 1011 1F50 A grid displays all present devices with the
165. mple of an Advantys OTB device NOTE The minimum firmware version for OTB is V2 0 A WARNING UNINTENDED EQUIPMENT OPERATION Use Advantys OTB devices with minimum firmware version V2 0 Failure to follow these instructions can result in death serious injury or equipment damage 35013944 07 2012 29 CANopen slaves Advantys FTM CANopen The Advantys FTM modular system enables you to connect a variable number of input output splitter boxes using a single communication interface field bus module These splitter boxes are connected to the module using a hybrid cable which includes the internal bus and power supply internal sensor and actuator The input output splitter boxes are independent of the field bus type thus reducing the number of splitter box references Once installed the system is ready to begin operation The following figure gives an example of an Advantys FTM CANopen device Preventa devices Preventa devices are electronic safety controllers for monitoring safety functions The following figure gives an example of a Preventa device 30 35013944 07 2012 CANopen slaves Other Devices At a Glance STB Island These devices are STB Island Tesys U Festo Valve Terminal Parker Moduflex An Advantys STB island is composed of several input output modules The modular elements of the island are connected by a CANopen local bus using a network interface module
166. n 4 e Select the EDS or DCF file name corresponding to the device that is to be added e Enter a unique name for the device optional Only one EDS or DCF file can be selected at a time multiple selections are not permitted By default the name of the EDS or DCF file is used as device name although it can be modified The device name cannot be changed after this step 5 A screen appears showing the new device parameters An example is shown here Device Profile Name TestDevice Family Distributed VOs ExpertMode Image File P P Unif Dev BinD C onfCatalogBmp CanOpen_Detault jpg l Function Default IODDT T_TestDevice_Detault VO Objects Sort F D W Index Sublindex General Overview VO l a Tegas Bie Index Data Name ola Rank We Feld ee i _ F 1002 00 Manufacturer Status register D 0 M Wenufacturer_Status_register_0 2 K F 2022 01 Position QD 0 Pasition_0 sy p F 2022 02 Speed HAW 94 M Speed0 F 2022 03 Moton Task Type WAW 35 M Motion_Task_Type_0 5 M 2022 04 Trajectory QD 2 lv Trajectory_0 eo M 2022 05 Moton Task Number AAW 96 M Wotion_Task_Number_0 FA a a 2022 06 Acceleration Time AAN 97 Me Acceleration_Time_0 8 A 2022 07 Braking Time OW 98 zd Braking _Time_0 3 TF 2022 08 Rate of Change limiting Acceleration AAW 39 4 Rate_of_Change limiting_Acceleration 40 m E 2022 09 Rate of Change imiing Deceleration YQ 100 M Rate_of_Chang
167. n is only available in CANopen expert mode 35013944 07 2012 95 CANopen Configuration e If it is not checked the CANopen bus remains in RUN after a PLC stop and the global strategy of fallback is applied to the outputs according to Maintain or Reset radio button e If it is checked the CANopen bus is stopped when a PLC stop in this case Maintain and Reset radio buttons are greyed out The fallback information area contains two radio buttons as well which defines the behaviour of the device when the CPU is in STOP or in HALT e Maintain maintains outputs values are kept e Reset resets outputs values are set to 0 To configure the outputs it is necessary to indicate as for the inputs the word and bits tables that will contain the values of the bus slave outputs A number of words Mw from 1 to 32 464 The address of the first word from 0 to 32 463 The number of bits M from 1 to 32 634 The address of the first bit from 0 to 32 633 NOTE The word tables and bit tables are found in the PLC internal memory Any crossover between two areas of each table is prohibited The bits area for the inputs cannot overlap the bits area for the outputs The words area for the inputs cannot overlap the words area for the outputs A WARNING UNEXPECTED EQUIPMENT OPERATION Verify in case of a CANopen bus interruption the fallback positions of all devices on the bus are as expected Consult the relevant equipment s docu
168. n ms used for the device with node ID 1 Default value 1000 ms KWr m c 15 INT Device SDO timeout SDO timeout in ms used for the device with node ID 2 Default value 1000 ms INT SDO timeout in ms used for the device with node ID Default value 1000 ms KWr m c 76 INT Device SDO timeout SDO timeout in ms used for the device with node ID 63 Default value 1000 ms 224 35013944 07 2012 Language Objects 9 3 Emergency objects Emergency Objects At a Glance Emergency objects EMCY have been defined for CANopen for diagnostic applications The COB ID of these objects contain the identity of the node of the device which produced the emergency message The COB ID of emergency objects are constructed in the following manner COB IDewcy 0x80 node identity The data field of an EMCY object is composed of 8 bytes containing e Emergency detected error code 2 bytes e The detected error register 1 byte e The factory specific error information 5 bytes The following illustration shows the structure of an EMCY object Register Error Information COB ID Error code error manufacturer specific 0x80 node ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 NOTE the contents of the detected error code and error register are specified by CiA With the Error tab see see page 183 you can consult the 4 last emergency messages received in chron
169. n slave connection point number Rack number r 0 Virtual rack number always 0 Module number m 0 Virtual module number always 0 Channel number c Equal to 0 for all devices Channel number except the FTBs channels numbered 0 to 7 then from 10 to 17 Rank of data in the d 0 999 Data number of slave channel This number can vary from 0 to 999 because a slave can only have a maximum of 1000 input and output words 156 35013944 07 2012 Programming Example of Topologic Addressing Example of topologic addressing of an item connected to point 4 of the CANopen bus number 3 Module digital TOR autonomous with Boolean vision I 3 4 0 0 5 Boolean value is entered on channel 5 rang 0 omitted Module digital standard IW 3 4 0 0 0 2 5 Boolean value is entered on unique channel 0 rank 2 bit 5 The mapping is given when the DCF file is imported Digital module on an Advantys STB island IW 3 4 0 0 0 3 2 Word 3 bit 2 data by Advantys Configuration Software Numbering starts at e O for channel e O for rank NOTE Virtual objects racks modules always have a rank number equal to 0 Object addressing of CANopen digital input output follows the same rules as object addressing of digital input output on rack words double words and floating words are in the same block Example device at connection point 4 of CANopen bus 3 on channel 0 with
170. nal modules 0 OK 1 Atleast one of the optional modules doesn t correspond to the configuration of the expected network Bit 1 Error bit for obligatory modules e 0 OK 1 Atleast one of the obligatory modules is not in the expected status Bit 2 Bit Operational e 0 No module including the CANopen Master is in CANopen Operational status 1 Atleast one of the modules is in Operational status excluding the CANopen Master Bit 3 Operational bit of CANopen Master e 0 The CANopen master is not in Operational state e 1 The CANopen Master is in Operational status 200 35013944 07 2012 Language Objects Addresses Description Bit meaning SIWr m c 2 Event Bit 0 1 This bit is always set when a detected error has occurred in the indicator communication with the network The communication status of CANopen Master gives the exact reason The CANopen master is unable to run correctly and stops Bit 1 1 A module is using the node number of CANopen Master The CANopen master is unable to run correctly and stops Bit 2 1 Detected error control event of a mandatory module The reaction to this event depends on the configuration of the NMT startup object This bit is relevant if the configuration of the NMT startup object does not stipulate a reset of the whole network including the CANopen master In this case a reset is carried out with
171. nce BMX P34 eeeee processors form the Modicon M340 range are equipped with several Module Status visualization LEDs BMX P34 2010 20102 2030 20302 processors equipped with a CANopen port have 2 LEDs on their facade that indicate the bus status e agreen CAN RUN LED e a red CAN ERR LED In normal operation the CAN ERR LED is off and the CAN RUN LED is on The following figures show the LEDs on the facade of modules Visualization screen of BMX P34 2010 Visualization screen of BMX P34 2030 35013944 07 2012 17 CANopen on BMX P34 Processors LED Status The following trend diagram represents the possible status of LEDs On eee UU Off 50 ms em On Flashing 200 ms 200 ms lt lt gt Do E a Off On Single flash 200 ms 1000 ms a Off Double flash On 200 ms 200 ms 200 ms 1000 ms S lt gt Off On Triple flash 200 ms 200 ms 200 ms 200 ms 200 ms 1000 ms off On r Slow flashing 1000 ms a 1000 ms M of On LEDs lit up off 18 35013944 07 2012 CANopen on BMX P34 Processors Description The following table describes the role of CAN RUN and CAN ERR LEDs Display On Flash Flashing Off Slow flashing LED e O CAN RUN The masteris Slmple The masteris The master is pre Starting CANopen green operat
172. nction 1ODDT T_ATV71_V1_1_MFB_My fonction V0 Objects Sort F D W PDOs order General Overview PDO Mapping Parameters EDS Transmit 1 Unmapped Variables J PDO Tran inhibi Even Topo Addr A ParaneterName Y in a Ty aM IT Statusword fW lt mod gt 0 0 a Control Effort a i fW lt mod gt 0 1 Error Code tW lt mod gt 0 2 C amp Poo2 255 a S poosistatiy 255 sefW lt mod gt 0 2 Transmit PDOS 1 4fW lt mod gt 0 3 Receive Q po E 4 Validate your configuration by clicking on OK 134 35013944 07 2012 Catalog Manager Step Action Your function and its mapping are created Hardware Catalog Manager File Edit View Service Help Pa av Pansitvi3 Eaa Eanna f Basic Controller Controller2 8 Extended re a Standard OIE aa ira IclA_IFE IclA_IFS P LXM05_MFB amp MFB z gP LXMO5_V1_12 amp Default P LXLP V145 P LXMI5MH_V6_64 amp Default MFB EEEH Add function MFB_My_fonction Build Catalog Abrot Modifications Close Build Import Export Log A WARNING UNINTENDED EQUIPMENT OPERATION Do not remove or change the original MFB Objects addresses You must keep the same topological addresses e g Status Word IW lt mod gt 0 5 Failure to follow these instructions can result in death serious injury or equipment damage 35013944 07 20
173. ndex Subindex SDO response shows the read ID Error control event Slave Node ID 0 0 0 0 0 0 Device in wrong Slave Node ID 0 0 0 actual_state exp_state state COMMstatus event 0 0 0 0 COMMstatus A module usues the Manager Node ID 0 0 0 0 0 Node ID of the CANopen manager 8 Unexpected present Slave Node ID 0 0 0 0 0 0 device 9 Unexpected bootup Slave Node ID 0 0 0 0 0 0 message 10 Received PDO with 0 0 0 COB ID of RPDO wrong length 11 Manager is the only 0 0 0 0 0 0 0 device on network from 12 to 127 Reserved from 128 to 255 Reserved for Any debug information internal detected errors 35013944 07 2012 181 Diagnostics Bus Load The bus load panel gives information about the load of the bus current load in real time maximum and minimum loads The values can be reset by clicking on the button Reset Bus Load The following table shows the language objects associated to this function Function Request Language Object Bus Load Read_IW IWO0 0 2 63 IW0 0 2 62 IW0 0 2 64 Write QW QWO0 0 2 0 4 Bus Quality The Bus Quality panel provides information from counters about the frames received transmitted current with anomalies maximum and minimum with anomalies in percent of the entire trafic The values can be reset by clicking on the button Reset Counter The following table shows the language objects assoicated to this function Function Request La
