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1. E End 159 3 NC n gemi Ss pe NENNEN No p SIMADYN EMI eee e I Pat pieces nage 3 i im ee t3 SIMATIC Comment gg SIMODRIVE 2 ee Manufacturer specific data max C SIMOREG EN NENNEN EN seu bytes hexadecimal separated ZEN ES ZEE by comma or space ae EN SN bs i S lc iei ai SSS RSS Ss E can TE 1 5 20 cao SIMATIC PC Based Control Fig 6 4 2 Example 1 Configuring the PLC addresses in Page Mode 40 CAN DP Software Manual Rev 1 2 Page Mode Example 1 The figure above represents the assignment of a SIMATIC S7 300 PLC for the Page Mode 105 bytes have been specified for the Page Mode and 16 bytes for the Communication Window With these the S7 300 is completely occupied because it offers a maximum of 122 bytes Below the specification of a PLC slot will be called page segment In example 1 a data length of 32 bytes for each segment and the consistency for the entire 32 bytes have been set The data length has not been chosen larger because the 7 300 cannot transmit more than 32 bytes consistently This however 1s absolutely necessary for the Page Mode Generally a segment is to be specified with 32 bytes Given that at least 32 bytes have already been specified for the input data it 1s also permissible to use any length between 0 and 32 bytes for the last segment The length of the input data might differ from the length of the output date It
2. error code of the read function not supported at the moment Table 5 4 2 Read bytes of the Communication Window CAN DP Software Manual Rev 1 2 29 Configuration via SIMATIC Manager The following table shows commands which are currently being supported The sub command 1s not yet being evaluated and should always be set to 0 therefore transmits an RTR frame If the gateway s configured as CANopen master Cyclical transmission of the CANopen SYNC command ID 80 hex len 0 Table 5 4 3 Commands of Communication Window Attention A command is only completely processed if when reading the Communication Window byte 13 of the CAN DP module provides the value of the PLC loop counter which was specified during the command call Before the following command is called it 1s therefore advisable to check byte 13 first Explanations to the commands Command 1 Send data In order to send data via the Communication Window the CAN identifier has to be specified in bytes 0 and 1 or 0 3 for 29 bit identifiers In addition to the number of bytes to be transmitted a PLC loop counter has to be specified The loop counter has to be realised by the user It s required to provide the CAN DP gateway with the OBI cycle of the PLC 30 CAN DP Software Manual Rev 1 2 Configuration via SIMATIC Manager Command 3 Reception on enabled Rx identifiers The reception of data requires the CAN Rx identifiers which ar
3. CDPSOO N CDPSOO D CDPSOO S M ab GSD Revision 1 Unsigned8 M Herstellername Visible String 32 Herstellerbezeichnung des DP Geraetes Visible String 32 Ausgabestand des DP Geraetes Visible String 32 ab GSD Revision 1 Unsigned9 1 bis 63 1234 Ger tetyp des DP Ger tes Unsignedl6 Protokollkennung des DP Geraetes 0 Profibus DP DP Geraetetyp 0 DP Slave Unsigned8 kein FMS DP Mischgeraet Boolean Hardware Ausgabestand des DP Geraetes Software Ausgabestand des DP Geraetes 9 6 kBaud wird unterstuetzt 19 2 kBaud wird unterstuetzt r Gateway CAN DP nicht moeglich ab GSD Revision 2 45 45 kBaud 93 75 kBaud wird unterstuetzt 87 5 kBaud wird unterstuetzt kBaud wird unterstuetzt 1 5 MBaud wird unterstuetzt ab GSD Revision 1 3 MBaud ab GSD Revision 1 6 MBaud ab GSD Revision 1 12 MBaud xw Unsigned8 Vrsible String 32 Visible String 32 Dee 1234 wird unterstuetzt ws YS WH wird unterstuetzt wird unterstuetzt wird unterstuetzt er Gateway CAN DP nicht moeglich 1234 ab GSD Revision 2 u ab GSD Revision 1 ab GSD Revision 1 ab GSD Revision 1 keine redundante Uebertragungstechnik RTS Signalpegel CNTR P Pin 4 des 9pol nicht vorhanden lt RS 485 2 TTL Bedeutung der 24V Pins des 9pol SUB D nicht angeschlossen 1 Input 21 1234 O ab GSD Revision 1 O ab GSD Revision 1 O ab GSD Revision 1 x SUB D 2
4. CSU CAN DP PROFIBUS DP CAN Gateway Software Manual to Product C 2905 xx CAN DP Software Manual Rev 1 2 esd electronic system design gmbh Vahrenwalder Str 207 s 30165 Hannover Germany www esd electronics com Fax 0511 37 29 8 68 Phone 0511 37 29 80 International 49 5 11 37 29 80 NOTE The information in this document has been carefully checked and is believed to be entirely reliable esd makes no warranty of any kind with regard to the material in this document and assumes no responsibility for any errors that may appear in this document esd reserves the right to make changes without notice to this or any of its products to improve reliability performance or design esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product of esd gmbh esd does not convey to the purchaser ofthe product described herein any license under the patent rights of esd gmbh nor the rights of others esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany Phone 49 511 372 98 0 Fax 49 511 372 98 68 E mail info esd electronics com Internet www esd electronics com USA Canada esd electronics Inc 525 Bernardston Road Suite 1 Greenfield MA 01301 USA Phone 1 800 732 8006 Fax 1 800 732 8093 E mail us sales esd electronics com Internet www esd electronics us CAN DP Software Manual Rev 1 2 Manual file I texte Dok
5. The disadvantage of the Communication Window is the lower data flow though Therefore it 1s recommendable to use the Communication Window for non time critical accesses such as writing the SDOs after starting up the device The data length must always be 16 bytes in the configuration The identifier to be used is always FFEF hex The Communication Window will be described in detail on the following pages 26 CAN DP Software Manual Rev 1 2 Configuration via SIMATIC Manager 5 3 2 Configuring the Communication Window The Communication Window is configured via PROFIBUS An entry for each the transmission and reception of data via the Communication Window is required More than these two properties are not accepted by the firmware The following two pictures show the required properties Apart from the PLC address and the specifications for the SYNC Time in the comment bytes 4 and 5 all parameters have been specified Even the identifier cannot be selected freely Consistently the whole length has always to be specified A shared PLC address or different PLC addresses are permissible for input and output direction Data direction PLC address Length Unit Consistent over Identifier Form byte DP Slave Properties Ed Direct Entry Address ID 1 0 type input any example 30 16 byte whole length FFEF hexadecimal 00 hexadecimal Input Address Lenath Start 30 fi 6 End
6. 71 Examples 128 0 12 sollposition5 empfangszaehler5 reserve5 statuswort5 istposition5 force6 res6 steuerwort6 sollposition6 empfangszaehler6 reserve6 statuswort6 istposition6 force7 res7 steuerwort7 sollposition7 empfangszaehler7 reserve7 statuswort7 istposition7 forces res8 steuerwort8 sollposition8 empfangszaehler8 reserve8 statuswort8 istposition8 force9 res9 steuerwort9 sollposition9 empfangszaehler9 reserve9 statuswort9 istposition9 DWORD BYTE BYTE WORD DWORD BYTE BYTE WORD DWORD BYTE BYTE WORD DWORD BYTE BYTE WORD DWORD BYTE BYTE WORD DWORD BYTE BYTE WORD DWORD BYTE BYTE WORD DWORD BYTE BYTE WORD DWORD BYTE BYTE WORD DWORD DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 CAN DP Software Manual Rev 1 2 Motor Motor Motor Motor Important CANopen Messages 9 Important CANopen Messages The foll
7. The FB and DB will be described from page 49 6 4 2 Definition of PLC Addresses The Page Mode needs input and output addresses The number of addresses used is limited to the top only by the PLC The inputs need at least a page size of 32 bytes so that the setup can be made via page 0 and page 1 HW Config SIMATIC 300 Station 2 Configuration can sig3 mi Station Edit Insert PLC View Options Window Help amp x D cz g S Br ai fe 33 x2 CPU 315 2 DP Profile Standad PROFIBUS DP EM Additional Field Devices PROFIBUS 1 DP Master System 1 DP Waster Betz gaz CAN D 22 CAND sy eT 200 Gg VO 395 95 _ 2 09 Gateway DIT6 DC24V CH 1p 15 CH __ EC CAN DP EC DP RS232C Link 4 DP DP Coupler DP Slave Properties x H E SIMATIC TE C Closed Loop Controller 5 Configured Stations amp 017 canoe 1 0 type Direct Entry si KA RE DI Mana Slot f Module D Order Number ddress O Address DP PA Link 0 64 Universal Module 128 159 ig ues 1 128 J Universal Module 128 158 m in 2 64 Universal Module Ea a b ET 200L 3 128 J Universal Module 180 171 ET 20M 4 B4 Universal Module 240 255 m ET omi 5 128 J Universal Module 240 255 Se CC EPISC EE VE 6 das I ET 200 m Sa M rc NK Consistent yia iil Function Modules Em SSS SSS Saas Start 128 2 2 Byte TotalLenath m m HP m
8. The previous chapter has described the principal function of the Page Mode and the assignment of pages to show the functionality The product package of the gateway includes function blocks and data blocks as source codes which you should include in your PLC program if you wanted to use the Page Mode 6 5 1 Function Block FB 2 Configuration and Data Exchange By means of function block FB2 all configurations and data transfers of the Page Mode can be executed The types of data blocks which are used by FB2 will be shown in the following example call Calling FB2 example CALL FB 2 DB102 FREIGABE BIT1 WRITE ADDRESS WRITE ADDRESS WRITE CONFIG DB WRITE CONFIG DB WRITE DB WRITE DB READ ADDRESS READ ADDRESS READ CONFIG DB READ CONFIG DB READ DB READ DB RET VALUE t016 Explanation of data blocks and parameters For a detailed description Data block parameter Function P refer to page Table 6 5 1 Function of data blocks used by FB2 CAN DP Software Manual Rev 1 2 49 Page Mode FREIGABE WRITE ADDRESS WRITE CONFIG DB DB94 50 Enable after basic set up via pages 0 and 1 The module is initialized by means of function block FB2 by bit FREIGABE Q For all other operations you have to set it to 1 FB2 only needs an instance DB for the setup Start address of the first output segment Via this parameter the PLC start address of the first segment of the output page 1s transferred to
9. user data of Rx Id 3 marking the end of the DB or the input data Table 6 5 6 Structure of WRITE DB length x This byte specifies the number of data bytes to be received via this Rx identifier 1 for the count _in byte length number of data bytes 1 count_in x In this byte an input counter is specified by the gateway The input counter is incremented with every Rx frame received It can for example be used to program a guarding protocol userdata x The user data between 1 to 8 bytes is specified after parameter count in 56 CAN DP Software Manual Rev 1 2 Page Mode RET VALUE enddata This parameter tells the PLC whether another data block with user data will follow or whether this was the last user data to be received If another data block is required the hexadecimal value DD has to be specified for ength following the definition of the last user data FB2 will then continue to handle the following DB If the last user data of this application has been specified FB2 will be told by entering the hexadecimal value EE in cell ength FB2 will then continue to transmit the user data of the first READ DB Note Bit FREIGABE has to be set 1 in FB2 if the input data 1s to be read Returning status of handling of current page This parameter is 0 if bit FREIGABE 0 If FREIGABE 1 RET VALUE contains a number which specifies the page type which 1s being handled at the m
