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HECOM650/HE800COM650 & HECOS600/HE800COS600

1. Figure 91 Device Profile 406 PAGE 106 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Device Type x Single Turn absolute rotary encoder x Cancel Figure 92 Selection of the Device Type in case of Device Profile 406 Device Device Type Description Profile 06 4 Single Turn absolute rotary encoder Device profile for Multi Turn absolute rotary encoder encoder Single Turn absolute rotarey encoder with electronic turncount Incremental rotary encoder Incremental rotary encoder with electronic counting Incremental linear encoder Incremental linear encoder with electronic counting Absolute linear encoder Absolute linear encoder with cyclic coding Table 53 Device Profile for Encoder 9 6 PDO Mapping Method The PDO Mapping with a degree of freedom was fixed in the specification DS301 V3 The System Configurator produces the following PDO Mapping e Subindex 0 the number of objects value N is entered in object 16xx and object 1Axx respectively e Subindex 1 to N are entered in the objects which are to be mapped in object 16xx and object 1Axx respectively The specification DS301 V4 further specified PDO Mapping more exactly This defines that the initial mapped data is deleted then the same or new data is mapped and fin
2. Note Deleted device settings and configuration are lost 7 4 3 Replace With the menu Edit gt Replace the Master or a Slave device can be replaced 7 5 View of the Configuration The configuration can be displayed in a table The following tables are available Device Table Address Table ID Table SDO Table 7 5 1 Device Table The list of all devices added is displayed with the menu item View gt Device Table Apart from the Node address the name of the device displayed with the pertinent alterable description PAGE 79 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Device Table x Node ID Device Description Cd CIF50 COM E CIF50 COS Figure 61 View gt Device Table 7 5 2 Address Table Menu item View gt Address Table gives an overview of all configured PDOs and the assigned start addresses in the process image including their length Address T able Node ID Device Obi Idx Parameter SS COBHID lTspe Ad llen 0 Type 0 Ad O Len to at cos 1400 RxPDO1 parameter 513 Sort according to Node ID Sort according to data addresses Figure 62 View gt Address Table It is possible to sort the addresses according to Station Addresses or according to Data Addresses 7 5 3 ID Table PAGE 80 of 111 EO
3. bRea 0 bFront 0 blnner 0 Eror 0 Figure 72 CAN_TASK Emergency Inputqueue Variable Meaning S O Position of the next read access in the receive buffer Position of the next write access Number of CAN telegrams which are in the buffer Table 34 CAN_TASK Emergency Inputqueue 9 1 5 4 CAN_TASK Transmit Queue Transmit Queue x p in bRear 45 bFront 45 binner 0 Eror 0 Figure 73 CAN_TASK Transmit Queue Variable Meaning S O Position of the next read access in the receive buffer Position of the next write access Number of CAN telegrams which are in the buffer Table 35 CAN_TASK Transmit Queue 9 1 6 CAN_TASK CMS Domain Services PAGE 89 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En CMS Domain Services x Start node request Stop node request Init upload request Init upload response Segment upload request Segment upload response Init download request Init download response Segment download request Segment download response Abort domain request Abort domain response Reset node request Sync request Node quard request Hard transmission aborts 254 10 55476 0 Eror 0 Figure 74 CAN_TASK CMS Domain Services The CANopen protocol defines different services which are summarised
4. HORNER APG User Manual for HECOM650 HE800COM650 amp HECOS600 HE800COS600 CANOpen Master and Slave Rev 1 Initial Release D Taylor 20 Feb 2003 Rev 2 Added OCS Interface chapter D Taylor 11 Sept 2008 Rev 3 Added OCS Interface chapter D Taylor 12 Oct 2008 MAN0576 03 En EO 09 0009 PREFACE CANopen Smartstack Manual MAN0576 03 En PREFACE This manual explains how to use the Horner APG HSyCon software product Copyright 2001 Horner APG LLC 640 North Sherman Drive Indianapolis Indiana 46201 3899 All rights reserved No part of this publication may be reproduced transmitted transcribed stored in a retrieval system or translated into any language or computer language in any form by any means electronic mechanical magnetic optical chemical manual or otherwise without the prior agreement and written permission of Horner APG LLC Information in this document is subject to change without notice and does not represent a commitment on the part of Horner APG LLC Windows 95 Windows 98 and Windows NT are registered trademarks of Microsoft Corporation DeviceNet is a trademark of Open DeviceNet Vendors Association ODVA Profibus is a trademark of Siemens Cscape CsCAN and SmartStack are trademarks of Horner APG LLC For user manual updates and technical support contact Horner APG USA Horner APG Europe Technical Support 317 916 4274 Technica
5. Zone Acceptance Code 00 00 00 700 Hex Acceptance Mask 00 oo 00 00 Hex Figure 25 Settings gt Bus Parameter e SYNC COB ID and SYNC Message The cycle time of the SYNC Message and its message number COB ID must to be set The default value is 128 As soon as a participant with synchronized PDO transfer is configured the SYNC message is sent in the configured cycle period frame from the Master e Auto clear mode OFF The Auto Clear feature defines the behaviour of the Master if the communication is interrupted to a Node If the flag Auto clear mode ON is activated the Master will also stop the communication to all further Nodes which were still responding and active If the flag Auto clear mode OFF is activated then a lost communication contact to one Node has no influence on the communication channel of the still present ones For all the error affected Nodes the master tries to re establish communication e Enable Global Start Node Once all the desired nodes have been configured the Master sends a Global Start Node command to start all the nodes synchronously 5 4 CANopen Master 5 5 Master Settings To enter the CANopen Master settings select the menu Settings gt Master Settings or right mouse button click on the corresponding Master symbol and select Master Settings from the list which opens up The CANopen Master Settings contain parameters that determine the behaviour of the Master device as well
6. PAGE 21 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 3 GETTING STARTED CANopen Smartstack Manual MAN0576 03 En 3 7 Configuration of a SmartStack CANopen Node to any CAN Device for Send Receive transparent CAN The following table describes the steps to configure a SmartStack CANopen Node for send receive CAN telegrams Layer 2 transparently Action Create a new project e Select Smartstack CANopen Master 1 e Select SmartStack CANopen Node Set Bus Parameter e Set Device Assignment for the Node if no automatic assignment has occurred Save project Download on the Node e Transfer user data Send CAN Telegrams Receive CAN Telegrams Menu in the System Configurator File gt New gt CANopen Insert gt Master Insert gt Node Left mouse click on the Master then Settings gt Bus Parameter Left mouse click on the Node then Settings gt Device Assignment File gt Save Left mouse click on the Node then Online gt Download Left mouse click on the Node then Online gt Message Monitor Table 9 Configuration of a Smartstack node for transparent mode Note 1 Insert a Smartstack CANopen Master to the configuration It serves as a dummy and need not agree with the connected Master Signal LED Colour State Defi
7. e Error Register Byte 3 Object 1001H See device description of the Node manufacturer e Manufacturer specific error field Byte 4 to 8 See device description of the Node manufacturer 9 10 Emergency Telegram Error Codes The meaning of the Error Codes are shown in the following table Error Code Hex Generic error Current Current device input side Current inside the device PAGE 109 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Table 57 Emergency Error Codes Note The table Emergency Error Codes is a common list To see the exact meaning of these codes we refer to the Node manufacturer PAGE 110 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En CHAPTER 10 GLOSSARY COB ID Communication object identifier Table in section COB ID LMT Layer Management LSS Layer Setting Services NMT Network Management This contains the functions configuration initialization and supervision of the network devices HsyCon Horner System Configurator Configurations and Diagnostic Tool PAGE 111 of 111 EO 09 0009 Horner APG This drawing
8. 0 cccccceececeeececeeeeeeeeeeeaeceeeeeeeeteeecnieeeeeeeeeeees 106 9 5 4 Device Profile 406 Device Profile for EnCOder c cccccececeeeeeeeeeeececeeeeeeeseecneaeeeeeeeeeneees 106 9 6 PDO Mapping Methods sa arsenit iee e aa r eaa rE a ag oven sy e a rE a EAE cesses 107 9 7 NMT State Machine State Diagram eccceeeceeeeeeeeeeeeetneeeeeeenneeeee senses seeeeesieeeeeeeneeeeees 107 9 7 1 Communication Characteristics in the different NMT States 0 eceeeeeeccceeeeeeeeeeneeeeeeeeees 108 9 8 ESS LM T SCIVICES dice a5 c ate screeds vec natewatvige a AEE a e Ee ea aa Gedea AE le cbagtundaststecadsts EENEN 109 9 9 Emergency Tele Grarins ressors araa ai eiae ERa ined ceessze dees ARAE inend EERS a e ERRA 109 9 10 Emergency Telegram Error Codes c cccccccceecseneeeencneeeeesineeeeeeneeeeesieeeeeseeeeeesieeeereeeeees 109 CHAPTER 10 GLOSSARY reai Ps caadeh ara S O eE aaa A a Aaa E EEE SEATI 111 PAGE 6 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 1 INTRODUCTION CANopen Smartstack Manual MAN0576 03 En CHAPTER 1 INTRODUCTION 1 1 Scope This manual is intended to give the user enough information to configure an OCS RCS TIU with a SmartStack COM Module correctly It does not provide detailed information of the theory behind the fieldbus protocols HSyCon is an easy to use Windows based configu
9. 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Menu item View gt ID Table shows a sorted list for each Node what message numbers in the CAN network are occupied by the respective Nodes These are the Emergency ID Nodeguard ID and PDO IDs Node Id Device Description Emergency Nodeguard Parameter ss COBAD E CIF50 COS 1793 RxPDO1 parameter Figure 63 View gt ID Table 7 5 4 SDO Table Menu item View gt SDO Table shows an overview of the transmitted objects during the Node BootUp phase for each Node Apart from the Node Address for each entry the Object and Subindex are displayed with the pertinent value Thereby if a line contains a cross in the column PDO Dialog then the entry was created automatically when inserting a PDO by HSyCon and can be changed If an entry does not contain a cross in the column PDO Dialog then the appropriate object is manually created and can be changed there Exceptions are the entries COB ID SYNC and Communication Cycle Period which can only be changed in the dialog Itis possible to hide or display the configured objects of the PDO Dialog The object values can be shown in decimal or hexadecimal PAGE 81 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduce
10. 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MAN0576 03 En 4 5 Replace Master If a Master already exists in the configuration and should be replaced for another Master first set the focus on the Master left mouse click and then select the menu Edit gt Replace Or right mouse click on the Master and select Replace in the window that appears Question x 2 Do you want to replace the master Figure 8 Security question Replace Master If Yes is selected a new window opens where the existing Master may be replaced with the required Master Available devices Selected devices OK CIF30 COM Ceco CIF60 COM CIF104 COM FECES CIF104 COM R COM COM PKV40 COM eb aiit ELL lt lt HeEmavE AII Description Master Figure 9 Edit gt Replace Master In this window select the Master required by clicking on it By clicking the Add button this Master is shown in the first position of the Selected devices list With OK confirm the selection and the Master will be replaced 4 6 Insert Node To insert a CANopen Node in the configuration select the Insert gt Node menu to open the selection window or click on the symbol Insert gt Node Figure 10 Insert gt Node PAGE 26 of 111 EO 09 0009 Horner APG This drawing is the property o
11. Auto Addressing button in the Master Configuration window must be activated The configuration is transferred to the selected device and is stored in non volatile FLASH memory so that the configuration is available when the voltage supply is switched off and on again After the download the device carries out an internal restart and begins with the communication if in CANopen Master Settings the Automatic Release of Communication by the Device menu point has been set 6 3 Firmware Download If a firmware download is to be carried out proceed as follows Select the desired device to be loaded Then call up the Online gt Firmware Download menu Select the new Firmware and retrieve it with Download to the device The Firmware is now retrieved Firmware Copy Download Available Firmware Files Selected Firmware Files e e 4 hilscher fieldb Mfieldbus Mi File Extension E MISChernsycon Wieldbus y MIeEldDUs Canopen viimwa gt re Fre z Gopy gt gt Download DownlGad Firmware Firmware Hardware Hardware Version Version Date Date Figure 35 Online gt Firmware Download 6 4 Firmware Reset Choose the desired device with a left mouse click on the symbol of the device Then the Online gt Firmware Reset menu must be called up and the name and the version of the Firmware are displayed Firmware 7 Reset x Firmware CANopen CIFS0CAN Aloe Version 01 048 06
12. COS_TASK SDO Transfer COS_TASK Object Dictionary COS_TASK Receive Queue COS TASK Transmit Queue zi C0 S_TASK PDO Transfer Figure 77 Extended Device Diagnostic Node 9 2 1 PCL_TASK Common Variables Common Yariables x Version compiled cos Task state i Handshake counter 0 Handshake mode 2 Ero 0 Figure 78 PCL_TASK Common Variables Variable Meaning S Version compiled Holds a static text COS indicating the hardware the PLC task was compiled for Task state Internal state of the PLC task Handshake counter Number handshake cycles executed Handshake mode Currently activated handshake mode 1 2 or 3 Table 36 PCL_TASK Common Variables 9 2 2 COS_TASK Common Variables PAGE 92 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Common Yariables Figure 79 COS_TASK Common Variables PAGE 93 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En variable Meaning id not necessarily mean these messages were sent over the bus see below Receive overruns Number of overrun situations in the CAN chip internal receive queue Trans
13. EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MANO0576 03 En Save Configuration R 3 red 0 Table 19 Message Monitor LSS LMT 4 gt Save Configuration File Edit View ps hc a pa RX 16 TX 3 R Bo TX 255 LN 3 NR 0 IN Po dutoNRI NR 0 A 0 F 0 A fo F fo B 8 E 0 B fe Epo a Jaete lwoounrt Wate Ippe Data lWourt Wate Ippe Peneten enable Functio enable Receive data Send data jo h j2 js j 5 je fz je fs 101252 161 23 40 50 60 Put cyclic Figure 52 Message Monitor LSS LMT 4 gt Save Configuration PAGE 67 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MANO0576 03 En Switch in Operating Mode 0 Table 20 Message Monitor LSS LMT 5 gt Switch in Operating Mode Message Monitor x File Edit View peso gai asst le Mec pa RX 16 TX 3 ao Bo TX 255 LN 3 NR 0 LN H AutoNR INR A F 0 A fo F B 83 E 0 Be fa E Send data enable Figure 53 Message Monitor LSS LMT 5 gt Switch in Operating Mode PAGE 68 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except
14. F 0 A fo F B 0 E 0 po E jelega ader l fam Head ee or are E ae a Pareko I enable Function l enable PutMessage Figure 47 Online gt Message Monitor A Message can be saved and retrieved and has the file suffix MSG File gt New closes the window File gt Open opens a Message Message can be retrieved File gt Save or File gt Save As saves a Message File gt Exit ends the Message Monitor and returns to the SyCon 6 19 Message Monitor for Using LSS LMT LSS LMT services can be used to set the baud rate and the Node address for some Nodes The LSS LMT Master sends telegrams to the LSS LMT Slave with CAN telegram identifier 2021 07E5H The LSS LMT Slave replies to the LSS LMT Master with the CAN telegram identifier 2020 07E4H Note Only one Node may be coupled to the Master at a time The baud rate of the SmartStack CANopen Master must be set equal to the baud rate of the Node PAGE 61 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MANO0576 03 En Then the receive filter must be set to the CAN telegram identifier 2020 Rx 3 red Send Data Range of value CAN Receive ID Part 2 MSB 7 Table 15 Message Monitor for LSS LMT gt Setting the Receive Filter File Edt View MESSAGE OUTPUT Counter 1 MESS
15. Nodeguarding the Master cannot recognize that the Node failed 4 19 Object Configuration The most important part of a CANopen device is its object directory The object directory is essentially a grouping of objects accessible via the network in an ordered predefined fashion Each object within the directory is addressed using a 16 bit index The Device profiles of CANopen define the name the meaning the value range and data type of the Service Data Objects SDO With Service Data Messages the contents of an object and its subindex can be changed This is necessary to set up the behaviour of a CANopen Node in the required manner To get access to the SDO configuration press the Object Configuration button The window shown below will appear and shows all supported objects read from the EDS file of the Node in the upper table If some PDOs have already been inserted they will be shown in the lower table too HSyCon places some objects in this table automatically when a PDO in the Node Configuration window is inserted These values can not be edited PAGE 37 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MAN0576 03 En Object Configuration Node CIFS0 COS Node ID 1 i Description Node Cancel Predefined supported Objects in the EDS file Access Filter
16. Operational Operational Stopped PAGE 108 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Table 55 Communication in the different NMT States 9 8 LSS LMT Services LSS stands for Layer Setting Services LMT stands for Layer Management and is an older designation LSS LMT supports access to the basic parameters such as shown below via the CAN network without having to set mechanical switches on the Node e Baud Rate e Node ID The communication is based on a Master Slave relationship and uses the COB ID 2020 07E4H Slave to Master and 2021 07E5H Master to Slave The LSS LMT Slave must to be in the NMT Stop state to perform the LSS LMT services The LSS LMT Slave is able to take the following states e Operation Mode Operating mode with valid parameters and e Configuration Mode Configuration Mode Note It is only permitted to couple one Node to the Master at a time 9 9 Emergency Telegrams Emergency Telegrams are sent by a Node in the case of a Node internal event The Emergency Telegram has the following structure Error Error Error Comm Device Emergency Code Code Register Error Error Trigger LSB MSB Table 56 Emergency Telegram Structure e Error Code Byte 1 and 2 See the section on Emergency Telegram Error Codes
