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1. Properties Figure 9 After clicking on Add CN a pop up will appear where the user can enter CN related information and can select the xdc xdd files for that CN as shown in Figure 10 4 2 1 Properties of CN CN Name Name of the CN This name will be visible in the tree The maximum length of CN Name is 32 characters CN ID Node ID NodeID of the CN NodeID can only be between 1 to 239 JE Add New Node iS Name CHA NodeID NodeID 1 Value can be 1 239 CN Configuration Default Import XDC XDD Browse Ok Cancel Figure 10 V 7 Public domain document 16 43 kalyc to openCONFIGURATOR User Manual 4 2 2 CN Configuration Like MN CN can also be added with two options as shown in Figure 11 a Default A default XDD for CN will be used in this case This file will be installed with the installation of the openConfigurator This file is named as oppenPOWERLINK_CN b Import XDC XDD The User can import his her own XDD XDC file for the CN Add New Node lS Mame CN 1 d Node ID 1 i CN Configuration t Default Import XDC XDD Browse E Option b Ok Cancel Figure 11 4 2 3 Import XDC XDD The user selects the xdd xdc file and then presses OK gS Add New Node S Mame cN Node ID T CN Configuration C Default Import XDC XDD C Program Files openCONF Browse
2. a pop up with a textbox will appear as shown in Figure 16 Enter the Index and press Tree Browser SampleProject SH openPOWERLINK_MN 240 OK Index will be added in the Node Tree Browser EHAE Project CN 1 1 3 NMT_DeviceType_U32 0x1000 ERR_ErrorRegister_US 0x1001 NMT_IdentityObject_REC 0x10 ge CFM_VerifyConfiquration_REC 3 NMT_InterfaceGroup_Oh_RECi a S00 SequLayerlimeout_U32 0 f DLLMNCRCError_REC Ox1 COO ip PDL_MnExpAppSwTimeList_Al 3 NMT_StartUp U32 0x1 F80 kalycito Ad gl In dex Delete Properties STI gn SDO_SequLayerlimeout_U32 0x 300 DLL_MNCRCError_ REC 0x1 CoO DLL_MNCNLossPResThrCnt_Au32 Figure 15 ra Add Index Enter the Index Ox 1003 Replace with ADC ADD F Figure 16 l index Index lox1003 Marne ERR_History ADOM Data Type Value Properties Include Index in CDC generation Domain Upper Limit Access Type dd Figure 17 Public domain document Save Discard Object Type ARRAY Lower Limit PDO Mapping Default Value 19 43 openCONFIGURATOR User Manual Objects which can be added are e Communication Profile Area Objects Communication Profile Area Objects will be added automatically with the Default properties as mentioned in the EPSG specification EPSG DS 301 V1 1 0 Range is 1000 1FFF As shown in Figur
3. Add Index Replace with ADC ADD Properties Figure 30 Select Delete menu item a pop up appears to ask whether the user wants to delete the node x Question Figure 31 4 12 Delete Index To delete the Index of a particular Node expand the node tree by clicking sign before the node Then right click on the Index which has to be deleted a menu will appear as shown in Figure 32 Sample Project Hi openPOWERLINK_MN 240 tp ERR Froese UD miinaaas eeen an aa istoy AD CMC DeleteIndex NMT Curlel en 77m momo Figure 32 Select Delete Index Index will be deleted aito Public domain document 27 43 openCONFIGURATOR User Manual 4 13 Delete SubIndex Subndex of a particular Index of a node can be deleted by rightclicking on the Sub Index A menu will appear as shown in Figure 33 CNA P NMT_DeviceType_U32 0000 3e ERR_ErrorRegister_U8 0 001 3e ERR_History ADOM 0x1003 t NumberOfEntries 0x00 i i amp ErrorEntry_DON Delete Sublndex 2 ErrorEnty DO SSS Figure 33 Select Delete SubIndex Sub Index will be deleted 4 14 Save Project To save a project select from top menu bar File gt Save Project as shown in Figure 34 Project View Help New Project Ctri N Open Project Ctrl O Save Project Ctrl S Save Project as Close Project Exit Atl x Figure 34 m Proje
4. CDC and which should not This can be achieved by selecting that particular object and in the right side window check the Include Index in CDC generation check box as shown in Figure 25 If the check box is checked then that object will be included in the CDC generation If the check box is NOT checked then that object will not be included in the CDC generation Note The user has to make sure that all the necessary objects and sub objects are checked for inclusion in the CDC generation Even if the check box is checked the object will not be included if the object doesn t have the actual value This is applicable for all objects of both MN and CN Tree Browser 2 SampleProject a CNA Y NMT_DeviceType_U32 0x1000 Y ERR_ErrorRegister_U8 0x1001 t ERR History ADOM 0x1003 wa NMT CycleLen_U32 0x1006 NMT_ManufactDewName VSi0x1 a em 4 8 Build the Project ee Index Index O0x1006 Mame NMT_CycleLen_U32 Include Index in CDC generation Figure 24 t The user can build the project either from the top menu bar as shown in Figure 25 or clicking icon kaNcito Public domain document 24 43 openCONFIGURATOR User Manual in the icon bar Build Project F7 gt EIS ee Clean Project i T Transfer Fe Project Settings Figure 25 If the user has set auto generate to Yes a pop up appears with a message that changes made by the user in PDOs
5. High Level Design V x x x document for understanding the design of openCONFIGURATOR tool the limitations rules and for customizing the tool The above files can be downloaded from http sourceforge net projects openconf in the downloads section cae Public domain document 43 43 Ito