174. need to specify the EDS file once more The complete EDS file is already stored with the device The Device Function screen appears after pasting a function The new function is initialized with the data of the source function The same name is proposed for the new function and must be modified by the user before saving All other information can be modified and saved for the new function Delete Functions can be deleted by the user Follow the instructions below to delete a function e Select a function from one device e Right click on the function name and select Delete OR Select Edit gt Delete e Amessage will appear to request confirmation click OK to continue e To save changes click on the button Build Catalog 138 35013944 07 2012 Catalog Manager How to import export or delete one or several user devices At a glance This section describes how to import export or delete one or several user devices in the Catalog Manager Export User Devices Export User Devices is enabled only e f nothing has been modified or if all modifications are already built in the catalog database e f atleast one user device exists in the catalog This is independent of the current item selection in the tree control The user must follow the instructions below to export user devices Select File gt Export User Devices A screen displays the list of devices with user function user device and preprogrammed dev
175. ng Unity Pro Variable Type Definition Position_A DINT First positioning value Position_B DINT Second positioning value Position_C DINT Third positioning value Ready_For_Stop BOOL The mobile goes to the last targeted position indicated before stopping the application Then it comes back to the start position Run BOOL _ Start of the sequence Sequence_Number INT Number of displacements made by the mobile Start_Configuration EBOOL Start the Lexium configuration Stop BOOL The mobile stops the sequence and comes back to the start point Target_Reached BOOL The target position is reached 250 35013944 07 2012 Application using Unity Pro The following screen shows the application variables created using the data editor i Data Editor __ Variables DDT types Function blocks DFB types YT Name x M EDT _ DDT _ ODDT Name a Type w Address v Value Comment w Ei 3 Configuration_Done 1 Homing_Done BOOL I3 5510 0 0 22 14 t index_subindex DINT 0 Lexium_Config_Step INT tee Lexium_Disabling INT 6 a Lexium_operation_enable INT 15 t Mobile_at_Position_A BOOL Mobile_at_Position_B BOOL t Mobile_at_Position_C BOOL t Mobile_at_Start_Position BOOL 4 Mobile_In_Progress BOOL Mp New_SetPoint BOOL QW13 5510 0 0 25 4 tee Operation_Done BOOL
176. ng messages indicates that there are more configured words than necessary on the bus Error messages indicate that configured words are missing 244 35013944 07 2012 Application using Unity Pro Configuration of the equipment At a glance Once the slave is declared it s possible to have access to its configuration window Configuration of the Lexium Servo Drives The table below shows the procedure for the Lexium configuration Step Action Inthe Project browser double click on Configuration then 3 CANopen 2 In the CANopen window double click on the Lexium representation The Lexium configuration window opens Click on the PDO tab to see the PDO configuration the variables and their topological addresses For this example select PDO2 Static inthe Transmit I andthe Received Q windows H PDO EE Eror contro ff Config Variables i jis C Display only umapped variables E amp eee _ Parameter Name Ind i tatus ani RAMPsym 3006 01 Posi Ij _10_act 3008 01 ANAT_act 3009 01 ium 96IWN3 55 0 ANA acl 3009 05 LGopen 301B 05 ID 3 55 0 PLCopenPo2 SDB OE PLCopentx1 301B07 PLCopentx2 301B 08 JOGactivate 301B 09 _actionStatus 3010 04
177. ngauge Objects Bus Quality Read_IW D0 0 2 66 D0 0 2 68 IW0 0 2 70 IW0 0 2 71 IW0 0 2 72 Write QW QWO0 0 2 0 3 182 35013944 07 2012 Diagnostics Slave Diagnostics At a Glance Slave diagnostics are only performed at the device level The slave diagnostic screen displays e the received emergency messages counter e The last four emergency messages see page 225 received in chronological order Illustration The figure below shows a slave diagnostic screen EE 3 1 0 0 P2M 2HBVC11600 BE Parker Moduflex P2M2HBVC11600 Operational Emergency E P2Mm2HBvC 11600 E Overview l El CANopen Fault E O objects Channel 0 Emergency messages counter 0 Fault history Max 4 most recent at the top of the table Error code Meaning DS 301 Manufacturer error field 35013944 07 2012 183 Diagnostics Elements and Functions The table below describes the different areas which make up the master debug screen Read Number Channel 1 Tab The tab in the foreground indicates the type of screen displayed In this case the diagnostic screen 2 Module This area is made up of the abbreviated heading of the module equipped with a CANopen port as well as 2 LEDs indicating the status of the module 3 Channel This area allows you to select the communication channel to be debugged By clicking on the de
178. nput XSY for Unity Pro Output Click OK to confirm 7 Once the file is exported launch Unity Pro and open the project in which the island will be used 8 Add a STB device to the Bus Editor see How to Add a Device on the Bus page 56 9 Right click on the STB device then click on Open the module 10 In the PDO tab click the button Import DCF 11 Confirm by clicking OK The PDOs are configured automatically NOTE The modification of the topology of an island requires recommencing this procedure For more information about the STB configuration please refer to the STB user manual 82 35013944 07 2012 CANopen Configuration Powersuite Software UNILINK Software The PowerSuite software development is a tool meant to implement the following Altivar speed drives It should be used to configure an ATV31 61 71 a Tesys U ora Lexium 05 device Powersuite 2 Various functions are integrated for being used on implementing phases such as e configurations preparations e setting to work e maintenance The configuration is directly stored in the device For more information about the configuration of an ATV31 61 71 and Tesys U using Powersuite Software or about the configuration of a Lexium 05 with Power Suite 2 please refer to the device user manual UNILINK provides simplified parameter setting for Lexium 05 Lexium15 servo drives It is used to configure sets and adjusts L
179. nt Tx Unsigned32 580H Node ID 1280 1 Client SDO RECORD 0 Number of entries Unsigned8 1 COB ID Client gt Server Rx Unsigned32 COB ID Server gt Client Tx Unsigned32 Node ID of the Server SDO Unsigned8 1281 2 Client SDO RECORD 0 Number of entries Unsigned8 1 COB ID Client gt Server Rx Unsigned32 COB ID Server gt Client Tx Unsigned32 Node ID of the Server SDO Unsigned8 1282 3 Client SDO RECORD 0 Number of entries Unsigned8 1 COB ID Client gt Server Rx Unsigned32 COB ID Server gt Client Tx Unsigned32 Node ID of the Server SDO Unsigned8 1400 1 Receive PDO RECORD 0 Largest sub index supported Unsigned8 1 COB ID used by PDO Unsigned32 2 Transmission type Unsigned8 3 Unsigned16 4 Unsigned8 5 Event timer Unsigned16 1401 2 Receive PDO RECORD 0 Largest sub index supported Unsigned8 1 COB ID used by PDO Unsigned32 2 Transmission type Unsigned8 3 Unsigned16 4 Unsigned8 5 Event timer Unsigned16 14FF 256 Receive PDO RECORD 0 Largest sub index supported Unsigned8 1 COB ID used by PDO Unsigned32 35013944 07 2012 279 CANopen Master object dictionary Index Sub Description Object type Data type Comments Hex index 2 Transmission type Unsigned 3 Unsigned16 4 Unsigned8 5 Event timer Unsigned16 1600 1 Receive PDO Mapping 0 Number of mapped application Unsigned8 Depends on PDO objects in PDO mapping of the applica
180. of the communication OPERATE status I Configuration done 0 OPERATE Sequence_number 0 35013944 07 2012 299 Actions and transitions Move_to_Next_Position step Two actions are associated to the Move_to_Next_Position step The first action is as follows Definition of the target position CASE Sequence number OF 1 Lexium Target_ Position Position_B 2 Lexium Target_Position Position A 3 Lexium Target Position Position C END_CASE IF Sequence number lt 4 AND NOT Stop THEN Start the new positionning New _SetPoint 1 Ready for Stop 0 END IF The second action is as follows Incrementation before new move starts INC Sequence Number NOTE For the incrementation action the qualifier must be positionned on P rising edge Return_to_Start_Point step The action associated to the Return_to_Start_Point step is as follows Target Position Loading Lexium Target_ Position 0 Start a new positioning New Setpoint 1 Disable_Lexium The action associated to the Disable_Lexium step is as follows Lexium voltage disabling Lexium Controlword Lexium_ disabling 300 35013944 07 2012 Glossary A ADVANTYS Schneider CANopen Configuration tool for PLC islands B BOOL Boolean C CAN Controller Area Network field bus originally developed for automobile applications and now used in many sectors CiA CAN in Automation
181. oftware H PDO H Error contro FFA Config PDO aly ibi Even Symbol Topo Addr M CO Index E H S Variables E Digital IW 210 0 96MW184 6000 01 Display only umapped variables C Digital 8 961WN3 210 0 WMW185 wne eae Aa Island Diagnostics 4000 00 Island Diagnostics 4001 00 Configured Nodes 1 4002 01 Configured Nodes 3 4002 02 Configured Nodes 4 4002 03 Configured Nodes 6 4002 04 Configured Nodes 8 4002 05 Configured Nodes 9 4002 06 Receive Q Configured Nodes 1 4002 07 Configured Nodes 1 4002 08 POO Symbol Topo Adar mie Optionnal Nodes 1 4003 01 E m T Optionnal Nodes 3 4003 02 Digital 8 QW B 210 0 MW559 6200 01 Optionnal Nodes 4 4003 03 Optionnal Nodes 6 4003 04 Optionnal Nodes 8 4003 05 Optionnal Nodes 9 4003 06 Optionnal Nodes 1 4003 07 Optionnal Nodes 1 4003 08 Nodes with Error 16 4004 01 Nodes with Error 32 4004 02 Nodes with Error 48 4004 03 Nodes with Error 64 4004 04 Ce gt 246 35013944 07 2012 Application using Unity Pro Step Action 6 Click on the Error control tab and set the Node Heartbeat producer time to 300ms 7 Click on the button in the toolbar to validate the configuration 8 Close the window For more information refer to STB configuration see page 293 35013944 07 2012 247 Application using Unity Pro
182. ological order NOTE Regarding Safety considerations Emergency objects and Fatal error are mentioned in this manual in conformance with the definition from the DS301 document of the CiA CAN in Automation Detected error code 00xx The following table describes the content of detected error code 00xx Detected error code Description hex 0Oxx Error reset to zero or no error 35013944 07 2012 225 Language Objects Detected error code 10xx The following table describes the content of detected error code 10xx Detected error code hex Description 10xx Generic error Detected error code 2xxx The following table describes the content of detected error code 2xxx Detected error code Description hex 20xx Current 21xx Current input side of the device 22xx Internal current to the device 23Xx Current output side of the device Detected error code 3xxx The following table describes the content of detected error code 3xxx Detected error code Description hex 30xx Voltage 31xx Principal voltage 32xx Internal voltage to the device 33xx Output voltage Detected error code 4xxx The following table describes the content of detected error code 4xxx detected error code Description hex 40xx Temperature 41xx Ambient temperature 42xx Device temperature 226 350
183. omalies classed according to their category e External e Other The table below presents the possible anomalies of a CANopen function Error type Error Language object External The CANopen master is not operational MWr m c 2 0 One or several slaves are not operational MWr m c 2 1 Other Configuration detected error MWr m c 2 3 Overrun of the reception queue low priority Wr m c 0 0 CAN controller overrun lWr m c 0 1 CAN controller disconnected from the bus Wr m c 0 2 CAN controller detected error lWr m c 0 3 The CAN controller is no longer in error state lWr m c 0 4 Overrun of the transmission queue low priority lWr m c 0 5 Overrun of the reception queue high priority Wr m c 0 6 Overrun of the transmission queue high priority Wr m c 0 7 The task cycle time is greater than the CANopen lWr m c 0 8 master cycle time 35013944 07 2012 179 Diagnostics Master Diagnostics for CPUs 20102 20302 At a Glance The CANopen bus master can be diagnosed e at module level e at channel level Module Diagnostics The Module diagnostics screen displays current errors classed according to their category e Internal e External e Other Channel Diagnostics The Channel diagnostics screen displays current anomalies classed according to their category e External e Other The table below presents the possible anomalies of a CANopen function