17. Page View menu Print Setup E E Ej E All S Fron 10 1 f Select Figure 56 File gt Print The default setting prints information one sheet per device Topology prints the topology of the Bus system Bus parameters prints the Bus Parameters of the Bus system Address table prints the address table of the Master PAGE 74 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Device table prints the device table ID Table prints the ID Table PDO Configuration prints the PDO Configuration SDO Table prints the SDO Table The scope can be given with the Device Selection menu point The following can be chosen e All e From Station address to Station address e Selection of a device by means of its description If no option is selected and the OK button is pressed nothing will be printed 7 3 Export Functions 7 3 1 DBM Export Select the File gt Export gt DBM menu in order to save the previously saved project file PB Microsoft Access Format in a DBM file HSyCon binary format This DBM file can be retrieved in the DOS Compro program The configuration is stored in the Project directory in the path of the HSyCon Installation with the extension dpm Attention The file name can have max 8 character
18. Range of value 7 1 127 Send data 2 Node Address Table 17 Message Monitor LSS LMT 2 gt Set Node Address File Edit View lessens e eanTE ep pm SL RX 16 TX 3 Rx Bo TX LN 5 NR 0 LN fs AutoNR I NA A 0 F 0 A fo F B 83 E 0 z EREK ata Bount Data Tii Data Bount Data lupe Gh enable Functia l enable Receive data Send data jo h lz 3 s j5 le f je 9 0 25216217 1 40 50 60 Figure 50 Message Monitor LSS LMT 2 gt Set Node Address PAGE 64 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MANO0576 03 En Set Baud Rate Send data 2 Table 0 Standard Table 128 255 Send data 3 Baud Rate In case of table 0 0 1 Mbit s 1 800 kbit s 2 500 kbit s 3 250 kbit s 4 125 kbit s 5 50 kbit s 6 20 kbit s Table 18 Message Monitor LSS LMT 3 gt Set Baud Rate PAGE 65 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MAN0576 03 En Message Monitor Jeegam neeaae Wate Act Wate Ge ate A Wate Gey Wate lecunt Wate lPbe Wate liP Ge MEg PAGE 66 of 111
19. SmartStack CANopen Node to any CANopen Master SDO Note 1 Insert a SmartStack CANopen Master to the configuration It serves as a dummy and does not have to agree with the connected Master PAGE 20 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 3 GETTING STARTED CANopen Smartstack Manual MAN0576 03 En 3 6 Configuration of a SmartStack CANopen Master to any CAN Device for Send Receive transparent CAN The following table describes the steps to configure a Smartstack CANopen Master for send receive CAN telegrams Layer 2 transparently Action Create a new project Select Smartstack CANopen Master Set Bus Parameter Set Device Assignment for the Master if no automatic assignment has occurred Save project Download on the Master Transfer user data Send CAN Telegrams Menu in the System Configurator File gt New gt CANopen Insert gt Master Left mouse click on the Master then Settings gt Bus Parameter Left mouse click on the Master then Settings gt Device Assignment File gt Save Left mouse click on the Master then Online gt Download Left mouse click on the Master then Online gt Message Monitor Receive CAN Telegrams 1 Table 6 Configuration of a SmartStack CANopen Master to any CAN Device Note 1 The CAN Telegram receive Identifiers are activated per message
20. Version compiled Indicates the hardware version the software is compiled for Task state Is always 0 Handshake counter Number of process data handshakes done with the application Handshake mode Represents the process data handshake mode the card is running with The mode can be switched in the menu Settings gt CANopen Master Settings Table 30 PLC_TASK Common Variables PAGE 85 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Variable Received messages Sent messages Receive overruns Bus errors Controller reinits Synctimer reload Baudrate Activated bus parameter Announced Nodes Wrong parameters 9 1 2 CAN_TASK Common Variables Common Yariables Ed Received messages 39600 Sent messages 1943452 Receive overruns 0 Bus errors 0 Controller reinits 0 Synctimer reload ms 100 Baudrate 0 Activated bus parameters 0 Announced nodes il Wrong parameters 0 Eror 0 Figure 67 CAN_TASK Common Variables Meaning Number of received CAN Messages Number of sent CAN Messages This counter is incremented when to many incoming CAN messages overload the master It should normally contain 0 The CAN controller has two internal error frame counters for detecting transmission errors one for receive and one for transmit
21. as the user interface These settings are only valid for SmartStack devices and are included in the download of the configuration PAGE 43 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 5 SETTINGS CANopen Smartstack Manual MAN0576 03 En CANopen Master Settings x m Parameter to user interface m Startup behavior after system initialisation Automatic release of the communication by the device Cancel C Controlled release of the communication by the application program m User program monitoring Watchdog time 1000 ms Parameter to process data interface Addressing mode r Handshake of the process data io Byte addresses ts Bus SPG hranous device controlled C Word addresses Buffered device controlled No consistence uncontrolled Buffered host controlled C Bus SpHchicnous host controlled Buffered extended host controlled m Storage format word module Big Endian MSB LSB C Little Endian LSB MSB m Hardware parameter Zhe duelootmenon BRE dualpt menan f TERE dueloormenany Figure 26 Settings gt CANopen Master Settings Startup behaviour after system initialisation Always select Automatic release of the communication by the device this allows the Master device to start the data exchange on the Bus once the init
22. at the user interface which does not belong to the CANopen Node configuration This menu is applicable only to SmartStack devices These settings are transferred with the download of the CANopen configuration to the device To open the CANopen Node Settings menu choose the Node and then open the window in the Settings gt Node Settings menu Or right mouse click on the symbol of the Hilscher Node device and then select Node Settings CANopen Node Settings x Node ID 1 User program monitoring Watchdog time 1000 ms Cancel Handshake of the process data Bus synchronous device controlled Buffered device controlled No consistence uncontrolled Buffered host controlled Bus Svnchronous host controlled G Buttered extended hast controlled m Startup behavior after system initialisation Automatic release of the communication by the device Controlled release of the communication by the application program Figure 28 Settings gt CANopen Node Settings e User program monitoring The watchdog time appoints how long the device will wait for a user trigger of the watchdog until it resets all outputs to zero This must be set to OmS e Handshake of the process data Must be set to Buffered host controlled e Startup behaviour after system initialisation Must be set to Automatic release of the communication by the device PAGE 46 of 111 EO 09 0009 Horner APG This draw
23. description in the Description field which will accept up to 32 characters of text It is possible to configure an available Node multiple times with different Node IDs In CANopen the Node address is called Node ID The Node ID distinguishes the different Nodes from each other in the network It s a unique number that must not be assigned twice Therefore the entry in the field Node ID must be equivalent to the real Node ID itself otherwise the master will not be able to communicate with the Node later when it tries to establish communication PAGE 27 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MANO0576 03 En 4 7 Node Configuration Left mouse click on the Node symbol and select the menu Settings gt Node Configuration Or double click on the CANopen Node to open the Node Configuration window The Node specific configuration is carried out in this window Here the PDO Process Data Objects and their addresses in the process data image are assigned in the Smartstack Master Please note that the addresses have to agree with the addresses in the PC application program Note 1 Hilscher Master The information about the Offset addresses relate to the addressing of the data in the Master The addresses don t relate to the addressing of the data in the Node The Node organi
24. dictionary and an extract of the CANopen specification Rane d object Name Type Access fro Reserves SC d PAGE 102 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En fos CdReseves i SC d foci e for e morso numerot enis unsere hos Wener information unsiereaa2 mos ___ Preductose funsoreaa2 foie a Revision numer unsioreaa2 foie a Seri numer unsoreaa2 fowanee e i C d Continuation see next page PAGE 103 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Type Access Communication Profile 1200 RECORD Server 1 SDO Parameter SDO_Parameter Iro 1200 0 Number of Entries Unsigned 8 1200 1 COB ID Client gt Server Unsigned 32 1200 2 COB ID Client lt Server Unsigned 32 1200 3 NodelD Unsigned 8 1201 1277 RECORD Server 2 to 127 SDO Parameter SDO_Parameter 1280 12FF RECORD Client SDO Parameter SDO_Parameter rw PDO_Com_Para rw 1400 15FF RECORD Receive PDO Parameter Faia mooo ____ Numberofenvies Unsoreae mon leoo Sie mo Transmission Type Unsoed moos ____ Tranem Pronote Time Unsigned
25. eresie ia aaae KAA Eei AAE Aa Eaa 17 3 1 Overview of Communication Types esssersesissiserieersrrtesterraersrnssetinnetinaestennaaatrnnddennnadtanaaeen aaan ea 17 3 2 Configuration of a SmartStack CANOpen Master PDO Telegram to any CANOpen Slave 17 3 3 Configuration of a SmartStack CANOpen Slave to any CANOpen Master ccceeceereeeee 18 3 4 Configuration for SDO Communication cccceccceeeeee cence ee ia eter tees ee Naa EEA AANKAN TRAER TERA 19 3 5 Configuration of a SmartStack CANopen Node to any CANopen Master SDO 20 3 6 Configuration of a SmartStack CANopen Master to any CAN Device for Send Receive transparent GAN s fei Act atten ete den elaine ides ee ae We E N 21 3 7 Configuration of a SmartStack CANopen Node to any CAN Device for Send Receive tranSparent GAN ste ois sehen cereale ats ice pel vel Se tapes ada A a i in vel O ARA aa tients 22 CHAPTER 4 CONFIGURATION OF CANOPEN WITH HSYCON ccceeececeeeeeeeeeeeetneeeeeeeeeeeeenaeeeeeeaas 24 4 1 Setting up the CANOpen Configuration cc cece ceeeeeeeeeneeeeeenneeeeeetneeeeesneeeeesieeeeeenaeeeeeees 24 4 2 EDS MGS nreno a ce sanccetid sack Sepia cet athe enn fede athe an eda A tae 24 4 3 Maert Maste oeenn cick eine iit eae ee et ee eed 24 4 4 Master Configurations sc cvsachese as tide Eea a chante E E AA ees 25 4 5 Replace Master mnrnutiin curn reen a ae a gat ae een tee ia aiae a aa setae 26 4 6 Insert Node mecca uae a a A a a ee o A En R OA
26. for Horner devices are already included in the delivery of the System Configurator HSyCon Devices from other For other devices these have to be delivered by the manufacturers device manufacturer Table 5 EDS files Source of Supply During startup the System Configurator automatically reads in all the EDS files that are in the EDS directory This puts the device names in an internal list The device specific data is read directly from the EDS file during configuration If a CANopen Node Slave is needed which does not appear in the selection list then the appropriate EDS file can be copied to the EDS directory with the menu File gt Copy EDS Another method is to copy the EDS file into the SyCon EDS directory with Windows Explorer and then read the EDS files in the EDS directory with the menu Settings gt Path Figure 5 EDS files and bitmaps directory The EDS path is selectable The standard setting can be changed with the menu Settings gt Path 4 3 Insert Master To insert a Smartstack Master in the configuration choose the Insert gt Master menu Open the selection window or click on the symbol Insert gt Master rsen Mane Figure 6 Insert gt Master Symbol A window appears where one master device can be selected PAGE 24 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION
27. for Setting the Receive Filter The CAN Receive ID consists of two bytes and is formed as follows The CAN ID range 0 to 2047 is segmented in low and high order bytes Where the CAN Receive ID Part 1 is the low order byte and the CAN Receive ID Part 2 the high order byte Example If the CAN telegram with CAN ID 2000 is to be received then 2000 07DOH Then CAN Receive ID Part 1 is equal to 208 DOH and CAN Receive ID Part 2 is 7 07H PAGE 71 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MAN0576 03 En The following picture shows the setting of the receive filter for CAN ID 2000 Message Monitor x File Edit View MESSAGE OUTPUT Counter 1 MESSAGE INPUT Counter 1 m Message Header Message Header Rx 255 TX 3 Rix 3 TX LN D NR 0 LN PP AutoNR T NR 4 82 F D jo F B 0 E 0 B 82 E Data Ad Wate dy Data Ad atalay Data fount Wate pe Date Eoun Data lupe Function I enable rictor enable m T Receive data Send data PutMessage Figure 55 Message Monitor for Setting the Receive Filter PAGE 72 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MANO0576
28. is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised
29. of PDO e Add to configured PDOs Allows addition of a configured PDO to the Configured PDO list e PDO Contents Mapping With a PDO in the Configured PDOs list selected Double click or click on the PDO Contents Mapping button and the PDO transferred user data is shown the combination may be changed if necessary e PDO Characteristics Shows the transmission settings of the PDO These may be adjusted if necessary e Define new Receive PDO Allows a new Receive PDO to be added to the Configured PDOs list This is described in the section Creating Receive PDOs e Define new Transmit PDO Allows a new Transmit PDO to be added to the Configured PDOs list This is described in the section Creating Transmit PDOs e Delete configured PDO Allows the deletion of a Configured PDO from the configured PDO list e Symbolic Names Relates to the symbols for the OPC server for further information see the OPC server manual 4 8 Overview of Node Configuration For the Node Configuration to transfer PDO data the following typical steps must be made Configuration step Description Device Profile and Device Type Set or take over the value which is read from the EDS file Process Data Configuration Select the PDO e Process Data Configuration Set the PDO transmission characteristics e PDO Mapping Take over the basic setting or adjust the PDO combination e Node Bootup Set startup behaviour Node supervision Set Nodeguarding a
30. the Master are serviced for the application with the configuration of the PDOs The configuration window contains two tables The upper table Predefined Process Data Objects PDOs from EDS file shows all configurable PDOs which are predefined in the EDS file of the device By double clicking on a table entry or via the Add to configured PDOs button the entry is taken over to the Configured PDOs table The columns of the Configured PDOs table have the following meaning e PDO name The Rx and Tx PDO parameters are shown e Symbolic Name Here the symbolic name which is used in case of OPC communication is given PDO_1400 and PDO_ 1800 and continuous names are used as pre set value This may be overwritten by the user e COB ID In this column the CAN telegram identifier is shown In the case of manual assignment the telegram identifier of the CAN telegram which is transmitted with the PDO may be edited in the range from 0 to 2047 e Type and O Type The specification IB stands for Input Byte and QB for Output Byte e Addr and O Addr The I Addr Input Address and the O Addr Output Address define the address of the PDO data in the process data image which is held in the Dual port memory of the Master The range can be between 0 and 3583 The number of data bytes is shown under Number and O Number The addresses may be assigned automatically by SyCon or manually by the user This is set in the menu Settings gt Global Setti
31. to any CANOpen Slave PAGE 17 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 3 GETTING STARTED CANopen Smartstack Manual MAN0576 03 En 3 3 Configuration of a SmartStack CANOpen Slave to any CANOpen Master The following table describes the steps to configure a PDO telegram for a SmartStack CANOpen Slave to any CANOpen Master Action e Create a new project e Select SmartStack CANopen Master 1 e Select SmartStack CANopen Node and set Node address e Set Bus Parameter e Set Device Assignment if no automatic assignment has occurred e Save project e Download e PDO diagnostic e Transfer user data Send data Receive data Menu in the System Configurator File gt New gt CANopen Insert gt Master Insert gt Node Left mouse click on the Master then Settings gt Bus Parameter Left mouse click on the Node then Settings gt Device Assignment File gt Save Left mouse click on the Node then Online gt Download Left mouse click on the Node then Online gt Extended Device Diagnostic gt COS_TASK PDO Transfer Left mouse click on the Master then Online gt I O Monitor Table 4 Configuration of SmartStack CANOpen Slave PDO to any CANOpen Master Note The SmartStack CANopen Node is configured via the CANopen Bus by means of an SDO download from a configuration master Without a conf
32. to show stop mode and in run mode has the sign x 6 10 CANopen Node specific Diagnostic If the device indicates diagnostic information Diag appears beside node This information is displayed in detail by clicking with the mouse on the corresponding device in debug mode To activate the debug mode mark the Master with a left mouse click and select the menu Online gt Start Debug Mode Now set the focus on the Node left mouse click and select the menu Online gt Device Diagnostic to show the CANopen Device Diagnostic To end the Debug Mode mark the Master again and select the menu Online gt Stop Debug Mode PAGE 54 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MAN0576 03 En Diagnostic Node ID 1 x Node State OK I No response Additional information Object 1000Hex 0000 hex Device profile number Object 1000Hex 301 Emergency buffer overflow Parameterization fault Node guarding state OPERATIONAL I Node guarding active ee Actual communication error No actual error I Internal fault Number of emergency telegrams 1 l Deactivated m Emergency telegrams 1 00 hex 00 hex 00 hex Interpret Telegrams e w N Error 0 Figure 40 Online gt Device Diagnostic CANopen Standard Diagnostic The individual bits in the Device Diagnos