6. Ok Cancel Figure 12 V 7 Public domain document 17 43 kalyc to openCONFIGURATOR CN Node will be added to the tree as shown in Figure 13 Tree Browser f Se e I a E SampleProject H a openPOWERLINK MN 240 Figure 13 User Manual Expanded view of CN Node can be seen by clicking the sign in front of the CN node The view of the tree will be visible as in the Figure 14 Tree Browser NMT Device Type US2 021000 ERR_ErrorRegister_U8 0x1001 WMT OychelLen_U32 021006 WMT IdentityObjpect_REC 0x1018 CFM _VentyContfiquration_REC O10 WMT _InterfaceGroup 0h_REC 0x103 SDO_SequLayerTimeout_Us2 0x1500 DLLLIMNCRCError_REC Ox1 COO DLL MANCNMLossPResThront_Aus y DLL_MNCNLossPResThreshold_ AUZ DOLL CNWLoss ol_ RECO COB DLL CNW CRCError_REC hc COF DLL_MNCycleSusp EPELDE DLL CNLossOf socTolerance_Us2 0 DLL OMMLossStatusRes Thront_Aus DLL OMMNLossStatusRes Threshol d_Al PDL_MnExpAppSw Tirmelci st_AU32 0 MMT _StartUp_U32 00d Feo WMT _ FeatureFlags Us2 0x1 Fez WMT EPLVersion_US8 0x1 F83 AMT MN Dewice TypeldlList_AUS2 0x NMT BootTime RECs Feo Eee aito E Info EF Error 4 Warning Figure 14 Public domain document 18 43 openCONFIGURATOR 4 3 Adding an Index User Manual Index can be added by right clicking the node for which Index has to be added as shown in Figure 15 Node can either be MN or CN After clicking Add Index
7. cae Public domain document 30 43 Ito openCONFIGURATOR User Manual 6 Install amp Uninstall 6 1 System Requirements The following are the requirements for the tool to run The requirements for POWERLINK and dependencies are not under the scope of this document 6 2 3 cae Linux Tcl 8 5 Tk 8 5 tclthread 2 6 5 libxml2 Windows XP and Vista Tcl 8 5 Tk 8 5 tclthread 2 6 5 and higher You may get the executable for the above from http www activestate com libxml2 Install Ubuntu 8 xx Linux Un tar the openCONFICURATOR tar file To check for required packages run Oo configure If configuration succeeds makefile will be created To install openCONFIGURATOR run o make install Other Flavours of Linux The above procedure for Ubuntu can be followed for Debian based Linux systems For RPM based machines the configure will not work as the configure script needs the debian package manager to function Follow the below to install the tool O Install the following packages m libxml2 m tcl8 5 m tk8 5 tclthread this is usually a package inside Tcl O Copy the Makefile Use the following command m cp GUI Makefile in Makefile Windows XP and Vista Unzip the openCONFICURATOR zip file Windows XP O Run the openCONFIGURATOR_ Setup file and follow the instructions Windows Vista O Run the openCONFIGURATOR_ Setup file as Administrator right click on the setup file and click on Run as A
8. tabular structure The user can change the Maping entry in the table the same change will be reflected if user selects that particular object Feature of PDO table a Table will be filled with the data only if PDO have ACTUAL VALUES default values will not be visible in the table b The user can edit the following columns of the table provided the access type is not ro Offset e Length e Index e SubIndex a If the user makes any change in the above mentioned column the same change will be automatically reflected in the mapping entry b The user can select that particular object in the tree and edit it as shown in Figure 23 Public domain document 23 43 A Mito ka openCONFIGURATOR Tree Browser 10_DigitalOutput_AU8 0x6200 P 10_AnalogOutput_SBit_AUS O0x641 10_AnalogOutput_16Bit_AUS 0x64 10_AnaloqOQutput_32Bit_AU8 0x64 2 10_AnaloglrqEnable_BOOL 0x42 PDO 3 PDO_TxCommParam_Oh_REC PDO_TxMappParam_0h_AU64 i NumberOfEntries 0x00 4 7 Include in CDC Generatio Sub Index Index Ox A00 Sub Index Ox01 Name Include Subindex in CDC generation v Properties Data Type Unsiqned64 Upper Limit Object Type VAR Lower Limit Value Ox00100000001 E2100 Dec Hex User Manual ObjectMapping 1 Access Type ro PDO Mapping Default Value Save Discard Figure 23 n The user has the option of selecting which objects should go in
9. will be lost as auto generate option is enabled So it asks whether the user wants to build the project or not Click Yes Question Auto Generate is set to yes in project settings User edited values for MN will be lost Do you want to Build Project Figure 26 Following files will be created after the build of project These files will be present in lt Project location gt lt Project Name gt cdc_xap folder emnobd txt Text version of the binary cdc file emnobd cdc CDC binary file used with the stack eXAP h Header file for the application e XAP xml XML file with variable names Datatype datasize ByteOffsets BitOffsets Name Date modified Type _ mnobd cde 16 04 2009 20 17 CDC File E mnobd 16 04 2009 20 17 Text Document in xap 16 04 2009 20 17 C C Header xap 16 04 2009 20 17 XML Document Figure 27 4 9 Transfer CDC amp XAP After the build the mnobd cdc and the xap h files generated by the tool shall be copied to the openPOWERLINK aito Public domain document 25 43 openCONFIGURATOR User Manual location Find the Transfer sh or Transfer bat inside the scripts folder in the created project for editing the scripts The files can be copied into the following locations For Windows openPOWERLINK_CFM_V1 x x x Examples X86 Windows V C8 demo_pcap xap h openPOWERLINK_CFM_V1 x x x mnobd cdc If the project is run using Visual studio openPOWERLINK_CFM_V1 x x x Release mnobd cdc If t
10. 0 Object Type ARRAY Lower Limit PDO Mapping M 10_AnaloglrqEnable_BOOL 0x642 PDO v E gt Save Discard Figure 21 Public domain document Ito wae 22 43 openCONFIGURATOR User Manual 4 6 PDO Screens PDO objects will be presented in a tabular structure This table is visible by clicking sign of PDO Node or double clicking the PDO node and then select RDPO or TPDO as shown in Figure 22 Tree Browser No Mode Id Offset Length Index Sub Index MOD_NetworkStatus_AU64 0 BC Internal REC 0x20F0 oO ox0000 0x0010 0x2100 Ox1E o X20PS9402 002100 7 gt X20 A12622 0x2101 4 ox0010 ox0028 0x2101 Ox1E 7o X20A04622 0x2102 gt X20AM4622 0x2103 5 E XODATA2Z2 0x7104 2 ox0038 oxo008 0x2102 0x1E X20D0093220x2105 So X20D14371 0x2106 3 ox0040 ox0048 0x2103 Ox1E 7 gt X20A02632 0x2 107 ge X2040744 022108 4 ox008s ox0048 Ox2104 Ox1E 10_Digitallnput_AUS 0 6000 10_DigitalOutput_AU8 0x6200 K a T gt 10_Analoglnput SBit_AUB x6 5 ox00D0 0x0018 0x2105 0x1E 10_AnalogInput_16Bit_AU8 x 10_AnalogInput_32Bit_AUS 0x 6 Ox00E8 ox0010 0x2106 Ox1E T I0_AnalogOutput_8Bit_4Us 0 10_AnalogOutput_16Bit_AUail z i oor 10 AnalogOutput_32Bit_AUB T Ox00F8 ox0008 Ox2107 Ox1E T 10_AnalogIrqEnable_BOOL Om iz i PDO 3 0x0100 ox0030 0x2108 0x1E SB ae i RPDO gt Save Discard Figure 22 4 6 1 Editing the PDO Objects a In the