184. ommunicate with the network 0x40 RESET The CANopen master is configured as master during NMT startup The object dictionary of CANopen master can be configured by SDOs via the CAN bus and the interface of the SDO command The application has access rights to read write to the object dictionary via the SDO command The initialization of network manager has not started yet 0x60 NET INIT Starting according to CIA DSP 302 The CANopen master is checking the allocation of slaves 0x61 NET RESET The network is re initialized by the NUT command Reset communication all nodes 0x62 NET WAIT The CANopen master is waiting for the modules to be able to run the command Reset communication 0x64 BOOT CONF The CANopen master is running the individual initialization of modules according to CIA DSP 302 0x8x CLEAR The network is scanned The master is waiting for a start command Start CANopen Master Manager or Start network 0OxAx RUN The network is in Operational state 0xCx STOP The network is in Stop state OxEx PREOPERATIONAL The network is in Pre operational status 0x9x FATAL ERROR An unexpected behavior has occurred The CANopen master must be re initialized The network is scanned The four most significant bits of the status variable indicate the state of the network CLEAR RUN STOP PREOPERATIONAL The four less significant bits contain additional information Bit 0 Error bit for optio
185. on selected e Outputs are set to fallback position fallback mode e Outputs are maintained at their last value maintain mode The following diagram shows the operating cycle of a PLC task cyclical execution y Intemal processing y Acquisition of inputs RUN STOP y Execution of the program y Update of outputs 188 35013944 07 2012 Language Objects Details of IODDT Implicit Exchange Objects of Type T_ COM_STS_GEN Introduction The following table presents the IODDT implicit exchange objects of type T_ COM _STS_GEN applicable to all communication protocols except Fipio and Ethernet Error Bit The table below presents the meaning of the detected error bit CH_ ERROR SIr m c ERR Standard Symbol Type Access Meaning Address CH_ERROR EBOOL R Communication channel error bit lr m c ERR 35013944 07 2012 189 Language Objects Explicit Exchange Language Objects Associated with the Application Specific Function At a Glance General Principle for Using Explicit Instructions Explicit exchanges are exchanges performed at the user program s request and using the READ_STS instructions read of status words These exchanges apply to a set of Mw objects of the same type status belonging to a channel NOTE These objects provide information about the module e g type of fault on a chann
186. ondes MW1153 2 length 2 bytes SMW1200 16 03E8 value of object WRITE VAR ADDM 0 0 2 31 SDO subindex index 0 SMW1200 1 MW1150 4 SM401 0 end if 35013944 07 2012 167 Programming Modbus request example At a Glance From a Man Machine Interface example XBT it is possible to access the SDOs using the Modbus FC43 request SDO read example Node reading 1F object 1005 subindex 00 length 8 bytes FC MEI Prot Nid Index Sub Offset Length 2B oD 00 1F 10 05 00 00 00 00 08 Response OK reception of 4 bytes FC MEI Prot Nid Index Sub Offset Length Object value 2B oD 00 1F 1005 00 00 00 00 04 80 00 00 00 Failure SDO cancellation code FC MEC Ext length MEI Excpt code SDO abort code AB FF 00 06 oD EC 06 02 00 00 Write SDO example Node reading 1F object 203C subindex 02 length 2 bytes 03 E8 FC MEI Prot Nid Index Sub Offset Length Data 2B oD 01 1F 20 C3 02 00 00 00 02 03 E8 Response OK reception of 4 bytes FC MEI Prot Nid Index Sub Offset Length 2B oD 00 1F 20 3C 02 00 00 00 00 Failure SDO cancellation code FC MEC Ext length MEI Excpt code SDO abort code AB FF 00 06 oD EC 06 02 00 00 168 35013944 07 2012 Debugging Communication on the CANop
187. onfiguration Faults The table below shows the words sIWr m c 19 to 3IWr m c 22 Standard symbol Type Access Description Address SLAVE_FLT_1_16 INT R Slaves with configuration faults from 1 to 16 SIWr m c 19 SLAVE_FLT_17_32 INT R Slaves with configuration faults from 17 to 32 SIWr m c 20 SLAVE_FLT_33_48 INT R Slaves with configuration faults from 33 to 48 SIWr m c 21 SLAVE_FLT_49 63 INT R Slaves with configuration faults from 49 to 63 SIWr m c 22 If the bit is equal to 0 the assigned slave corresponds to the configuration If the bit is equal to 1 the assigned slave does not correspond to the configuration The node number corresponds to the number of the bit 1 Inoperative Slaves The table below shows the words IWr m c 27 to IWr m c 30 Standard symbol Type Access Description Address SLAVE_EMCY_1_16 INT R Slaves from 1 to 16 SIWr m c 27 SLAVE_EMCY_17_32 INT R Slaves from 17 to 32 SIWr m c 28 SLAVE_EMCY_33_48 INT R Slaves from 33 to 48 SIWr m c 29 SLAVE_EMCY_49_63 INT R Slaves from 49 to 63 SIWr m c 30 If the bit is equal to 0 the slave is properly operating If the bit is equal to 1 the slave is improperly operating The node number corresponds to the number of the bit 1 35013944 07 2012 215 Language Objects Operational Slaves from 1 to 16 The table below presents the word IWr m c 35
188. open master INT ERR BIT Bit 0 1 Reset emergency slaves bit list This bit is set to zero after the reset of the bit list Bit 1 1 Reset bit 8 overrun in common status SIWO 0 2 0 The bit 1 is set to zero after the reset of the bit 8 Bit 2 1 Reset bit 7 change bit list of event indicator SIWO 0 2 2 The bit 2 is set to zero after the reset of the bit 7 BUS QUALITY RESET COUNTER Bit 3 1 Reset quality information IDO y 2 66 to SIWO y 2 72 This bit is set to zero after the reset of the words and the measure restarts BUS LOAD RESET_ COUNTER Bit 4 1 Reset bus load information SIWO y 2 62 to SIWO y 2 64 This bit is set to zero after the reset of the words and the measure restarts Bit 5 1 Reset the CANopen master useful to restart in Fatal Error without power down up The bit is set to zero after the reset of the master Bit 6 to bit 15 Reserved SQWr m c 1 NMT command High byte NUT command 81 reset node 82 reset com 80 pre op 01 start 02 stop Low byte node number e 0 all nodes e 1 63 node number NOTE After the command start SQWr m c 1 is set to zero NOTE SIWr m c 73 and SIWr m c 74 are used to control the command processing command state return code and last NMT command 220 35013944 07 2012 Language Objects Addresses Description Standard Symbol Bit meaning SIWr m c 73 Return the stat
189. open Master At a glance Developing a CANopen application involves choosing the right CANopen Master PLC configuration CANopen Master PLC configuration The table below show the procedure for configuring the CANopen Master PLC Step Action 1 Inthe Project browser double click on Configuration then on0 BMS XBP 0800 then on 0 BMX P34 2010 double click on CANopen to access to the CANopen Comm Head window 2 In the input and output configuration zones enter the index of the 1st word MW and the needed number of words 3 Inthe Bus Parameter zone select the application transmission speed In this example select 500 kBauds E 0 0 CANopen CANopen comm head _ Communicator head CANopen A CANopen comm head H Configl 2E Channel 2 CANopen r Inputs r Outputs b of words MW 1308 2 Hold Reset Index of 1st IMW fo a S 3 Nb ofwords MW 255 5 eoe E M oa T E Index of 1st M KIL j Nb of bits M 3 Index of 1st M 32 N KILS 4p Function CANopen Bus parameters Transmission Speed 500 kBaud Task SYNC message GOB ID MAST ka SYNC message periode 20 100 ms Click on the button in the toolbarto validate the configuration NOTE When the project is built warning and error messages can be displayed in the output window If not displayed click on View Output Window Warni
190. out the application being informed beforehand Bit 3 1 Identity detected error or incorrect DCF of a mandatory module The CANopen master is unable to run correctly and stops Bit 4 1 The concerned module is in Stop state Bit 5 1 During auto configuration the creation of a configuration of the process image and the PDOs are incorrect The CANopen master is unable to run correctly and stops Bit 6 1 During the network scanning in the auto configuration mode a detected error control event of an already scanned module occurred The CANopen master is unable to run correctly and stops Bit 7 1 This bit is always set if a bit in one of the bit list changes Bit 8 1 At the beginning of the Boot Up procedure the CANopen master checks the individual slave assignment This bit is set by the slave assignment of a module contain features which are not supported by the CANopen master e g bit 4 to bit 6 of object 1F81H The CANopen master is unable to run correctly and stops Bit 9 1 The CANopen Master has received an RPDO with too few databytes The CANopen master is unable to run correctly and stops Bit 10 1 A concise DCF is faulty If the state lt CLEAR then the CANopen master is unable to run correctly and stops if the state gt CLEAR then the indication is in the event queue and slave is not rebooted There is a mismatch between the DCF and the slave s Object Dictionary resulting in the SDO abort during t
191. p 12 13 14 15 Unsigned32 Nd_err The table below presents the Object Entry 4107 Nd_err Index Hex Sub index Description Object type Data type Comments 4107 Nd_err ARRAY 0 Number of entries Unsigned 1 Nd_err 0 1 2 3 Unsigned32 2 Nd_err 4 5 6 7 Unsigned32 3 Nd_err 8 9 10 11 Unsigned32 4 Nd_err 12 13 14 15 Unsigned32 Node Error Count The table below presents the Object Entry 4110 Node Error Count Index Hex Sub index Description Object type Data type Comments 4110 Node Error Count ARRAY 0 Number of entries Unsigned8 1 Number of the received emergency Unsigned8 messages of node number 1 127 Number of the received emergency Unsigned8 messages of node number 127 288 35013944 07 2012 CANopen Master object dictionary Error Code Specific Error Counters The table below presents the Object Entries 4111 to 4117 Error Code Specific Error Counters Index Hex Sub index Description Object type Datatype Comments 4111 Generic_error_count Code 10xxH VAR Unsigned8 4112 Device_hardware_error_count Code 50xxH VAR Unsigned8 4113 Device_software_error_count Code 60xxH VAR Unsigned8 4114 Communication_error_count Code 81xxH VAR Unsigned8 4115 Protocol_error_count Code 82xxH VAR Unsigned8 4116 External_error_count Code 90xxH VAR Unsigned8 4117 Device_specific Code FFxxH
192. page 255 section written in SFC and describing the operate mode e The Application See Creating a Program in LD for Application Execution page 257 section written in LD which executes the mobile action delay time and resets the positioning start bit New Setpoint e The Operator_Screen_Animation See Creating a Program in LD for the operator screen animation page 259 section written in LD which is used to animate the operator screen e The Lexium_Config See Creating a program in ST for the Lexium configuration page 260 section written in ST and describing the different steps of the Lexium configuration 252 35013944 07 2012 Application using Unity Pro In the project browser the sections are represented as follow Project Browser Ta Structural View J Move_Sequence Application Operator_Screen_Animatian Lexium_Config e SJ Station l Configuration beowneeee 2 Derived Data Types E AE Derived FB Types fl 5 Variables amp FB instances foreeene Motion E taranna Communication l z Program o Tasks fb Epe MAST E Bei ff Bl a 5 H peeeeeeel LD 5 4 prereze LD so p Sazasa Ba lewneece SR Sections l yy Events ol ere Q Animations Tables cy assia 2 Operator Screens 2 Documentation NOTE The LD SFC and FBD type se