33. to the manual of the Node manufacturer 6 12 Global State Field Menu option Online gt Global State Field opens a window in which statistics about the bus status and connected devices are shown PAGE 56 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MANO0576 03 En Global State Field x Online master main state OPERATE Collective status bits TOUT NADY EVE Collective online error location and corresponding error Error at remote address 0 Corresponding error event FAT dec No actual error NEXC ACLR CTRL m Statistic bus information Counter of detected bus off reports Counter of rejected telegram transmissions oOo 0 dec dec m Device specific status bits i A Parameterized Devices Activated Devices Devices with Diagnostic 0 Error Figure 42 Online gt Global State Field The first row displays the main status of the Master OPERATE STOP or OFFLINE are the possible states The next row displays individual bus errors A pending error is displayed with a red field The meaning of the individual abbreviations is described in the following Bus error Meaning the CAN chip has detected transmission errors The number of detected events are counted in the bus off reports and the error warning limit cou
34. to the Hilscher Yes No CANopen Master device Debugmode CANopen Determine to which CANopen Nodes the Hilscher CANopen Yes No Master has communication Global State Field Status information of the Hilscher CANopen Master Yes No Extended Device Diagnostic Statistic information and status information from the Hilscher Yes Yes CANopen device Table 12 Overview Diagnostic Functions PAGE 52 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MAN0576 03 En 6 7 Live List Select the desired device with a left mouse click on the device symbol Then select the Online gt Live List menu and obtain an overview of all active devices on the CANopen network Devices ty Se ee Fe Gy ts PG a ahh are ae x 5 16 17 18 1 22 2 25 26 MIS 16 fF a 19 20 Zi e e 25 26 a7 28 29 30 31 32 33 34 35 36 37 38 39 40 4 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 PAUL Seg ep SAC CP G Fee Ties F pe Lf ea eka fee 84 85 86 87 88 89 90 9 92 93 4 95 SE 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 Aara i 126 127 REror 0 Figure 38 Online gt Live List Generally all devices are displayed in grey Any Nodes detected on the bus are represented in black on the appropriate Node
35. with the diagnostic interface of the SmartStack device The cable is standard Horner Programming cable CIF TCP IP Driver e Not supported do not choose this driver 5 2 COM Serial Driver The serial driver supports COM1 to COM 4 in order to communicate via the diagnostic interface with the device The Device is selected via Settings gt Device Assignment Driver Select x CIF Device Driver CIF Serial Driver CIF TCP IP Driver Cancel Vendor Hilscher GmbH Version 1 100 Date 25 02 2000 Functions 11 Figure 23 Driver selection CIF Serial Driver Choose the CIF Serial Driver and then OK in order to select the CIF Serial Driver The connection must first be established using the switching surface Connect COM1 or Connect COM2 or Connect COM3 or Connect COM4 They can be used depending on which COM interfaces are installed and free on the PC PAGE 41 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 5 SETTINGS CANopen Smartstack Manual MAN0576 03 En The System Configurator sends a request to the corresponding COM interface and polls the Firmware of the device A display of the Firmware will indicate when a device is connected In the other case a Timeout error 51 appears which will state that no device is connected Device Assignment CIF Device Driver Ea m Driver Description Device Drive
36. 009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MAN0576 03 En 6 15 1 O Monitor This is an easy way of viewing and changing the first 32 bytes of the process data image The I O Monitor is called up with the menu Online gt I O Monitor 170 Monitor Ed DEC HEX Input data Update 00 0 00 0 0 00 Ero 0 Figure 44 Online gt I O Monitor DEC HEX Converts the display of the input data The output data is always in decimal form Update Enter the output value and then press The first 32 input and output bytes of the process data is shown even when these bytes have not been occupied by the configuration The display is always in a Byte manner PAGE 59 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MAN0576 03 En 6 16 Read Objects SDO Upload Allows the execution of the CANopen services read object and write object based on the current configuration Select the required device by clicking with the left mouse button on the Node symbol Then select the menu Online Read Object or Online gt Write Object Read Object x Object Index 1000 ee Sub Index oO hex OK Value ee 20010000
37. 03 En The following describes the Message Monitor with the Receive of CAN telegrams at the SmartStack Master and or SmartStack Node Upon receipt of a telegram the following appears in the Message Monitor Table 23 Message Monitor for Receiving of CAN telegrams transparent Receive data 4 if available 0 255 Note This is only possible via the dual port memory It is not possible via a serial connection COM Serial Driver The CAN Receive ID consists of two bytes and contains the CAN telegram ID and the data length It is evaluated like follows CAN Receive ID Part 1 is the high order byte and the ID part 2 is the low order byte PAGE 73 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En CHAPTER 7 FILE PRINT EDIT EXPORT AND VIEW 7 1 File 7 1 1 Open An existing project can be opened with File gt open 7 1 2 Save and Save As When the file name is known the configuration can be saved under the File gt Save menu otherwise the File gt Save As menu must be selected 7 1 3 Close The current project can be closed with File gt Close 7 2 Print Once the required printer has been selected in the File gt Printer Setup menu the configuration can be printed out under the File gt Print menu For a page view select the File gt
38. 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MANO0576 03 En e Activate Node in actual configuration Reserves process memory in the Master for this Node and the Master makes a data exchange on the bus to this Node If this setting is deactivated the Master reserves memory in the process data image for the Node but no data exchange to this takes place e Automatic COB ID allocation in accordance with Profile 301 Active in the basic setting The COB ID is preset for a PDO depending upon the Node address and the PDO used If this field is deactivated manual assignment of the COB ID may be made In order to reduce configuration effort for simple networks a mandatory default identifier allocation scheme is defined which is described later These identifiers are available in the Pre operational state of a Node which works in accordance with the Communication Profile 301 directly after initialization These pre defined connection sets are used by HSyCon if automatic allocation is enabled Then the COB IDs in the already configured PDO COB ID column are not editable If the automatic allocation is disabled the COB IDs may be edited in the range from 0 2047 Note If the Automatic COB ID allocation in accordance with Profile 301 is deactivated HSyCon does not check if a COB ID was as
39. 12 00 Error status D Error 0 PAGE 51 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MAN0576 03 En Figure 36 Online gt Firmware Reset The device is reset by the Reset button Select the desired device with a left mouse click on the symbol of the device Then select the Online gt Device Info menu in order to obtain further information on the selected device The manufacturer date the device number and the serial number of the device is retrieved and shown Device Info x Generals OK Manufacturer date 01 11 2000 Device number 10505000 Serial number 00000459 Drivers Driver 1 OPCS Driver 2 Driver 3 SEror 0 Driver 4 Reno 0 Figure 37 Online gt Device Info 6 5 Start Stop Communication The communication between CANopen Master and CANopen Node can be manually started or stopped Select the desired device with a left mouse click on the symbol of the device Then select the Online gt Communication start or Online gt Communication stop menu 6 6 Diagnostic Functions The following table shows diagnostic functions and their use with e SmartStack CANopen Master devices e SmartStack CANopen Nodes Slaves ForSS For SS Master Nodes Diagnostic Function Description devices Live List Determine which devices are connected
40. 16 moa Tresena Sunes 1600 17FF ARRAY Receive PDO Mapping PDO_Mapping rw oro nomero O fusee E S e re meor i bet o Sunse T e E 1600 40 64 Object Unsigned 32 1800 19FF RECORD Transmit PDO Parameter PDO_Com_Para rw 1A00 1BFF ARRAY Transmit PDO Mapping PDO_Mapping rw Manufacturer Specific 2000 5FFF Profile Standardized Device 6000 67FF ss Device Profile 1 oore Deve Profles eoor Device Proe w08 bewe pones ooo soose bewer OOo oor __ DeviceProfie7 009E ___ DeviceProfies CS Reserved moere O Resev OOOO OO Table 49 Object Dictionary Profile PAGE 104 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Note The list of the single objects is no information that the Master or the Node support the respective object and the function which is associated with it 9 5 Communication Profile Device Profile and Device Type The Communication Profile DS 301 specifies how to communicate The Device Profiles DS 401ff specify what is communicated Common communication profile according to DS301 Device profile for I O modules Table 50 Device Profile and Device Type 9 5 1 Communication Profile 301 The communication profile DS 301 is acommon profile It is the basis of CANopen communication and lay
41. 79 View of te Coning atoe asa rnern O REEE EAE A ERER A AE RGE 79 Device E 1 EAE EA ET AA E E E E A AT 79 PAGE 5 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised PREFACE CANopen Smartstack Manual MAN0576 03 En 52 Address Table iia see eels i sds ines pete adress Meenas eee dk easton ted eet anders eg 80 Po ID Table irean ea ae 4 Ses Scien na er a tek et hes aa al eee 80 BAS eSDO able rire sentssstiact cee ettateorangthseisa ai ests a a oe Seek tos wha ae deans sais wn hea la attends ative idee ee 81 7 6 View Ment SYC Om chek cetieed a stave bn Mee id na teil ata ae 82 eT Logical Network VieW ti eine live etna eects haiti oA a denice 82 F O 27 TODAS ets repo ectlas at a hada haat es Sate rata e dee neat ental ote tesi ated eat ee 82 6 30 sStatus Balsorah ae a a ents ede vets oe Dee ees eee aut te Se te ia eaten ee 82 CHAPTER 3 ERROR CODES ieoa arnie Yate tien ete iat deen tes hi teens ata ee eet eta 84 8 1 CIF Serial Driver Error Numbers 20 71 ccccccceeceeeeeeeeeeeerneeeeeenneeeeeenneeeeeenieeeeeetieeeeesnaeeeees 84 9 1 Extended Device Diagnostic Master ceccceeeeeteeeeeeeneeeeeeeneeeeeeneeeeeeaaeeeeeeiaeeeeeeaeeeeeeneeeeeeaas 85 9 1 1 PLC_TASK Common Variables cccccccceecseceeceeeeeeeececcncaeceeeeececeneaeeeeeeeseseccasaeeeeeeeeeeeeesaees 85 9 1 2 CAN_TASK Common Variables ccccc
42. AGE INPUT Counter 1 Message Header Message Header RX 255 TX 3 RX Bo TX LN 0 NR 0 LN E AutoNR IT NR A 82 F 0 A fo F BOO E 0 7 BAR T lata Count Data Type Data Count Data Type lis Functia enable Send data T Put cyclic PutMessage Figure 48 Message Monitor for LSS LMT gt Set the Receive Filter PAGE 62 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MANO0576 03 En Switch in configuration mode R 3 red 0 Send Data Send data 1 Mode Global Service 4 1 Send data 2 Config Mode Table 16 Message Monitor LSS LMT 1 gt Switch Configuration Mode on File Edit View MESSAGE OUTPUT Counter 1 MESSAGE INPUT Counter 2 Message Header Message Header RX 255 TX 3 Rx Bo TX 255 LN 0 NR 0 LN Eo wonn NR 0 A 82 F 0 A fo F fo B 0 E 0 B fea eE p late Eoun Date iwi Datatount Data Tipe l enable Send data T Put cyclic PutMessage Figure 49 Message Monitor LSS LMT 1 gt Switch Configuration Mode on PAGE 63 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MANO0576 03 En Set the Node Address R 3 fred 0 Send Data
43. APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MAN0576 03 En 4 17 Node BootUp The Node BootUp defines the network startup behaviour of the Master to get a Node operative There are different states a Master can run through per Node Each state is configurable and can be enabled activated or disabled deactivated here In the basic setting all states are activated Node BootUp Power ON Node Reset Sends the Reset Node Command Cancel Check Node Type and Profile Compares the configured Profile and Type Object 1000H with real value Configuration Guarding Protocol Configures the Guarding Time and Lifetime Factor Configuration Configures the COB ID for the Sychronization T elegram SYNC COB ID Configuration Configures the COB ID for the Emergency T elegram EMCY COB ID Configuration download of objects Start Node Sends the Start Node Command Initiate Femote requests all TxPDOs and sends current RxPDOs once after bootu PDO data PDO transfer Downloads the Object Configuration to the Node Figure 19 Online gt Node Configuration gt Node BootUp Node Reset If enabled the master sends the CANopen specific Node Reset Communication command Check Node Type and Profile If enabled the master will compare the contents of the mandatory Node Object 1000H device type
44. CANopen Smartstack Manual MAN0576 03 En Insert Master Ed Available devices Selected devices OK CIF30 COM Add gt gt Cancel CIFSOCOM ee CIF104 COM Add All gt gt CIF104 C0M R COM COM PKV40 COM _ lt lt Bemove_ lt lt HEMOSE A Description Master Figure 11 Insert gt Master For the Horner Smartstack CanOpen Master select COM COM In this window select the required Master by clicking on it in the Available devices list and then click the Add button or double click to put the Master in the Selected devices list Confirm the selection with OK and the Master will be inserted This example shows a CIF 50 COM with the Description Master The description may be changed by typing in this field 4 4 Master Configuration The Master specific configuration is carried out in the following window and subwindow Set the focus on the Master left mouse click and then select the Settings gt Master Configuration menu or double clicking on the symbol of the Master to be configured will open the following window Master Configuration x General Description Master Device CIF50 COM m Settings Master Settings Global Settings Figure 7 Settings gt Master Configuration The following can be set in this Master Configuration window e A symbolic Description of the Master e The window Master Settings can be opened e The window Global Settings can be opened PAGE 25 of
45. E 26 4 7 Node Coniguralo niacin netee e e aa E A A acta dette ents 28 4 8 Overview of Node Configuration eesssessssrreseirresssrisssnrnnninnndaninnstenaaatanannniaunaanan na anadanan anaana 30 4 9 Device Profile and Device Type ssi s 00 chiniidees Aiea gte dais en daehe aiding ibe ade 30 4 10 Process Data Configuration Selection Of PDO 0 00 0 cece ee eene eect tenets eeeeaeeeeeeneeeeeenaeeeeeeeaas 30 4 11 PDO Communication Parameter PDO Characteristic 00 ceeececeeeeeneeeeeenneeeeeeneeeeeeenaeeeeeeaas 31 4 12 Receive PDO characteristics ace iscccaisesntacvsteaceas saattanda AEE EEE A EAA EA RTA 32 4 13 Creating RECEIVE POOS aori is a AA O TATA EN AET TA 32 4 14 Transmit PDO Characteristics Arenaan such tesa NEREA NAERA EEA TR 33 4 15 Creating Transmit POOS ariar aaea ana RA ENAT A 34 4 16 PDO Contents Mapping Arrange a PDO ee eeccceeeeeeeeeeenne ee erent ee ee taeeeeeeaaeeeeetaeeeeeenaeeeeeeaas 35 4 17 NOE BOOtU pis tance dicted const ah a Ea aA a nat cace e a e Meacaan cust te meted es 36 4 18 Node supervision Nodeguarding and Lifeguarding cccceeeeeeeeeeeeeeeeeeeeneeeeeeneeeeeeneeeeeeeaas 37 4 19 Object Config UratlOn orraa betes ccc ETA cn tea va decsna fee aeeue ots dee ahs de chante ER TA abda OE 37 4 20 OPC Objects wisn seid ce id ah a a A ee 38 4 21 QPC User Defined ObDjeCts ia na E AA ate Seana oat deette cae eee 38 4 22 Replace NOGG sits EEE AEE EE E A EEEE 38 PAGE 4 of 111 EO 09 0009 Horn
46. EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MAN0576 03 En The Yes button opens a new window where the new Node may be selected Replace Node an an CIFIO4 COS CIF104 COS R CIF30 COS CIFS0 COS CIFS0 COS Figure 22 Edit gt Replace Node In this window select the required Node by clicking on it By clicking the Add button the Node is shown in the Selected devices list With OK confirm the selection and the Node will be replaced PAGE 39 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 5 SETTINGS CANopen Smartstack Manual MAN0576 03 En CHAPTER 5 SETTINGS 5 1 Device Assignment The Device Assignment setting determines how the System Configurator communicates with the device This is set in the device arrangement via the menu Settings gt Device Assignment The following possibilities are available CIF Device Driver CIF Serial Driver CIF TCP IP Driver CIF Device Driver e Not supported do not choose this driver CIF Serial Driver e CIF Serial Driver The HSystem Configurator communicates with the SmartStack device over a serial connection In this case a COM interface of the PC must be connected via a cable straight
47. Ero 0 Figure 45 Online gt Read Object 6 17 Write Object SDO Download Allows the execution of the CANopen services read object and write object based on the current configuration Select the required device by clicking with the left mouse button on the Node symbol Then select the menu Online Read Object or Online gt Write Object Write Object x Object Index 1000 hex Sub Index fo hex Value hex Ero 3 Figure 46 Online gt Write Object Objects in CANopen are addresses in the manner Object Index and Sub Index Both values must be specified in the selected window Press Read or Write button to start the action HSyCon informs about the success or failure of the action 6 18 Message Monitor The Message Monitor permits access to the Mailbox of the COM The usage of the Message Monitor assumes advanced knowledge on the part of the user First the Hilscher device must be chosen with a left mouse click on the symbol of the Hilscher device Then call up the Online gt Message Monitor menu PAGE 60 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MAN0576 03 En Message Monitor x File Edit View MESSAGE OUTPUT Counter 0 MESSAGE INPUT Counter 0 m Message Header Message Header RX 0 TX 0 Rx 0 TX LN 0 NR 0 LN 0 AutoNR TT NR 0