10. y y frames on RxId after wake up time start frame put out TxId Table 5 1 2 Example for permissible settings Module ID Module ID of the Gateway as CANopen slave The Module ID under which the gateway 1s addressed 1s set via this byte if the gateway has been configured as CANopen slave Value range 1 127 decimal WakeUp Time Via parameter WakeUp Time a delay in seconds is specified It determines the time a module has to wait after a RESET or power on before it starts to transmit data to the CAN The WakeUp Time specified here overwrites the value of WakeUp Time stored previously in the CAN DP gateway if another value than 255 was specified If 255 is specified the value stored in the gateway will be used If parameter WakeUp Time is set to 0 the module does not wait but start the transmission of data as soon as they are available The WakeUp Time is specified as a decimal value here Value range dec in s NE NN WakeUp Time function off WakeUp Time 114254 WakeUp Time in seconds 255 Use current value from gateway default Table 5 1 3 Function of parameter WakeUp Time CAN DP Software Manual Rev 1 2 2l Configuration via SIMATIC Manager SYNC Time The CAN DP module can cyclically transmit the command SYNC for simple CANopen applications The specified cycle is specified in milliseconds SYNC Time is specified as a decimal value here Value range dec in ms
11. 0 0 0 0 C C 0 0 0 0 0 0 C C 200 SS UK amp s i D Pin 7 Output 24V Pin 2 GND OO OD bLth brth ee DP Slave bezogene Schluesselwoerter OY 0 0 i D M D Der Freeze Mode wird nicht unterstuetzt D Der Sync Mode wird nicht unterstuetzt D Die Automatische Baudratenerkennung wird unterstuetzt Die Slave Adresse kann vom Master nicht gesetzt werden Minimaler Abstand zwischen 2 DDLM Data Exchange Aufrufen xx 100us 15 GSD File Modular Station Max Module Max Input Len Max Output Len Max Data Len Max Diag Data Len Modul Offset Max User Prm Data Len PrmText Text 0 Text 13 EndPrmText PrmText 1 D 0 Kompaktstation 1 Modulare Station 244 M falls modulare Station Hoechstanzahl der Module einer Modularen Station 240 M falls modulare Station Hoechstlaenge der Eingangsdaten einer Modularen Station 240 M falls modulare Station Hoechstlaenge der Ausgangsdaten einer Modularen Station 465 O nur falls modulare Station Groesste Summe der Ein und Ausgangsdaten einer Modularen Station in Bytes 6 max 16 Byte Diagnosedaten Dab GSD Revision 1 erste Steckplatznummer 1000 kbit s 666 6 kbit s 500 kbit s 333529 kbit s 250 kbit s 166 kbit s 125 kbit s 100 kbit s 66 6 kbit s 50
12. 1 the according message is active A bit set to 0 signalizes an inactive message Error message if bit 1 mE DP slave has to be set again A diagnose message applies The DP slave cannot operate until the error has been removed static diagnose message This bit 1s always 1 L3 mewsame d 00 5 br hassen SYNC comma O O Ce ewo 4 SS Table 3 4 4 Bits of station status 2 12 CAN DP Software Manual Rev 1 2 Implementing and Diagnose 3 4 1 3 Station Status 3 Station status 3 1s reserved and without significance for the CAN DP 3 4 1 4 Diagnose Byte 3 Master PROFIBUS Address The PROFIBUS address of the master which was the last to set the DP slave and has got reading and writing access to the DP slave is stored in this byte 3 4 1 5 Diagnose Bytes 4 and 5 Manufacturer Identification The manufacturer identification has been coded into two bytes For the CAN DP module the designation 04A4 hex is returned CAN DP Software Manual Rev 1 2 13 Implementing and Diagnose 3 4 2 External Module Specific Diagnose Bytes The CAN DP module supports diagnose bytes 6 to 10 for module specific diagnose messages Diagnose defined in the PROFIBUS specification see previous chapter length specification for module specific diagnose information here always 5 7 header byte bits 0 5 contain the block length mcluding header here always 4 DP service SAP which led to error depending on
13. If the projection complies with the structure the CAN DP module starts the data transfer 3 2 3 Data Transfer If the module is configured the data transfer starts automatically after start up If the PLC master changes transmission data of an identifier the data is transmitted from the CAN DP module to the CAN bus When the CAN DP module receives data it provides these to the PLC master The configuration is described in chapter 5 Configuration via the SIMATIC Manager from page 17 8 CAN DP Software Manual Rev 1 2 Implementing and Diagnose 3 3 Diagnose via LED Display C CAN Bus Status P PROFIBUS DP Status D PROFIBUS DP Data Transfer S Module Status The function of LEDs has been defined by the firmware In normal operation the LEDs are never switched off 1 e they either flash or shine permanently The flash sequences which are listed in the following table are repeated about every six seconds Fig 3 3 1 Position of the LEDs no power supply check the 24 V power supply CAN bus Kiibisilbh uut status CAN off short long long CAN warning W no power supply check the 24 V power supply the connection to the DP master has failed check the PROFIBUS connection 1x short flash looking for bit rate fault in wiring in PROFIBUS cable short module circuit terminating impedance in wrong PROFIBUS position status 2x short flashes check the PROFIBUS address specified parameter telegram is fault
14. Not every PROFIBUS configuration software supports the Universalmodule see chapter 5 Configuration with the SIMATIC Manager If the Universalmodule is not supported the GSD file has to be adapted via a text editor The configuration of a module is made by means of a configuration frame whose content is entered in the GSD file The frame of the configuration is sub devided in three octets see also PROFIBUS Specification Normative Part 8 page 738 Fig 16 Octet 1 Number of the manufacturer specific data Octet 2 Number of output or inputbytes Octet 3 Manufacturer specific configuration byte The octets have the following meaning Octet 1 Number of manufacturer specific data Because the CAN DP always uses a specific ID format to represent a connected CAN module the identifier byte has the following structure see also PROFIBUS Specification Normative Part 8 page 737 MSB LSB Bono 7 6 s 4 3 2 r j o Length of the manufactuerer specific data 00 free place Content 01 Input h Nh Pun 0011 11 bit identifier 10 Output 0101 29 bit identifier 0101 Communication window CAN DP Software Manual Rev 1 2 59 Editing the GSD File with a Text Editor Example Octet 1 0x83 Output 3 byte manufactuerer specific data 11 bit identifier Octet 2 Number of output or input bytes Octet 2 gives the consistency the structure byte word and the number of the in output bytes
15. PROPIBUS DP Pronles s e s0 v1 EXEC ec Ai hi OX E ei 5 2 8 More Addressable CAN Identifiers in Page Mode 6 3 Implementing and Diagnose 0 0c eee e I 5 Prerequisites Tor Implementalion 1 2 53 9 2m fede pem eed aet od ad e eom eo 7 S ADI EIC Bd IO HU 2221 151716109508 nr du vega du ves ur Sora ues a S ES SUE I A 122 I 3 2 1 Strate Bye bap REPE RPEUCPH PATATE PET reena nirea oi 7 Died 0 T 9 95122 93 Data TTIE susct HEC ERO doc Rat E die eee ee ne 8 3 9 Diaonose Va LED DRP c5 5 n qued ang aaa t aa ae Oe ern 9 IA Save BE 82118 PM MD CT 10 31 DISSBHOSC Bytes se 2 wea tre atur do at bor PEE aa ONT 10 SOL T Stato SEDIS T eg 40 0 8 eee hak t ng S bed dom d aet iom E bend s 11 3 4 1 2 SEO HOT SLAMS 2 ake 7 erae en vu b br T EE TEL 12 3 4 1 3 Station Status 3 0 ee teeta 13 3 4 1 4 Diagnose Byte 3 Master PROFIBUS Address 13 3 4 1 5 Diagnose Bytes 4 and 5 Manufacturer Identification 13 3 4 2 External Module Specific Diagnose Bytes 14 A GSD BIG obe pnredere rnnrwedkohs b i em donde Oded Gi n Fan soko pune don dee baLade sa ke 4 15 5 Configuration via SIMATIC Mana cr 17 5 COURSE Of Conliguralion uasa aam d dad Y aot V aoo Varo t V lang t arbe Sh Bee bane ex 17 5 1 1 Set PROFIBUS address 18 S L2 Parameter Tele BEAD se
16. 0 B 16 0 B 16 0 B 16 0 B 16 0 W 16 1000 B 16 0 B 16 2 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 W 16 EEEE DATA_DB Data block with input and Software Manual Rev 1 2 B 16 0 W 16 6041 B 16 0 B 16 2 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 W 16 1801 B 16 2 B 16 1 B 16 1 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 W 16 EEEE B 16 2 B 16 1 B 16 1 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 W 16 1000 B 16 0 B 16 2 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 W 16 EEEE reserve index subindex ccs length data 0 data 1 data 2 data 3 reserve index subindex ccs length data 0 data 1 data 2 data 3 reserve index subindex ccs length data O0 data 1 data 2 data 3 reserve index subindex ccs length data O0 data 1 data 2 data 3 reserve index output data of the maximum 127 motors B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 DW 16 0 B 16 0 B 16 0 W 16 0 Motor 1 Motor 2 Motor 3 Motor 4 Motor 5 Examples
17. 3 4 Examples on the Communication Window 5 3 4 1 Transmitting Data 1 Basic Setting of the Communication Window The basic settings have to be made only once when setting up the Communication Window 1 1 Activating the Communication Window during the configuration of the CAN DP gateway see page 20 Communication Window yes 1 2 Definition of the 16 input and output bytes of the Communication Window see page 27 e g Data direction input Data direction output PLC address e g here 30 PLC address e g here 30 Length 16 always Length 16 always Unit byte Unit byte Consistent over entire length Consistent over entire length Identifier FFEF hexadecimal always Identifier FFEF hexadecimal always Form byte 00 hexadecimal Form byte 00 hexadecimal 1 3 Program PLC loop counter 8 bit loop counter for handshake function between PLC and gateway PLC Cycle Pseudo Code l Read Byte 13 returned loop counter of Read Bytes of Communication Windows refer to page 29 Compare Byte 13 of the Read Bytes of Communication Windows with PLC loop counter byte 13 of the Write Bytes of Communication Windows refer to page 28 if unequal go to 6 if equal go to 3 Evaluation of Read Bytes of Communication Windows refer to page 29 1 e the evaluation of the answer to the last command or received CAN frame depending on the application send new Read Bytes of Communication Window refer to page
18. 45 Part process image Unit Consistent via Byte TotalLength Comment FFE F 00 00 00 Manufacturer specific data max 14 bytes hexadecimal separated by comma or space Fig 5 3 1 Configuring the input path ofthe Fig 5 3 2 Communication Window CAN DP Software Manual Rev 1 2 Data direction PLC address Length Unit Consistent over Identifier Form byte output any example 30 16 byte whole length FFEF hexadecimal 00 hexadecimal DP Slave Properties x Address ID 170 type Output x Direct Entry Output Address Start End Part process image Length 30 16 Byte Total Length 45 Unit Consistent via No a r Comment FF EF 00 00 00 Manufacturer specific data max 14 bytes hexadecimal separated by comma or space Cancel Help Configuring the output path of the Communication Window 21 Configuration via SIMATIC Manager 5 3 3 Format of Communication Window The 16 bytes of the Communication Window are assigned differently according to data direction 5 3 3 1 Write Bytes of the Communication Window command setting and transmitting of data PLC gt Gateway gt CAN Bytes of Communication Contents Window high byte of CAN identifier identifier bits 15 10 8 low byte of CAN identifier identifier bits 7 0 with 11 bit CAN identifier byte 2 and