193. pen Communication Subject of this Part This part describes the various possibilities for software configuration programming and diagnostics in a CANopen application What Is in This Part This part contains the following chapters Chapter Chapter Name Page 3 Generalities 39 4 Configuration of Communication on the CANopen Bus 49 5 Catalog Manager Software Implementation 99 6 Programming 153 7 Debugging Communication on the CANopen Bus 169 8 Diagnostics 177 9 Language Objects 185 35013944 07 2012 37 CANopen Bus 38 35013944 07 2012 Generalities Subject of this Chapter This chapter describes CANopen software implementation principles on the Modicon M340 bus What Is in This Chapter This chapter contains the following topics Topic Page Implementation Principle 40 Implementation Method 41 Performance 42 Device PDO and Memory Allocation 45 35013944 07 2012 39 Implementation Principle At a Glance In order to implement a CANopen bus it is necessary to define the physical context of the application in which the bus is integrated rack supply processor modules and then ensure that the necessary software is implemented The software is implemented in two ways with Unity Pro e In offline mode e In online mode Implementation Principle The following table shows the different implementation phases
194. pen slaves Festo valve terminal CPV Direct CPV valves are series manifold valves in addition to the valve function they contain all of the pneumatic ducts for supply exhaust and the working lines The supply ducts are a central component of the valve slices and allow a direct flow of air through the valve slices This helps achieve maximum flow rates All valves have a pneumatic pilot control for optimising performance The fieldbus node is directly integrated in the electrical interface of the valve terminal and therefore takes up only a minimal amount of space The optional string extension allows an additional valve terminal and I O modules to be connected to the Fieldbus Direct fieldbus node The CPV valve terminal is available in three sizes e CPV10 e CPV14 e CPV18 The following figure gives an example of a Festo valve terminal device 34 35013944 07 2012 CANopen slaves Parker Moduflex CPX Terminal The electrical terminal CPX is a modular peripheral system for valve terminals The system is specifically designed so that the valve terminal can be adapted to suit different applications Variable connection options for the valve terminal pneumatic components MPA CPA VTSA Flexible electrical connection technology for sensors and actuators The CPX terminal can also be used without valves as a remote I O system The following figure gives an example of a CPX terminal device Parker Moduflex
195. perator Screens E fa Documentation 52 35013944 07 2012 CANopen Configuration Step Action To open the CANopen bus screen select one of the following methods e double click on the CANopen directory select the CANopen sub directory and select Openin the contextual menu Result the CANopen window appears CANopen Bus 3 CANopen comm head 01 00 v 35013944 07 2012 53 CANopen Configuration CANopen Bus Editor At a Glance This screen is used to declare devices which are connected to the bus Illustration The CANopen bus editor looks like this 1 CANopen E m Bus l 3 CANopen commhead 01 00 Connections configured 2 B oak Cv f ate LEXIUMO5 SK 54 35013944 07 2012 CANopen Configuration Elements and Functions This table describes the different areas that make up the configuration screen Number Element Function 1 Bus Bus number Connections Indicates the number of connection points configured configured 2 Logical address This area includes the addresses of the devices connected area to the bus 3 Module area This area includes the devices that are connected to the bus Available connection points are indicated by an empty white square 35013944 07 2012 55 CANopen Configuration How to Add a D
196. photosensitive diodes in turn generate an electrical signal which is amplified and converted into a digital signal before being transmitted to a processing system or an electronic variable speed drive The electrical output of the encoder therefore represents in digital form the angular position of the input shaft The following figure gives an example of an Osicoder device NOTE The minimum version of the firmware for Osicoder devices is V1 0 Tesys T Motor Management System Tesys T is a motor management system that provides overload detection metering and monitoring functions for single phase and 3 phase constant speed a c motors up to 810 A Using Tesys T in a motor control panels makes it possible to e Increase the operational availability of installations e improve flexibility from project design through to implementation e increase productivity by making available all information needed to run the system The following figure gives an example of a Tesys T device 1 LTM EV408D extension module 2 LTM RO8MBD controller 26 35013944 07 2012 CANopen slaves SD328A Stepper Drive The SD328A is a universally applicable stepper drive It offers a very compact and powerful drive system in combination with selected stepper motors by Schneider Electric Motion The device has an output for direct connection of an optional holding brake The following figure gives an example of a SD328A Stepper Drive device
197. plication for uploading H bit from 1 Mode functions correctly bit from 0 Bad configuration or Module configured but absent or module already configures but with the same address as an existing module or No Communication Integer Integer 16 bit word Input Output Derived Data Type M Transformation of data consigned in a special and different format N Network Interface Module Communication between the device and field bus Network Management This is responsible for managing the execution configuration and errors in a CAN network 35013944 07 2012 303 Glossary PDO PROCESS IMAGE REAL RPDO SDO SSDO STB SYNC Process Data Object object for data exchange between different elements is CAN open Part of the system memory where the E S values are stored from PDO exchanges on the CANopen bus This section is managed by the CANopen stack The inputs are copied in the user application memory at the start of each task cycle and the outputs at the end of each task cycle R Real number Received PDO S Service Data Object peer to peer communication with access to Dictionary Object of a CANopen bus element SDO Server Small Terminal Block Synchronisation Object 304 35013944 07 2012 Glossary TPDO UDINT UINT PDO Transmission U Unsigned double integer Unsigned double integer Unsigned integer Unsigned integer 35013944 07
198. program in SFC for managing the move sequence page 252 What Is in This Chapter This chapter contains the following topics Topic Page Transitions 298 Actions 299 35013944 07 2012 297 Actions and transitions Transitions At a glance The next tasks written in LD are used in different transitions of the grafcet Back_to_Start_Point transition The action associated to the Back_to_Start_Point transition is as follows Stop Back_to_Start_Point CA 7 COMPARE Sequence _Number gt 3 The sequence is over Lexium_Disabled transition The action associated to the Lexium_Disabled transition is as follows COMPARE Lexium_Disabled Lexium Statusword 2 0 X Test the Lexium 05 state 298 35013944 07 2012 Actions and transitions Actions At a glance The next tasks written in LD and ST are used in different steps of the grafcet NOTE To use the following actions in Tools Project Setting Languages extension selectAllow dynamic arrays and Directly represented array variables options Init step The action associated to the Init step is as follows Initialization of variables when the start command is ordered Run Stop COMPARE OPERATE Start_configuration H H BusMaster cOMM_STS 0 Homing done 0 _ _ Test
199. r than the CANopen Master cycle outputs can be overwritten To avoid overwriting it is recommened to set a longer task cycle time than the CANopen cycle The cycle values are available in the words lWr m c 59 to lWr m c 61 212 35013944 07 2012 Language Objects Addresses Description Bit meaning IWr m c 1 Status of 0x00 INIT The CANopen Master is not initialized This corresponds to the CANopen INITIALISATION status of the CANopen module In this state the CANopen Master Master cannot communicate with the network 0x40 RESET The CANopen Master is configured as master during NMT STARTUP The object dictionary of CANopen Master can be configured by SDOs via the CAN bus and the interface of the SDO command The application has read write access rights to the object dictionary via the SDO command The initialization of network manager has not yet started 0x60 NET INIT Start up according to CIA DSP 302 The CANopen Master checks the allocation of the slaves 0x61 NET RESET The network is re initialized by the NUT command RESET COMMUNICATION ALL NODES 0x62 NET WAIT The CANopen Master waits waiting time be defined to allow the modules to run the command RESET COMMUNICATION 0x64 BOOT CONF The CANopen Master initializes modules according to CIA DSP 302 by scanning the network The high nibble of the state variable indicates the general network state CLEAR RUN STOP and PREOPERATIONAL The
200. re for declaring variables The table below shows the procedure for declaring application variables Step Action 1 In Project browser Variables amp FB instances double click on Elementary variables 2 Inthe Data editor window select the box in the Name column and enter a name for your first variable Now select a Type for this variable When all your variables are declared you can close the window Variables used for the application The following table shows the details of the variables used in the application Variable Type Definition Action_Time TIME Mobile stopping time at each position Configuration_Done BOOL The Lexium configuration is done Homing_Done BOOL The definition of the origin point is done index_subindex DINT CANopen parameter addresses for the WRITE_VAR block Lexium_Config_Step INT Configuration steps program Lexium_Disabling INT Shutdown command Lexium_operation_enable INT Command to start the Lexium drive Mobile _at_Position_A BOOL Mobile at the A position Mobile _at_Position_B BOOL Mobile at the B position Mobile _at_Position_C BOOL Mobile at the C position Mobile_at_start_position BOOL Mobile at the start position Mobile_in_Progress BOOL The mobile is moving New_SetPoint BOOL Start the next move Operation_done BOOL The mobile operation is done 35013944 07 2012 249 Application usi
201. reens Library Double click on Display unit then Indicator light Select the dynamic green light from the runtime screen and Copy Ctrl C then Paste Ctrl V it into the drawing in the operator screen editor The light is now in your operator screen Select your light then click on Bl Press enter and the object properties window opens Select the Animation tab and enter the concerned variable by clicking on A in the place of MW1 0 Click on G and enter the same variable Confirm with apply and OK 266 35013944 07 2012 Starting the Application 12 Execution of Application in Standard Mode At a glance To work in standard mode you need to associate defined variables to PDO addresses of the equipment declared on CANopen Bus NOTE For more information on addressing see Unity Pro online help click on then Unity then Unity Pro then Languages reference then Data descriptionand Data instances Assignment of variables The table below shows the procedure for direct addressing of variables Step Action 1 Inthe Project browser and in Variables amp FB instances double click on Elementary variables 2 In the Address column enter the address associated with the variable in the form Bus Node Rack Module Channel Data t lt New_SetPoint BOOL HQV 10 0 0 254 H T 3 Repeat the same procedure for all located variables 35013944 07 2012
202. rete output information index 6200 e 16 bit discrete output information index 6300 e low resolution analog input information index 6401 e low resolution analog output information index 6411 This profile limits the number of index or subindex entries for any of the above objects to 32 If the island configuration exceeds this limitation please use the Large profile Extended Use this profile if the island contains high resolution analog I O module or the TeSys U STB modules This profile contains e NIM diagnostic information index 4000 index 4006 e 8 bit discrete input information index 6000 e 16 bit discrete information index 6100 e 8 bit discrete output information index 6200 e 16 bit discrete output information index 6300 e low resolution analog input information index 6401 e low resolution analog output information index 6411 e high resolution analog input information or HMI words index 2200 221F e high resolution analog output information or HMI words index 3200 321F e TeSys U input information index 2600 261F e TeSys U output information index 3600 361F This profile limits the number of index or subindex entries for any of the above objects to 32 If the island configuration exceeds this limitation please use the Large profile 35013944 07 2012 63 CANopen Configuration Function Description Devices involved Advanced Use this profile if the island contains enhanced CANopen