48. O can contain up to 8 bytes of process data The combination of these individual process data elements can be changed when the button Append Object is used When a PDO was transferred from the upper table to the Configured PDOs table HSyCon automatically maps all found mappable process data from the Nodes EDS file into this PDO PDO Contents Mapping Object Index 1600 x Mapable Objects from EDS file Objldx Sub ldx Parameter ccess Input Byte 0 E Cancel Input Byte 1 Input Byte 2 Input Byte 3 Input Byte 4 Append Object Input Byte 5 Input Byte 6 m Mapped Object dictionary Objldx Sub ldx Parameter Symbolic name SOO WOM Output Byte 0 Output Byte 1 Output Byte 2 Output Byte 3 Output Byte 4 Output Byte 5 Output Byte 6 Output Byte 7 Object6200Idx0 Object6200Id1 Object6200Idx2 Object6200Id 3 Object6200Idx4 Object6200Id 5 Object6200Idx6 Object6200Idx7 Delete mapped Object Figure 18 PDO Contents Mapping The picture above is an example for a TX PDO mapping The upper table shows all available objects with their access rights which are declared in the node s EDS file A double click on one of these transfers it into the lower table This table contains the real mapped objects that shall be the content of the PDO later in the process data exchange phase Note Not all CANopen Nodes supports the PDO mapping feature PAGE 35 of 111 EO 09 0009 Horner
49. Objldx Sublds Parameter Default Value Access all x Device Type 12D read only Error Register 0 read only Number of PDOs supported Nr RxPDOs TxPDOs 200020 read only Nr synch RxPDOs TxPDOs 0 read only Nr asynch RxPDOs TxPDOs 200020 read only Add to Configured Objects Decimal Transmission type FE Inhibit time 64 Number of mapped objects 8 Output Byte 0 62000008 Output Byte 1 62000108 Delete Configured Object Beale Cortinei ote pee corse oer Figure 20 Online gt Node Configuration gt Object Configuration 4 20 OPC Objects Symbols for the OPC communication can be entered via SDO telegrams from this window Objects may be selected from the list provided Further information may be found in the OPC Server manual 4 21 OPC User Defined Objects Symbols for the OPC communication can be entered via SDO telegrams from this window Objects can be entered by the user Further information may be found in the OPC Server manual 4 22 Replace Node If a Node already exists in the configuration and should be replaced with another Node first set the focus on the Node left mouse click and then choose the menu Edit gt Replace Or right mouse click on the Node and select Replace in the menu that opens In the opened window the question appears asking if the Node should be replaced Question 7 Do you want to replace this device Figure 21 Security question Replace Device PAGE 38 of 111
50. Please enter the license code from your CD Name Enter your name here Company Enter your company name here Cts Address o City State Zip FO Country PO License code 0123456789ABCDE its e Figure 2 Enter the Name the Company Name and the Licensecode Note The License code 0123456789ABCDEF is not a valid code and is only used for explanation purpose the code is case sensitive It is necessary to fill in the Name Company Name and License code fields the rest are optional The installation program copies the program files GSD or EDS files and Bitmaps to the PC Finally the following files are entered in the system Registry e System DLLs e The application 2 4 Licensing This section describes the steps required to license the System Configurator for an already installed basic version of the System Configurator To license the System Configurator during installation was described above Start HsyCon Select the menu Help gt Licensing The licensing window will open Listed in the table in the middle are the fieldbus modules that were already selected during the installation If the required fieldbus is not in the table then select it from the upper table by double clicking on it or by select and Add Enter the name and the company name Select the button Enter License Code The following windows appear Enter the 16 digits of the license code Note License codes with less than 16 digits can only be ente
51. The object dictionary is the connection between the application unit and the communication unit It contains configuration data and device information All entries have an object index index and a subindex Application The application unit describes the function of the CANopen device Table 1 Components of the CANopen Device Model 1 6 Communication Profile Device Profile and Device Type The Communication Profile DS 301 specifies how to communicate The Device Profiles DS 401xx specify what is communicated Common communication profile according to DS301 Device profile for I O modules Table 1 Device Profile and Device Type 1 6 1 Communication Profile 301 The communication profile DS 301 is a common profile It is the basis of CANopen communication and lays down how the devices communicate on the CANopen network 1 6 2 NMT State Machine State Diagram NMT stands for Network Management This state machine defines and controls the CANOpen fieldbus states the following diagram shows the possible states of a CANopen Node PAGE 10 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 1 INTRODUCTION CANopen Smartstack Manual MANO0576 03 En Power ON or Hardware Reset Initialization Pre operational Figure 1 NMT State Machine At Power on the initialisation state is entered autonomously Initialisati
52. Y INSTALLED THIS WARRANTY SHALL APPLY ONLY WITHIN THE BOUNDARIES OF THE CONTINENTAL UNITED STATES In no event whether as a result of breach of contract warranty tort including negligence or otherwise shall HE APG or its suppliers be liable of any special consequential incidental or penal damages including but not limited to loss of profit or revenues loss of use of the products or any associated equipment damage to associated equipment cost of capital cost of substitute products facilities services or replacement power down time costs or claims of original purchaser s customers for such damages PAGE 2 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised PREFACE CANopen Smartstack Manual MAN0576 03 En List of Revisions Index Date Version Chapter Revision S 20Feb 03 o1 fan initial release o C a E E PAGE 3 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised PREFACE CANopen Smartstack Manual MAN0576 03 En TABLE OF CONTENTS PREFACE oE r schist ack grssatcakvedbesiausdecses phase tea E AEE E R ER 2 LIMITED WARRANTY AND LIMITATION OF LIABILITY 00 ee ccecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeseneaeeeseeaaees 2 CHAPTER TS INTRODUCTION oerrinne een ais te raed ohne deh edi wee 7 1 1 SCOPO
53. a type e g array of Unsigned 16 Sub index 0 is of Unsigned 8 and not part of the array data RECORD A multiple data field object where the data fields may be any combination of simple variables Sub index 0 is of Unsigned 8 and not part of the record data Table 47 Object Codes Note The list of the Object Names and Object Codes does not imply that the Master or the Node support the respective data type PAGE 100 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En 9 4 2 Object Dictionary Data Types The following table is a survey of the data types and an extract of the CANopen specification Continuation see next page PAGE 101 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En 0024 003F 003F reseved reseved ssid Manufacturer specific 0040 005F DEFSTRUCT Manufacturer specific complex data types data types Table 48 Object Dictionary Data Types Note The list of the data types is no information that the Master or the Node support the respective data type 9 4 3 Object Dictionary Profile The following table is a survey of the profile object
54. able 29 CIF Serial Driver Error Numbers 20 71 2 2 2 2 2 2 2 2 3 3 3 3 3 4 4 4 4 PAGE 84 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En 9 1 Extended Device Diagnostic Master The menu item Online gt Extended Device Diagnostic helps to find possible network and configuration faults while trying to get the network fully operative This menu shows a list of available structures The listed structures can be displayed to show the values The structures will be reset after power on and after a cold or warmstart command Select Task State x TASK Common Variables CAN_TASK Common Variables CAN_TASK Node Running States Disp CAN_TASK Global State Field CAN_TASK Communication Error CAN_TASK Nodeguard Inputqueue CAN_TASK Management Inputqueue CAN_TASK Emergency Inputqueue CAN TASK Transmit Queue H Figure 65 Online gt Extended Device Diagnostic These functions contain online counters values parameters and status Several task states are also available 9 1 1 PLC_TASK Common Variables Common Yariables x Version compiled CAN Task state 0 Handshake counter 0 Handshake mode 2 Ero O Figure 66 PLC_TASK Common Variables The definition of the data is explained below Variable Meaning
55. address 6 8 Debugmode CANopen Select the menu item Online gt Start Debug Mode The System Configurator cyclically interrogates the status of the network communication from the COM and the individual conditions of the Nodes To end the Debug Mode select the menu Online gt Stop Debug Mode 6 9 The Debugwindow When the debug session is started the configuration window changes to the debug window T he devices and the line between them are displayed in green or red colour depending on the established network communication PAGE 53 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MANO0576 03 En Fa SyCon co co of x h File Edit View Insert Online Settings window Help 8 x Dial gt e Master Master CIF50 COMI a Node1 CAMO OCR Node ID 1 Node CIF50 COS xj Status Ok CANopen Debug Mode RADY RUN Figure 39 The Debugwindow If diagnostic information is available for a specific device next to the device Icon the text Diag appears in red To get further device specific diagnostic information doubleclick on the device itself or set the focus to the device and select Online gt Device Diagnostic Note The CANopen Master NMT Master can only recognize that the Node has failed if the CANopen Node supports Nodeguarding The Master icon has the sign
56. agnostic Functions CANopen Smartstack Manual MAN0575 03 En Variable Bus comm enabled 0 bus communication is disabled because of Not Ready bit set in DPM or HOST watchdog error 1 bus communication is enabled User emergency Number of user generated emergency messages sent messages User NMT commands Number of NMT commands received from user Last user NMT command NMT command received most recently from user Table 38 COS_TASK User Communication 9 2 4 COS_TASK Node Management Node Management Ed State 3 Flags Fh Last command 1 th Enter Pre Op messages 0 Start node messages Stop node messages Reset comm messages Reset node messages Unknown messages Node guarding requests 64629 Life time exceeded 3 Emergency messages sent 5 Eror 0 oo fF OM Figure 81 COS_TASK Node Management Variable State Current Node management state of the DEVICE 0 Init 1 Pre Operational 2 Prepared 3 Operational Flags Some flags Bit 0 PDO communication enable Bit 1 SDO communication enable Bit 2 Node guarding enable Bit 3 life guarding enable Bit 7 Node guarding toggle bit PAGE 95 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Reset Node messages Number of Reset Node messages received Unknown messages N
57. all application programs on the system are closed before installation begins Insert the CD in the local CD ROM drive The installation program will start by itself if Autostart is enabled Otherwise change into the root directory on the CD and start Autorun exe Autostart disabled Note Administrator privileges are required on Windows NT 2000 XP systems for installation The installation program asks for the components to install Answer these questions with Yes or No Tick No for the OPC Server function it is not included with this installation pack Figure 1 Selection for the Installation of the licensed System Configurator without OPC 2 3 Installation of the System Configurator HSyCon During the installation the user name company name and license code must be entered Otherwise the HSystem Configurator will only work in basic version mode In this case all functions are available but the configuration is limited to two devices on the network this is usually sufficient for Slave devices Follow the instructions of the installation program by selecting the fieldbus system to be installed and answer all the questions with OK or NEXT PAGE 13 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 2 INSTALLATION CANopen Smartstack Manual MAN0576 03 En System Installation Program Registration Ea ATTENTION
58. ally it is set valid e To delete the information of the PDO Mapping in the Node and to set it back to the default mapping respectively in object 16xx and object 1Axx respectively Subindex 0 the value 0 is written down e The objects which are to be mapped are entered in object 16xx and respectively object 1Axx Subindex 1 to N e The number of objects is entered value N in object 16xx and respectively object 1Axx 9 7 NMT State Machine State Diagram NMT stands for Network Management The following diagram shows the possible states of a CANopen Node PAGE 107 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Power ON or Hardware Reset Initialization Pre operational 3 4 ee Figure 93 NMT State Machine At Power on the initialisation state is entered autonomously Initialisation finished enter PRE_OPERATIONAL automatically 3 6 Start_Remote_Node indication 4 7 Enter_PRE OPERATIONAL_State indication Stop_Remote_Node indication 9 10 11 Reset_Node indication 12 13 14 Reset_Communication indication Table 54 Description NMT State Machine 9 7 1 Communication Characteristics in the different NMT States The following table shows the possible communication in the respective NMT states Initialization Pre
59. as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MANO0576 03 En 6 20 Message Monitor for Sending or Receiving Transparent CAN Telegrams Using Messages it is possible to send and receive CAN telegrams Layer 2 6 21 Message Monitor for Sending CAN Telegrams transparent The following steps show how to send CAN telegrams to the SmartStack Master and or Node using the Message Monitor Table 21 Message Monitor for Sending CAN Telegrams transparent Send data 4 if available 0 255 Note If the SmartStack device is used simultaneously with other CANopen device then the Identifiers are already used It is the responsibility of the user to ensure that no conflicts occur The CAN Send ID consists of two Bytes and is formed as follows The CAN ID range 0 to 2047 is multiplied by 32 and the data length range 0 to 8 is added CAN Send ID Part 1 is then the high order byte and CAN Send ID Part 2 is the low order byte Example If the CAN telegram with CAN ID 2000 and 8 bytes of user data should be sent the following results 2000 32 8 64008 FA08H Then the CAN Send IP Part 1 is 250 FAH and CAN Send IP Part 2 is 8 08H PAGE 69 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MAN0576 03 En The following pic
60. cccccceceeeeeececceeeeeeeeeccceacaeceeeeeeeseceacaeeeeeeeeesecsuceeeeeeneees 86 9 1 3 CAN_TASK Node Running State ir tratie Eea EA EEEIEE EEA EEE EERE RAA 87 9 1 4 CAN_TASK Communication Error ccccccccecceccceeceeeeeeesecccaeceeeeeeeseceneaeeeeeeeseseeseesiseeeeeeeeees 87 O95 SQUCUCS 8 cette sie shes teemted E E E A E E E Meroe 88 9 1 5 1 CAN_TASK Nodeguard Inputqueue ccceceeeecceeceeeeeeeeecceaeceeeee ees caeaaeaeeeeeeesetensiseeeeeeeeeees 88 9 1 5 2 CAN_TASK Management INpUtqUueue 0 eee eeeeeecee cece ee eeeeecce eect ee ee ees ceacaeeeeeeeeeesetennieaeeeeeeetes 88 9 1 5 3 CAN_TASK Emergency Inputqueue ccccccceeeceeceeee cece eececeaeceeeeeeeseccaeeeeeeeeeesetencisaeeeeeeetes 89 9 1 5 4 CAN_TASK Transmit Queue cc cece ceecce cece ee eeeeeeeeeee cette ce eaaeaeeeeeeeeeesecaeaeeeeeeeseseceiaeeeeeeeeeeeees 89 9 1 66 CAN_TASK CMS Domain Services 0 cccccccceeecceeceeeeeeeeececcaeeeeeeeeeeeccncaeeeeeeeeeeeetsnnieeeeeeeeeeees 89 9 1 7 CAN TASK Timeout Counter nienean aaraa i aeaa aiana aida aaa i a iaaa aaa 90 9 1 8 CAN_TASK Node Init Counter cccccccccceecececeee cece eect eeeeeeeaeee ener ee seeeaaaeeeeeeeeeseeensaeeaeeeeeeeeneeees 91 9 2 Extended Device Diagnostic Node cccccceeeeeneeeeeeeneee ee eeneee ee eaaeeeeeeaeeeeesaeeeeetiieeeeneneeeeeeaas 92 9 2 1 PCL TASK Common Variables nrnna a ai a a Aa A A ae na aAa 92 9 2 2 COS TASK Common Variables osoni a
61. d 240 means that the PDO is transferred synchronously and periodically and that the value of the type of transmission indicates the number of SYNC telegrams between the two transferring PDOs 241 251 res reserved 252 X X The transmission types 252 and 253 mean that the PDO is an event without immediate notification and it is only transferred with remote transmission requirement With the type of transmission 252 the data are immediately updated after receiving the SYNC Telegram however not sent 253 X X The transmission types 252 and 253 mean that the PDO is an event without immediate notification and it is only transferred with remote transmission requirement With the type of transmission 253 the data are immediately updated after receiving the SYNC Telegram 254 X The Transmission type 254 means that the application event is manufacturer dependent 255 X The Transmission type 255 means that the application event is defined in the respectively supported equipment profile The exact transmission mode whether cyclically event controlled etc can reread there Table 9 PDO Communication Parameter gt Transmission Types Transmit PDO The event control selection menu has to two ways to configure a transmit PDO for its transmission event e No remote request The Master behaves completely passively to the PDO and is programmed only for receiving When the PDO is received is completely Node dependent here e Remote request Here th
62. d except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En SDO Table EI Customized objects Node ID Obj lds Subtdx Parameter Chosen value PDO Dialog E COB ID Syne Communication Cycle Period a Decimal COB ID Transmission type FE Inhibit time 64 Number of mapped objects 8 Output Byte 0 62000008 Output Byte 1 62000108 Output Byte 2 62000208 Output Byte 3 62000308 Output Byte 4 62000408 Output Byte 5 62000508 Output Byte 6 62000608 Output Byte 7 62000708 Show entries configured in the PDO dialog Hide entries configured in the PDO dialog 0o w nAn e w Ne Dwn oDDD KKK KK KKK KK KK Figure 64 View gt SDO Table 7 6 View Menu SyCon 7 6 1 Logical Network View In the menu View gt Logical Network View the user can activate or deactivate the network view by selecting it with hook or by not selecting it without hook The network view is used for example for the Start Options 7 6 2 Toolbars In the menu View gt Toolbars the user has the possibility to activate or deactivate the Toolbars Standard and Fieldbus If this function is deactivated the toolbars are not shown 7 6 3 Status Bar In the menu View gt Status Bar this bar can be activated with hook or deactivated without hook PAGE 82 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specificall