19. 6098 B 16 0 B 16 1 B 16 1 B 16 FF B 16 0 B 16 0 B 16 0 B 16 0 W 16 200B B 16 0 B 16 1 B 16 4 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 W 16 6040 B 16 0 B 16 1 B 16 2 B 16 0 B 16 1F B 16 0 B 16 0 B 16 0 W 16 6060 B 16 0 B 16 1 B 16 1 B 16 1 B 16 0 B 16 0 B 16 0 B 16 0 W 16 6040 B 16 0 B 16 1 B 16 2 B 16 0 B 16 F B 16 0 B 16 0 B 16 0 B 16 1 B 16 2 B 16 0 B 16 6 B 16 0 B 16 0 B 16 0 W 16 6040 B 16 0 B 16 1 B 16 2 B 16 0 B 16 7 B 16 0 B 16 0 B 16 0 W 16 1002 B 16 0 B 16 2 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 W 16 6060 B 16 0 B 16 1 B 16 1 B 16 6 B 16 0 B 16 0 B 16 0 B 16 0 W 16 6098 B 16 0 B 16 1 B 16 1 B 16 FF B 16 0 B 16 0 B 16 0 B 16 0 W 16 200B B 16 0 B 16 1 B 16 4 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 W 16 6040 B 16 0 B 16 1 B 16 2 B 16 0 B 16 1F B 16 0 B 16 0 B 16 0 W 16 6060 B 16 0 B 16 1 B 16 1 B 16 1 B 16 0 B 16 0 B 16 0 B 16 0 W 16 6040 B 16 0 B 16 1 B 16 2 B 16 0 B 16 F B 16 0 B 16 0 subindex ccs 1 gt write domain download length data 0 data 1 data 2 data 3 reserve index subindex CCS length data O0 data 1 data 2 data 3 reserve index subindex ccs length data O0 data 1 data 2 data 3 reserve index subindex ccs length data O0 data 1 data 2 data 3 reserve index subindex COS length data O0 data 1 data 2 data 3 reserve index subindex CCS length data 0 data 1 data 2 data 3 reserve index subin
20. BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 Examples B 16 0 Data byte 0 B 16 0 Data byte 1 B 16 0 Data byte 2 B 16 0 Data byte 3 B 16 0 Data byte 4 B 16 0 Data byte 5 B 16 7 Length B 16 0 Counter B 16 0 Data byte 0 B 16 0 Data byte 1 B 16 0 Data byte 2 B 16 0 Data byte 3 B 16 0 Data byte 4 B 16 0 Data byte 5 B 16 EE Length B 16 0 Counter Data block with list of motors which are available are being initialized WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD WORD W 16 63 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 FFFF W 16 0 W 16 0 W 16 0 W 16 63 W 16 82 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 FFFF W 16 0 W 16 0 W 16 0 W 16 63 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 63 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 FFFF W 16 0 W 16 0 W 16 0 W 16 63 W 16 82 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 FFFF W 16 0 W 16 0 W 16 0 W 16 63 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 W 16 0 Motor 1 available and initialize gt li
21. Length bytes of the output as seen from the PROFIBUS master see also PROFIBUS Specification Normative Part 8 page 738 MSB LSB Bino 6e s f 4 s 2 o Number of inputs outputs 0000 1 11 63 m resp 63 words Consistency over Length format 0 byte or word 0 byte structure Content 1 complete 1 word length structure Example Module 1 0x05 6 byte data Octet 3 4 5 Manufacturer specific_configuration_byte Octet 3 and Octet 4 CAN identifier example Identifier 0x0203 Octet 5 Form byte 60 CAN DP Software Manual Rev 1 2 Editing the GSD File with a Text Editor Example Module 1 The configuration frame for module 1 has the following structure and has to be inserted into the GSD file Example for manual GSD file entries Module Name of the module 0x83 0x05 0x02 0x03 0x00 EndModule Meaning of the entries under Name of the module Name of the module Comment to name the module 0x63 Module is an output 0x80 and three manufacturer specific configuration byte 0x03 will follow 0x05 Consistency over byte the length format is byte structure 0x05 and 6 byte data are transferred 0x05 6 1 0x02 Manufacturer specific data 0x02 0x03 Manufacturer specific data 0x03 Identifier 0x0203 e g CANopen Rx PDO for Modul ID 3 0x00 Manufacturer specific data 0x00 no byte swapping i e the sequence of the da
22. and the functional and data blocks which are available Function Formal operand wem output DB96 gt input DB97 Table 6 4 3 Overview of pages The contents of bytes 3 to 7 the protocol data will not be referred to Please use the function block FB2 contained in the product package to control the transmission of pages It contains the commands required for the protocol control The following chapters will describe the page types CAN DP Software Manual Rev 1 2 43 Page Mode 6 4 4 Setup via Page 0 and 1 After the system has been started the gateway has to transmit the length of the previously configured page to the PLC This is made by means of the so called page 1 For this the PLC has to transmit page 0 to the gateway first The gateway then returns the setup data in page 1 The product package contains a function block which 1s responsible for the transmission and reception of pages 0 and 1 FB2 We recommend that you use this function block If you use function block FB2 you do not have to configure further parameters The setup requires some time Therefore it is recommendable to delay the transmission of the next page for about 5 sec It 1s for example possible to program a PLC timer which considers the delay 44 CAN DP Software Manual Rev 1 2 Page Mode 6 4 5 Tx Configuration via Pages 51 150 The Tx identifiers are configured via pages 51 to 150 decimal The page structure
23. c0 l DAL C LUPIS 35 6 Page Mode 38 C PPOP SS oct RP ra he ee ee a aaan ann ee n eee ee Re 38 QUAS un ra wwe ute ee ae ae Sate Sodas ao eed ay o ed Sie ng King d ng ee giang l 38 6 3 Communication Window in Page Mode_ 38 OA MIOGS OL GO Pet OU esate eis no a artus a een s t c gi Sauter ee Mee oe M eu 39 6 4 DOVerVIe W aad ex x ad eese rx det ke deli 39 60 4 2 Definition ot PLC AddEeSSeS s zinc d eet den tUm d des etidm 40 G1 PASC SIIUCLUEC e spes eru ras car dcum ves er SU d ark Read a ek 43 6 4 4 Setup via Page 0 and _ 44 6 4 5 Tx Configuration via Pages 5I1 5U 45 6 4 6 Rx Configuration via Pages 5l 25 46 64 7 Data Exchange via Pages 25 lol a out aco tret pO e d ea ema 47 6 5 Using the Page Mode with FBsand DBs 49 6 5 1 Function Block FB 2 Configuration and Data Exchange 49 LRPIGADBE gesessen eed ea Rd Ea d 092201692894 50 WRITE ADDRESS 333429 49219 9933 YR awa TOY Re a REY S 50 WRITE CONFIG DB 50 BERDAADDRESS au auri deu sa opu pS se ar ae a aed ng and 51 READ CONFIG DB can 5 xh RUNE bee hed AR t alan eases 52 MOISETISS BE o aic gegen diode cad die 641921042505 s an AD d atre ice ai de 54 READ DP Em 56 6 6 Methodology v diia ese
24. command Disable Rx lIdentifier ts CAN DP Software Manual Rev 1 2 31 Page Mode 6 Page Mode Note Page Mode can only be used if the configuration tool Siemens SIMATIC Manager for S7 1S used 6 1 Properties The Page Mode offers the chance to address more CAN identifiers than can be stored in a PROFIBUS telegram that means more than 48 The number of possible identifiers is only limited by the free memory available on the PLC and the CAN gateway By means of the Communication Window too more than 48 identifiers can be transmitted You can only transmit one CAN frame each per PLC cycle however via the Communication Window therefore it is generally more suitable for infrequent accesses such as one time configurations Because of the additional protocol expenditure the handling of the Page Mode is slightly more complicated than the standard operation of the gateway The data exchange between PROFIBUS and CAN requires two cycles instead of one PLC cycle because of the required handshake In order to simplify the handling of the Page Mode function blocks and data blocks which control the Page Mode are contained in the package 6 2 Activation Before you activate the Page Mode you have to integrate the according functional and data blocks into your PLC program Please read the following chapters carefully to get an insight mto the mode of operation and be able to use the contained functional and data blocks accordi
25. id RX_ID write address cw WRITE ADDRESS CW read address cw READ ADDRESS CW init db INIT DB offset INIT OFFSET ret value t016 U BIT15 S BIT14 L W 16 0 means configuration in FBl is off L t016 status of setup SPB M034 UN FREIGABE SPB M014 L INIT LIST DB T t008 AUF DB t008 open DB with init list L MOTOR 1 motor 1 starts at byte 0 motor 2 starts at byte 8 SLW 3 means 8 motor index byte number SLW 3 means 8 byte number bit address t L 32 T t000 62 CAN DP Software Manual Rev 1 2 t016 DBW t000 W 16 FFFF Examples get status of setup save in init list DB means configuration in FBl allways runs t016 status of setup M014 W 16 FFFE t016 means configuration in FBl is ready status of setup I PB M011 PA M014 BIT14 BIT14 M014 BIT15 BIT15 M014 BIT1 S BIT1 L 2 T RET_VALUE M035 NOP 0 M034 M011 M013 say motor configuration is ready say configuration of Tx ID M014 M015 kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Calling FB 2 Data exchange via Page Mode 1 Page 0 gt reading the lengths absolutely necessary 2 Page 51 ff gt Tx configuration once 3 Page 151 ff gt Rx configuration once 4 Page 251 ff gt data exchange output and input cyclically Page 251 252 253 xyz 251 252 xyz depending on the number of pages
26. kbit s dod Kbit s 20 kbit s 12 5 kbit s 10 kbit s Poor Text 0 No Text 1 Yes EndPrmText PrmText 3 Text 0 Yes Text 1 No EndPrmText ExtUserPrmData 1 Unsigned8 6 0 13 Pom Text Ref 1 EndExtUserPrmData ExtUserPrmData 2 Bit 7 0 0 1 Prm Text Ber 2 EndExtUserPrmData ExtUserPrmData 3 Bit 4 0 0 1 Pom Text Ref 3 EndExtUserPrmData ExtUserPrmData 4 Bit 3 0 0 1 Prm Text Ref 2 EndExtUserPrmData ExtUserPrmData 5 Bit 2 0 0 1 Pom Text Ref 2 EndExtUserPrmData ExtUserPrmData 6 Bit 1 0 0 1 Prm Text Ber 2 EndExtUserPrmData ExtUserPrmData 7 Bit 0 0 0 1 Prm Text Ref 2 EndExtUserPrmData ExtUserPrmData 8 Unsigned8 1 1 127 EndExtUserPrmData ExtUserPrmData 9 Unsigned8 255 0 255 EndExtUserPrmData ExtUserPrmData 1 Unsigned16 65535 0 65535 EndExtUserPrmData CAN Bitrate Communication Window RTR Frames CANopen Slave CANopen Master Start Frame Page Mode ModuleID WakeUp Time 0 Off 255 Default 0 Sync Time 0 Off 65535 Default Ext User Prm Data Const 0 0x00 0x06 0x00 0x00 0x00 0x00 0xff 0xff 0xff Ext User Prm Data Ref 1 Ext User Prm Data Ref 2 Ext User Prm Data Ref 2 Ext User Prm Data Ref 2 Ext User Prm Data Ref 2 Ext User Prm Data Ref 2 Ext User Prm Data Ref 2 Ext User Prm Data Ref 3 Ext User Prm Data Ref 6 Ext User Prm Data Ref 7 Slave Family 9 CAN amp VO OrderNumber 16 MC AO 3 028 CAN DP Softwa