203. rofile deceleration 1 21 2006 02_ user profile deceleration 2 j ofn jwn o AoOooqgqqqggqgqo o olo ool oojo 35013944 07 2012 67 CANopen Configuration The next table shows the various elements of the configuration screen and their functions Number Element Function 1 Tabs The tab in the foreground indicates the type of screen displayed In this case it is the configuration screen Module area Gives a reminder of the device s shortened name Channel area This zone allows you to select the communication channel to be configured By clicking on the device you display the following tabs e Description gives the characteristics of the device e CANopen allows you to access SDO see page 159 in online mode e I O Objects allows pre symbolizing of the input output objects e Fault accessible in online mode only By clicking on the channel you display the following tabs PDO input output objects Error control Configuration Debug which can be accessed only in online mode Diagnostics accessible only in Online mode General parameters area This field allows you to select the slave function Configuration area This area is used to set up the channels of the devices Some devices can be configured with an externa
204. rs Third party products H HHHH Build Almport Export A Log For Help press F1 The output window has a context menu with the following information e Build This is used to display information about the build progress e Import export This is used to display information about import export e Log This is used to display information and operational status during Add Device or Add Function A WARNING RISK OF LOST APPLICATION To avoid a complete reinstallation of Unity Pro Software and or corrupting the STU files Do not interrupt a build of the Catalog Manager Failure to follow these instructions can result in death serious injury or equipment damage NOTE The Catalog Manager is only available in English Only one instance of the Catalog Manager can be open at one time 102 35013944 07 2012 Catalog Manager Description These following catalog manager characteristics have to be taken into account during the development of the application e Multi mapping is not authorized you can not map the same variable several times in many active PDOs e Maximum CANopen object length is 32 bits Bit type object variables are not supported although bit type parameters are supported NOTE If the non supported objects are not mapped in a PDO they will be deleted from the list and a warning message is generated However if these ob
205. ructions must be followed Failure to use Schneider Electric software or approved software with our hardware products may result in injury harm or improper operating results Failure to observe this information can result in injury or equipment damage 2012 Schneider Electric All rights reserved 35013944 07 2012 Table of Contents Part Chapter 1 Chapter 2 Part Il Chapter 3 Chapter 4 4 1 4 2 Safety Information 00 cece ee eee eee About the Book 2 0 00 eee CANopen Hardware Implementation Hardware Implementation of BMX P34 Processors Description of Processors BMX P34 2010 20102 2030 20302 Modicon M340H Hardened Equipment 00 eee Installations jones Rael ee oe Die es Pie Ee eed ie ed Visual Diagnostics of CANopen Processors 000 0s ee ee eee Presentation of CANopen devices CANopen Devices 000 c cece teeta CANopen motion command devices 20000eee ee eeee CANopen Input Output devices 020 eee eee eee Other DEVICE Ses diat a a o hel Gt rol id ohh ohio Software Implementation of CANopen Communication 0 cece eee eee eee Generalities oss ies ea Bae eee doe eee Bee Vee ee ee Implementation Principle 2 0 0 00 eee eee Implementation Method 0 e eee eee eee Performancen cis ale ee tiie ok Pe Ph Ee Pct Device PDO and Memory Allocation 0
206. s Export Target Information Directory DADATA TR Filename TestNC02212 dcf F Short file name Prefix Export Format PLC Information DCF for TwidoSoft CoDeSys etc Address Type EDS for SyCon etc Topological Adress Connection Point oO D for Syon Rack Slot SCY for PL7 oO soncept Memory Address Input XSY for Unity Pro Output Help Cancel Click on OK Launch Unity Pro and open a project where an STB island will be used Add the STB equipment in the bus editor Right click on the STB equipment then click on Open the module OI NID oa A In the PDO tab click on the Import DCF button see Configuration of the STB page 246 Click on OK to validate 242 35013944 07 2012 Application using Unity Pro 4 WARNING UNINTENDED EQUIPMENT OPERATION The symbol file xsy generated by Advantys must not be used in Unity Pro during the configuration of an STB Island CANopen devices are not supported during an xsy file import from Advantys to Unity Pro The MW objects that are assigned in the PDO table are not in the same range as those defined in the configuration for the CAN open head Failure to follow these instructions can result in death serious injury or equipment damage 35013944 07 2012 243 Application using Unity Pro Configuration of the CAN
207. s Eiseres ga Documentation 86 35013944 07 2012 CANopen Configuration Step Action 2 Double click on the PLC Bus subdirectory Result the following screen appears aE Bus 0 BMX P34 2010 01 00 bal 2000 2010 cm ae jini TF ll CANopen Port Double click on the processor s CANopen port 3 The master configuration screen appears E 0 0 CANopen CANopen comm head iD CANopen communication module m CANopen comm head H Config D Channel2 Inputs Outputs No of words MW 32 Ej Maintain Reset Index of 1st MW amp e s No of words MW 32 3 Index oftstwmiw 32 Nb ofbits M R 4 Index of first M 2 4 Nb of bits 6M Index offirst M 0 abl us parameters iA Transmission speed 250 x kBaud SYNC message COB ID 128 open SYNC message period 100 ms Task 35013944 07 2012 87 CANopen Configuration CANopen Master Configuration Screen with CPUs 2010 2030 At a Glance This screen is used to declare and configure the master of the CANopen network from a Modicon M340 PLC station Illustration The configuration screen of the master is as follows ee 0 0 CANopen CANopen comm head Communicator head CANopen 5 CANopen comm Configuration B Channel 2 Inputs Outputs Fallback Maintain RESET Nb of words MW 32 Nb of words
208. s device 11 SIWr 35 10 SLAVE_ACTIV_12 BOOL R Slave operational on the bus device 12 SIWr 302 LL SLAVE_ACTIV_13 BOOL R Slave operational on the bus device 13 SIWr 35 12 SLAVE_ACTIV_14 BOOL R Slave operational on the bus device 14 SIWr 25213 SLAVE_ACTIV_15 BOOL R Slave operational on the bus device 15 SIWr 35 14 SLAVE_ACTIV_16 BOOL R Slave operational on the bus device 16 SIWr 3515 The node number corresponds to the number of the bit 1 35013944 07 2012 203 Language Objects Operational Slaves from 17 to 32 The table below presents the word sIWr m c 36 Standard symbol Type Access Description Address SLAVE_ACTIV_17 BOOL R Slave operational on the bus device 17 SIWr m c 36 0 SLAVE_ACTIV_18 BOOL R Slave operational on the bus device 18 SIWr m c 36 1 SLAVE_ACTIV_19 BOOL R Slave operational on the bus device 19 SIWr m c 36 2 SLAVE_ACTIV_20 BOOL R Slave operational on the bus device 20 IWr m c 36 3 SLAVE_ACTIV_21 BOOL R Slave operational on the bus device 21 SIWr m c 36 4 SLAVE_ACTIV_22 BOOL R Slave operational on the bus device 22 SIWr c 36 5 SLAVE_ACTIV_23 BOOL R Slave operational on the bus device 23 SIWr c 36 6 SLAVE_ACTIV_24 BOOL R Slave operational on the bus device 24 SIWr m c 36 7 SLAVE_ACTIV_25 BOOL R Slave operational on the bus device 25 IWr m c 36 8 SLAVE_ACTIV_26 BOOL R Slave operational on the bus device 26 SIWr c
209. s Type If checked then Transmission type value will be editable in Unity Pro CANopen screen Other constaints can be defined in the Transmission Type tab Inhibit Time If checked then Inhibit time value will be editable in Unity Pro CANopen screen Event time If checked then Event time value will be editable in Unity Pro CANopen screen 35013944 07 2012 123 Catalog Manager Name Description 4 Transmissi Transmission type range of Tx PDO and Rx PDo can be defined by the user on type the following illustration shows the Transmission type screen for PDO attributes range of PDO Tx and PDOP Hl Authorize PDO Attribute modification in PUNIT General Transmission type e Asynchro Manuf Asynchro Prof Pdo Synchro acyclic Synchro cyclic Event pa Pdo Rx E E a m Pdo Tx m m a m Em OK Cancel The grid is initialized with attributes of Tx PDO and Rx PDO and the followig information is displayed for each PDO e PDO This is the RX PDO and Tx PDO It is not modifiable e Synchronous acyclic If checked then synchronous acyclic Transmission Type range is available in Unity Pro e Synchronous cyclic if checked then synchronous cyclic Transmission Type range is available in Unity Pro e Asynchronous Manuf Event if checked then asynchronous manuf Event Transmission Type range is available in Unity Pro e Asynchronous
210. se of the present device state 0800 0023h Object dictionary dynamic generation is inoperative or no object dictionary is present for example object dictionary is generated from file and generation becomes inoperative because of an file anomaly 35013944 07 2012 149 Catalog Manager EDS DCF Import Anomaly Code Table The following table describes the EDS DCF Import Anomalies Anomaly Name Check performed Context delivered Severity Anomaly condition W_IMP_ALREADYEXISTS EDS DCF already present ecEmpty Monition Delivering existing instance F_IMP_COBDNOTFOUND COBID Profile Database not ecCiAprofile Profile Fatal found number Anomaly E_IMP_MISSINGMAND Mandatory object is ecObjectMain Subindex Anomaly missing Mandatory objects are 1000 1001 E_IMP_ILLDATATYPE Illegal object datatype ecObjectMain Subindex Anomaly E_IMP_MISSINGSYNCCYCLE Object 1006 is mandatory for ecEmpty Anomaly Sync Producer Sync Producer is 1005 Bit 30 1 E_IMP_MISSINGSYNC Object 1006 resp 1007 cannot ecEmpty Anomaly exist without Object 1005 W_IMP_MISSINGPDOCOMM PDO communication parameter ecPDO Monition 20h missing PDO ignored PDO type In Out PDO number W_IMP_MISSINGPDOMAP PDO mapping parameter 21h ecPDO Monition missing PDO type PDO ignored In Out PDO number E_IMP_MISSINGPDOCOBID PDO communication parameter ecPDO Anomaly 21h element COBID missing
211. ser about the behaviour CfCatGui This device name already exist and the eds is the same You should add function instead of adding a new device OK The device name is malformated The name doesn t have the right format e The number of characters is greater than 24 e The name does not comply with the rules of naming the Unity Pro variables Characters must be within the ranges A Z a z or 0 9 and underline Please note that the Hardware Catalog Manager creates a device name by default by taking the EDS name and replacing prohibited characters by authorized ones If you modify the device name with prohibited characters the message appears Follow these instructions to solve the anomalies e Reduce the number of characters and use the authorized characters as above A message prompts to inform the user about the behaviour CfCatGui A Device name is malformated see online reference OK The file is not supported Do you want a default image The file is not found or the format is not supported Only the bmp and jpg format are supported 146 35013944 07 2012 Catalog Manager Anomaly Solution XML file format is not correct The following messages can appears on the output windows e The syntax of the xml files is not correct e Incoherent xml e Wrong generation of the database Follow these intructions to solve the anomaly e How to add a device to the C