63. ddressing Allows selection of Automatically assigned addressing or Manually assigned addressing during configuration In Auto addressing the addresses will be allocated beginning with 0 and incremented in accordance with the entry sequence of the Slaves before downloading and can be viewed and checked in the menu View gt Address Table In Manual Addressing the address 0 is shown in the Addr or O Addr and must be overwritten by the user PAGE 45 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 5 SETTINGS CANopen Smartstack Manual MAN0576 03 En e COB ID Allocation during PDO insertion The CANopen specification provides that the message number COB ID of a PDO is given relative to the Node address according to a fixed definition It is called the Pre Defined Connection Set e Automatic Allocation in accordance with Profile 301 If this option is selected alteration of the message number of the PDOs is not possible and its assignment takes place automatically by the CANopen profile 301 e Manual Allocation in range 0 2047 If this menu option is selected assignment of the message number of the PDOs is possible and can take place in the context of the 2048 11 bit different possible CAN Identifiers 5 8 CANopen Node 5 9 Node Settings The CANopen Node Settings contain parameters that define the behaviour of the device
64. device which is also shown in HSyCon as the name of the device H1 _ MasterAddress Address of the related Master Settings The addressing mode byte or word addressing and the data format of the process data are shown J1 reserved reserved reserved ModulCount Number of the modules of the device For each modul the information with datatype data size data position and the offsetaddress follow The information for modul 1 you find in the cells L1 M1 N1 O1 and for modul 2 in the cells P1 Q1 R1 S1 and so on a foaesze e Tre sze ofthe moduse byes N oaraPosiion o Output Datatype unsigned egrs or _ Orsetadcress 0 The Ofsetaccressis0 SSS Pii07 Daiasize o The modules 2 ti 69 are not used Tor this device and so a0 is shown Table 28 Example of a CSV File in Excel If two or more Slave devices are connected to the Master these are displayed in the next lines of the table PAGE 77 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En 7 4 Edit 7 4 1 Cut Copy and Paste The menus Edit gt Cut and Edit gt Copy allow the cut copied device with its settings and configuration not the description of the device to be put in the Clipboard and with Edit gt Paste it can be inserted The difference between Cut and Copy is Menu optio
65. e 32 Settings gt Start Options e Simulation mode ON OFF Only valid for the OPC Server e Start SyCon hidden if started via OPC Only valid for the OPC Server e Start SyCon next time with last Configuration Restores the last configuration when next started e Logic Network View visible Allows the possibility of diverting to the network mode without having to install the SyCon with OPC It is also possible to use the Watch List from the network mode e Fast start ON OFF Only valid for the OPC Server e TAG tracing ON OFF Only valid for the OPC Server e OPC tracing ON OFF Only valid for the OPC Server Only valid for the OPC Server e Auto connect ON OFF Allows automatic connection to the module without having to use the Device Allocation menu e Start with multiple configurations Allows the possibility to start SyCon with up to four configurations simultaneously The paths are shown in the window and are configurable PAGE 49 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MAN0576 03 En CHAPTER 6 ONLINE FUNCTIONS 6 1 Introduction In this section all the functions that directly influence SmartStack CANopen devices e g COM COM and COM COS are presented Note This also permits interruption of the communication or that input and output can be switch
66. e Master sends Remote Telegrams in settable Node cycle intervals which instructs the Node to send its Transmit PDO to the Master upon receiving it 4 15 Creating Transmit PDOs If further PDOs shall be used which are not predefined in the table Predefined Process Data Objects PDOs from EDS file this can be done with the function Define new Transmit PDO New transmit PDO master input data x Free object index i802 hex Cancel Proposed COB ID 897 PDO name aon TPDOOOS Figure 17 Definite a new Transmit PDO HSyCon suggests a free message number which can be edited later in the PDO configuration window if the PDO was taken over PAGE 34 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MANO0576 03 En 4 16 PDO Contents Mapping Arrange a PDO Some CANopen Nodes support PDO data mapping and dynamic distribution This allows the user to define the mapping of objects into a PDO The mapping itself is always done by the Node internally after is has received new RX PDO or has to send new TX PDO so that the master can handle the input and output PDOs from the Node completely transparently This guarantees high speed data transfer and execution in the view of the master The Node s mapping dictionary is only configured once during its configuration phase A PD
67. e objects Online gt Write Objects Table 5 Smartstack master to slave SDO Configuration steps Note 1 If connecting to anything other than a Horner Slave then see the Slave manual for configuration help PAGE 19 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 3 GETTING STARTED CANopen Smartstack Manual MAN0576 03 En 3 5 Configuration of a SmartStack CANopen Node to any CANopen Master SDO The following table describes the steps to configure a SmartStack CANopen Node to any CANopen Master for SDO communication Action Create a new project e Select SmartStack CANopen Master 1 e Select SmartStack CANopen Node and set Node address Set Bus Parameter e Set Device Assignment if no automatic assignment has occurred Save project Download SDO Diagnostic e Transfer user data Read objects Write objects Menu in the System Configurator File gt New gt CANopen Insert gt Master Insert gt Node Left mouse click on the Master then Settings gt Bus Parameter Left mouse click on the Node then Settings gt Device Assignment File gt Save Left mouse click on the Node then Online gt Download Left mouse click on the Node then Online gt Extended Device Diagnostic Left mouse click on the Node then Online gt Message Monitor Table 5 Configuration of a
68. e values 7 3 2 1 Description of the Parameter Settings z oe bs oa fos joz ff 0 byte Address 1 word Address 1 little endian LSB MSB 0 big endian MSB LSB reserved Table 25 CSV Export Description of the Byte Settings 7 3 2 2 Description of the Parameter DataType oz jos fos ba fos fe m oo Data Format SubFlag Data Direction Data Format according EN standard 0 blank space 1 Boolean 2 Integer 8 3 Integer 16 4 Integer 32 5 Unsigned Integer 8 6 Unsigned Integer 16 7 Unsigned Integer 32 8 Float 9 ASCII 10 String 14 Bit 0 emty space 1 input 2 output 0 start of a module 1 submodule Table 26 CSV Export gt DataType Code 7 3 2 3 Description of the Parameter DataPosition PAGE 76 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En oz jos fos o4 fos b2 m oo Bit Position o Bit Position of the Offset Address reserved Table 27 CSV Export gt DataPosition Code 7 3 2 4 Example of a CSV file Example of a CSV file which was exported to Excel EJ Microsoft Excel canopen1 File Edit View Insert Format Tools Data Window Help Acrobat Figure 57 Example of a CSV File in Excel cr ldentNumber Jo ___ ldentNumberoftte Node SSCS a a Et peve Node Description of the
69. ed ON or OFF 6 2 Downloading the Configuration Chose the desired device by a left mouse click on the symbol of the device In order to release the configuration and network access a transfer Download to the COM device must be carried out on the Online gt Download menu A warning will appear that the communication on the CANopen will be interrupted This warning must be confirmed Question x 1 If the download is done during the bus operation the communication between a the devices is stopped Do you really want to download Figure 33 Security question before Download Attention The download overwrites the configuration in the device and the communication with the connected devices is interrupted p i rd H PIVIISVIIIIIIIIIIIIIIIIIIVIIIIIIVIIVIIIVIIVIVVID Data base 1 co Length of data base 1920 Figure 34 Online gt Download PAGE 50 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MAN0576 03 En Before the Download is executed the configuration is checked by the Configurator The most common cause of error is overlapping of addresses in the process data image This can be checked by calling up the address table with the View gt Address Table menu If the assignment of addresses in the process data image should be carried out automatically then the
70. er APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised PREFACE CANopen Smartstack Manual MAN0576 03 En CHAPTE 5 13 CHAPTE 6 18 6 19 6 20 6 21 6 22 CHAPTE 7 1 7 1 1 7 1 2 7 1 3 7 2 7 3 7 3 1 7 3 2 7 3 2 1 7 3 2 2 7 3 2 3 7 3 2 4 7 4 7 4 1 7 4 2 7 4 3 7 5 7 5 1 Ro SETTINGS amannenn a a a ten a a pe A 41 Device Assignment onni eeue eeit a a ean aA e A a A elie EDEA 41 GOM Seral Driver 22 rinirempsa tiaren ctor e a a aaa aeea aea Ee daane ara 41 Bus Parameters tenniet n e e a a aa r a a a a aer 42 GAN p Mastekirnoiiieni ra ea tise dae t rei e ai ie eaaa a ai ea en Taa aae 43 Master SetlingS creenin a e a a tee a ei als 43 Addressing Mod s i i siestirete iets eani dives civil AA he AAE S 45 Global Sg HNIS enai denne anid feet fen ee dada apie eee 45 CANO pem Node aici ie otter ccceet ice a a aaa aa e aa a T 46 Node SEMIS eara EE EE A N AE A A A A ATTA 46 Projectiniorma ta srian aana TE EAE T A AAS 47 Rate Aa eE a aea E a A a E E beat Seca terete adi A E A 47 Canoga S E a a a cous caus ae a a ante e a A 47 lat OPUOMS 1h states aa a ae aa a aaa a aa a a o Paa T 48 RO ONLNE FUNG HONS iarrata EAEE RE AERE TIEA R 50 lningere Luteni e a O PAE EE ARE ANE ON AE E N E E 50 Downloading the ConfiguratloMsurersiiiiri a R EA O A T 50 Firmware DOWNA g eaa 228 26 sche gh rs aed a den ate ecg oa nd asta Bada aa a eaaa eia intends dented aaae 51 Eirmwa
71. est In such case decrease the Node request poll rate in the Node configuration window 9 1 8 CAN_TASK Node Init Counter Node Init Counter x Description ooo co 0c cc Cc CO Ow 0 le Ero 0 Figure 76 CAN_TASK Node Init Counter The Node init counter is incremented whenever a Node is initialized The counter should show the value 1 for each configured Node but if a Node is detected as inactive during the Node guarding procedure PAGE 91 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En then the master tries to reinitialize the Node If this happens the Node init counter is incremented So values larger than 1 are an indication of communication error to the corresponding Node 9 2 Extended Device Diagnostic Node The menu Online gt Extended Device Diagnostic helps to find possible bus and configuration faults while trying to get the bus fully operative This menu shows a list of available structures Click with the right mouse button on the required Node and select the menu Select as actual master Then select the menu Online gt Extended Device Diagnostic This menu activates the following list Select Task State x PLC TASK Common Variables COS_TASK Common Variables COS_TASK User Communication COS_TASK Node Management
72. f SYNC telegrams between the two transferring PDOs 241 251 res reserved 254 Type of transmission 254 means that the application event is manufacturer dependent Table 8 PDO Communication Parameter gt Transmission Types Receive PDO The event control selection menu has two way to configure a Receive PDO for its transmission event e Event controlled which configures the Master in such a way that the Master sends the Receive PDO only if data has changed This kind of the event control keeps the bus load low e Cyclic transmission Where the time is indicated in Node cycle intervals A Node cycle interval is the time the Master needs to test all configured PDOs in their states and to process them once The smallest cycle interval is about 300usec 4 13 Creating Receive PDOs If further PDOs shall be used which are not predefined in the table Predefined Process Data Objects PDOs from EDS file then they can be added with the function Define new Receive PDO PAGE 32 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MANO0576 03 En New receive PDO master output data x Free object index 1401 hex Cancel Proposed COB ID 768 cre PDO name aon RPDO002 Figure 15 Definite a new receive PDO HSyCon suggests a free message number which can be edited later
73. f Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MANO0576 03 En The mouse cursor changes automatically to the insert Node cursor Click on the required position to insert the new Node A dialogue box appears where one or more Nodes may be selected for insertion Mousepointer for Insert gt Node Figure 11 Mousepointer for Insert gt Node Insert Node x Node filter OK Vendor All kd Cancel Profile All a Available devices Selected devices CIF104 C0S CIF104 COS F CIF30 COS Add All gt gt COM COS lt lt Remove PKY30 COS Profile 401 standard EDS lt lt Remove All Vendor name Hilscher Node ID fi Product number No entry Description Nolet sits Product version 1 Product revision 0 EDS file name CS50C0S EDS EDS Revision 1 CIF60 COS Figure 12 Insert gt Node The left list shows all the Node devices that are present in the EDS directory A filter can be used to limit the selection list via the Vendor and the Profile If a Node is selected then some additional information about the Node is shown below the list box Double click or with the Add button the selected Node appears in the Selected devices list When a new Node is chosen HSyCon always looks for the next free Node ID value and proposes it By selecting each Node the ID may be changed and it may be assigned a short
74. for Sending CAN Telegrams transparent eeeeeeeeeeeeeeeeerereereererseennn 69 Message Monitor for Receiving CAN Telegrams transparent cccceeeeeeeeeeetteeeeeenteeeeeeaaes 70 R 7 FILE PRINT EDIT EXPORT AND VIEW reson e AEE EE NEEE EENAA 74 Pil sisticiasteecebedcesate Becta E tecatt E A E O E T T A deuce E coheed bots 74 OPC E EEN E EE T E T A E E AE NE A NEE T 74 Save and SAVE A S e a aaa aa a a aa Eaa a e Oe E a E E aA 74 O 01S A Sistas EE A TETA E E E A E A T 74 Print eaa A aA nds 02 a EE eLA A a TEA a eee es 74 EXPO FUNCIONS aes ean eae a Aea A aE A EAEan a aeo es 75 DBMIEXPOl i iera aA Eea a E E Eo A ves A eaa EE L AEAT S aes eent 75 CSV EXP OM arn ea eneee Aee e a Ee a e EE aE aE a REA A ee sae 75 Description of the Parameter Settings aeseeeerrseerrensssrrnsrirresrirnesrinraniinneainnaantsauannanaannnannaananat 76 Description of the Parameter DataType cccceceeeeeeeecaeceeeeeeececeneaeeeeeeeeeesecsaeaeeeeeeeeeesenaees 76 Description of the Parameter DataPosition cccceececeeceeceeeeeeeeeeeneaeeeeeeeeeeseceneaeeeeeeeeeeennaees 76 Example ofa CSV file riena aea e eee araa ae aAA aunt aaa aE a ae Aae ae sas AAEE LaS SA 77 Cbs PES EE I AE NE danza secs EE E dav E E E EE P TE E ET E T 78 G t G py and Paste yeer aoaaa seas ma a aa AERE Aaa e aa aaea edate aSpa 78 Delete nar tn ad aa Ee E ea E ated A aT A E ad ues ae Aa A TE a A e EAA AE ECE 79 Replace sixtieth Pe a a era Ace a ea aa a E a
75. gnostic Functions CANopen Smartstack Manual MAN0575 03 En 9 1 3 CAN_TASK Node Running State Node Running States x node enter state handle output node enter state node enter state node enter state node enter state node enter state node enter state node enter state node enter state node enter state node enter state node enter state x Eror O Figure 68 CAN_TASK Node Running State The master device has a Node handler to keep track of the different states of the Nodes HSyCon interprets the current state of each Node and prints it on the screen in textual form 9 1 4 CAN_TASK Communication Error For each Node the master has an internal online error buffer HSyCon interprets the actual error condition and prints it on the screen in textual form No actual error No actual error No actual error No actual error No actual error No actual error No actual error No actual error No actual error No actual error No actual error No actual error No actual error zi Eror 0 Figure 69 CAN_TASK Communication Error PAGE 87 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En 9 1 5 Queues The incoming CAN messages are assigned to an input message queue Similarly outgoing messages are queued while the CAN transmits the current
76. he start up behaviour of the Master with regard to each individual Node and is described in section Node BootUp e OPC Objects Information in the OPC Objects field relate to the symbols of the OPC server and the SDO communication Further information may be found in the manual for the OPC server e Object Configuration The object directory may be read from the EDS file and if necessary added to the Node configuration e Actual Node Allows Changes to the Node configuration of another Node without leaving the window e PDO mapping method Defines the procedure of the PDO mapping Selection may be made between DS301 V3 and DS301 V4 The difference between the methods are described PAGE 29 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MANO0576 03 En e Predefined Process Data Objects PDOs from the EDS file Shows the list of the PDOs which are given in the EDS file and which may be used in the configuration Further information may be found in the section Process Data Configuration Selection of PDO e Configured PDOs Shows the PDOs which are used for the data exchange between Master and Node As well as the Offsets in the process data image the length of the PDO s is indicated Further information may be found in the section Process Data Configuration Selection
77. hted station address to see the diagnostic data 6 13 Extended Device Diagnostic The Extended Device Diagnostic helps to find Bus and configuration errors when the HSyCon menu functions are of no further help Choose the required device by clicking on the device symbol with the left mouse button Then select the Online gt Extended Device Diagnostic menu This menu opens a list of diagnostic structures These contain online counters status and parameters Select Task State x PLC TASK Common Variables CAN_TASK Common Variables CAN_TASK Node Running States CAN_TASK Global State Field CAN_TASK Communication Error CAN_TASK Nodeguard Inputqueue CAN_TASK Management Inputqueue CAN_TASK Emergency Inputqueue ICAN TASK Transmit Queue ps Figure 43 Online gt Extended Device Diagnostic 6 14 User Data Transfer The following table showstest functions with user data transfer and the use for e SmartStack CANopen Master devices e SmartStack CANopen Nodes User data transfer function Usage Use with SS Use with SS CANopen CANopen Master Slave O Monitor Read input data and set output data cyclic I O data Yes Yes exchange Error Reference source not Read input data and set output data cyclic I O data Yes No found exchange Read Objects SDO Upload Read objects SDO Upload Yes No Write Object SDO Download Write objects SDO Download Yes No Table 14 Overview User Data Transfer PAGE 58 of 111 EO 09 0