11. E T I E E E A E A A A AS 29 a Ee P e E EEO 29 POP Sy Ea E T E E T E A E A E TAA 31 SAEPE AN ITS 0A E N ASE TE T EEE EE E AT E E A E A 32 MS Fo Ge mn Reni remei ce ae SEEE 32 SIN Eai i i T E EE O E AE E O A O E A A E E E T OE 32 6 1 2 Windows XP and Vista vecccsovichasivsommncavisecnanaynonssdansoasoaswnnertaunlonaedcadnudssnenanden teens E EEE EE rii 32 G2 AIMS T E A E EE A A A E A E A E A 32 eZ Ae COU CE 5 sc ae sess arsntntocteaacaaactcanondan sscmian nanos asameaseuiaabetenaas nGenignanadis tacounsaianeaeaubacentaamnasaeomeesinte 32 CLT all 2 74 01 Row Coa Be 3 6b Geer manner teen Somer ew E E E ne errr eee rece yee 32 6 2 5 Windows XP and VISA isscnsevactacatannscecnceasascieceesavaciasnsneanaceasensascadnensde sasanvhasieatneseenaeacaseowaraddevawanneniuorecboannaies 32 AD E e I E E E T A A ENE eee E EO AA A E E E ETT 37 e E E E E EN E EE 37 ge VO AP IN VIa oinaren ES E aa bedi sae oun NEE O 37 OF gM ARG cr teats tsa TEI EE A EE TAE O EE EN E EO A EI E E O A T OA 39 AAE i e o E ES A E E EE ete TEA A EAT E N A E A A EE OIE A E E 39 T AN ON e E E E T E E secs obeelesuotebecssiaets 39 Public domain document 4 43 kaNcito openCONFIGURATOR User Manual S OO IO Osc ascot ancarauacsauecaesecsexeainaaaunaeninnsessacaced ciaehateesaneceneGensiecyanctonuc huaeannebesca asada AAA 4l aA E e I T I A AE EE E A E A T T E E EA A E T T E sacaeke 4l N O r E A A E E 41 g Enown Duss and Work Woumen a a EE ES ESEE 42 10 Trou ble 7 UO OLIN ss
12. Graphics HJ Sound amp Video 5 Universal Access ld wine dss k rapt im Add Remove Figure 44 7 2 Windows 1 Goto Start Menu gt All Programs gt openCONFIGURATOR 2 Click on openCONFIGURATOR Public domain document 38 43 aito openCONFIGURATOR User Manual aH OpenCONFIGURATOR t E openCONFIGURATOR Real Nc t B Uninstal Figure 45 o All Programs kaNcito re openCONFIGURATOR User Manual 8 Compilation For compiling the tool follow the below 8 1 Linux e Unzip openCONFIGURATORSolIn zip e Goto openCONFIGURATORSolIn zip openCONFIGURATORSolIn openCONFIGURATOR src e Type make e The above will compile and create openCONFIGURATOR so in the same directory e Copy the openCONFIGURATOR so into usr lib openCONFIGURATOR so sudo cp rvf opoenCONFIGURATOR So usr lib e Goto openCONFIGURATORSolIn zip openCONFIGURATORSoln openConfiguratorWrapper e Type make e The above will compile and create Tcl_WrapperMain so in the same directory e Copy the Tcl_WrapperMain so into the installed directory of openCONFIGURATOR Sudo cp rvf Tcl_WrapperMain so usr Share opoenCONFIGURATOR V 1 0 0 Note The compilation of wrapper needs the ope nCONFIGURATOR so in usr lib location If the location is changed it should also be reflected in the Makefile for Tcl_WrapperMain so An issue in any one of the above steps may lead to Error loading shared library Please re install the tool error
13. LossPResThresholc x DLL_CNLossSoC_REC 0x1 COB gt DLL_CNCRCError_ REC 0x1 COF Properties 4d ud DLL_CNLossOfSocTolerance_U Ye DLL_MNLossStatusResThrCnt_ aw DLL_MNCycleSuspendNumbe Data Type Unsigned32 Upper Limit Access Type w 3 DLL_MNLossStatusResThresho Object Type VAR Lower Limit PDO Mapping 3 PDL_MnExpAppSwTimeList_Al NMT_StartUp_U32 0x1F80 MT_FeatureFlags_U32 0x1F82 Value Dec Hex Default Value 0 MT_EPLVersion_U8 0x1 F83 MT_BootTime_REC 0x1 F89 MT_MNCycleTiming_REC 0x gt Save Discard Figure 20 PN PN J NMT_MNDeviceTypeldList_AU N P N e Manufacture Specific Objects The user can edit ALL the properties of these objects as shown in Figure 21 Tree Browser Index p MOD_CfgCount_U8 0x20A0 sare 0 6000 w oo o m a l 79 m A g S Name 10_Digitallnput_AU8 e X20A04622 0x2102 Include Index in CDC generation D 2 Jp X20A02632 0x2107 Properties X20A11744 0x2108 Data Type UNSIGNED8 Upper Limit Access Type 10_DigitalInput_AU8 0x6000 10_DigitalOutput_AU8 0x6200 10_AnalogInput_16Bit_AU8 0x641 10_AnalogInput_32Bit_AU8 0x64 10_AnalogOutput_8Bit_AU8 0x64 Value Dec Hex Default Value I0_AnalogOutput_16Bit_AU8 0x6 10_AnalogOutput_32Bit_AU8 0x6 Uso 40 40 GO 40 GO 46 W 10_AnalogInput_8Bit_AU8 0x64
14. User Manual For openCONFIGURATOR V 1 x x POWERLINK Configuration Tool Prepared By Kalycito Infotech Pvt Ltd Coimbatore Identifier UserManual _ Version 1 02 openCONFIGURATOR Prepared By Kalycito Powerlink Team Date 22 May 2009 Approved By Confidentiality Public domain document openCONFIGURATOR Revision History Version Date 0 01 31 Mar 2009 0 02 09 Apr 2009 1 00 16 Apr 2009 1 01 08 May 2009 1 02 22 May 2009 X Ito Modified By Kalycito Powerlink Team Kalycito Powerlink Team Kalycito Powerlink Team Kalycito Powerlink Team Kalycito Powerlink Team User Manual Remarks Initial Draft Incorporates information for Vista Incorporates Known bugs and their work around and compilation how to Updated known bugs and their updated work around s New Notes to the user are added Added installation procedure for RPM and Debian based systems and few cosmetic changes Public domain document 2 43 openCONFIGURATOR User Manual License In this manual are descriptions for copyrighted products that are not explicitly indicated as such The absence of the Trademark TM and copyright symbols does not imply that a product is not protected Additionally registered patents and trademarks are similarly not expressly indicated in this manual The information in this document has been carefully checked and is believed to be entirely reliable However Kalycito Infotech Private Limited assumes no responsibility