212. ssages as well as SSDOs and CSDOs master via the low priority queue Bit 1 1 FIFO overwrite of CAN controller Bit 2 1 The CAN controller has status BUS Off Bit 3 1 CAN controller doesn t run correctly and stops Bit reset when the condition disappears Bit 4 1 The CAN controller has left abnormal state Bit 5 1 Overflow of the emission queue low priority The CANopen master is transmitting Heartbeat and Node guarding messages as well as SSDOs and CSDOs via the low priority transmission queue Bit 6 1 Overflow of the reception queue high priority The CANopen master is receiving RPDOs NMT commands the message Sync and emergency messages via the high priority reception queue Bit 7 1 Overflow of the reception queue high priority The CANopen master is sending TPDOs NMT commands the message Sync and emergency messages via the high priority queue Bit 8 1 Indicates the task cycle is faster than the CANopen master cycle outputs can be overwritten To avoid overwrite you are advised to set a longer task cycle time that the CANopen cycle The cycle values are available in the words SIWr m c 59 to SIWr m c 61 35013944 07 2012 199 Language Objects Bit meaning Addresses Description IWr m c 1_ Status of CANopen Master 0x00 INIT The CANopen master is not initialized This corresponds to the INITIALISATION status of the CANopen module In this state the CANopen master cannot c
213. t The Master keeps its state until the alone situation is released Bit 14 and Bit 15 Reserved Assigned Slaves The table below shows the words sIWr m c 3 to 3IWr m c 10 Standard symbol Type Access Description Address SLAVE_ASSIGNED_1_16 INT R For assigned slaves from 1 to 16 SIWr m c 3 SLAVE_ASSIGNED_17_32 INT R For assigned slaves from 17 to 32 3IWr m c 4 SLAVE_ASSIGNED_33_48 INT R For assigned slaves from 33 to 48 IWr m c 5 SLAVE_ASSIGNED_49_ 63 INT R For assigned slaves from 49 to63 SIWR m c 6 If the bit is equal to 0 no slave is assigned to this bit If the bit is equal to 1 a slave is assigned to this bit The node number corresponds to the number of the bit 1 214 35013944 07 2012 Language Objects Slaves Configured The table below shows the words sIWr m c 11 to 3IWr m c 14 Standard symbol Type Access Description Address SLAVE_CONF_1_16 INT R For configured slaves from 1 to 16 IWr m c 11 SLAVE_CONF_17_32 INT R For configured slaves from 17 to 32 3IWr m c 12 SLAVE_CONF_33_48 INT R For configured slaves from 33 to 48 3IWr m c 13 SLAVE_CONF_49_63 INT R For configured slaves from 49 to 63 3IWr m c 14 If the bit is equal to 0 the slave is not configured and cannot start If the bit is equal to 1 the slave is configured and can be started The node number corresponds to the number of the bit 1 Slaves with C
214. t which will be imported in Unity Pro A WARNING UNINTENDED EQUIPMENT OPERATION The symbol file xsy generated by Advantys must not be used in Unity Pro during the configuration of an STB Island CANopen devices are not supported during xsy file import The MW objects that are assigned in the PDO table are not in the same range as those defined in the configuration for the CANopen head Failure to follow these instructions can result in death serious injury or equipment damage 294 35013944 07 2012 Relation between PDOs and STB variables Configuration using Unity Pro Software The procedure to configure a STB island using Unity Pro Software is as follow Step Action 1 Inthe Project browser double click on Configuration then 3 CANopen 2 In the CANopen window double click on the Advantys STB representation The STB configuration window opens 3 In Function zone select Advanced Function Advanced X 4 Click on the PDO tab to see the PDO configuration the variables and their topological addresses H PDO FEE Error control H Contig PDO Tr Ty Inhibi Even Symbol Topo Addr M CO Index H V Variables Digital 8 HIN B 210 0 MW184 6000 01 Display only umapped variables Digital 8 961WN3 210 0
215. t 500ms S MW353 1 Length 1 byte WRITE VAR ADDM 0 0 2 55 SDO index subindex 0 MW450 1 SMW350 4 Lexium_ Config Step 80 80 Test WRITE VAR function result IF NOT SMW350 0 THEN test activity bit IF SMW351 0 THEN correct exchange Configuration Done 1 END_IF rs ND_IF x ND_CASE 262 35013944 07 2012 Application using Unity Pro Creating an Animation Table At a glance An animation table is used to monitor the values of variables and modify and or force these values Only those variables declaredinVariables amp FB instances can be added to the animation table NOTE Note For more information consult the Unity Pro online help click then Unity then Unity Pro then Operate modes then Debugging and adjustment then Viewing and adjusting variables and Animation tables Procedure for Creating an Animation Table The table below shows the procedure for creating an animation table Step Action 1 Inthe Project browser right clickon Animation tables then click on New Animation Table The edit window opens Click on first cell in the Name column then on the H button and add the variables you require 35013944 07 2012 263 Application using Unity Pro Animation Table Created for the Application The following screen shows the animation table used by the application Table D
216. t Types Each IODDT contains a group of language objects which are used to control them and check their operation There are two types of language objects e implicit exchange objects automatically exchanged at each cycle of the task associated with the module e explicit exchange objects exchanged at the request of the application using explicit exchange instructions Implicit exchanges concern the status of the modules the communication signals the slaves etc Explicit exchanges allow module parametering and diagnostics NOTE Each slave device has an IODDT except FTB For more information please refer to the user manual of the concerned device 35013944 07 2012 187 Language Objects Implicit Exchange Language Objects Associated with the Application Specific Function At a Glance Reminders Figure An integrated application specific interface or the addition of a module automatically enhances the language objects application used to program this interface or module These objects correspond to the input output images and software data of the module or integrated application specific interface The module inputs SI and IW are updated in the PLC memory at the start of the task the PLC being in RUN or STOP mode The outputs Q and QW are updated at the end of the task only when the PLC is in RUN mode NOTE For BMX P34 processors when the task occurs in STOP mode depending on the configurati
217. tain RESET Nb of words MW 32 Nb of words MW 32 Ss Index os 1st MV Index os 1st MV 32 Nb of bits m Nb of bits Y m 32 Index os 1st M Index os 1st M 32 Bus parameters Transmission speed SYNC Message COB ID SYNC Message Period NMT inhibit time Device Bootup Time Out 35013944 07 2012 93 CANopen Configuration Elements and functions The table below describes the different areas which make up the master configuration screen Read Number Function Tab The tab in the foreground indicates the type of screen displayed In this case it is the configuration screen Module This area is made up of the abbreviated heading of the processor equipped with a CANopen port Channel This zone allows you to select the communication channel to be configured By clicking on the device you display the tabs e Description gives the characteristics of the built in CANopen port Inputs outputs objects allows pre symbolizing of the input output objects By clicking on a channel you display the tabs e Config enables you to declare and configure the CANopen master e Debug accessible in online mode only e Fault accessible in online mode only General parameters This field enables you to e associate the CANopen bus to an application task e MAST which is the master task e FAST which is the rapid task The tasks are asynchronous in relation to exch
218. tatype Mapping entry index E_IMP_MAPP_LENGTHDATATYPEM PDO mapping entry check for ecPDOmappPDO Anomaly ISMATCH objects 16xx and 1Axx PDO type In Out mapping entry bitlength must PDO number Mapping match datatype of object to map entryindex E_IMP_MAPP_ACCESSTYPE PDO mapping entry check for ecPDOmappPDO Anomaly objects 16xx and 1Axx Object type In Out to map access type notsuitable for PDO number PDO type RPDO TPDO Mapping entryindex E_IMP_MAPP_PDOLENGTH PDO mapping entry check for ecPDOmappPDO Anomaly objects 16xx and 1Axx PDO type In Out length exceeded PDO number Mapping entryindex 35013944 07 2012 151 Catalog Manager Predefined Connection Set E_IMP_MAPP_GRANULARITY PDO mapping entry check for ecPDOmappPDO Anomaly objects 16xx and 1Axx type In Out Minimum bitlength allowed is 8 PDO number Bitmapping not supported by Mapping entryindex manager _IMP_CORR_ADDMAP Auto correction applied Empty ecObjectMain Subindex Info PDO Mapping entry added corresponding section missing in the EDS DCF _IMP_CORR_OBSOLETECOMMPAR Auto correction applied Removed ecObjectMain Subindex Info obsolete PDO communication parameter _IMP_CORR_ILLCOMMPAR Auto correction applied Removed ecObjectMain Subindex Info illegal PDO communication parameter from RPDO _IMP_CORR_DEFVALUE Auto correction applied Object ecObjectMain
219. ter an Off On cycle of the speed controller For more information about the ATV31 configuration please refer to the Altivar speed drive user manual 84 35013944 07 2012 CANopen Configuration 4 4 Master Configuration Subject of this Section This section presents the master configuration What Is in This Section This section contains the following topics Topic Page How to Access the CANopen Master Configuration Screen 86 CANopen Master Configuration Screen with CPUs 2010 2030 88 Description of Master Configuration Screen for CPUs 2010 2030 90 CANopen Master Configuration Screen with CPUs 20102 20302 93 Description of Master Configuration Screen for CPUs 20102 20302 95 35013944 07 2012 85 CANopen Configuration How to Access the CANopen Master Configuration Screen At a Glance This describes how to access the configuration screen of the master for a Modicon M340 PLC with a built in CANopen link Procedure To access the master carry out the following actions Step Action 1 From the project navigator deploy the Configuration directory Result the following screen appears El 3 Station El E ebentas Bm 0 PLCBus B tg 3 CANopen I ceeeeeee ga Derived Data Types PEPPER ga Derived FB Types E PE ga Variables amp FB instances E PE ga Communication H PEPR Po Program i MAETI Q Animation Tables PROE Operator Screen
220. th ProductCode RevisionNumber and SerialNumber with the according objects 0x1F86 0x1F88 NOTE Unchecked option DeviceType forces the object dictionary 0x1F84 to 0x0000 NOTE Unchecked option identity forces the object dictionary 0x1F86 0x1F88 sub device nodelD to 0x0000 e Forces the download of communication or configuration parameters unchecked by default If option is checked it forces all the corresponding objects to be downloaded If the option is unchecked you must follow these standard rules e Parameters are downloaded if they are different from the default value e Parameters are downloaded if they are forced in the object dictionary e Parameters are not downloaded in the other cases e The start Node If option is checked default value the CANopen master starts automatically the device after the bootup procedure If option is unchecked the device stays in pre operational state after bootup procedure In this case the device must be started by the application program 35013944 07 2012 77 CANopen Configuration Object Dictionary Tab A WARNING UNEXPECTED EQUIPMENT OPERATION Manually verify all Object Dictionary values Changing the default values of the Object Dictionary table will generate non standard behaviour of the equipment Failure to follow these instructions can result in death serious injury or equipment damage The Object Dictionary tab allows you to configure and