27. length of the data blocks differs The required length can be determined from the number of required Tx identifiers plus the four bytes for the end flag Example You have to define 16 Tx identifiers via DB11 DBl11 defines Tx Ids 1 10 therefore requires a length of 10 6 4 64 bytes End flag DDDDDDDD hex DBI2 defines Tx Ids 11 16 therefore requires a length of 6 6 4 40 bytes End flag EEEEEEEE hex Note In FB2 the bit FREIGABE has to be set 1 READ ADDRESS Start address of the first input segment Via this parameter the PL C start address of the first segment of the input page 1s transferred to the PLC CAN DP Software Manual Rev 1 2 5 Page Mode READ CONFIG_DB DB95 22 Data block for defining the Rx identifiers In the PLC source code included in the product package the READ CONFIG DB has been realized as data block DB95 In READ CONFIG DB 6 bytes are required for each Rx identifier to be Written marking the end of the endconfig DB or the Rx configuration Table 6 5 3 Structure of the READ CONFIG DB Rx Identifier x Here the value of the Rx identifier has to be specified 1 1 Bit CAN ID 0 2047 29 Bit CAN ID 0 536870911 form x In parameter form you choose whether the input data is to be converted from Intel format of the CAN network to the Motorola format of the PLC or not Byte form has already been described in detail on page 24 length x This byte specifies
28. status of byte 8 byte 8 3D hex setting SAP61 faulty byte 9 contains the number of the faulty setting byte byte 8 3E hex configuration SAP62 faulty byte 9 contains the number of the faulty PROFIBUS module address of the simulated PLC module depending on status of byte 8 byte 8 3D hex setting SAP61 faulty byte 10 shows the correct values byte 8 3E hex configuration SAP62 faulty 1 wrong I O type out input or blank correct input or output 10 2 wrong unit such as words correct unit byte wrong length correct length 1 8 or 16 only one byte has been specified for identifier format specification 1s missing wrong identifier Table 3 4 5 Module specific status messages 14 CAN DP Software Manual Rev 1 2 4 GSD File GSD File Below the GSD file Device Master Data of the CAN DP module has been printed The specification printed here are for orientation Decisive is the data contained in the GSD file CDPSO4A4 GSD included in the product package PROFIBUS DP Geraetestammdatei Version 1 07 Autor Olaf Kruse esd electronic system design GmbH Hannover Erstellungsdatum V1 0 30 04 1999 ok Aenderungen V1 01 03 08 1999 ok baudrate 6 MBaud MaxTsdr times V1 02 11 08 1999 ok baudrate 12 Mbaud Min Slave Intervall Max Module Max Input Len Max Output Len Max Data len V1 03 30 09 1999 ok Min Slave Intervall 20 2msec Fi V1 04 02 11 1999 ok MaxTs
29. the first segment byte 2 in the following segments the definition of the desired Rx identifiers is transmitted to the CAN gateway For each Rx identifier 6 bytes are required Rxld value These four bytes specify the numeric value of the Rx identifier form Via this byte you can choose whether the output data is to be converted from Motorola data format of the PLC into Intel data format of the CAN network or not Byte form has already been described in detail on page 24 length Here the number of data bytes of the Rx identifier is specified Entries between and 8 are permissible 46 CAN DP Software Manual Rev 1 2 Page Mode 6 4 7 Data Exchange via Pages 251 n The user data is read and written via page 251 decimal and following The maximum number of data pages is 65285 The structure of the page for output data can differ from the page structure for input data because the number of Rx data can differ from the number of Tx data ee pojrposfefs ele s pmju e o os fis eje iss foo 1 8 here 4 1 8 here 6 i Contents page no protocol data data of Tx identifier 1 data of Tx identifier 2 EXEC 12 34 56 78 heo BA 9876543210 h Table 6 4 6 Example ofa data page for output data Bytes 0 to 7 contain the protocol information already mentioned above refer also to page 43 Starting with byte 8 in the first segment the data of the first identifier are transmitted to the gateway The data of t
30. to be double clicked A properties window opens in which the simulated PLC slots are configured Below two examples with 11 bit identifiers are shown Data direction input Data direction output PLC address 172 decimal PLC address 172 decimal Length 6 Length 6 Unit byte Unit byte Consistent over whole length Consistent over whole length Identifier 0289 hexadecimal Identifier 0309 hexadecimal Form byte B8 hexadecimal Form byte B8 hexadecimal DP Slave Properties Ed DP Slave Properties x Address ID Address ID 170 type Direct Entry 170 type Output Hutput Start End Address 172 177 Length Unit 5 Byte Direct Entry Consistent via Total Length Input Address Length Unit Consistent via Start 172 5 Byte Mi Total Lenath End 177 Part process image Comment r Comment Manufacturer specific data max 03 08 B8 14 bytes hexadecimal separated by comma or space Manufacturer specific data max 02 83 B8 14 bytes hexadecimal separated by comma or space Cancel Help Cancel Help Fig 5 1 4 Example Configuration of output data Example Configuration of input data Fig 5 1 5 Attention In order to guarantee that the module works perfectly at least one output any unit has to be configured always The PROFIBUS controller SPC3 does not trigger an interrupt if no ou
31. 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 7 B 16 1 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 7 B 16 4 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 7 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 7 B 16 3 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 EE B 16 0 B 16 7 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 7 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 7 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 7 B 16 0 Comment Length Force byte Data Data Data Datenbyte Data Data byte byte byte gt C2 PC byte byte5 Length Force byte Data Data Data Data Data Data byte byte byte byte byte byte5 gt C2 FE Length Force byte Data Data Data Data Data Data byte byte byte byte byte byte5 gt C2 FE Length Force byte Data Data Data Data Data Data byte byte byte byte byte byte5 gt C2 FE Length Force byte Data Data Data Data Data Data byte byte byte byte byte byte5 gt C2 EF Length Force byte Length Counter Data byte Data byte Data byte Data byte Data byte Data byte Length Counter Data byte Data byte Data byte Data byte Data byte Data byte Length Counter Data byte Data byte Data byte Data byte Data byte Data byte Length Counter OB C2 PC OP C2 CC OB C2 CC CAN DP Software Manual Rev 1 2 BYTE
32. 0 B 16 0 DW 16 0 B 16 0 B 16 0 CAN identifier format byte length CAN identifier format byte length CAN identifier format byte length CAN identifier format byte length CAN identifier format byte length CAN identifier format byte length CAN identifier format byte length DB95 RX_CONFIG Data block with configuration of Rx identifiers 30 0 CAN DP Software Manual Rev 1 2 CAN ID1 FORMAT 1 LENGTH1 CAN ID2 FORMAT2 LENGTH2 CAN ID3 FORMAT3 LENGTH3 CAN ID4 FORMAT4 LENGTH4 CAN ID5 FORMATS LENGTH5 CAN_ID6 FORMAT6 LENGTH6 CAN ID7 FORMAT7 LENGTH7 DW 16 0 B 16 0 B 16 0 DW 16 0 B 16 0 B 16 0 DW 16 0 B 16 0 B 16 0 DW 16 0 B 16 0 B 16 0 DW 16 0 B 16 0 B 16 0 DW 16 0 B 16 0 B 16 0 DW 16 0 B 16 0 B 16 0 DW 16 281 B 16 B8 B 16 6 DW 16 283 B 16 B8 B 16 6 DW 16 284 B 16 B8 B 16 6 DW 16 287 B 16 B8 B 16 6 DW 16 288 B 16 B8 B 16 6 DW 16 EEEEEEEE B 16 0 B 16 0 DW 16 0 B 16 0 B 16 0 CAN identifier format byte length CAN identifier format byte length CAN identifier format byte length CAN identifier format byte length CAN identifier format byte length CAN identifier format byte length CAN identifier format byte length Examples with Tx configuration Tx configuration Tx configuration with Rx configuration Rx configuration Rx configuration with output data output data output data with input data input data input data of output page of input pag
33. 1 5 on page 23 CAN DP Software Manual Rev 1 2 17 Configuration via SIMATIC Manager 5 1 1 Set PROFIBUS address A window opens in which you have to specify the PROFIBUS station address Attention The hexadecimal address set at the coding switches has to be converted into a decimal value and entered here fis HW Config SIMATIC 300 Station 2 Configuration can315 1 aly Station Edit Insert PLC View Options Window Help Dee S Sl J 2 xl Hardware Catalog DP Master System 1 Profile Standard Y Properties PROFIBUS Node CAN DP x PROFIBUS DP 3 Additional Field Devices General Parameters Gq 10 C SIMATIC 4 Address pg gt GB Gateway 2g DP RS232C Link DP DP Coupler a CAN DP Universal Module Subnet Closed Loop Controller Lg Configured Stations i CP 342 5 as DP Master Properties 73 DP AS i Welete Transmission rate 1 5 Mbps Cancel Help 15 13 Universalmodul 170 171 16 67 Universalmodul ja 17 13 Universalmodul 70 77 18 67 Universalmodul 80 87 Paste possible Fig 5 1 2 Setting the PROFIBUS address of the CAN DP 18 CAN DP Software Manual Rev 1 2 Configuration via SIMATIC Manager 5 1 2 Parameter Telegram In the configuration window the module DP slave is now automatically added If you desire another CAN bit rate than the standard setting of 125 Kbit s you can change it by means of the
34. 16 0 B 16 0 data 1 B 16 0 B 16 0 data 2 B 16 0 B 16 0 data 3 B 16 0 B 16 0 reserve W 16 6040 W 16 6040 index Software Manual Rev 1 2 69 Examples 12 0 70 v022 v023 v024 v025 v026 v027 v028 v029 v0101 v0121 v0131 v0141 v0151 v0161 v0171 v0181 v0191 v0102 v0122 v0132 v0142 v0152 v0162 v0172 v0182 v0192 v0103 v0123 v0133 v0143 v0153 v0163 v0173 v0183 v0193 v0104 v0124 v0134 v0144 v0154 v0164 v0174 v0184 v0194 v0105 v0125 v0135 v0145 v0155 v0165 v0175 v0185 v0195 v0106 v0126 v0136 v0146 v0156 v0166 v0176 v0186 v0196 v0107 v0127 v0137 v0147 v0157 v0167 v0177 v0187 v0197 v0108 v0128 v0138 v0148 v0158 v0168 v0178 v0188 BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE WORD BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE WORD BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE WORD BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE WORD BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE WORD BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE WORD BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE WORD BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE WORD BYTE BYTE BYTE BYTE BYTE BYTE BYTE B 16 0 B 16 1 B 16 2 B 16 0 B 16 6 B 16 0 B 16 0 B 16 0 W 16 6040 B 16 0 B 16 1 B 16 2 B 16 0 B 16 7 B 16 0 B 16 0 B 16 0 W 16 1002 B 16 0 B 16 2 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 W 16 6060 B 16 0 B 16 1 B 16 1 B 16 6 B 16 0 B 16 0 B 16 0 B 16 0 W 16
35. 1s absolutely necessary however that the input addresses of successive slots are sequentially and that the output addresses of successive slots are sequentially Example 2 For the output page 32 bytes have been specified at slot 0 from address 128 Slot 1 has also 32 bytes and therefore covers addresses 160 191 Slot 2 has only 18 bytes and covers addresses 192 209 A maximum size of 82 bytes results for the output page The following figure shoes the page in the address range of the PLC For the application example the assignment with the Tx configuration page page 51 has been specified With a size of 82 bytes 11 Tx identifiers could be configured on one page In the last four bytes the end identifier 1s specified If more Tx identifiers are required Tx pages 52 53 etc are transmitted afterwards Output Address 128 159 31 Byte 0 1 2 3 4 5 6 718 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 Slot 0 Tx Configuration Output Address 160 4 91 Byte 32 33 34 35 36 37 38 39140 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 Slot 1 Example Page 51 Parameter of Tx Id 5 Parameter of Tx ld 6 Parameter of Tx ld 7 Parameter of Tx ld 8 Parameter of Tx ld 9 Tx Configuration Output Address 192 209 Byte 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 Slot 2 Tx Configuration Fig 6 4 4 Example 2 Output page with a length of 82 bytes CAN DP Software Manual Rev 1 2