78. ialization is complete If Controlled release of communication by the application program has been set the application program must activate the data exchange at the Bus User program monitoring The Watchdog time determines how long the device waits for a triggering of the software watchdog by the application program until it sets the outputs of the Slave devices to 0 This behaviour must be activated by the user program and does not start automatically always set this to OmS Note The Watchdog is not a special CANopen function but an often needed feature in interaction with a SoftPLC Addressing mode The addressing mode of the process data image determines how the addresses Offsets of the process data are interpreted Either of the addressing modes Byte addresses or Word addresses are possible Storage format word module The storage format determines how the data is interpreted and stored in the process image This allows the connection of nodes with different Endian data Handshake of the process data Always use Buffered host controlled This parameter defines how data is exchanged with the OCS TIU and is fixed in these systems Hardware parameter The size of the dual port memory of the hardware can be selected The parameter will enlarge or reduce the possible value ranges for the I O offsets In the CANopen Master the dual port memory size is 8K whereby 7K is process data PAGE 44 of 111 EO 09 0009 Hor
79. iguration master the SmartStack CANopen Node provides two send and two receive PDOs with a default mapping for the communication Note 1 Insert a SmartStack CANopen Master to the configuration It serves as a dummy and does not have to agree with the connected Master PAGE 18 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 3 GETTING STARTED CANopen Smartstack Manual MAN0576 03 En 3 4 Configuration for SDO Communication The following table describes the steps to configure a Smartstack CANopen Master to any CANopen Node for SDO communication Action Menu in the System Configurator Create a new project File gt New gt CANopen Copy EDS file of CANopen File gt Copy EDS Node if Node is not available yet Select SmartStack CANopen Insert gt Master Master e Select CANopen Node and Insert gt Node set Node address e Set Bus Parameter Left mouse click on the Master then Settings gt Bus Parameter e Set Device Assignment ifno Left mouse click on the Master then automatic assignment has Settings gt Device Assignment occurred Save project File gt Save e Download Left mouse click on the Master then Online gt Download e Live List Left mouse click on the Master then Online gt Live List Transfer user data Left mouse click on the Node then Read objects Online gt Read Objects Writ
80. in the PDO configuration window if the PDO was taken over 4 14 Transmit PDO characteristics Transmit PDOs are input data tot he Master and they are sent by the Node Node transmit PDO characteristics master input process data x Transmission Mode OK C node shall use a sychronization message as trigger to send the transmit PDO acyclically node has to send the transmit PDO at every fi 0 received synchronization message node shall use a synchronization message as trigger to send the transmit PDO when previously remote requested by the master C node shall send the transmit PDO when remote requested transmission event of transmit PDO fully node manufacturer specific C transmission event of transmit PDO defined in the device profile of the node Resulting CANopen specific transmision type 254 Triggering Mode no remote request transmision of transmit PDO fully node dependent remote request at every fi oo node cycle interval inhibit time Figure 16 Transmit PDO Parameter PAGE 33 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MAN0576 03 En Transmission cycl acycl syn asyn RTR Description Type chronous chronous 0 x x The telegram is transferred related to the SYNC but not periodically 1 240 x X A value between 1 an
81. ing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 5 SETTINGS CANopen Smartstack Manual MAN0576 03 En 5 10 Project Information The user project information can be typed into the Settings gt Project Information menu The entry may be read anytime by re opening the menu Project Information Ea Design name CANopen neues Projekt j Version number fi 000 Cancel Company CT Producer CT Creation Date 24 07 2001 Last alternation by CT Last alternation at o Remark O O Figure 29 Settings gt Project Information Click the OK button to save the Project Information 5 11 Path When the Settings gt Path menu is selected the search path for EDS files is displayed Directory x EDS Directory EDS File directory JE Programme H ilscher SyCon Fieldbus CANopen EDS Project Directory JE Programme H ilscher SyCon Project Figure 30 Settings gt Path Click the button OK to read in all the EDS files 5 12 Languages Choose the Settings gt Language menu and the following window opens PAGE 47 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 5 SETTINGS CANopen Smartstack Manual MAN0576 03 En Select Language x Cancel Figure 31 Settings gt Language Select the desired language and confirm the entry with the OK but
82. its bit 7 to 0 are the bus address of the Node Broadcast Objects Function COB ID COB ID Index in the Object Code hex dec Directory SYNC 0001 1005H 1006H 1007H TIME STAMP 0010 100H 1012H 1013H Table 45 COB ID Broadcast Objects Peer to Peer Objects S ee ar Code hex dec Directory NMT 1110 701H 77FH sarees 1919 12004 ama 1017H Control Table 46 COB ID Peer to Peer Objects PAGE 99 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En 9 4 Object Dictionary The Object Dictionary is a collection of data which have influence on the application and the communication of a CANopen device and the device can be configured with this data collection The entries are structured by the index and the subindex 9 4 1 Object Name and Object Code The following table shows a list of the Object Codes NULL A dictionary entry with no data fields los DOMAIN Large variable amount of data e g executable program 2 code DEFTYPE Denotes a type definition such as a Boolean UNSIGED 16 float and so on DEFSTRUCT Complex Data type definition e g PDO Mapping Structure VAR A single value such as Unsigned 8 Boolean visible 7 string etc A multiple data field object where each data field is a simple variable of the same basic dat
83. k module should be configured with the OCS TIU first as otherwise it will be held in reset and cannot be configured 1 3 Installing and Removing a SmartStack Module The following section describes how to install and remove a SmartStack Module Caution To function properly and avoid possible damage do not install more than four Smart Stack Modules per OCS RCS or TIU Do not attempt to install or remove a SmartStack module with the power on Installing SmartStack Modules 1 Hook the tabs Each SmartStack Module has two tabs that fit into slots located on the OCS The slots on the OCS are located on the back cover 2 Press the SmartStack Module into the locked position making sure to align the SmartStack Module fasteners with the SmartStack receptacles on the OCS PAGE 7 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 1 INTRODUCTION CANopen Smartstack Manual MAN0576 03 En Removing SmartStack Modules 1 Using a flathead screwdriver lever up the end of the SmartStack Module opposite end to tabs and swing the module out 2 Lift out the tabs of the module SmartStack Tab Fastener Mating Pins OCS Back Cover Figure 2 1 Installing a SmartStack Module i
84. l Support 353 21 4321266 web site www horner apg com web site www horner apg com LIMITED WARRANTY AND LIMITATION OF LIABILITY Horner APG LLC HE APG warrants to the original purchaser that the Operator Station manufactured by HE is free from defects in material and workmanship under normal use and service The obligation of HE APG under this warranty shall be limited to the repair or exchange of any part or parts which may prove defective under normal use and service within two 2 years from the date of manufacture or eighteen 18 months from the date of installation by the original purchaser whichever occurs first such defect to be disclosed to the satisfaction of HE APG after examination by HE APG of the allegedly defective part or parts THIS WARRANTY IS EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESSED OR IMPLIED INCLUDING THE WARRANTIES OF MERCHANTABILITY AND FITNESS FOR USE AND OF ALL OTHER OBLIGATIONS OR LIABILITIES AND HE APG NEITHER ASSUMES NOR AUTHORIZES ANY OTHER PERSON TO ASSUME FOR HE APG ANY OTHER LIABILITY IN CONNECTION WITH THE SALE OF THE Operator Station THIS WARRANTY SHALL NOT APPLY TO THE Operator Station OR ANY PART THEREOF WHICH HAS BEEN SUBJECT TO ACCIDENT NEGLIGENCE ALTERATION ABUSE OR MISUSE HE MAKES NO WARRANTY WHATSOEVER IN RESPECT TO ACCESSORIES OR PARTS NOT SUPPLIED BY HE THE TERM ORIGINAL PURCHASER AS USED IN THIS WARRANTY SHALL BE DEEMED TO MEAN THAT PERSON FOR WHOM THE Operator Station IS ORIGINALL
85. lid Figure 4 Note license code is invalid In this case check e the license code is entered properly it is case sensitive 2 5 Scope of functions of the basic version unlicensed Fieldbus Modules The basic version and unlicensed fieldbus modules have the following functionality e Full functionality for configuring up to two devices slaves For configuration of a Horner SmartStack COM Slave device this is enough e All diagnostic functions PAGE 15 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 2 INSTALLATION CANopen Smartstack Manual MAN0576 03 En e Open and download of an existing configuration file If the configuration file has more than two devices a modification of this configuration is not possible PAGE 16 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 3 GETTING STARTED CANopen Smartstack Manual MAN0576 03 En CHAPTER 3 GETTING STARTED CONFIGURATION 3 1 Overview of Communication Types The CANOpen communication protocol supports several different communication objects Table 2 below shows some of the options supported by the Horner COM COS SmartStack modules Communication e PDO CANopen e SDO CANopen e Send Receive Transparent CAN Table 4 Overview of CANopen Commu
86. message The message queue handler has three parameters the contents of which are shown by HsyCon binner is the number of actual stored messages bFront is the pointer to where the next message will be stored bRear is the pointer to the next message to be processed In a properly operating system the value bInner should automatically decrease to 0 and bFront and bRear should be equal 9 1 5 1 CAN_TASK Nodeguard Inputqueue Nodeguard Inputqueue Ea bRear 137 bFront 137 binner 0 Eror 0 Figure 70 CAN_TASK Nodeguard Inputqueue Variable meann OOOO Position of the next read access to the received CAN telegrams buffer Position of the next write access Number of CAN telegrams which are in the buffer Table 32 CAN_TASK Nodeguard Inputqueue 9 1 5 2 CAN_TASK Management Inputqueue Management Inputqueue Es bRear 61 bFront 61 blnner 0 Eror 0 Figure 71 CAN_TASK Management Inputqueue Variable Meaning C isCC Position of the next read access in the receive buffer Position of the next write access Number of CAN telegrams which are in the buffer Table 33 CAN_TASK Management Inputqueue PAGE 88 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En 9 1 5 3 CAN_TASK Emergency Inputqueue Emergency Inputqueue Ed
87. messages If one of these error counter oversteps a defined value the bus error counter is incremented If the internal CAN controller error frame counter oversteps a defined limit the controller goes into the bus off state If this occurs the controller is reinitialized to be pre operative and this counter is incremented Anon 0 value is an indication of bad transmission quality poor bus wiring or low power in the CAN controller interface driver This value represents the value that was configured via the menu Settings gt Bus parameter in HSyCon and shows the actual configured and real value This value shows the actual baudrate the master is working with where 0 1Mbaud 1 800Kbaud 2 500kBaud 3 250Kbaud 4 125kBaud 5 100Kbaud 6 50kBaud 7 20kBaud 8 10kBaud Value 0 the master device has found a configuration data base coming from HsyCon Value 1 the master device isn t configured and needs to be configured via HSyCon This value represents the number of Node data sets found in the download database This value indicates if the master has detected any error in a Node data set which in the actual downloaded data base The counter is incremented for each Node which has an incorrect entry Table 31 CAN_TASK Common Variables PAGE 86 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Dia
88. mit overruns Reserved for future use Hard transmission aborts Number of discarded messages because no acknowledging partner could be found on the bus Bus errors Counter for bus events detected by the CAN chip This includes warnings bus off situations and receive queue overruns The latter two are also counted in separate variables see below above Bus off events Number of bus off events These indicate severe communication problems on the CAN bus When the CAN chip detects such a situation it goes to the disabled state and is not involved in bus operations anymore To resume to work it must be re initialized which is done by the firmware automatically Baud rate Current baud rate the CAN chip is operating at on the bus 0 1 Mbit s 1 800 Kbit s 2 500 Kbit s 3 250 Kbit s 4 125 Kbit s 5 100 Kbit s 6 50 Kbit s 7 20 Kbit s 8 10 Kbit s Activated bus parameters 0 valid configuration data received 255 current configuration data is invalid Wrong parameters Reserved for future use Table 37 COS_TASK Common Variables 9 2 3 COS_TASK User Communication User Communication Ed Bus comm enabled i i User emergency messages 0 s User NMT commands 0 Last user NMT command O Oh Eror 0 Figure 80 COS_TASK User Communication PAGE 94 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Di
89. most recent access to object dictionary Table 42 COS_TASK Object Dictionary 9 2 8 COS_TASK Receive Queue Rx bRear 54 bFront 54 binner 0 Eror 0 Figure 85 COS_TASK Receive Queue Variable Meaning OOO OOOoOUOSOO S Rx bRear Position of the next message to be read from the queue of incoming CAN messages bFront Position of the next incoming CAN message to be inserted into the queue Number of messages currently in the queue Table 43 COS_TASK Receive Queue 9 2 9 COS_TASK Transmit Queue 1 x bA ear 6 pones OK eosccceoeees y bFront 6 binner 0 Ero 0 Figure 86 COS_TASK Transmit Queue PAGE 98 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Variable Position of the next message to be sent from the Tx queue bFront Position of the next available CAN message space in the queue messages to be sent are queued only if the CAN chip is not able to immediately send the message because the preceding message transfer is pending Number of messages currently in the queue Table 44 COS_TASK Transmit Queue 9 3 COB ID Predefined Connection Set COB ID means Communication Object Identifier This is the 11 bit telegram identifier of the CAN telegram The higher 4 bits bit 10 to 8 are the function code and the lower 7 b
90. n Edit gt Cut moves a device from one point in the configuration to another While menu option Edit gt Copy duplicates an existing device If the Edit gt Cut is selected a security question appears Question Q Do you want to cut this device Figure 58 Security question cut device Answer Yes to cut the device to the clipboard With the menu Edit gt Insert click on the position where the device should be inserted a window opens where the cut copied device can be selected Insert Node from Clipboard x Node filter Vendor v Cancel Profile X Available devices Selected devices Da Da gt Ed 7p Alll gt 7p eres E EEEN EEEN JE fll Vendor name Node ID Product number Description Nodet Product version Product revision EDS file name EDS Revision Figure 59 Edit gt Insert cut copied device Click the OK button to insert the device to the configuration PAGE 78 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En 7 4 2 Delete To delete the Master or a Slave device mark the device and then select the menu Edit gt Delete Before HSyCon deletes the Master or a Slave a security question appears Question 4 Do you want to delete this device Nein Figure 60 Security question delete device
91. n an OCS PAGE 8 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 1 INTRODUCTION CANopen Smartstack Manual MAN0576 03 En 1 4 Installation of the COM module in an OCS TIU The SmartStack COM range are installed in a similar way to any other SmartStack module however the user should be aware that while the Auto Config function will report the presence of the module it cannot assign the amount of I O required the user must do this manually To configure the amount of I O required use the Controller gt I O Configure menu If the Com module is on a base then double click the left mouse button on the relevant base and then double click again on the Module config button The following menu allows the configuration of the module 12d Module Configuration x x I0 Map Module Setup Start SYCON Config Tool gt gt gt E Inputs Starting Reg aroo Number Regs g Outputs Starting Reg zagon Number Regs e4 Figure 1 1 SmartStack COM Module Configuration in Cscape Cbreeze Select the Module Configuration tab and enter the register types and number required Click OK to close the windows and download the configuration to the OCS TIU For further details of configuring OCS TIU units please see the relevant module user manual PAGE 9 of 111 EO 09 0009 Horner APG This drawing is the pro