221. the PDO mapping defined in the EDS file The check box for PDO Mapped variables is not directly modifiable by the user but it is refreshed if the user removes a variable by unchecking it from the Language Interface list the PDO Mapped check box is unchecked Index not This indicates the CANopen index parameter modifiable I O Data This is the parameter name found in the EDS file Name not modifiable 1 O Object Access type l Q data type W D F and rank of the I O data in topologic syntax The rank is calculated from the list of language interface variables and is updated each time the list of language interface variables changes The I O Object field is empty if the Language Interface checkbox is not checked IODDT Used If checked this data will be a field of the related IODDT This check box is modifiable only if the Language interface checkbox is checked Otherwise it is unchecked The user can select or deselect all variables in the column by a right click IODDT Field Name of the IODDT field By default this is the name of the I O data with Name spaces and special characters replaced by underscores Numbers may be added if the name is not unique in the IODDT This name is displayed and can be modified by the user only if ODDT Used is checked NOTE When the Device Function screen opens all PDO mappable variables are checked as Language Interface and for IODDT usage Only variables that
222. the bus device 32 IWr m c 36 15 Operational Slaves from 33 to 48 The table below shows the word IWr m c 37 Standard symbol Type Access Description Address SLAVE_ACTIV_33 BOOL R Slave operational on the bus device 33 IWr m c 37 0 SLAVE_ACTIV_34 BOOL R Slave operational on the bus device 34 SIWr m c 37 1 SLAVE_ACTIV_35 BOOL R Slave operational on the bus device 35 SIWr m c 37 2 SLAVE_ACTIV_36 BOOL R Slave operational on the bus device 36 IWr m c 37 3 SLAVE_ACTIV_37 BOOL R Slave operational on the bus device 37 S IWr m c 37 4 SLAVE_ACTIV_38 BOOL R Slave operational on the bus device 38 IWr m c 37 5 SLAVE_ACTIV_39 BOOL R Slave operational on the bus device 39 IWr m c 37 6 SLAVE_ACTIV_40 BOOL R Slave operational on the bus device 40 SIWr m c 37 7 SLAVE_ACTIV_41 BOOL R Slave operational on the bus device 41 SIWr m c 37 8 SLAVE_ACTIV_42 BOOL R Slave operational on the bus device 42 IWr m c 37 9 SLAVE_ACTIV_43 BOOL R Slave operational on the bus device 43 IWr m c 37 10 SLAVE_ACTIV_44 BOOL R Slave operational on the bus device 44 IWr m c 37 11 SLAVE_ACTIV_45 BOOL R Slave operational on the bus device 45 S IWr m c 37 12 SLAVE_ACTIV_46 BOOL R Slave operational on the bus device 46 IWr m c 37 13 SLAVE_ACTIV_47 BOOL R Slave operational on the bus device 47 SIWr m c 37 14 SLAVE_ACTIV_48 BOOL R Slave operational on the bus device 48 IWr m c 37 15 Operational Slaves from 49 to 64 The table below shows the word IWr m c 38 Standard symbol T
223. tion ET CO ET COUNTER gt Bit 4 UNT ER gt Bit 3 The table below shows the meaning of status words relative to Bus Analysis Information BUS_LOAD_MIN INT R Minimum bus load in IWr m c 62 BUS_LOAD_CURRENT INT R Current busload in SIWr m c 63 BUS_LOAD_MAX INT R Maximum busload in IWr m c 64 BUS_QUALITY_NB_RX_FRAMES DINT R Number of received frames IDr m c 66 BUS_QUALITY_NB_TX_FRAMES DINT R Number of transmitted IDr m c 68 frames BUS_QUALITY_NB_CURRENT_ERROR_FRAMES INT R Current number of error SIWr m c 70 frames in for last 10000 exchanged frames BUS_QUALITY_NB_MAX_ERROR_FRAMES INT R Maximum number of error SIWr m c 71 frames in BUS_QUALITY_NB_MIN_ERROR_FRAMES INT R Minimum number of error SIWr m c 72 frames in STATUS_NMT INT R Return the status of NMT SIWr m c 73 command STATUS_NMT_CMD INT R Return the current NMT SIWr m c 74 command and node number BUS_QUALITY_RESET_COUNTER BOOL W Reset all the bus analysis SQWr m c 0 3 informations BUS_LOAD_RESET_COUNTER BOOL W Reset all the bus load S QWr m c 0 4 informations CMD_NMT INT W Send NMT commands SQWr m c 1 35013944 07 2012 219 Language Objects Reset Emergency Default The table below shows the meaning of the Reset Emergency Default objects Addresses Description Standard Symbol Bit meaning SQWr m c 0 Command word of the CAN
224. tion 1 PDO mapping for the 1 Application Unsigned32 Index 16 bit Sub index object to be mapped 8 bit length 8 bit 2 PDO mapping for the 2 Application Unsigned32 object 8 PDO mapping for the 8 Application Unsigned32 object 1601 2 Receive PDO Mapping 0 Number of mapped application Unsigned8 Depends on PDO objects in PDO mapping of the application 1 PDO mapping for the 1 Application Unsigned32 Index 16 bit Sub index object to be mapped 8 bit length 8 bit 2 PDO mapping for the 2 Application Unsigned32 object 8 PDO mapping for the 8 Application Unsigned32 object 16FF 256 Receive PDO Mapping 0 Number of mapped application Unsigned8 Depends on PDO objects in PDO mapping of the application 1 PDO mapping for the 1 Application Unsigned32 Index 16 bit Sub index object to be mapped 8 bit length 8 bit 2 PDO mapping for the 2 Application Unsigned32 object 8 PDO mapping for the 8 Application Unsigned32 object 1800 1 Transmit PDO RECORD 0 Largest sub index supported Unsigned8 280 35013944 07 2012 CANopen Master object dictionary Index Sub Description Object type Data type Comments Hex index 1 COB ID used by PDO Unsigned32 2 Transmission type Unsigned8 3 Inhibit time Unsigned16 4 Reserved Unsigned 5 Event timer Unsigned16 1801 2 Transmit PDO RECORD 0 Largest sub
225. tmap position Open RE Look in Bmp Bea CF Ny APP1CCOx jpg CPX_FB14 jpg Ny Lxm15 N ATV31 jpg N FTM_1CN10 jpg N MicroB N ATV61 jpg Icla jpg OsiCod N ATV71 jpg ICla jpg N P2M2H N CANOpen_Default jpg N Lexium05 jpg N SD328 N CPV_CO2 jpg LXM15LPjpg STBNC S Files name i Files of type Jpeg jpeg jpg hal Cancel Label Zones Left 0 ho Left 1000 o Top 0 ho Top 1000 o Z e Expert Mode Expert Mode Configuration Parameters see page 119 To configure the function parameters Basic Configuration Parameters see page 115 and Expert Mode Configuration Parameters see page 119 When all configuration parameters are set as required click OK 7 Return to the Catalog Manager main screen and click on the button Build Catalog in order to save any changes and to load the new device into the Catalog Manager database A window appears showing the progress of the catalog build When the build is complete the device is indicated with a icon 112 35013944 07 2012 Catalog Manager How to add a function on a device At a glance This procedure describes how to add a function to an existing device in the Catalog Manager Adding a function on a device allows the user to access a limited subset of capabilities on the device Procedure The table belows shows the procedure to add a function and access the configuration screen Step Action 1 Open the Catalog Manager 2
226. to modify the addresses of the inputs outputs objects in the program and move the variables associated with these objects 58 35013944 07 2012 CANopen Configuration Procedure for Duplicating a Device This feature is similar to the function for moving a device Step Action 1 Access the CANopen configuration screen Right click on the device to be copied then click on Copy Right click on the connection point desired then click on Paste Result the New Device screen appears Topologic address 6 62 Cancel Node identification 5 Help 4 Enter the number of the destination connection point Confirm the new connection point by pressing OK 35013944 07 2012 59 CANopen Configuration View CANopen Bus in the Project Browser At a Glance The CANopen bus is shown is the configuration directory in the project browser The number of the bus is calculated automatically by Unity Pro NOTE The value of the bus number cannot be modified The following illustration shows the CANopen bus and slaves in the project browser Number of CANopen bus not modifiable Slave address Slave address Project Browser Ta Structural View r f Station io A em l r HE 0 PLC Bus t 4 J 0 BMXXBP 0800 borarzor M Pe BMxoPs 2000 k 0 BMXP342010 M cones CANopen baana SerialPort lewrereee F 1 BMX AMIO410 re I 2 BMxEHCO
227. transmission and the reception of the messages and it is the only receiver of the Heartbeat messages sent by the nodes Unity supports devices that are only heartbeat producer no consumer and does not support the node guarding In this case the value of node heartbeat consumer time is set to 0 This value is displayed on the error control tab of the device The Master can send Heartbeat messages to the slaves The Master Heartbeat producer time is set at 200 ms and is not modifiable e Node guarding Node Guarding is the monitoring of network nodes The NMT Network Management master sends an RTR Remote Transmission Request at regular intervals this period is called Guard Time and the concerned node must answer in a given time lapse the Node Life Time equals the Guard Time multiplied by the Life Time Factor The Life Time value is set at 2 and is not modifiable NOTE Some devices only support Heartbeat or Node Guarding For devices which support Heartbeat and Node Guarding the only choice in Unity Pro is the Heartbeat mechanism 35013944 07 2012 75 CANopen Configuration Bootup Tab A WARNING UNEXPECTED EQUIPMENT OPERATION Manually verify all deactivated standard checks on the device before operating the system Changing the default parameters of the Bootup tab will bypass standard system checks Failure to follow these instructions can result in death serious injury or equipment damage
228. trol Altivar 61 71 Basic The basic level is designed to configure the valve terminal without CP extension Festo CPV CP_Extension This level is designed to configure I Os including the CP extension Basic_DIO_only The basic level is designed to configure the CPX with pneumatic valves and Digital I O only Festo CPX Generic_DIO_AIO The generic DS401 level is designed to configure CPX valves and I Os including Analogue I O modules Advanced The advanced level is designed to configure the maximum I Os and the complete parameters set 64 35013944 07 2012 CANopen Configuration Function Description Devices involved Default This feature is the default function for certain devices It may not be modified All the slaves except ATV and Lexium NOTE Some devices can only handle one function In this case the function appears grayed out and cannot be modified Function Default 35013944 07 2012 65 CANopen Configuration Configuration Using Unity with CPUs 2010 2030 At a Glance The devices which can be configured using Unity are shown in the Hardware Catalog Hardware catalog CANopen drop Distributed I O s Motion amp Drive Motor control Safety XPSMC16ZC XPSMC32ZC Sensors Osicoder Third party products CPV_C02 CPX_FB14 P2M2HBVC11600 CANopen Procedure To
229. ts Pind Ch 4 Motion Didital Input 8 Bits Pind Ch 5 Communicat Didital Input 8 Bits Pin Ch 6 l Didital Input 8 Bits Pind Ch 7 i A Digital Input 8 Bits Pin2 Didital Input 8 Bits Pind Ch 10 g F 2d 3 pesee a S MAS Events wD Timer Didital Input 8 Bits Pind Ch 12 Ww 10E Distal Input 8 Bits Pind Ch 13 Animation T Didital Input 6 Bits Pind Ch 14 Didital Input 8 Bits Pind Ch 11 Operator Scr Didital Input 8 Bits Pind Ch 15 Didital Input 8 Bits Pin4 Ch 16 Ho eooo e e CC Oe e Documentat bu 35013944 07 2012 103 Catalog Manager Catalog Manager Contents Overview The Catalog Manager is composed of three levels of data e Device Families e Devices e Functions Devices Families The device families contain all the devices specific to each family Distributed I Os Motion amp Drive Motor Control Other Safety Sensors and Third party products The following illustration shows the different device families E Hardware catalog manager REE File Edit View Service Help NO Build Catalog Distributed Os Motion amp Drive Abort Modifications Motor control Other Close Safety Sensors Third party products FE Re ee eR E HE Build Import Export Log For Help press F1 The item View is a context menu with the following information e Status Bar Show Hide St
230. ult e the COB ID of the synchronization message 128 default e the synchronization message period 100 ms default 35013944 07 2012 91 CANopen Configuration Language Objects The parameters presented below are represented in the KW language objects Read Parameter Language object Inputs Number of words MW KWSE Index of the first word KW10 Number of bits M KW4 Index of the first bit KWE Outputs Fallback mode KWO Least Significant Byte 16 00 Bit 2 to 7 0 and e Bit O 0 and Bit 1 0 reset of outputs if task in STOP or HALT e Bit 0 1 and Bit 1 0 maintain of outputs if task in STOP or HALT e Bit O 0 and Bit 1 1 bus in STOP if task in STOP or HALT Number of words MW KWI Index of the first word KW11 Number of bits M KW5 Index of the first bit KW7 Bus parameters Transmission speed KW1 SYNC message COB ID KW2 SYNC message period KW3 92 35013944 07 2012 CANopen Configuration CANopen Master Configuration Screen with CPUs 20102 20302 At a Glance This screen is used to declare and configure the master of the CANopen network from a Modicon M340 PLC station Illustration The configuration screen of the master is as follows 1 E 0 0 CANopen CANopen comm heacl Expert i Communication head CANopen E CANopen comm head Expert Configuration B Channel 2 Inputs Outputs Fallback 7 Bus Stop when PLC stop Main