36. 1s as follows pre odie tstststotrps o tofu e boo Deopepe o is foo Length bytes g Contents page no protocol data parameters of Tx identifier 1 parameters of Tx identifier 2 es s wa me w s Table 6 4 4 Structure of pages 51 150 Bytes 0 to 7 contain the protocol information already mentioned above refer also to page 43 From byte 8 in the first segment byte 2 in the following segments the definition of the desired Tx identifiers 1s transmitted to the CAN gateway For each Tx identifier 6 bytes are required lxld value These four bytes specify the numeric value of the Tx identifier form Via this byte you can choose whether the output data is to be converted from Motorola data format of the PLC into Intel data format of the CAN network or not Byte form has already been described in detail on page 24 length Here the number of data bytes of the Tx identifier 1s specified Entries between 1 and 8 are permissible CAN DP Software Manual Rev 1 2 45 Page Mode 6 4 6 Rx Configuration via Pages 151 250 The Rx identifiers are configured via pages 151 to 250 decimal The page structure 1s as follows Fra eas ae TS a GN TC Length bytes Contents page no protocol data parameters of Rx identifier 1 parameters of Rx identifier 2 Table 6 4 5 Structure of pages 151 250 Bytes 0 to 7 contain the protocol information already mentioned above refer also to page 43 From byte 8 in
37. 2 READ FIFO COUNT MB14 READ COMMAND MB15 READ RET VAL MW14 WRITE RET VAL ZMW16 L W 16 181 L MW 0 gt I SPB M601 L W 16 1FF L MW 0 lt I SPB M601 L w 16 181 I SLD 4 SLD 3 T MD 14 AUF DB 92 L MW 0 T DBW MD 14 L MD 14 L 16 T MD 14 L 0 T DBW MD 14 L MD 14 L 16 T MD 14 L MD 4 T DBD MD 14 CAN DP Software Manual Rev 1 2 time subcommand command CAN ID 0 gt sync frame off 20 set sync frame time reserve byte 2 3 data byte 0 3 Examples 65 Examples M601 AQNnaQqaHiFrHtPHrH HF nad nad nad oc N MD L 32 MD MD DBD MD L 32 MD MD DBD ss 8 ss 8 ss 8 ss 8 ss 8 E ES ss 8 E ES 14 14 8 MD 14 14 14 12 MD 14 99 6 99 6 99 5 99 6 99 5 95 7 96 0 99 5 95 6 95 7 99 5 35 5 95 6 99 5 95 4 95 5 99 5 95 3 95 4 99 5 95 2 95 3 99 5 95 1 95 2 99 5 95 0 95 1 99 5 95 0 data byte 4 7 length counter fifo counter command kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Calling FB3 in FB 3 FB 1 motor set up and FB 2 data exchange are called 66 CALL FB I Vee FREIGABE KONFIG DB W 16 5D DATEN DB 3 DB103 E125 7 W 16 64 RET VALUE MW16 MW 2 M 16 99 7 DB93 initialize motors 1 3 4 7 8 1 4 8 motors initiliazed gt Communication Win
38. 28 with increased loop counter value of 3 and if necessary new application data Continue PLC program new request at the next program cycle 3 Increase PLC loop counter Byte 13 of Write Bytes of Communication Window refer to page 28 CAN DP Software Manual Rev 1 2 33 Configuration via SIMATIC Manager 2 34 Start Transmission Command by Writing the 16 Bytes of the Communication Window Byte of Communication Contents Window high byte of CAN identifier identifier bit 15 10 8 low byte of CAN identifier identifier bit 7 0 Example here hex bytes 2 and 3 always 0 for 11 bit identifier 2 3 4 data byte 0 5 data byte 1 6 data byte 2 7 data byte 3 8 data byte 4 9 data byte 5 data byte 6 data byte 7 en re m a l command transmitdat m o The data bytes 00 01 02 03 04 05 07 are transmitted on Tx identifier 0012 hex In order to acknowledge the execution of the command a read access to byte 13 of the Communication Window should follow It has to have the same value of the PLC loop counter as when the command was called CAN DP Software Manual Rev 1 2 Configuration via SIMATIC Manager 5 3 4 2 Receiving Data 1 Basic Setting of the Communication Window The basic settings of the Communication Window have already been described in the example above Transmitting Data 2 Receiving Data 2 1 Enabling the Rx identifier for recep
39. 3 No SYNC transmissions possible SYNC Time 1 65534 SYNC Time in milliseconds 1 65534 ms 65535 Use current value from gateway default Table 5 1 4 Function of parameter SYNC Time Attention SYNC Time can be set in two different ways 1 As described above 2 Via bytes 4 and 5 of the Communication Window refer to page 32 Both specifications are equal That means that the last specification 1s valid 5 1 3 Assigning the Slots of the DP Slave m Hw Config SIMATIC 300 Station Configuration can315 1 fly Station Edit Insert PLC View Options Window Help The desired number of slots to be used by the olele s el FT DP slave for data exchange is set by double clicking the device Universal Module for each byte with activated DP slave window m PROFIBUS DP In the DP slave window the assigned slots are pM en represented by a 0 eG simatic BRL Gateway Ec DP R5232C Link H E DP DP Coupler Er m CAN DP E Universal Module Closed Loop Controller Configured Stations CP 342 5 as DP Master DP 5 4 Order Number im versal Module ee Module 0 Universal Module 0 Universal Module 0 JUnwesaModlE 0 Universal Module 0 Universal Module 2B Ad Fig 5 1 3 Setting the parameters Fress F1 for help 22 CAN DP Software Manual Rev 1 2 Configuration via SIMATIC Manager 5 1 4 Configuration of Slots In order to configure the slots the slot entry has
40. 3 always 0 with 29 bit CAN identifier byte 2 identifier bits 28 24 byte 3 identifier bits 23 16 data byte 0 data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 NO data length for transmission jobs Tx PLC loop counter has to be incremented in pulse with OBI n order to tell the gateway the OBI cycle sub command always set to 0 0 l 2 3 4 5 6 7 8 9 10 11 command description refer page 30 Table 5 4 1 Write bytes of the Communication Window 28 CAN DP Software Manual Rev 1 2 Configuration via SIMATIC Manager 5 3 3 2 Read Bytes of the Communication Window command acknowledge and reception of data CAN gt Gateway gt PLC Bytes of the Communication Contents Window as long as no receive data are available EEEE hex otherwise high byte of CAN identifier identifier bits 15 10 8 low byte of CAN identifier identifier bits 7 0 with 11 bit CAN identifier byte 2 and 3 always 0 with 29 bit CAN identifier byte 2 identifier bits 28 24 byte 3 identifier bits 23 16 data byte 0 data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 number of received data bytes return of the PLC loop counter which has been transmitted to the gateway via the last PROFIBUS telegram iN return of the sub command 0 l 2 3 4 5 6 7 8 9 10 11
41. 4 Page Mode Ifthe Page Mode 1s used with Communication Window the Communication Window must be defined in the segment which 1s assigned to the last PLC slot The following table summarizes the rules for the assignment of addresses in PLC Page Mode Rules for the assignment of addresses in Page Mode Define at least 32 input bytes Segment length always 32 bytes Exception last segment lt 32 bytes Consistency over the entire length Sequential addressing of segments of inputs and outputs Communication Window into the last two segments if desired Table 6 4 1 Rules for the assignment of addresses in Page Mode 42 CAN DP Software Manual Rev 1 2 Page Mode 6 4 3 Page Structure The maximum length of the page depends on the configuration of addresses made by the user see page 40 On all pages the first eight bytes contain information which is required for the protocol controlled exchange of pages between PLC and gateway They are followed by the user data of the page During configuration this data contains e g the definition of identifiers during operation the data of the identifiers depending on page no ee BE a eg Txidenifr definition MEN Table 6 4 2 Structure of pages The first two bytes of each segment of a page specify the page number The page number marks the page to be transmitted and the type of page The following table shows the page numbers page types
42. ROFIBUS which is controlled by a Siemens SIMATIC S7 300 or S7 400 In order to be able to implement the module as described here you need the configuration program SIMATIC Manager with the tool HW configurator Note for CANopen Configure the CAN DP module absolutely first with the PLC via the SIMATIC Manager as described in chapter 5 Configuration with the SIMATIC Manager Only after carried out configuration the CAN DP module can be identified as CAN device 3 2 Implementation 3 2 1 Strategy Please make the following steps to implement the module Install and wire the CAN DP module power supply CAN bus see hardware manual set the PROFIBUS address of the module by means of the coding switch Connect the PROFIBUS connector to the PROFIBUS interface of the CAN DP module Configure the settings of the CAN DP module in the PLC via the SIMATIC manager Switch on the power supply for the CAN DP Now the module has to run The CAN DP module is now automatically configured via the PLC CAN DP Software Manual Rev 1 2 7 Implementing and Diagnose 3 2 2 Start Up After switching on the power supply the CAN DP module starts automatically It does not have its own mains switch During start up LEDs P PROFIBUS LED and D data exchange LED flash The PROFIBUS address set via the coding switches is read in The module receives projection data from the DP master and evaluates the specifications in them
43. Station status 1 contains error messages of the DP slave Ifa bit is 0 no error applies A bit set to 1 signalizes an error Error message if bit 1 Error handling correct PROFIBUS address set at the CAN DP bus connector correctly wired power supply available at CAN DP power off power on executed at CAN DP in order to read in DP address DP slave is not yet ready for data wait until the CAN DP has completed start up exchange The configuration data transmitted check whether the station type and the CAN DP from DP master to DP slave do not structure have been correctly entered via the correspond to the DP slave structure configuration tool 3 The slave has got external diagnose request and evaluate external diagnose data data The requested function is not being check projecting 4 supported by the DP slave DP master cannot interpret the check bus structure 5 response of the DP slave this bit is always 1 if you e g just access the CAN DP by means of a PG or another DP 7 DP slave has already been set by master DP slave cannot be addressed by the master another master The PROFIBUS address of the setting master 1s in the diagnose byte Master PROFIBUS address Table 3 4 3 Bits of station status 1 CAN DP Software Manual Rev 1 2 11 Implementing and Diagnose 3 4 1 2 Station Status 2 Station status 2 contains status messages to the DP slave Ifa bit is