92. nd or Lifeguarding Table 6 Overview of Node Configuration 4 9 Device Profile and Device Type Each CANopen Node has a mantatory Object 1000H which must exist in the object directory This object is named Device Type The Device Type also includes information about the Device Profile The Master reads the Object 1000H from the Node when starting up the CANopen bus and compares the entries which are made in the two available fields Device Profile and Device Type If the Device Profile and the Device Type do not agree the Master reports a parameterization error and does not establish a process data transfer to the Node To get the real values of the Node use the online function Online gt Read Object or click on the Node in Debug mode 4 10 Process Data Configuration Selection of PDO PAGE 30 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MANO0576 03 En The process data is transmitted via process data objects PDOs and assigned to the process data image CANopen distinguishes between receive and send PDOs Receive PDOs Send PDOs Data from the Master to the Node Data from the Node Slave to the Master Output data is processed by the Node Input data is generated by the Node Slave Table 7 PDO Send and Receive PDO The data of the Node in the process data image of
93. ner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 5 SETTINGS CANopen Smartstack Manual MAN0576 03 En 5 6 Addressing Mode The addresses in the configuration of the Nodes define the starting point of the data in the process image This can work in a Word or Byte oriented method by means of the Addressing mode parameter Addresses Meaning Byte addresses The process image has a Byte structure and each Byte has its own address Word addresses The process image has a Word structure and each Word has its own address Table 10 Addressing Mode The following table is meant to clarify the method of addressing Byte addressing Word addressing QB 0 QW 0 Word 0 QB 0 QW 0 eo w2 war vase vows Cr a a A awa waz vas rawa i Table 11 Image of the method of addressing for input and Output 5 7 Global Settings Set the focus on the Master left mouse click and select the menu Settings gt Global Settings Or click on the symbol of the Master device with the right mouse key to select the menu Master Configuration and then click the button Global Settings Global Settings x m Process Data Auto Addressing V Enabled Cancel Automatic Allocation in accordance with Profile 301 C Manual Allocation in range 0 2047 COB ID Allocation during PDO insertion Figure 27 Settings gt Global Settings e Process Data Auto A
94. ngs in the field Process Data Auto Addressing which is described in the section Global Settings A screening for double addresses takes place before the Download of Configuration and when the window Address Table is opened e Len and O Len Gives the length of the PDO in bytes and can be a max of eight If the value 0 is shown the PDO does not include user data The user data for this PDO may be set by the PDO Mapping menu 4 11 PDO Communication Parameter PDO Characteristic Before a chosen PDO is moved into the lower window the PDO characteristics window is opened automatically A PDO in CANopen can be configured such that it is transmitted in Event Driven mode or Cyclic Transmission Both kinds of transmission types can be synchronised to a special sychronization message which is sent by the master in defined time intervals Because of the different behaviour of a transmit and receive PDO two different windows will be open during the PDO insertion The different transmissions are distinguished in the so called Transmission type value Synchronous means that the transmission of the PDO shall be related to the SYNC message that is sent cyclically by the Master Preferably the Nodes use the SYNC message as a trigger to output or actuate based on the previous synchronous Receive PDO respectively to update the data transmitted at the following synchronous Transmit PDO Details of this mechanism depend on the device type and are defined in the de
95. nication Types 3 2 Configuration of a SmartStack CANOpen Master PDO Telegram to any CANOpen Slave The following describes the steps to configure a SmartStack CANOpen Master PDO Telegram to any CANOpen Slave Action Menu in the System Configurator e Create a new project File gt New gt CANopen e Copy EDS file of CANopen Node if Node is not File gt Copy EDS available yet e Select SmartStack CANopen Master Insert gt Master e Select CANopen Node and set Node address Insert gt Node e Set PDO Left mouse click on the Node then e Set Offset address 1 Settings gt Node Configuration e Set Bus Parameter Left mouse click on the Master then Settings gt Bus Parameter e Set Device Assignment if no automatic Left mouse click on the Master then assignment has occurred Settings gt Device Assignment e Save project File gt Save e Download Left mouse click on the Master then Online gt Download e Live List Left mouse click on the Master then Online gt Live List e Start Debugger Left mouse click on the Master then Online gt Start Debug Mode e Device Diagnostic Left mouse click on the Node then Online gt Device Diagnostic e Stop Debugger Online gt Stop Debug Mode e Global Diagnostic Left mouse click on the Master then Online gt Global State Field e Transfer user data Send data Receive data Left mouse click on the Master then Online gt I O Monitor Table 3 Configuration of SmartStack CANOpen Master PDO
96. nition RDY Yellow On COM Ready Cyclical flashing Bootstrap loader active Non cyclical flashing Hardware or system error Off Hardware error RUN Green On Communication running Non cyclical flashing Parameter error Off Communications stopped ERR Red On Error on communications line Off No error STA Yellow On Off PAGE 22 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 3 GETTING STARTED CANopen Smartstack Manual MAN0576 03 En PAGE 23 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MAN0576 03 En CHAPTER 4 CONFIGURATION OF CANOPEN WITH HSYCON 4 1 Setting up the CANOpen Configuration To create a new configuration choose the File gt New menu This offers a selection list of fieldbus systems Select CANopen If only the CANopen fieldbus system is installed the configuration window will open directly The name of the configuration file can be allocated when the configuration is finished or with File gt Save As 4 2 EDS files Each CANopen device manufacturer defines the CANopen characteristics of its device in a so called Electronic Data Sheet EDS file This description files form the basis of the configuration Devices Horner devices The EDS files
97. nter The bit will be set At least one Node has not reached the data exchange state and no process data are device stopped the communication to all Nodes and reached the auto clear end state e TOUT Timeout Error e NRDY HOST NOT READY NOTIFICATION shows if the application program is ready or not If this bit is set the application program is not ready to communicate e EVE EVENT ERROR when the first event was detected and will not be deleted any more e FAT FATAL ERROR because of heavy bus error no further bus communication is possible e NEXC NON EXCHANGE ERROR exchanged with it e ACLR AUTO CLEAR ERROR e CTRL CONTROL ERROR a parameterisation error has occurred Table 13 Meaning of collective status bits in the Global State Field PAGE 57 of 111 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised EO 09 0009 CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MAN0576 03 En Further contents are given Collective online error location and corresponding error gives the address of the incorrect station and the lining up error in plain text Statistic bus information gives the number of detected bus short circuits and rejected telegrams Device specific status bits Parameterized Devices Activated Devices and Devices with Diagnostic are shown by clicking on the button The activated addresses are coloured numbers double click on a highlig
98. on finished enter PRE_OPERATIONAL automatically Start_Remote_Node indication Enter_PRE OPERATIONAL_State indication Stop_Remote_Node indication 9 10 11 Reset_Node indication 12 13 14 Reset_Communication indication Table 2 Description NMT State Machine PAGE 11 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 1 INTRODUCTION CANopen Smartstack Manual MAN0576 03 En 1 6 3 Communication Characteristics in the different NMT States The following table shows the possible communication in the respective NMT states Initialization Pre Operational Operational Stopped esw f _ uy a i _ sam o S T C a a a Table 3 Communication in the different NMT States PAGE 12 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 2 INSTALLATION CANopen Smartstack Manual MAN0576 03 En CHAPTER 2 HSYCON INSTALLATION 2 1 System Requirments e PC with 486 Pentium processor or higher e Windows 95 98 ME Windows NT 2000 XP e Free disk space 30 80 Mbyte e CDROM drive e RAM min 16 Mbyte e Graphic resolution min 800 x 600 pixel e Windows 95 Service Pack 1 or higher e Windows NT Service Pack 3 or higher e Keyboard and Mouse 2 2 System Installation It is recommended that
99. oon as the master has finished the configuration phase of the Node it will start the cyclic Node guarding mechanism and set the Node guarding active flag The Node guarding will only be active if the Guard time and the Life time factor in the Node Configuration window are non zero Internal fault The internal fault indication serves to report master internal fatal error situations If it is reported then call Tech support or the distributer from whom the module was purchased Deactivated This bit is automatically set by the master if the Node state was configured to Deactivate Node in actual configuration in the Node Configuration window PAGE 55 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MANO0576 03 En 6 11 Emergency Telegrams Emergency telegrams are sent by the Node when an internal event occurs The CANopen Master can buffer 5 Emergency telegrams maximum per node Interpretation of emergency telegrams x Nr Emergency error code Error register entry Manufacturer specific Error Reset or No Error O00 Figure 41 Online gt Device Diagnostic gt Interpretation of emergency telegrams A table with the Error Codes is described in section Emergency Telegram Error Codes Note The table Emergency Error Codes is a general list For the exact meaning it is referred
100. perty of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 1 INTRODUCTION CANopen Smartstack Manual MAN0576 03 En 1 5 CANOpen Network CAN is an acronym for Controller Area Network The CAN specification describes the physical interface the telegram structure and the secure transmission of a CAN telegram It describes the transmission and the reception of telegrams The CAN telegram consists simplified of a telegram identifier and 0 to 8 bytes of data The meaning of the telegram identifier and of the max 8 bytes of user data is not described e g it does not say anything about the application layer CANopen is an open standard protocol based on CAN It specifies the meaning of the telegram identifiers and of the 0 to 8 bytes of user data It is a standard application layer defined by the CIA CAN In Automation specification DS 301 CANopen is network concept and determines what data and what services are to be transmitted the meaning of the data for the individual device classes It provides functions for the network initialization guarding and configuration It is a very flexible protocol A CANopen device can be described generally as being composed of three components communication objects and application Component Description Communication The communication unit contains the mechanism for the transport of data according to the CANopen specification over CAN Object dictionary
101. r ClFDriver 3 003 Cancel Board Selection Name Type Version Date Error M Board CANopen CIFSOCAN fvo1 o4s 061200 fo M Board cos CIFS0C0S 01 020 12 01 00 M Ecad2 jo chica eel E eel Seen more gt gt Figure 24 CIF Serial Driver Device Assignment The error number 20 indicates that this COM interface is not available or already in use 5 3 Bus Parameters The Bus Parameters are the foundations of a functioning data exchange This section contains information for setting the Bus Parameters as well as the descriptions of the individual parameters In these windows the basic settings for the CANopen network are done Mainly this concerns the setting of the Baudrate Attention Check that all CANopen Nodes support the selected Baud rate Basic rule The Baud rate must be the same for all devices The Node address on the other hand must differ from Node to Node The Master itself does not have a Node address PAGE 42 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 5 SETTINGS CANopen Smartstack Manual MAN0576 03 En Bus Parameter x Baudrate 1 Mbit s SYNC COB D ha Cancel Com cycle period ho ms Auto clear mode OFF Auto clear mode ON IV Enable Global Start Node 29 Bit Selection entries I Enable 29 Bit Selector 0 Bit
102. ra ar n anea aiaa a aai aaas 92 9 2 3 COS_TASK User Communication 0 0 ccccccccececcceceeeeeeeeeccceaeceeeeeeeseceneaeeeeeeeseeecaucaeeeeeeeeeeeees 94 9 24 COS_TASK Node Management aesssscssrreeerrresesrrinsnirandiinudatinnnntinnnanadaadatanudannnanddnnaaaanaadaen naaa 95 9 25 COS TASK PDO Transferi niniin Ea E A Ee Ea AEA aude En aeS 96 9 2 0 COS TASK SDO Transferrin e a sates seat A aaa eae 96 927 COS_TASK Object Dictionary ecinrinnsaeri iiini Na Enee AENEAN EETA AAA aA 98 9 2 8 COS_TASK Receive Queue ccccceccccececeeeeeeeee acne cece ee ceeeaeaeeeceeeeecegecaaaeaeceseeeseecedinaeeeeeeeeneeees 98 92 9 COS TASK Transmit Queue accceis iicies of a aaa E aa aaa aa habeentead cadet aadedee EE A EEA 98 9 3 COB ID Predefined Connection Set serioa eea E a Ea AEAEE AEAEE AEE 99 9 4 Object DICHOMALY oaia aE AEE AEEA AE EA E A ES 100 9AT Object Namerand Object GOdS acaroi at EE E A RREA R 100 942 Object Dictionary Data Types eraren sist ceocsentedscethentucetted EEA EAE AAA EA ATA 101 943 ONEC Dciona Prone en aoinne a N E A EREE EARS 102 9 5 Communication Profile Device Profile and Device Type ccceeceesseeeceeeeeeeeeeesentncaeeeeees 105 9 5 1 Communication Profile 30 Tesise eraai ea aana aaa aaa aaa aaa ataia aa 105 9 5 2 Device Profile 401 Device Profile for I O MOdules cccccceeeeeeeeceeceeeeeeeseeenaeeeeeeeeeetees 105 9 5 3 Device Profile 402 Device Profile for Drives
103. ration package for use with the SmartStack COM range of fieldbus modules The software user s guide is contained in this manual Cscape and Cbreeze are also easy to use Windows based configuration packages for use with the OCS RCS and TIU platforms respectively A basic level of understanding of Microsoft Windows technology and operation is assumed The manual assumes that the user is familiar with Windows 95 Windows 98 or Windows NT 1 2 Introduction The Fieldbus Smartstack module range adds a range of Master or Slave capable fieldbus protocols to the OCS RCS and TIU families These modules are self contained units which provide access to the fieldbus network via a dual port ram interface on the SmartStack backplane They are simple install and configure requiring only three stages to get them operational these are 1 Physical installation and connection 2 Configuration of the fieldbus interface 3 Configuration of Cscape Cbreeze to map the fieldbus data The system is comprised of two separate software functions the fieldbus interface software running independently in the COM module and the OCS TIU firmware running in the main module Data and commands are exchanged via a dual port ram interface The configuration of the COM module is via the RS232 serial port on the module For correct operation the number of registers assigned in the OCS must match the number required by the Master or Slave module configuration The Smartstac
104. re RES t EEEL thoes EE de cece taa ler beast ant aant E E aavaabtcast E esate aces 51 Start Stop CommMuUNiGatione seen aa ui cece ates dds aa da Ea aaa a aa Eaa 52 Diagnostic FUNCIONS aena asr aaraa aaa ENEE Eara Er E AAN Eaa S Aa E 52 Liv amp Lista A eadera aes tie dea Sa ees sgl hae Ad ae ea vedic 53 Debugmode CANOpen 2 cci ceccisaucdees cuadeccevaiedecv Eana EAEE NEOA cesvedagecchvasedeeveladeccenade cect iE 53 The DEDUQWINGDOW esc eevee eeas tude eect die eet eee ined ec ee he Wie ee 53 CANopen Node specific Diagnostic 0 ccceceeeeececce cece ee eeeeceaeeeeeeeeeeeeeceaeeeeeeeeeseetennieeeeeeeeete 54 Emergency Telegram ciiccsccevaiacecenvaicdecv lade ENEN E ENEN RATAREA NANE A EnaA EAE EEEE ANNAE 56 Global State Field eanit bth dna td ale EE EEE aa 56 Extended Device Diagnostic cbcccisecileceesadeccuvaieeecebvasc cece eudeccuvade ceeteusdecdeesudec cuvesedesvesgeeeheenees 58 User Data Transtets ccciccicecigcccevecaucdecesiadeccnvaue Eaa AANER EANA EE aAA E Eada SEA ECE RENAT 58 VO MO NOR a oiie aea aaa eave AAE a it A a a tae es 59 Read Objects SDO Upload nonnai aarteiden aie in aaa NiE 60 Write Object SDO Download esmenar aE E AE A AE EAA 60 Message MoM O ssrin sineren EA EEA AEEA E E EAA EEA EE E 60 Message Monitor for Using LSS LMT 00 00 eecee cece ee scene ee ee enteee Senin EUNE E KTNA EENAA R r EANA E iR iE iia 61 Message Monitor for Sending or Receiving Transparent CAN Telegrams 69 Message Monitor
105. red during the installation In this case uninstall the System Configurator first and then restart the installation and enter the code Also the System Configurator license code with less than 16 digits expects a license in the device This will already be in all Horner SmartStack Master and Slave modules PAGE 14 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 2 INSTALLATION CANopen Smartstack Manual MAN0576 03 En m Licensee Information Name Enter your name Company Enter your company name Address Enter address EEEE City State Zip E nter city state zip Country Enter your country Cancel Ne Print Order Form Licensing of the fieldbus systems Not licensed Module Mersin Date ASI 2 6 7 0 15 05 2001 DEVNet 2 6 7 0 15 05 2001 License ordered Module Mersin Date Add 2 6 8 2 26 07 2001 Delete License presented Module Mersin Date Figure 3 Enter the License Code Note The license code showed above is an invalid license code and is only used for explanation Once the license code has been entered select the OK button The code is verified If the license code is valid HSyCon will display text stating that it requires to be restarted to activate the license If the license code is invalid the following window appears I License code is inva
106. rts 0 Abort transfer indi 2 Unknown commands 0 Abort transfer requests 15 Default SDO flags Oh Default SDO data length 1 Default SDO data sent 0 Eror 0 Figure 83 COS_TASK SDO Transfer Variable Number of upload initial segment indications received Abort transfer requests Number of abort requests sent Default SDO flags Flags indicating the current state of the default SDO Bit 0 upload operation running Bit 1 download operation running Bit 7 SDO transfer toggle bit Default SDO data length Download number of bytes received during last download A ipa ctofer tei Default SDO data sent Download 0 Pee ee iam panere otes anyones OO Table 41 COS_TASK SDO Transfer PAGE 97 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En 9 2 7 COS _TASK Object Dictionary Object Dictionary Last index 1600h Last sub index Oh Last access type 2 Last data length 1 Eror 0 Figure 84 COS_TASK Object Dictionary Variable Meaning O O O O OOOUOUOUOUOoO S Index of most recent access to object dictionary Last sub index Sub index of most recent access to object dictionary Last access type Operation type of most recent access to object dictionary 1 read operation 2 write operation Last data length Number of bytes transferred during