15. ct can also be saved by clicking icon in the icon bar Save project will save the following files in the project directory octx folder a One octx file for each CN Name of the file is the Node Id of the CN b One octx file for MN Name of the file is 240 NodelId of MN Project folder a One OCT file for the project 4 15 Clean Project Clean project will delete cdc and xap files from the project folder To clean the project select from the top menu Project gt Clean Project as shown in Figure 35 Mig me as openCONFIGURATOR User Manual Project View Help Build Project F7 Clean Project Transfer F Project Settings Figure 35 This can also be done by clicking Ce icon in the icon bar 4 16 Close Project To close the project select from the top menu bar File gt CloseProject as shown in Figure 36 File Project View Help New Project Ctrl N Open Project Ctrl 0 Save Project Ctri 5 Save Project as Close Project Exit Atl xX Figure 36 A pop up appears as shown below Click OK to close the project r Question j Close Project Sample_Project Cancel Figure 37 V Public domain document kalcito i openCONFIGURATOR User Manual 5 Operating System This tool is designed for the following operating environments e Linux Windows XP Windows Vista Tested operating environments Linux Ubuntu 8 xx Windows XP Business Windows Vista Business
16. dministrator and follow the instructions Public domain document 31 43 ycito openCONFIGURATOR User Manual Please review the license terms before installing openCONFIGURATOR Press Page Down to see the rest of the agreement c Kalycito Infotech Private Limited Project openClONFIGURATOR Description License Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions If you accept the terms of the agreement cick I Agree to continue You must accept the agreement to install openCONFIGURATOR Nullsoft Install System v2 44 Fieurese Read through the License and if you agree press I Agree button and proceed the installation y 7 Public domain document 32 43 kalyc to openCONFIGURATOR User Manual T openCONHGURATOR Setup Choose Components Choose which features of openCONFIGURATOR you want to install Check the components you want to install and uncheck the components you don t want to install Click Next to continue Description Position vour mouse over a component Co see its description Select components to install GUI and APIs Space required 4 3MB Nullsoft Install System v2 44 Figure 39 kaNcito Public domain document 33 43 openCONFIGURATOR User Manual Press NEXT button 5 openCONFIGURATOR Setup Choose Install Location Choose the folder in which to install openCONFIGURATOR Setup wi
17. e 17 default properties like Name ObjectT ype DataType are automatically added e Manufacture Specific Profile Area Objects The User can also add objects which are manufacturer specific that lie in the range of 2000 5FFF As these objects are manufacturer specific no property will be set by the tool The user can edit all the properties of these objects e Standardized Device Profile Area Objects The user can also add objects which are manufacturer specific that lie in the range of 6000 9FFF No default properties will be set by the tool e Standardized Interface Profile Area Objects The user can also add objects which are manufacturer specific that lie in the range of A000 BFFF No default properties will be set by the tool e Reserved for further use The user can also add objects which are manufacturer specific that lie in the range of C000 FFFF No default properties will be set by the tool 4 4 Adding a SubIndex Sub Index can be added by right clicking the object for which sub index has to be added as shown in Figure 18 A gt ERR _ErrorRegister_U8 010 FEE gt NMT_CycleLen_U32 0x100 3 NMT_IdentityObject_REC __ Delete Index eo CFM_VerifyConfiguration REC 0x1020 F NMT_InterfaceGroup_Oh_REC 0x1030 F SDO_SequLayerTimeout_U32 0 1300 DLLMNCRCError_REC Ox1 000 fo DLL MNCNLossPResThrCnt AUS2 Mhd C08 Figure 18 After clicking Add SubIndex a pop up with a text box will appear as shown i
18. ease follow the work around mentioned below 2 Work Around 1 Install the Microsoft Visual C Redistributable Package x86 if Visual Studio is not installed If this doesn t solve the issue Work Around 2 will solve the issue 3 Work Around 2 Recompile the shared libraries on the machine in which the error happens Follow section Compilation for recompilation 2 Issue with Non ASCII project names 1 Description If non ASCII project names are used there may be issues in using the project 2 Work Around Use only ASCII project names cae Public domain document 41 43 Ito openCONFIGURATOR User Manual 10 Trouble Shooting 1 The file od xml is missing n Cannot Proceed nPlease consult User Manual The file od xml is used for storing the objects for the tool If the file is missing new objects cannot be added and the autogeneration will also fail so the tool will not allow the user to proceed if the file is missing Copy the od xml from the zip file downloaded from SourceForge into the installed directory and the issue will be fixed 2 Tranfer CDC XAP file If the Tranfer CDC XAP file has any issue please read through the comments described on top of the Transfer bat Transfer sh file Mito sauna os openCONFIGURATOR User Manual 11 Consultation Consult the User Manual DemoProject V x x x document for more details on the Process Image objects and how to use them along with the xap and CDC files Consult the