44. Txld Configuration O Page 51 Acknowledge of Txld Configuration r O PIC amp CAN Y Q From Page 151 Rxld Configuration Gateway DL Page 151 Acknowledge of Rxld Configuration From Page 251 Tx Data From Page 251 Rx Data Program Loop eg C gt Fig 6 4 1 Exchange of parameters and data in Page Mode overview If the setup has been completed data can be exchanged With each PLC cycle an input and an output page is transmitted If more identifiers have to be provided than can be stored in a page the following identifiers will be handled in the following PLC cycles With rising number of identifiers and depending on the length of data to be transmitted per identifier more PLC cycles are required therefore to transmit all data In order to keep the number of PLC cycles low input and output page should be selected as large as possible CAN DP Software Manual Rev 1 2 39 Page Mode In an example below 127 motors are controlled by a SIEMENS SIMATIC S7 PLC Together these motors use 127 Tx and 127 Rx identifiers In this example 20 PLC cycles are needed to supply all identifiers 20 cycles are required for 10 pages The product package contains function blocks FB and data blocks DB with which the transmission of the pages can be controlled Users do not have to program the control of the pages themselves therefore
45. activate reception SPA M499 M405 U M 95 5 SPB M406 L W 16 183 1 PDO of motor 3 T MW 0 L 0 T MW 4 T MB 12 T MB 14 subcommand L 4 T MB 15 command 4 activate reception SPA M499 M406 U M 95 6 SPB M407 L W 16 184 1 PDO of motor 4 T MW 0 L 0 T MW 4 T MB 12 T MB 14 subcommand L 4 T MB 15 command 4 activate reception SPA M499 M407 U M 95 7 SPB M408 L W 16 187 1 PDO of motor 7 T MW 0 L 0 T MW 4 T MB 12 T MB 14 subcommand L 4 T MB 15 command 4 activate reception SPA M499 M408 U M 96 0 SPB M499 L W 16 188 1 PDO of motor 8 T MW 0 L 0 T MW 4 T MB 12 T MB 14 subcommand L 4 T MB 15 command 4 activate reception SPA M499 64 CAN DP Software Manual Rev 1 2 M499 NOP 0 U E 125 7 SPB M498 UN E 125 7 M 99 7 M 99 6 0 T MW 0 T MW 4 E 0 T MB 12 L 0 T MB 14 L 20 T MB 15 M498 NOP 0 Network 6 CALL FB 4 DB104 FREIGABE M99 6 WRITE ENABLE M99 7 READ ENABLE M99 7 WRITE CAN ID MWO WRITE DATAO MBA WRITE DATAI MB5 WRITE DATA2 ZMB6 WRITE DATA3 MB7 WRITE DATA4 MB8 WRITE DATA5 MB9 WRITE DATA6 MB10 WRITE DATA7 MB11 WRITE LEN MB12 WRITE SUBCOMMAND MB14 WRITE COMMAND MB15 WRITE ADDRESS W 16 P0 READ ADDRESS W 16 P0 TRANSFER READY M99 5 READ CAN ID MWO READ DATAO MBA READ DATAI MB5 READ DATA2 MB6 READ DATA3 MB7 READ DATA4 MB8 READ DATA5 MB9 READ DATA6 MB10 READ DATA7 MB11 READ LEN ZMB1
46. dex ccs length data O0 data 1 data 2 data 3 reserve index subindex ccs length data O0 data 1 data 2 data 3 reserve index subindex ccs length data O0 data 1 data 2 data 3 CAN DP Software Manual Rev 1 2 129 130 132 133 oO oO Oo 140 0 DB100 SGCGCCCCCCC CAN DP v0198 v0109 v0129 v0139 v0149 v0159 v0169 v0179 v0189 v0199 v01010 v01210 v01310 v01410 v01510 v01610 v01710 v01810 v01910 v030 v012101 v013101 v014101 v015101 v016101 v017101 v018101 v019101 v0301 v012102 v013102 v014102 v015102 v016102 v017102 v018102 v019102 v0302 forcel resl BYTE WORD BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE WORD BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE WORD BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE WORD BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE WORD steuerwortl sollpositionl empfangszaehlerl reservel statuswortl istpositionl force2 res2 steuerwort2 sollposition2 empfangszaehler2 reserve2 statuswort2 istposition2 force3 res3 steuerwort3 sollposition3 empfangszaehler3 reserve3 statuswort3 istposition3 force4 res4 steuerwort4 sollposition4 empfangszaehler4 reserve4 statuswort4 istposition4 force5 res5 steuerwort5 B 16 0 W 16 6041 B 16 0 B 16 2 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 W 16 1801 B 16 2 B 16 1 B 16 1 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 W 16 EEEE B 16 2 B 16 1 B 16 1 B 16
47. dow can be used CAN DP Software Manual Rev 1 2 DB93 CONFIG DB configuration data block Set up motors 1l 3 4 W 16 5E W 16 2FE W 16 0 W 16 5F W 16 2FE W 16 0 W 16 60 W 16 3F9 W 16 0 W 16 61 W 16 3F9 W 16 0 W 16 80 W 16 80 W 16 F0 W 16 F0 W 16 62 DB94 TX_CONFIG Data block 30 0 CAN ID1 FORMAT 1 LENGTH1 CAN ID2 FORMAT2 LENGTH2 CAN ID3 FORMAT3 LENGTH3 CAN ID4 FORMAT4 LENGTH4 CAN ID5 FORMATS LENGTH5 CAN_ID6 FORMAT6 LENGTH6 CAN ID7 FORMAT7 LENGTH7 7 and 8 gt DB 94 DB 95 Actual val Comment W 16 5E W 16 2FE W 16 0 W 16 5F W 16 2FE W 16 0 W 16 60 W 16 3F9 W 16 0 W 16 61 W 16 3F9 W 16 0 W 16 80 W 16 80 W 16 F0 W 16 F0 W 16 62 Number of flrst DB Length of DBs with Number of DBs with Number of first DB Length of DBs with Number of DBs with Number of first DB Length of DBs with Number of DBs with Number of first DB Length of DBs with Number of DBs with PLC start address PLC start address PLC start address PLC start address Number of DB with Init list DB 96 and DB 97 with configuration of Tx identifiers DW 16 0 B 16 0 B 16 0 DW 16 0 B 16 0 B 16 0 DW 16 0 B 16 0 B 16 0 DW 16 0 B 16 0 B 16 0 DW 16 0 B 16 0 B 16 0 DW 16 0 B 16 0 B 16 0 DW 16 0 B 16 0 B 16 0 DW 16 301 B 16 B8 B 16 6 DW 16 303 B 16 B8 B 16 6 DW 16 304 B 16 B8 B 16 6 DW 16 307 B 16 B8 B 16 6 DW 16 308 B 16 B8 B 16 6 DW 16 EEEEEEEE B 16
48. dr 15445 60 MaxTsdr 1 5M 150 gt V1 05 20 12 1999 ok user parameter data h byte 13 wakeup time 0 off Oxff not relevant byte 14 15 sync time 0 off Oxffff not relevant h V1 06 10 04 2000 uh menu structure for parameter v1 07 26 02 2001 uh Min Slave Intervall back to 4 msec b V1 10 22 10 2003 uh Changed for new CAN DP Art des Parameters M Mandatory O Optional D G PROFIBUS_DP ese Kapitel 2 3 2 GSD Revision Vendor Name Model Name Revision Revision Number Ident Number Protocol Ident Station Type FMS supp Hardware Release Software Release 9 6 supp 19 2 Supp 1291 25 Supp 8544159 SUpp OOV S SUPP 1671 3811712 500 supp l 5M supp 3M supp 6M supp 12M supp MaxTsdr 9 6 MaxTsdr 19 2 MaxTsdr 31 25 MaxTsdr 45 45 MaxTsdr 93 75 MaxTsdr 187 5 MaxTsdr 500 MaxTsdr 1 5M MaxTsdr 3M MaxTsdr 6M MaxTsdr 12M Redundancy Repeater Ctrl Sig 24V Pins Implementation Type Bitmap Device Bitmap Diag Bitmap SF Kapitel 2 3 4 Freeze Mode supp Sync Mode_ supp Auto Baud supp Set Slave Add supp Min Slave Intervall CAN DP Software Manual Rev 1 2 zwingend notwendig zus tzlich m glich Optional mit Default 0 falls nicht vorhanden mindestens einer aus der Gruppe passend zur entsprechenden Baudrate Allgemeine DP Schluesselwoerter Ho dog PREP RPP RPP PPE Visible String 1 esq CAN DP V1 1 1188 0 0 0 SE Mls 0 o0 0
49. e of output communication window of input communication window end flag 67 Examples DB96 OUTPUT DB Hr 40 DB97 68 CC tO ON AU BWNF o e 9S SG 9 SCCCCCCBCCCCC ONNDU gt C2 HMO e ee e ee ee ee ee o INPUT DB oOo OOOO OOO O laengel forcel data0l datall data21 data31 data4l data5l laenge2 force2 data02 datal2 data22 data32 data42 data52 laenge3 force3 data03 datal3 data23 data33 data43 data53 laenge4 force4 data04 datal4 data24 data34 data44 data54 laenge5 force5 data05 datal5 data25 data35 data45 data55 laenge6 force6 laengel zaehlerl data0l datall data21 data3l data4l data5l laenge2 zaehler2 data02 datal2 data22 data32 data42 data52 laenge3 zaehler3 data03 datal3 data23 data33 data43 data53 laenge4 zaehler4 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 Data block for input data B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 Data block for output data B 16 7 B 16 2 B 16
50. e to receive data to be enabled see command 4 After reception command 3 has been written read accesses to the Communication Window will give you the data structure shown on page 29 The Rx data is received asynchronously to the PLC cycle Until valid data has been received you will be returned the value EEEE hex in the first bytes in read accesses Only after valid data has been received the Rx identifier of the read frame in the first bytes becomes readable In addition the read command which requested the reception of data 1s assigned by means of the returned PLC loop counter in byte 13 The module has got a FIFO memory for 255 CAN frames to buffer the received Rx data If several Rx frames are to be received on one Rx identifier or if frames of various Rx identifiers enabled for reception are received the data 1s not lost as long as the PLC reads out the FIFO memory quicker than it 1s being filled Command 4 Enabling Rx identifiers for reception By means of this command the Rx identifier whose data 1s to be received has to be enabled More than one Rx identifier can be enabled at the same time For this the command has to be called an according number of times Command 5 Deactivate reception command 4 After this command has been called no data is received any longer on the specified Rx identifiers Command 6 Sending an RTR frame By means of this command a remote request frame is transmitted Prior to the transmission the
51. ecommendable though to run it with activated reaction control 2 4 Diagnose The status of the LED displays and the DP slave diagnose can be used for diagnose The module supports five module specific diagnose bytes The diagnose will be described in more detail on page 9 2 5 Parameter Telegram CAN Bit Rate In addition to the seven standard bytes of the configuration the CAN DP module supports three module specific bytes Here the DP master can change the CAN bit rate Setting the bit rate by means of the parameter telegram is described on page 19 2 6 Global Control Services FREEZE SYNC UNSYNC The Global Control services have not yet been implemented 2 7 PROFIBUS DP Profiles The PROFIBUS DP profiles are not being supported yet CAN DP Software Manual Rev 1 2 5 Functionality of the local Firmware 2 8 More Addressable CAN Identifiers in Page Mode The Page Mode offers the chance to address more CAN identifiers than can be stored in one PROFIBUS telegram that means more than 48 Because of the additional protocol expenditure the handling of the Page Mode is slightly more complicated than the standard operation of the gateway The data exchange between PROFIBUS and CAN requires two cycles instead of one PLC cycle 6 CAN DP Software Manual Rev 1 2 Implementing and Diagnose 3 Implementing and Diagnose 3 1 Prerequisites for Implementation This chapter describes the implementation of the CAN DP module at a P
52. ed for a byte the following bytes are converted until the next 0 transmitted The functionality can be explained best by means of an example Example A CAN telegram has got a date in Intel format in the first byte followed by 2 bytes which are not to be swapped and a long word in the last 4 bytes which 1s in Intel format again Binary the following representation results for the format byte Data aeo fats foe fads CAN 2 bytes 4 bytes 2 bytes 4 bytes From this the format byte results in SE hex If all eight bytes are to be swapped for instance value FE hex 1s specified for the format byte The lowest bit is generally without significance because the telegram and therefore the formatting have been completed The bit should always be set to 0 Note The parameter form must always be set even if no byte swapping is necessary In this case the parameter has to be set to 00 CAN DP Software Manual Rev 1 2 25 Configuration via SIMATIC Manager 5 3 The Communication Window 5 3 1 Introduction If the connected CANopen modules are addressed as described in chapter Course of Configuration each CAN identifier needs its own PLC address The Communication Window has the advantage that individual PLC addresses for different Tx dentifiers and different Rx identifiers can be used This 1S possible because the identifiers of the CANopen modules are transmitted as parameters together with the data at each access