107. s 7 3 2 CSV Export With the menu File gt Export gt CSV the configuration data of the connected Slaves can be exported into a table The configuration must be saved before the export is executed The exported file has the ending csv comma separated value and is saved in the same directory as the configuration but with the ending csv The CSV file can be read with a table program such as Excel The CSV Export only saves the text and the values of the configured Slaves The meaning of the individual values must be shown in the table Here are the description of the parameters a This is the description of the device which is set by the user max 32 char MasterAddress This is the number of the Master Address which the devices are related to Contains information about the addressing mode and the storage format of the process data words double words and floats ModulCount Number of the modules of the device For each modul the parameters data type data size data position and offset address are given It can be follow ed by max 60 modules The parameters for modul 1 are marked with _0 and of the modul 60 are marked with _ 59 PAGE 75 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En oie Table 24 CSV Export Meaning of th
108. s down how the devices on the CANopen network communicate with each other 9 5 2 Device Profile 401 Device Profile for I O Modules The DS 401 device profile is a profile for I O modules Profile x 7 Ey Profile 401 ER Figure 87 Device Profile 401 Device Type xi MV Digital Input f F sesoses 7 ers tput IV Digital Dutpu Cancel T Analog Input T Analog Output Figure 88 Selection of the Device Type in case of Device Profile 401 Digital Input Device Profile for I O Modules Digital Output Analog Input Analog Output PAGE 105 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Table 51 Device Profile for I O Modules 9 5 3 Device Profile 402 Device Profile for Drives The DS 402 device profile is a profile for drives Profile Ed Profile 402 x enc Figure 89 Device Profile 402 Device Type x Frequency Converter 7 Cancel Figure 90 Selection Device Type in case of Device Profile 402 Frequency Converter Device profile for drives Servo Drive Stepper Motor I O Module Multi device module Table 52 Device Profile for Drives 9 5 4 Device Profile 406 Device Profile for Encoder The DS 406 device profile is a profile for encoder Profile x Profile 406 E
109. sas coh eee ae eens a eee ee ete cada oR Re Ae ea a 7 1 2 introductie eisai dca ace ek tc vs adda aed E Ea E 7 1 3 Installing and Removing a SmartStack Module 0 0 0 ceceeceeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeeaeeeseeeaeeeeeeeaeees 7 Removing SmartStack Modules ssia aa ae aA AEA AORE EAEAN OEE T TE E 8 1 4 Installation of the COM module in an OCS TIU o oo eee cece ee eeeeeeeeeeeeeeeeeeeeeeeseeaeeeeeeneaeeeeeeaaees 9 1 5 CAN pen Network insistonte nennen ied eo eee Sd a ee eae 10 1 6 Communication Profile Device Profile and Device Type cccecceeeeeceeeeeeeeeeeeceeeeeeeeeeteees 10 1 6 1 Communication Profile 301 riisiin i ei a i a eieiei ai eben 10 1 6 2 NMT State Machine State Diagram cc ccccecceeeeeceeeeeeeeeeeeeeeeeeeeeeeeeseeeaeeeseeaeeeeseeaeeeeeeaaees 10 1 6 3 Communication Characteristics in the different NMT States 0 0 ce eeceeeeeeeeeeeeeeneeeeeeeeaees 12 CHAPTER 2 HSYCON INSTALLATION 0 cecceeceeeeeneee aiir arenei iai iei E rain EEEN aa Ei eiA 13 2 1 System RegunmeNtS enye aion coed ied deinen ed a aaia iii e aiea 13 2 2 System instalation Lireu a a a a a A ii i a ai 13 2 3 Installation of the System Configurator HSyYCOn sssssssssessssrreseerrssrrrrssttrrssttrrssrtnnsstennssrenrent 13 2 4 LIGENSIAG PEEN E E E alee Aiden aie deed od ae eine oie 14 2 5 Scope of functions of the basic version unlicensed Fieldbus Modules 0 c ceecceeeeeeeeees 15 CHAPTER 3 GETTING STARTED CONFIGURATION
110. signed more than once The user must verify this before downloading the configuration e Device Profile and Device Type Using the information of the Device Profile and the Device Type the Master can read out the Object 1000H from the Node and compare it with this information when it starts communication If the Device Profile and the Device Type do not agree the Master reports a parameterization error Further information about the Device Profile and the Device Type may be found in the section Device Profile and Device Type e NodelD The NodelD address is necessary for the addressing of the device on the bus and must be unique The COB ld is determined from the NodelD e Guard time The Guard time is the supervision time of the Master related to the Node Further information about the Guard Time may be found in the section Node supervision Nodeguarding and Lifeguarding e Life time factor The Life time factor is information for the Node for the supervision of the Master Further information about the Life time factor may be found in the section Node supervision Nodeguarding and Lifeguarding e Emergency COB ID Information about the COB ID of the Emergency telegram e Nodeguard COB ID Information about the COB ID of the Nodeguard telegram e OK Close the Node Configuration window and to accept the settings e Cancel Close the Node Configuration window and reject the settings e Node BootUp The NodeBootUp defines t
111. tic and their meaning No Response The Node is configured but is not present on the network Check the physical connection between the Master and Node Compare the selected baudrate of the Node with the baudrate of the Master Check the Node address Emergency buffer overflow CANopen defines a special reserved emergency channel for each Node with high priority to give the ability to report emergency messages triggered by the occurrence of a device internal fatal error situation The emergency messages of each Node are saved in an internal buffer on the Master The buffer will be cleared when HSyCon reads it out and shows the telegrams in the lower Emergency telegrams window If the buffer overflows telegrams will be lost In this case a buffer overflow event is reported Emergency error codes are defined by the CANopen Communication Profile Emergency telegrams in the lower table can be interpreted textually by clicking on the Interpret Telegrams button Parameterization fault The Master compares the configured Device Profile and the corresponding Device Type value of the Node Configuration window with the real physically present ones in the Node by reading out the Node object 1000H If the Master detects differences between the values it will report the Parameterization Fault The actual Node value read by the master is shown beside the Device profile number Object 1000H and Additional information Object 1000H entry Node guarding active As s
112. to get the CANopen specific Start Node command If enabled the master will send the Start Node command to the Node at the end of the boot up procedure Initiate PDO data This item selects if the installed PDOs shall be automatically written and read by the master directly after the startup This ensures that the latest data is exchanged between the Master and Slave 4 18 Node supervision Nodeguarding and Lifeguarding The Guard time and Life time factor settings serve the supervision of the Node and the supervision of the Master in the view of the Node Once communication is established to the Node the Master will poll the Node in Guard time multiplied by Life time factor time intervals with special guard telegrams to check if it is still present in the network or not The Node supervises if the Master has done a guard polling during the configured time interval to check if the Master is still present If one of these values is configured to 0 then the supervision is disabled in the Master as well as in the Node The Node itself will start with the Node guarding when the first remote transmit request from the Master for its guarding identifier is received The Master will start the Node guarding after it has initialized all the communication objects necessary for the Node If the Node guarding fails during runtime the Master will reset the communication to the specific Node and restarts its initialization Note If the Node does not support the
113. ton A message appears that the System Configurator must be started again in order to activate the selected language Upon restarting the System Configurator the language will have changed to the one selected Note Not all languages are available for all fieldbuses 5 13 Start Options Upon activating the Settings gt Start menu in the network mode the following dialog will appear Here it is possible to set the various starting options or modes Some are only of importance for the OPC Server operation Note The point of menu start options appears only in the selection settings if the network view is opened PAGE 48 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 5 SETTINGS CANopen Smartstack Manual MAN0576 03 En Start options x F Simulation mode ON OFF V Auto connect ON OFF MV Start SyCon hidden if started via OPC Cancel T Start SyCon next Time with last Configuration T Logical Network View visible m Fast start options I Fast start ON OFF Selected Product Lice MSG tracer options T MSG tracing ON OFF OPC tracer options ris acing Wik Log file name IV Start with multiple configurations M Configurations a Configuration 1 JE Programme Hilsche SyCon Project CANopent co 0000 w Configuration 2 P a Configuration 3 C d Configuration 4 P A Figur
114. ture shows how to send the message CAN ID 2000 with 8 user data bytes The user data here is 1 2 3 4 5 6 7 and 8 Message Monitor CANSEND MSG x File Edit View te ai yer lI pa RX 0 TX 0 Rx Bo TX 255 LN 0 NR 0 tN o o Auto NR NR OD 0 F 0 A po F po B 0 E 0 ja E p jellege ad Jeegaemheade 4 da TI lat Dat Wate Ad i id Function T enable Peinetieye i T enable Send data jo fi j2 3 4 5 6 je fg O 2508 1 2 3 4 5 6 7 8 40 50 60 T Put cyclic Figure 54 Message Monitor for Sending CAN telegrams transparent Note The sending of the telegram is not confirmed and the error number 2025 appears 6 22 Message Monitor for Receiving CAN Telegrams transparent To receive messages the receive filter must be In the following the Message Monitor for setting the receive filter of the SmartStack Master and or SmartStack Node is described To set the receive filter type the following in the Message Monitor Message for Setting the Receive Filter CAN Layer 2 Message Header Rx 3 fixed Tx 255 i Ln is calculated Nr 0 255 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised PAGE 70 of 111 CH 6 ONLINE FUNCTIONS CANopen Smartstack Manual MAN0576 03 En Send Data Meaning for CAN Range of value CAN Receive ID Part 1 0 255 Table 22 Message Monitor
115. umber of unknown and ignored Node management messages received Node guarding requests Number of Node guarding requests received Life time exceeded Number of life time supervision failures Emergency messages Number of emergency messages sent by the DEVICE sent Table 39 COS_TASK Node Management 9 2 5 COS _TASK PDO Transfer PDO Transfer Ed RxPDOs 2928337 TxPDOs 12 RTRs on TxPDOs 1 Last RxPDO COB ID 513 201h Last TxPDO COB ID 641 281h Last ATA TxPDO COB ID 385 181h Wrong length RxPDOs 0 Wrong length RTRs 0 RTRs on RxPDOs 0 Received TxPDOs 0 Eror 0 Figure 82 COS_TASK PDO Transfer Variable menn SSS Last RTR TxPDO COB ID COB ID of RTR or TxPDO most recently received Wrong length RxPDOs Number of RxPDOs with incorrect length unequal internally configured length of this PDO Wrong length RTRs Number of RTRs on TxPDOs with wrong length unequal 0 RTRs on RxPDOs Number of RTRs or RxPDOs Received TxPDOs Number TxPDOs received and ignored Table 40 COS_ TASK PDO Transfer 9 2 66 COS _TASK SDO Transfer PAGE 96 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En SDO Transfer x Upload init indications 7 Upload segment indi 0 Upload aborts 0 Download init indi 87 Download segment indi 0 Download abo
116. under the name Domain Services All Domain Services that are transmitted and received are counted in this table and shown online by HSyCon A special value is the Hard transmission abort counter Each CAN message sent is supervised by a timer started simultaneously If the CAN controller cannot sent the message the timer expires If this happens the message is discarded and the next message in the queue is readied for attempted transmission An incrementing Hard transmission abort counter is an indication of a physical hardware problem in the network The fault could be that the baud rate is not correctly configured on a node 9 1 7 CAN_TASK Timeout Counter PAGE 90 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En Description ooococc 0c cc Cc Cc co fd Ero 0 Figure 75 CAN_TASK Timeout Counter In the CANopen protocol PDOs are transferred without any acknowledge message However if input PDO data is polled by the master with a remote request telegram each addressed Node must respond If a Node does not respond to an outstanding remote request then the Timeout Counter of the corresponding Node is incremented If a counter shows a non zero value it is an indication that the remote request rate is to high for the Node which cannot answer every requ
117. vice profile Asynchronous means that the transmission of the PDO is not related to the SYNC message and can happen at any time PAGE 31 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MANO0576 03 En 4 12 Receive PDO characteristics Receive PDO are output data of the Master and are received by the Node Node receive PDO characteristics master output process data x m Transmission Mode OK C node shall use a sychronization message to actuate the received PDO receive PDO transmission Triggering Mode dependent C node shall use every fo received synchronization message to actuate the received PDO receive PDO transmission Triggering Mode dependent receive PDO transmission Tiggering Mode dependent only Resulting C4Nopen specific transmision type 254 m Triggering Mode C event driven PDO transmitted when data has changed cyclic transmission every fi 0 node cycle interval inhibit time Figure 14 Receive PDO Parameter Transmission cycl acycl syn asyn RTR Description Type chronous_ chronous 0 e The telegram is transferred related to the SYNC but not periodically 1 240 e A value between 1 and 240 means that the PDO is transferred synchronously and periodically and that the value of the type of transmission shows the number o
118. with the values configured within HSyCon If the values are different the master will report a parameterisation error Configuration Guarding Protocol A CANopen Master has two specific registers responsible for the Node guarding protocol If the item is enabled the master will write the Guard Time and Life Time factor of the Node configuration into the corresponding objects of the Node during startup PAGE 36 of 111 EO 09 0009 Horner APG This drawing is the property of Horner APG and shall not be disclosed or reproduced except as specifically authorised CH 4 CANOPEN CONFIGURATION CANopen Smartstack Manual MAN0576 03 En Configuration SYNC COB ID If the item is enabled the master will write the SYNC COB ID of the configuration into the corresponding objects of the Node during startup Configuration EMCY COB ID If the item is enabled the master will write the EMCY COB ID of the configuration into the corresponding objects of the Node during startup Configuration download of objects To get a PDO communication to a Node working the master has to send all relevant configuration objects to the Node For example the mapping table the COB ID a PDO shall be sent through are covered here If enabled all these parameters and also the user specific objects which are added manually in the Node object configuration window are written down to the Node by the master Start Node To reach the operational state in CANopen a Node has
119. y authorised CHAPTER 9 Diagnostic Functions CANopen Smartstack Manual MAN0575 03 En CHAPTER 8 ERROR CODES 8 1 CIF Serial Driver Error Numbers 20 71 This is the list of error numbers using the serial driver ee 20 Driver No COM port found or COM User Send message timeout error port already in use Driver COM port already opened 51 User Could not send a message Cable not connected Wrong cable Device does not respond 50 2 Driver Function call into driver has 52 User Send message no device connected failed 54 3 Driver Internal driver error User Error by send message message receiving 4 Driver Could not create read thread User Telegram collision Driver Could not create read event User Telegram no acknowledgement received 6 Driver COM siats erorisset 80 User Telegram unknown ero Driver COM buffer setup failed User Timeout by receive a message 0 2 Driver COM set timeout failed User No message received Driver Receive buffer overrun 34 Driver Receive buffer full Driver Send busy Driver Error during close driver 1 j 6 0 k User COM port not opened 5 7 8 9 1 3 5 1 a a ee C i Oo 41 User Invalid handle vawe ff 42 User Invalid COM number J o a Odoo y C EC O T e N 3 User Size parameter invalid User Size parameter zero js A 5 User Buffer pointer is NULL 6 User Buffer too short 7 User Setup error T
120. zes its data addressing itself Note 2 Hilscher Node In case of a Hilscher Node Slave the In and Output bus data is taken directly to and from the Dual port memory The Offset addresses relate to the Master Node Configuration Node CIF50 COS Description Nodet File name C50C0S EDS IV Activate node in actual configuration lV Automatic COB ID allocation in accordance with Profile 301 Device Profile 301 0 Node ID address Guard time msec Life time factor geese Lon 1 320 Cancel Node BootUp Emergency COB ID fi zg OPC Objects Nodeguard COB ID fi 793 Object Configuration Actual node Predefined Process Data Objects PDOs from EDS file er RxPDO1 parameter RxPDO2 parameter TxPDO1 parameter TxPDO2 parameter fi CIF50 COS PDO mapping method os301 V4 7 Add to configured PDOs Configured PDOs Symbolic Name COB D Type I Adar I Len 0 Type O Add Olen PDO Contents Mapping m PDO Characteristics Define new Receive PDO Define new Transmit PDO Delete configured PDO Symbolic Names Figure 13 Settings gt Node Configuration The following table shows the fields and elements of the Node Configuration window e Node The EDS file device name is shown in this field e Description contains a symbolic name for the Node e File name EDS file name PAGE 28 of

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