19. ed to benefit from the Standard device profiles specified in CANopen EN 50325 4 for automation Though Powerlink is extremely open and it brings together the advantages of both Ethernet and CANOpen it demands a certain degree of expertise in Ethernet and CANOpen for the users of this technology for e g they may have to understand the Powerlink Object Dictionary and may have to understand the index sub indexes and PDO mappings before they can see meaningful data exchange between their nodes openCONFIGURATOR is designed to eliminate this need and enable an uninitiated user of Ethernet and CANOpen to configure and run a Powerlink network in a very short time At the same time for an experienced user the tool offers complete control over the configuration in each stage of the build process ope nCONFIGURATOR is also designed to run on both Linux and Windows cae Public domain document 7 43 Ito openCONFIGURATOR User Manual 3 Features Summary 3 1 For the Uninitiated Building a Powerlink network is now so simple as O Importing the XML Device Description Configuration file XDD XDC file provided by the vendors of each device MN and CNs in the network choosing auto generate MN PDO mapping option hitting a build button Whats more everything can be done using the GUI provided along with the openCONFIGURATOR In fact the tool works on both Linux and Windows OOOO At the end of the build process the following files are aut
20. for any inaccuracies Kalycito Infotech Private Limited neither gives any guarantee nor accepts any liability whatsoever for consequential damages resulting from the use of this manual or its associated product Kalycito Infotech Private Limited reserves the right to alter the information contained herein without prior notification and accepts no responsibility for any damages which might result Additionally Kalycito Infotech Private Limited offers no guarantee nor accepts any liability for damages arising from the improper usage or improper installation of the hardware or software Kalycito Infotech Private Limited further reserves the right to alter the layout and or design of the hardware or software without prior notification and accepts no liability for doing so Copyright 2009 Kalycito Infotech Private Limited Rights including those of translation reprint broadcast photo mechanical or similar reproduction and storage or processing in computer systems in whole or in part are reserved No reproduction may occur without the express written consent from Kalycito Infotech Private Limited Kalycito Infotech Private Limited Address 331 Cross cut Road Gandhipuram Coimbatore 641012 India Email info kalycito com Sales Contact sales kalycito com Phone 00 91 422 4518454 Fax 00 91 422 4518445 Kalycito Infotech Private Limited Address E LAB Science amp Technology Entrepreneurial Park I PSG College of Technology Coi
21. he project is run directly by execution the exe For Linux openPOWERLINK_CFM_V1 x x x Examples X86 Linux gnu demo_mn_8139_kernel xap h openPOWERLINK_CFM_V1 x x x mnobd cdc Note The above are mere examples and do not depict the actual location 4 10 Compiling and running the openPOWERLINK stack After transferring the mnobd cdc and the xap h file to the respective location the user shall follow the below steps to compile and run the stack Windows 1 Open the OpenPowerlink sIn inside the lt gt openPOWERLINK_CFM_V1 x x x directory using Visual studio 2 Compile the project 3 Run the project 1 cd lt gt openPOWERLINK_CFM_V1 x xx Examples x86 Linux gnu demo_mn_8139_kemel 2 make should not produce any error 3 sudo insmod epl ko 4 11 Delete the Node 4 11 1 Delete MN OBD MN OBD can be deleted by right clicking MN Node A menu will appear as shown in Figure 28 Eh se Sample Project Bg dd Ch OBD Add CN 3 CN 101 Replace with XDC XDD 3 CN 202 Aa Auto Generate Delete OBD Properties Figure 28 Select Delete OBD menu item a pop up appears to ask whether the user wants to delete the node cae Public domain document 26 43 Ito openCONFIGURATOR User Manual Question Figure 29 4 11 2 Delete CN Node CN node can be deleted by right clicking on the node a menu will appear as shown in Figure 30 H Sample_Project HH openPOWERLINE_MN 240 aCi
22. ions and as this object is an array of sub objects where each sub index corresponds to the CN with the Node ID equal to the sub index is added Each sub object value will be set to the calculated time value e Object 1F84h NMT_MNDeviceTypeldList_AU32 This object is an array of sub objects where each subindex corresponds to the CN with the Node ID equal to the sub index is added Each sub object value is set to Default value e Object 1F8Bh NMT_MNPRegPayloadLimitList_AU16 This object is an array of sub objects where each subindex corresponds to the CN with the Node ID equal to the sub index is added Each sub object value is set to C_DLL_ISOCHR_MAX_PAYL 1490 Object 1F8Dh NMT_PResPayloadLimitList_AU16 This object is an array of sub objects where each subindex corresponds to the CN with the Node ID equal to the sub index is added Each Sub object value is set to C_DLL_ISOCHR_MAX_PAYTL 1490 e Object 1F92h NMT_MNCNPResTimeout_AU32 This object is an array of sub objects where each subindex corresponds to the CN with the Node ID equal to the sub index is added Each Sub object value is set to 2000000 Autogeneration can be set in Project settings pop up as shown in Figure 5 or the user can also autogenerate by just right clicking MN Node as shown in the Figure below j 2 CED Add Lh CNL Replace with ADC ACL Ta CA 202 Delete OED Propostes Figure 6 If auto ge