53. ekeX a exe qe SEL mas a a dt ie 58 7 Editing the GSD File with a Text Editor 59 8 Application Example with Page Modc 62 9 Important CANopen Messages 0 0 ccc ee ee eens 73 2 CAN DP Software Manual Rev 1 2 Overview 1 Overview 1 1 About this Manual This manual describes the local firmware of the CAN DP module The local firmware controls the data exchange between PROFIBUS DP abbreviated to PROFIBUS below and CAN Layer 2 Implementation The manual describes the Layer 2 implementation and the implemented CANopen functions Page Mode Furthermore the manual describes the Page Mode which was developed to allow more than 48 CAN identifiers to be controlled by one gateway For a general understanding fundamental functions of the Page Mode will be described first followed by descriptions of the function blocks FBs and data blocks DBs which are used to realize the Page Mode 11 Bit and 29 Bit Identifier The module CAN DP supports 11 bit and 29 bit CAN identifier CAN2 0A B 1 2 Introduction into Functionality of the Firmware The gateway simulates a slave device with a defined number of input and output bytes to the PROFIBUS After the gateway has been configured CAN devices can be operated as PROFIBUS slaves The PROFIBUS output bytes are transmitted to the CAN bus One to eight output bytes are assigned to an Tx identifier Rx identif
54. form each divided by commas are transmitted in the first two bytes The data format for all properties is hexadecimal Note A 29 bit identifier requires four bytes and bit 29 must be set to 1 counted 0 31 bits in order to enable the module to distinguish between 11 bit and 29 bit identifiers If input has been selected in the O Type field the CAN identifier entered there is regarded as an Rx identifier by the PLC If output has been selected in the O Type the CAN identifier entered here is a Tx dentifier Attention No Rx identifier must be assigned twice Example If the same Rx identifier has unpermissibly been selected on PLC address 50 and address 51 no new Rx data would be received on address 50 after the Rx identifier has been assigned The data received last remained unchanged This Rx identifier rule is also valid for the Rx identifier activated via the Communication Window The control byte form is used to convert the user data from Motorola format high byte first into Intel format low byte first 24 CAN DP Software Manual Rev 1 2 Configuration via SIMATIC Manager Background Messages which are longer than 1 byte are normally transmitted via a CANopen network in Intel notation while the Siemens PLC operates in Motorola format Starting with bit 7 of the format byte you can decide whether the following byte is to be converted as well 1 e swapped or not Ifa 1 1s specifi
55. he next identifier follow directly that means that only as many data bytes are transmitted each per identifier as have been defined in length In the second segment the transmission of data already starts with byte 2 because bytes 2 to 7 do not contain protocol information force In this byte you can specify the time when the Tx data is to be transmitted force Transmission data is not put out as CAN frame data is always following each PROFIBUS telegram put out as CAN frame data is only put out as CAN frame if data was changed data is put out as CAN frame once data is put out as CAN frame once Change between 3 and 4 causes a direct output of data Table 6 4 7 Specifying the cause for transmitting Tx data Tx user data Here the user data of this Tx identifier to be transmitted are specified CAN DP Software Manual Rev 1 2 47 Page Mode ete Lt wae EN EN 1 8 here 6 ERE 1 8 here 4 ME Contents page no protocol data OO daaoPRxidenHHerl of Rx identifier 1 data of Rx identifier 2 Table 6 4 8 Example of a data page for input data count in x In this byte the gateway specifies an input counter The input counter 1s incremented with each Rx frame received It can be used by the user for example to program a guarding protocol Rx user data Here the received user data of this Rx identifier are entered 48 CAN DP Software Manual Rev 1 2 Page Mode 6 5 Using the Page Mode with FBs and DBs
56. iers are assigned to the input bytes on CAN side Received CAN data 1s treated as input data by the PROFIBUS The PROFIBUS station address 1s set directly at the CAN DP module by means of coding switches 1 3 Configuration via PROFIBUS DP The CAN DP module is configured via the PROFIBUS The Siemens SIMATIC Manager for S7 for example can be used as a configuration tool Here the gateway 1s assigned with logical modules which are assigned with further parameters such as the PLC address data direction data length and CAN identifier 1 4 More addressable Identifiers via Page Mode The Page Mode offers the chance to address more CAN identifiers than can be stored in one PROFIBUS telegram that means more than 48 The number of the identifiers is only limited by the available memory range of the PLC and the CAN Gateway CAN DP Software Manual Rev 1 2 3 Functionality of the local Firmware 2 Functionality of the Local Firmware The following figure represents the functionality of the firmware Profibus Slave Profibus switch Fig 2 1 1 Overview of functions of the CAN DP module 2 1 PROFIBUS Slave Address The CAN DP module simulates a slave module on the PROFIBUS side The slave address is set by means of coding switches at the module When switching on the module the hexadecimal PROFIBUS address set 1s requested The settings have to be changed before switching the module on because changes are ineffect
57. is received asynchronously to the PLC cycles the Communication Window has to be read again and again until the data was received polling By comparing the values of the PLC loop counter you can determine whether the data received is the correct data from the read command A read access returns the following bytes Byte of Communication Contents Window Example here hex high byte of CAN identifier identifier bit 15 10 8 low byte of CAN identifier identifier bit a bytes 2 and 3 always 0 for 11 bit identifier received data byte 0 received data byte 1 received data byte 2 received data byte 3 received data byte 4 received data byte 5 received data byte 6 received data byte 7 Hah mw reumed sub command witout significance io L error code of the read function without significance 0u CAN DP Software Manual Rev 1 2 Configuration via SIMATIC Manager 2 4 Deactivate reception of data on this Rx identifier If no further data is to be received on this identifier the reception 1s to be disabled again Byte of Communication Contents Window Example here hex high byte of CAN identifier identifier bit 15 10 8 low byte of CAN identifier identifier bit a bytes 2 and 3 always 0 for 11 bit identifiers data byte 0 data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 sng onen commande i m L sub command always setto 0 oOo o o _ _
58. ive during operation The address range which can be set is hexadecimal 03 to 7C or decimal 3 to 124 If an address 1s set which is smaller than 3 decimal or smaller than 03 HEX address 3 is valid If an address 1s set which is larger than 7C HEX or larger than 124 decimal address 124 is valid The upper coding switch HIGH is used to set the MSBs while the LSBs are set by means ofthe lower coding switch LOW The PROFIBUS slave address can only be set via coding switches It cannot be programmed by means of a class 2 master via the command Set Slave Address 4 CAN DP Software Manual Rev 1 2 Functionality of the Local Firmware 2 2 User Data The CAN DP module simulates a total of up to 300 bytes for the input direction and the output direction in the current software implementation From these 300 bytes a maximum of 244 bytes can be selected for one data direction otherwise the division into input bytes and output bytes 1s entirely up to the user Examples 150 input bytes and 150 output bytes or 244 input bytes and 56 output bytes One to eight bytes 16 bytes when using the communication window see page 26 each are assigned to a Tx or Rx identifier The same identifier cannot be used as Tx and Rx dentifier The automatic response to remote requests RTR on the CAN bus cannot be used therefore 2 3 Watchdog Reaction Control The firmware can be run with activated or deactivated reaction control It is r
59. n the values triggers a transmission of frames userdata x The user data between 1 to 8 bytes is specified after parameter force enddata This parameter tells the PLC whether another data block with user data will follow or whether this was the last user data to be transmitted If another data block is required the hexadecimal value DD has to be specified for ength following the definition of the last user data FB2 will then continue to handle the following DB If the last user data of this application has been specified FB2 will be told by entering the hexadecimal value EE in cell length FB2 will then continue to transmit the user data of the first WRITE DB Note Bit FREIGABE has to be set 1 in FB2 if the output data is to be written CAN DP Software Manual Rev 1 2 55 Page Mode READ DB Data block for reading the input data DB97 The input data is stored in the data block according to identifier number RxIdl RxId2 etc For each Rx identifier the length number of data bytes count_in byte is stored in one byte the input counter count in 1S stored in another byte and then the user data is stored The number of user data can differ from 1 to 8 bytes The data of the following Rx identifier always comes directly after the previous one The address from which the data of an Rx identifier 1s stored has to be determined from the data of the previous Rx identifiers therefore user data of Rx Id 2
60. ng to your demands The Page Mode is activated via the SIMATIC manager SIEMENS PLC S7 6 3 Communication Window in Page Mode When specifying Communication Window the Communication Window can be activated in the DP salve properties window while configuring the gateway see page 20 The Communication Window is set up and handled like in normal operation see page 26 The Communication Window must be defined in the last segment however Note Using the Communication Windows CW is only useful to configure the connected CAN devices If the connected CAN devices have been configured the normal page mode PM 1s to be preferred 38 CAN DP Software Manual Rev 1 2 Page Mode 6 4 Mode of Operation 6 4 1 Overview In order to provide more CAN identifiers than can be stored in a PROFIBUS telegram a protocol controlled data exchange between PLC and gateway is necessary For the communication so called pages are defined in which the parameters and data are exchanged On PLC side an input and an output area are reserved for the transmission of the pages After the system has been started a page with setup data 1s exchanged between PLC and gateway In the following pages the PLC transmits the configuration of the Tx and Rx identifiers These pages contain the identifier numbers used for the CAN the number of bytes and information about the data format PROFIBUS DP Page 0 Setup Page 0 Acknowledge of Setup From Page 51