231. unning e if Unity Pro Software is running close it e if Unity Pro Software is not running go to the next step 2 Select Start gt Programs gt Schneider Electric gt Unity Pro gt Hardware Catalog Manager 35013944 07 2012 109 Catalog Manager How to add a device to the Catalog Manager At a glance This is the procedure to add a device to the Catalog Manager UNINTENDED EQUIPMENT OPERATION Verify with your device supplier that the EDS or DCF file is compatible with the firmware version of the product Failure to follow these instructions can result in death serious injury or equipment damage Procedure New devices are added to the Catalog Manager using EDS or DCF files a DCF file can be used in certain cases for example for Modicon TM5 IP20 and TM7 IP67 Distributed Performance I O Before starting the procedure in the following table it is necessary to know the name and location of the EDS or DCF file corresponding to the new device to be added Step Action 1 Open the Catalog Manager 2 Select Edit gt Add Device OR e Right click on a device family e Select Add Device 3 A windows dialog box appears to select the EDS or DCF file to import see page 150 Select a file Look in Quick Start E Node_2 eds Object name Object of EDS Files eds Device name 110 35013944 07 2012 Catalog Manager Step Actio
232. uration Software is as follow It only concerns the STB NCO 2212 module Step Action 1 In Advantys Configuration Software Version 2 2 0 2 or above create a new island 2 Select the STBNCO2212 Network Interface Module 3 Select the modules which will be used in the application 35013944 07 2012 293 Relation between PDOs and STB variables Step Action 4 In the menu click on Island andon I O image overview Fieldbus Image Modbus Image Input Data a Object 15 14 13 412 41 10 9 8 7 6100 01 fa ee eel ES 6000 01 SS aa Sse 6000 02 6000 03 6000 04 ESER cea eal E Meena Otul KOM LcGalbe RE viel We ae Gi 6000 05 BEEE S 110 10 10 0 6000 06 een ies EENE S 10 6401 01 10 10 10 40 10 O E 10 OO 10 10 10 10 10 10 6401 02 10 10 10 10 10 10 10 10 O 10 CEON O 10 10 10 10 2600 00 SEPA eA EA EA e 32 e EAR A 232 EARRA E ae 32 32 32 DFMO DFM OO BZ SZ RGA eA EPEA ARA SAA o RARA RA EZ 2601 00 32 32 32 32 32 32 32 32 22 32 32 a2 32 32 32 32 32 32 32 32 32 32 32 32 32 32 32 32 32 This window represents an I O image overwiev while offline The variable indexes are the same as for Unity Pro Software It allows to find the content of PDO quickly and easily When the configuration is over click on File Export to export the island in DCF forma
233. us line Low 23 CAN_H CAN_H bus line High 35013944 07 2012 271 Starting the application Advantys STB configuration The table below shows the procedure for configuring the Lexium 05 Step Action 1 Shut down the STB 2 Using the rotary switches located on the front of the CANopen NIM configure the baud rate The rotary switches are positionned as followed 5 500 kbits s Not usea u z 3 12 4 11 5 10 6 9 g7 TENS 0 1 Baud 2 Rate 3 4 6 9 g7 ONES Start up then shut down the STB Using the rotary switches configure the address of the STB For example is the node number of the equiment is 54 the rotary switches are positionned as followed Not Used ad 2 3 12 4 11 5 10 6 Baud 2 Rate ONES 5 Start up the STB and press the reset button located on the STB NCO module during for 5 seconds 6 The STB is configured automatically 272 35013944 07 2012 Starting the application Lexium configuration The table below shows the procedure for configuring the Lexium 05 Step Action 1 Start up the Lexium 05 RDy is displayed on ther interface 2 Press Enter 3 Press the down arrow key until CoM is displayed Then press Enter 4 Press the down arrow key until CoAD CANopen Address is displayed Then press Enter 5 Using the arrow keys configure the node number Then press Esc Press the down arrow key until
234. us of High byte command state NMT command 01 idle anew command can be started if SQWO r m c 1 is different from zero 02 waiting the stack interface is used by another command and the program is waiting until the command is finished e 03 running the command is started e 04 ended the command is finished Low byte return code of the command e 0 command successfully executed e 1 bad command 2 bad node number e 3 detected error during the command execution IWr m c 74 Return the current Last command executed NMT command e High byte NMT connected and node number e Low byte node number Explicit Exchanges Objects of the IODDT This part shows the explicit exchange language objects for the CANopen master These objects are exchanged on the application s request using the instruction READ STS The parameters r m and c shown in the following tables represent the topological addressing of the module Each parameter has the following signification e r represents the rack number e m represents the position of the module on the rack e c represents the channel number Execution Indicator EXCH_STS The table below shows the meanings of channel exchange control bits from channel EXCH STS SMWr m c 0 Symbol Type Access Description Number STS_IN_PROGR BOOL R Status parameter read in progress SMWr m c 0 0 Exchange Report EXCH_RPT T
235. ve PDO4 mapping x301E0501 0x301E0501 Function Default v You can drag amp drop available object except many of them from the index folder to the prolog or epilog section In the event of the insertion of some forbidden ones like PDOs or read only for instance a pop up appears NOTE An object which have been put in the prolog or epilog section will always be sent 35013944 07 2012 79 CANopen Configuration You can select 2 filters to reduce the number of displayed objects on the grid Area Filter All show all area Prologue show only prologue and epilogue projects Epilogue XXXX YYYY show only objects between XXXX to YYYY Status filter All show all objects Configured show only transmitted objects to the device during boot up Not Configured show only not transmitted objects to the device Modified show only objects from which values are different from default values You can right click on an object to execute function Right click on an object in the prologue and epilogue sections Cut Cut the row and copy the object in the clipboard Copy Copy the object in the clipboard Paste Paste the object in the selected row Delete Delete the selected object Move up Used to manage the order fo the list Move down Used to manage the order fo th
236. velocity 6ID 3 110 0 0 10 J PDO 4 254 158 35013944 07 2012 Programming Exchanges Using SDOs At a Glance The explicit exchange of messages on a CANopen bus is done by read write protocol SDO There are 3 ways of accessing SDOs e using communication functions READ VAR and WRITE VAR e using the Unity Pro debugging screen e using the request ModBus FC43 0xD A WARNING UN INTENDED EQUIPMENT OPERATION When modifying a variable check the consequences of the SDO command in the documentation of the specific target CANopen device Failure to follow these instructions can result in death serious injury or equipment damage Communication Functions Unity Pro It is possible to access SDOs using the communication functions READ VAR and WRITE VAR NOTE It is possible to send up to 16 READ_VAR WRITE_VARs simultaneously A polling task runs every 5 ms and each task cycle in order to check the end of the exchange This is useful if the user runs many SDOs during a task cycle For more information about the use of the communication function see Communication functions example page 162 NOTE Changing outputs of a device with a write SDO has no effect on the QW SDO objects allow the access to the variables In online mode the CANopen screen see Slave Diagnostics page 183 allows access to various device objects in read write mode only through a listbox
237. vice you display the tabs e Overview gives the characteristics of the device e CANopen allows read write of SDO see page 159 online mode only e Faults allows you to see the last 4 emergency messages see page 225 generated by the slave module tab only accessible in online mode see manufacturer s documentation e 1 0 Objects allows pre symbolizing see page 248 of the input output objects This area also has an LED indicating the channel status 4 Display This area is composed e of detected error counters e ofthe last 4 messages the last received message is in the upper line NOTE The error counter cannot be reset to 0 NOTE There is no polling on emergency messages Messages are updated once after opening the screen only The user can refresh them with the refresh button NOTE The emergency messages counter is automatically refreshed If some new messages appear the back color of the refresh button becomes red to indicate that the user must refresh the list 184 35013944 07 2012 Language Objects Aim of this Chapter This chapter describes the implicit and explicit language objects associated with the CANopen master embedded in CPU modules NOTE The system bits 3S9 and system words sw8 and SW9 are not applicable on CANopen What Is in This Chapter This chapter contains the following sections Section Topic Page 9 1 General Information 186 9 2 Lan
238. vices can be configured with an external tool In this case the configuration is stored in the device and you cannot enter configuration parameters because this field is empty NOTE Refer to the documentation of each device for information on general configuration adjustment and debugging parameters NOTE All parameters are not sent when the device takes its configuration The CPU send only parameters which are different from the default values 35013944 07 2012 73 CANopen Configuration PDO Tab PDOs make it possible to manage the communication flow between the CANopen Master and the slaves The PDO tab allows to configure a PDO This screen is divided into 3 parts E 13 110 0 IclA IFA eds IclA IFA CANopen clA IFA eds fal IclA_IFA E PDO J Eror control E Bootup Object Dictionar 2 Configuration a Channel O Transmit l _ Display only active PDO po ea ba Toa T es a Cc Receive Q _ Display only active PDO o Tito bine Een Tin Sb Toro acer XM COBO he EY CPDo4Static 254 oma Function Default e Transmit PDOs information transmitted by the Slave to the Master e Receive PDOs information received by the Slave from the Master e Variables variables that can be mapped to the PDOs To assign a variable to a PDO drag and drop the variable into the desired PDO No variable can be assigned with a static PDO
239. ype Access Description Address SLAVE_ACTIV_49 BOOL R Slave operational on the bus device 49 IWr m c 38 0 SLAVE_ACTIV_50 BOOL R Slave operational on the bus device 50 SIWr m c 38 1 SLAVE_ACTIV_51 BOOL R Slave operational on the bus device 51 SIWr m c 38 2 SLAVE_ACTIV_52 BOOL R Slave operational on the bus device 52 IWr m c 38 3 35013944 07 2012 217 Language Objects Standard symbol Type Access Description Address SLAVE_ACTIV_53 BOOL R Slave operational on the bus device 53 SIWr m c 38 4 SLAVE_ACTIV_54 BOOL R Slave operational on the bus device 54 IWr m c 38 5 SLAVE_ACTIV_55 BOOL R Slave operational on the bus device 55 SIWr m c 38 6 SLAVE_ACTIV_56 BOOL R Slave operational on the bus device 56 SIWr m c 38 7 SLAVE_ACTIV_57 BOOL R Slave operational on the bus device 57 SIWr c 38 8 SLAVE_ACTIV_58 BOOL R Slave operational on the bus device 58 SIWr 6238 9 SLAVE_ACTIV_59 BOOL R Slave operational on the bus device 59 SIWr c 38 10 SLAVE_ACTIV_60 BOOL R Slave operational on the bus device 60 SIWr c 38 11 SLAVE_ACTIV_61 BOOL R Slave operational on the bus device 61 SIWr c 38 12 SLAVE_ACTIV_62 BOOL R Slave operational on the bus device 62 SIWr c 38 13 SLAVE_ACTIV_63 BOOL R Slave operational on the bus device 63 SIWr c 38 14 Slave in Stop State The table below shows the words IWr m c 43 to tIWr

Modicon M340 with Unity Pro - CANopen - User Manual

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