23. lic domain document 8 43 Ito openCONFIGURATOR User Manual openCONFIGURATOR source code is available in SourceForge under BSD license which means it is available for free O can evolve over a long period of time without the issues of orphaning or vendor lockup O can be customized as per your organizationneeds in a proprietary manner O permits you to retain the option of commercializing final results with minimal legal issues Public domain document 9 43 X Ito openCONFIGURATOR 4 Product Feature 4 1 Project Wizard 4 1 1 Create New Project New project creation can be done in two ways User Manual a Launch openCONFIGURATOR from Start All Programs openCONFIGURATOR The user can create a new project or open an existing project as shown in Figure 1 F p openCONFIGURATOR axe f Create New Project C Open Existing Project Description Create a new Project b From the top menu bar File gt New Project Cancel Figure l File Project View Help New Project Open Project save Project Save Project as Close Project Ctri N Ctrl 0 Ctrl 5 u Exit Atl x aito Public domain document Figure 2 10 43 openCONFIGURATOR User Manual 4 1 2 Project Settings Project Name In the Project Wizard window the user can enter any name provieded the maximum limit of the Project Name is 32 characters and s
24. ll install openCONFIGURATOR in the following folder To install in a different folder dick Browse and select another folder Click Next to continue Destination Folder C Program Files openCONFIGURATOR 1 0 0 Space required 4 3MB Space available 264 9MB Mullsoft Install System ve 44 Figure 40 Select the Directory where the tool should be installed Click Next Public domain document 34 43 aito openCONFIGURATOR User Manual Gi openCONFIGURATOR Setup Choose Start Menu Folder Choose a Start Menu folder for the openCONFIGURATOR shortcuts Select the Start Menu folder in which you would like to create the program s shortcuts You can also enter a name to create a new folder openCONFIGURA TOR Accessories ActiveState ActiveTd 8 5 5 0 Administrative Tools BAR Automaton Beyond Compare 2 Extras and Upgrades Games Gtk IntelliAdmin Maintenance Microsoft SQL Server 2008 Do not create shortcuts Nullsoft Install System v2 44 Press Install Installation Complete Setup was completed successfully Completed Show details Nullsoft Install System v2 44 Cancel Press Close openCONFIGURATOR is successfully installed aito Public domain document 35 43 openCONFIGURATOR User Manual 6 3 Uninstall 6 3 1 Linux 1 Un tar the openCONFICURATOR tar file 2 To uninstall openCONFIGURATOR run make uninstall 6 3 2 Windows XP and Vista 1 Goto Start Menu gt All Program
25. mbatore 641004 India Kalycito Europe Address 239 bis avenue du bois de Verrieres 92160 ANTONY FRANCE General Information info europe kalycito com Sales Contact sales europe kalycito com Phone 33 9 70 44 52 54 cae Public domain document 3 43 Ito openCONFIGURATOR User Manual Table of Contents DN IG NOV carte ccoatsaretsaned caret dation E E EE EE E E EE EE EEEE ESA 6 EEPO DOS roe E E 6 ed Document Conve MONS sasara E AE AE A EE a AaS Ee eR aa a E 6 1 3 Intended Audience and Reading SuggestionS eseseseeeeesseeesssessssssssssssssssssssssesssssessseeesseeeesetrrrererresssersseseossesessses 6 L4 Docume SOOD ari E A EE E O 6 KOR E a E E E E E eens nag aianscmeooudsesiounaa 6 Dei AN S O E E E A N S ee weeaias 7 AEDE T MIO alll E A E E EE E 7 F E e E E E E T E E ATE EE E 8 AFO TV A acer bese ees cba aicae sehen E E E EE E E ATE E E 8 eo OR We de Ke GIS E E A E E E T T E EEEE E T A A 8 A PEO GUC E AUN ce arte eyes E mea wate E E E E mets buco tose E O 10 A NeWPE OSE CE VW UZ ALC EAE AT TA E E AE E E E E A A E E EE E EA sree T 10 All Create New Proj CCL sissassasesaeniiveeesvecaataiesSeancunntereimeocitontducened TE dessa EN SEENE 10 A A ae E e E A EEE E E E E E E E E E E 1 AM CMO GS VIN o a a Oa encase des oda E E a EE EEE 12 42 PGC a CN Node cessere aa ei Eie a E ieai 16 EAE e ONIN N E E E A E E E AE A PEE E A E A 16 4 2 2 CIN Oe el Of cecanascasaiacasnmansclaa aves nessa nnaamatancanaassatencanoctnedwe
26. n Figure 19 Enter the Sub Index and press OK Sub index will be added in the Node Mig me 7 openCONFIGURATOR User Manual gp Add Sublndex Enter the Sublndex x Ok Cancel Figure 19 Communication Profile Area Objects Communication Profile Area Objects will be added automatically with the Default properties as mentioned in the EPSG specification EPSG DS 301 V1 1 0 Default properties like Name ObjectType DataType AccessType Default Value is automatically added For the other Objects Manufacturer Specific Profile Area Standarised Device Profile Area Standardised Interface Profile Area Objects Reserved for further use if sub index is added no default property will be set cae Public domain document 21 43 Ito openCONFIGURATOR 4 5 Editing Object Sub object Properties The Objects Sub Objects with access type value ro const empty from XDCs cannot be modified e Communication Profile Area Objects The user can edit only NAME and Value of these objects as shown in Figure 20 User Manual Tree Browser Index I gt ERR_ErrorRegister_U8 0x1001 ae a 0x1 006 J ERR_History_ ADOM 0x1003 I NMT_IdentityObject_REC 0x10 Name Oo NMT_CycleLen_U32 3 CFM_VerifyConfiguration_REC NMT_InterfaceGroup_0h_REC SDO_SequLayerTimeout_U32 0 Include Index in CDC generation v ge DLL_MNCRCError_REC 0x1 C00 DLL_MNCNLossPResThrCnt_A 46 ko oh DLL_MNCN
27. nd CNs Object Dictionary entires This file is available in two formats one is a binary file and second one is a text file in a readable format so that the user can view all the information which is present in binary file O An XML file XAP XML and C Header file XAP h specifying the names of the network variables their offsets datasize datatype etc These files can be directly imported for use by the application designers to build their applications For users interested in having cross traffic between CNs it can be easily achieved by manually editing the PDO mapping of each CN and then building the project to generate the CDC files The user can add any object sub object that is specified in the Powerlink specification or that is the manufac turer specific area Except manufacturer specific objects when a user adds an object sub object it will auto matically fills the default parameters like Name Datatype ObjectT ype AccessType according to the Power link specification There is also an option on the GUI to add or leave out a particular index when a cdc file is generated This can be done just by check uncheck of the checkbox provided openCONFIGURATOR is a package of C library with a GUI front end developed using Tcl Tk This means O Any user who wish to develop their own GUI can access the API interface provided by the C dlls O The tool and the GUI runs on both Windows XP Vista and Linux operating systems cae Pub
28. nerate mode is set to NO PDO mapping of MN will not be generated automatically aM Public domain document 13 43 Ito openCONFIGURATOR User Manual E Project Wizard MN Configuration Default C Import XDC XDD _ Auto Generate Yes C No Description Imports default xdd file designed by Kalycito for openPOWERLINE MN JAutogenerates MN object dictionary during bui jld Back Ok Cancel Figure 7 After the user presses OK as in Figure 7 the project will be created with a MN Node as shown in Figure 8 By default the added MN will have all the mandatory objects and their mandatory sub objects as mentioned in the EPSG specification Note More than a single MN cannot be added for a project and one MN should always be present in a project The user shall delete the objects of a MN only but never the node itself Public domain document 14 43 kaNcito openCONFIGURATOR User Manual File Project View Help Jee Rel cE A SampleProject FH openPOWERLINK MAN 2440 8 oo Ej Info 6 Error A Warning a Figure amp Public domain document 15 43 kaNcito openCONFIGURATOR User Manual 4 2 Adding a CN Node A CN Node can be added by right clicking on the MN Node In the small menu that appears select Add CN as shown in Figure 9 Tree Browser en a e ee Add CN Replace with ADC ADD Auto Generate Delete OBD
29. omatically generated by the tool O A Concise Device Configuration file CDC file with the entire Object Dictionary Configuration The for mat of the CDC file is specified in the Powerlink specification and the Powerlink stack can read this infor mation and configure itself O an XML file and a C Header containing the Application Variable names and offsets XAP xml file and XAP h file for easy reference by the application The application designer may choose how they want to use these files As a part of openCONFIGURATOR delivery we deliver an example application 3 2 For the Expert Users A basic Powerlink network configuration can be built by importing the XML Device Description Configura tion file XDD XDC file provided by the vendors of each device in the network The Powerlink Managing Nodes s PDO mappings can be generated in multiple ways O Using the Auto generation feature of ope nCONFIGURATOR PDO Mapping objects and subobjects of MN will be automatically computed from the CN s PDO mapping information manually edited on the CN side or imported from the XDD XDC file O Manually adding the PDO mapping information of the MN to have maximum control over the configura tion O Initially Auto generate and then manually edit to customize Building the configuration after manually editing or importing the XDD XDC file generates O A Concise Device Configuration File CDC file with the actual values for MN s Object Dictionary a
30. paces are not allowed Project Location The User can select any location by clicking the browse button E Project Wizard Project Name SampleProject E ProjectName Choose Path C Users sysadmin sysadmin PC Docun _ Browse _ Do ject Choose Save Option Location f Auto Save Prompt Discard Description Prompts the user for saving the edited data Cancel Figure 3 Object Save Options In the Project Wizard window the user has to select a data save option from the following three options a Auto Save In this mode the tool will automatically save the data whenever the user moves the mouse and clicks on the tree window b Prompt In this mode the tool prompts the user asking if the user wants to save the data or not before exiting from the screen c Discard In this mode the changes will not be saved automatically The save button has to be clicked by the user whenever he she wants to save the data edited Note The above has nothing to do with the project save This option only saves the edited data in the Object view window For saving a project click on the corresponding Menu or Icon More explanation can be found in the general user manual save project section Object Save option can also be used any time during the project from the top menu bar Project gt Project Settings as shown in Figure 4 Mig me M openCONFIGURATOR User Manual Soa E Build Project F i Ca Clean Project Transte
31. pop up on the GUI 8 2 Windows e Unzip and goto openCONFIGURATORSolIn zip openCONFIGURATORSoln e open openCONFIGURATOR sIn with MS Visual Studio Express Edition e The solution was created and tested with MS Visual C 2008 Express Edition e Install Active Tcl mentioned in the pre requisites and set the path of the installed directory as environmental variable Oo TCL_PATH Tcl Installed Dir e Install Swigwin and set the installed path of swig O SWIG_PATH Swig installed Dir e Build the solution e Inside the Release directory of the solution two dlls will be created viz openConfigurator dll and openConfiguratorWrapper dll e Copy the openConfigurator dll and openConfiguratorWrapper dll into the installed directory Mig me ns openCONFIGURATOR User Manual 9 Known bugs and Work around The following are the list of known bugs in the openCONFIGURATOR V 1 x x Info iZ ry Error loading Shared Library Wd Cannot proceed Consult the user manual to troubleshoot Figure 46 1 Error Loading Shared library n Cannot proceed n Consult the user manual to troubleshoot for binaries downloaded from SourceForge on some machines 1 Description The above error happens when the shared libraries are corrupted or when the shared libraries are missing On some Windows machine the error is happening in a undefined way We are in the process of fixing it Till we make a release for this issue pl
32. r Fo Project Settings Figure 4 After selecting Project Settings a pop up appears Here too the user can change the project settings This pop up will appear only if a project is present in the tree else pop up will not appear E gt Project Settings Ex Project Settings AutoSave Prompt Discard Auto Generate Yes No Prompts the user for saving the edited a lata Autogenerates MN object dictionary durin Ok Cancel Figure 5 4 1 3 Choose MN Configuration There are two options by which MN OBD can be created a Default A default XDD for MN is used in this case This file will be installed with the installation of openCONFIGURATOR This file is named as openPOWERLINK_MN b Import XDC XDD The User can import his her own XDD XDC file for the MN Autogeneration Mode If autogenerate is set to Yes the PDO Mapping of MN and few objects of CN will be generated automatically e PDO mapping of MN e Object 1F26h CF M_ExpConfDateList_AU32 M Date will be calculated by the tool according to the specifications and as this object is an array Public domain document 12 43 Ito openCONFIGURATOR User Manual of sub objects where each sub index corresponds to the CN with the Node ID equal to the sub index is added Each sub object value will be set to the calculated date value e Object 1F27h CF M_ExpConfTimeList_AU32 Time will be calculated by the tool according to the specificat
33. s gt openCONFIGURATOR 2 Click uninstall and follow the instructions fm openCONFIGURATOR i openCONFIGURATOR Real Nc a Uninstall Figure 41 6 3 2 1 XP Click Uninstall 6 3 2 2 Vista Right Click Uninstall and click Run as Administrator Note In Vista if Uninstallation is not done as Administrator the installed files will not be deleted and any further in stallations may not be proper In such a case the user shall delete the files installed in the corresponding directory E openCONFIGURATOR Uninstall nnn Uninstall openCONFIGURATOR am Remove openCONFIGURATOR from your computer 6 openCONFIGURATOR will be uninstalled from the following folder Click Uninstall to start the uninstallation Uninstalling from C Program Files openCONFIGURATOR 1 0 0 Figure 42 Press Uninstall Button V Public domain document 36 43 Kalycito openCONFIGURATOR User Manual 4 openCONFIGURATOR Uninstall Uninstallation Complete Uninstall was completed successfully Completed Figure 43 Press Close OpenCONFIGURATOBR is successfully uninstalled Mig mee vs openCONFIGURATOR User Manual 7 Launch 7 1 Linux From command prompt 1 Goto the command prompt 2 To launch type 1 opoenNCONFIGURATOR From GUI 1 Goto Applications gt Programming 2 Click on openCONFIGURATOR Places ay Accessories gt Pic Games system er Tabs Help lt a fs
34. saaa ena EEEREN EERE EENEN E EEEE EEEN NO SNE EEEE EEEE NANEN ENE EEEE 43 EE LE AUT OM E asco A N E E E A N E A A E A E 44 Mo me a openCONFIGURATOR User Manual 1 Introduction 1 1 Purpose This document is intended for the users of openCONFIGURATOR tool This document will not describe the compilation of APIs 1 2 Document Conventions Text in Typewriter font are commands that can be executed on the shell 1 3 Intended Audience and Reading Suggestions This document is intended for the users of ope nCONFIGURATOR tool The User is assumed to possess basic knowledge on openPOWERLINK 1 4 Document Scope This document limits its scope with explaining the openCONFIGURATOR tool and the sample project s provided along with it Refer the respective documents of openPOWERLINK CFM Lhttp www kalycito com downloads html powerlinkxp 1 5 References 1 openCONFIGURATOR High Level Design document Can be downloaded at http sourceforge net projects openconf in downloads section cae Public domain document 6 43 Ito openCONFIGURATOR User Manual 2 Overall Description 2 1 Design Goal Powerlink is an open Ethernet based industrial field bus technology that guarantees deterministic data transfer even for high bandwidth applications Apart from its real time data handling capabilities Powerlink can also be best described by the statement Powerlink CANOpen over Ethernet as the configuration layers of Powerlink are design
35. snendemonpecsmgaetceedasneasacadanpuaseddadesseunnuasncuouacnssenans 17 A AMONG DG DD acre cz sss cacispoccnsat AE E E E 17 AD PG WO Ala MO Xe E ETE E A AE E E E O E I E T A E T 19 dA PAG WN an SUN INI sasia EEEN aE ont leant es oe ese acts ea dee desde act E EAN EE 20 4 5 Editing Object Sub object PLO DSTI ES viicussieseoneseanssvandewncsassedadesasnndesanstsauclanendeneatqecedacetyamdenadennsdstened baeeleatonseteteenndeanerus 22 APODOS E S e e EEE EE E E EEE EEE EEEE aE R OEE EEE 23 A OA Editing tie PDO OB 6CtS sci se2sssscidasenseassevessiediasVesdivarauvnnstesannoastwencetedssqeneabeessmernbseoeeseondousacsedwenSrastnasedeeniaetieehes 23 4 7 Include in CDC GeneratlOtiziisaicssaccveass neczascostancacssgnscodesssasdeasancauausaidventesdoassaasduacinennusaanieansasaccncasaieaeaneeiabesseesanendes 24 ce E A ad RO ei e E AE E A O E E AEE AEE IAE AEEA E E A E 24 4 9 Transiter CDO amp AAP ceceo eE ENEE AAEE KE EEEE RERE EEEIEE EERE NDERE 26 4 10 Compiling and running the openPOWERLINK stack ccc ccecsessssseeesseseseesssecceeeeceeeceeeeeeeeeeeeeeaaaeeeesaaeeeeeanseees 26 ALD KETENG e E E E E E E E E E T 26 ATLE Dekt MN OBD raisni usec basecousashitagaitaneviahensdaebcetacdecebteussceiseceueaeooeateasanes 26 AA Delte CN N Odeena EEEE E E E EES ZT AANB e Lier MG CX sac estcte cne seo ei E he nai A E AE N E aed eiaseia detecdetecoe acenrveraates 2l AT Dele SUING CX erene rE E E EE 28 Aane Pa e ee E E boned E E EE E ES 28 D SAM a S E E A E ES

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