61. oment RET VALUE l at FR EIGABE 1 Page type currently being transmitted no page transmission reserved Tx configuration via pages 51 150 Rx configuration via pages 151 250 data pages 251 n Table 6 5 7 Return parameter RET_VALUE CAN DP Software Manual Rev 1 2 57 Page Mode 6 6 Methodology The following list gives a step by step instruction for the configuration and operation of the Page Mode 1 Hardware Configuration 1 1 Determine PLC address range for Page Mode inputs outputs 1 e configure segments n 32 bytes x bytes x 32 successive addresses If required Communication Window at the end PLC Program 2 Include FB2 WRITE ADDRESS start address of first output segment READ ADDRESS start address of first input segment Data blocks WRITE CONFIG DB generate and preset determine length of DB READ CONFIG DB generate and preset determine length of DB WRITE DB generate and supply with data during program READ DB generate and read data during program Include More FBs 3 1 FB4 data exchange via Communication Window 3 2 FB1 initializing CANopen modules by means of a list INIT LIST DB INIT DB 3 3 FB3 controlling 127 uniform CANopen devices 58 CAN DP Software Manual Rev 1 2 Editing the GSD File with a Text Editor 7 Editing the GSD File with a Text Editor We recommend to configure the module with a PROFIBUS configuration tool as e g the SIMATIC manager
62. orce is stored in another byte and then the user data 1s stored The number of user data can differ from 1 to 8 bytes The data of the following Tx identifier always come directly after the previous one The address from which the data of a Tx dentifier is stored has to be determined from the data of the previous Tx identifiers therefore user data of Tx Id 2 user data of Tx Id 3 marking the end of the DB or the output data Table 6 5 4 Structure of WRITE DB length x This byte specifies the number of data bytes which are to be transmitted on the Tx identifier defined here 1 for the force byte lenght number of data bytes 1 54 CAN DP Software Manual Rev 1 2 Page Mode force x Via this byte you can specify the time when the data of the Tx identifier are to be transmitted to the CAN um Data is not put out as CAN frame Data is always following each PROFIBUS telegram l put out as CAN frames Data is only put out as CAN frame 1f data has changed Data is only put out as CAN frame once Data is only put out as CAN frame once Table 6 5 5 Meaning of parameter force In order to transmit the CAN frame with the user data once parameter force has to be set to value 3 If the parameter is set to 3 again in the following cycle the frame will not be transmitted In order to transmit more than once force has to be set to the value 4 in the following cycle Each further switch betwee
63. owing table gives a short list of important general CANopen messages CAN identifier Data HEX Designation Length HEX Explanations NMT 2 01xx Starting all preoperational gt operational NMT 2 sx Rest ee CANTO module ee 4 1 ee o m m o ima Emergency message e g by ES E 9o dd CANopen I O module Node ID Node ID of the accessed CANopen module CAN DP Software Manual Rev 1 2 73
64. parameter telegram The module specific bytes of the parameter telegram can be changed in the Properties window which opens if the header of the DP slave window is double clicked here line 23 DP Slave Dha HW Config SIMATIC 300 1 Configuration sig tetra e x II Station Edit Insert PLC View Options Window Help 8 i x Dlel3 E Ei S Sl El 38 xl PROFIBUS 1 DP Master System 1 P Profile Standard x PROFIBUS DP SIMATIC 300 er 17 CAN SIMATIC 400 v SIMATIC PC Based Control DP Slave Properties X Properties Assigning Parameters Parameter Name CAN Bitrate Communication Window RTR Frames CANopen Slave C amp Nopen Master Page Mode ModulelD WakeUp Time 0 O0ff 255 D efault Sync Time O 0ff 65535 D efault e c lI m on ool n Hex Parameters Modify Value Abbrechen Hie m rc PROFIBUS DP slaves for SIMATIC 57 M7 E7 distributed rack Y Press F1 for help Fig 5 1 2 Setting the parameters in the DP slave properties window By means of selection point Hex Parameter the parameters can be specified by means of entering hexadecimal values as in older software versions More comfortable however is of course the specification in the format shown above Here the parameters can be configured directly Therefore in the following descriptions the config
65. r aito dao qon aie d qo RU c dr Ob s aoo AG 19 eqs PCT D 20 Communicator WW WACO W eode ir tt edi tas eta E er RS VAS ER 20 RER Frames rare dot dedo ette dom t eden e dom tr edic edem tr ein atl 20 CANOPEN Slave ores ud Sore eg gd rat pid sex der uad ex der a Ed ex dures 20 CANopen Master 20 SAPTA E RETREAT TED E ob ne ne we me ee 20 Pae Io Rm on ee tcd M a E T EAE 20 IE ID c2 si 1990 6090261009 Sata es et ee 21 Wake Up TING uae ra Zl CAN DP Software Manual Rev 1 2 Contents Page SONG LIINC e onus voted ue tT edu Dei 6s el 22 5 1 3 Assigning the Slots ofthe DP Slave 22 5 1 4 Configuration ofS ots 23 5 1 5 Save Settings to Hard DIsk_ 23 5 2 Description of Input Window Properties DP Slave 1 0 ee 24 3 4 The Communica On WANGOW 22445 drums Feteeeseeese suse case di Gi i t Bu t i g ta 26 Dio MM TOI COU teers ete a ee ca en A ape eat nus DD tr IP 26 5 3 2 Configuring the Communication Wimndow_ 21 5 3 3 Format of Communication Wimndow 28 5 3 3 1 Write Bytes of the Communication Window 28 5 3 3 2 Read Bytes of the Communication Window 29 5 3 4 Examples on the Communication Window 33 35 9 dT Dransmittins Dita osse CREE S exe 33 ST 0c
66. re Manual Rev 1 2 Configuration via SIMATIC Manager 5 Configuration via SIMATIC Manager 5 1 Course of Configuration The CAN DP module is configured via the PROFIBUS Note Without correct configuration via the SIMATIC manager the CAN DP module and the CAN participants connected do not operate together and operation of the CAN participants connected can be disturbed In particular the CAN Bitrate configured in the CAN DP module and the module ID at CANopen must match the settings of the CAN participants connected If problems should occur further information can be obtained with the diagnose as described in the chapters 4 3 Diagnose via LED Display and 4 4 Slave Diagnose Please follow the steps below to configure the CAN DP module 1 Select CAN DP Select menu Hardware Catalogue and there Additional Field Devices and Other There select GSD CAN DP 2 Set PROFIBUS Address Set the PROFIBUS address as described in chapter 5 1 1 on page 18 3 Parameter Telegram set CAN bit rate general configuration and CANopen module ID Configure the configuration settings by means of the parameter telegram as described in chapter 5 1 2 on page 19 4 Assignment of the Slots of the DP slaves Assign the slots as described in chapter 5 1 3 on page 22 5 Configuration of the Slots SPS Adresse Configure the slots as described in chapter 5 1 4 on page 23 6 Save settings on hard disk save the settings as described in chapter 5
67. reception on the Rx identifier has to be enabled by command 4 Command 7 Executes command 4 and command 6 See there CAN DP Software Manual Rev 1 2 31 Configuration via SIMATIC Manager Command 20 Cyclical transmission of the CANopen command SYNC The CAN DP module can cyclically transmit the command SYNC for simple CANopen applications The command is transmitted as shown in the table above The cycle 1s specified e g in the properties window in bytes 4 and 5 when the Communication Window 1s configured refer to page 27 The cycle 1s specified in milliseconds Value range 0 FFFE hex 0 65534 ms Attention In order to guarantee that all CANopen users have received their new data when they receive the SYNC command the cyclical transmission command of the SYNC command cannot interrupt transmission of a DP telegram on the CAN That means that the SYNC command is delayed until the DP telegram has been transmitted if its transmission and the transmission of a SYNC command coincide This can result in slight changes of time in the cyclical transmission of the SYNC command Attention SYNC Time can be set in two different ways 1 In the parameter telegram in the DP properties window refer to page 19 2 Via byte 4 and 5 of the Communication window refer to page 27 These specifications are equal That means that the last specification is valid 32 CAN DP Software Manual Rev 1 2 Configuration via SIMATIC Manager 5
68. required Network 9 page mode output and page mode input CALL FB 2 FREIGABE WRITE ADDRESS WRITE CONFIG DB WRITE DB READ ADDRESS READ CONFIG DB READ DB RET VALUE DB102 BIT1 WRITE ADDRESS WRITE CONFIG DB WRITE DB READ ADDRESS READ CONFIG DB READ DB t016 muss zuerst NULL sein s o kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Calling FB 4 give commands via Communication Window after setup via FB 1 because FB 1 operates via the Communication Window as well Network 5 U M 95 0 SPB M401 L 0 CAN ID 0 T MW 0 T MW 4 T MB 12 T MB 14 subcommand T MB 15 command 0 SPA M499 M401 U M 95 1 start frame ready SPB M402 L 0 CAN ID 0 for start frame T MW 0 L W 16 100 CAN data 0x01 0x00 start frame T MW 4 L 2 T MB 12 L 0 T MB 14 subcommand L 1 T MB 15 command 1 send frame SPA M499 CAN DP Software Manual Rev 1 2 63 Examples M402 U M 95 2 sync time ready SPB M403 L 0 T MW 0 L W 16 200 time 512 msec T MW 4 L 0 T MB 12 L 0 T MB 14 subcommand L 20 T MB 15 command 20 set sync frame time SPA M499 M403 U M 95 3 SPB M404 L W 16 181 1 PDO of motor 1 T MW 0 L 0 T MW 4 T MB 12 T MB 14 subcommand L 4 T MB 15 command 4 activate reception SPA M499 M404 U M 95 4 SPB M405 L W 16 18A 1 PDO of motor 10 T MW 0 L 0 T MW 4 T MB 12 T MB 14 subcommand L 4 T MB 15 command 4
69. st from DB 99 data word 0 Motor 2 not available Motor 3 available Motor 4 available and initialize gt list from DB 99 data word 130 Motor 5 not available Motor 6 not available Motor 7 available Motor 8 available and initialize gt list from DB 99 data word 0 Motor 9 not available always 0 motor xxx not available Data block with setup list data04 datal4 data24 data34 data44 data54 laenge5 zaehler5 data05 datal5 data25 data35 data45 data55 40 0 laenge6 zaehler6 DB98 INIT LIST DB Address Name 0 0 init dbl 2 0 init offsetl 4 0 init statusl 6 0 reservel 8 0 init db2 10 0 init offset2 12 0 init status2 14 0 reserve2 16 0 init db3 18 0 init offset3 20 0 init status3 22 0 reserve3 24 0 init db4 26 0 init offset4 28 0 init status4 30 0 reserve4 32 0 init db5 34 0 init offset5 36 0 init status5 38 0 reserve5 40 0 init db6 42 0 init offset6 44 0 init status6 46 0 reserve6 48 0 init db7 50 0 init offset7 52 0 init status7 54 0 reserve7 56 0 init db8 58 0 init offset8 60 0 init status8 62 0 reserves 64 0 init db9 66 0 init offset9 68 0 init status9 70 0 reserve9 DB99 INIT DB Address Name 0 0 v010 2 0 v012 3 0 v013 4 0 v014 5 0 v015 6 0 v016 7 0 v017 8 0 v018 9 0 v019 10 0 v020 CAN DP Initial val Actual val Comment W 16 1000 W 16 1000 index B 16 0 B 16 0 subindex B 16 2 B 16 2 ccs 2 gt read domain upload B 16 0 B 16 0 length B 16 0 B 16 0 data 0 B
70. ta will not be changed Attention Please note that the GSD file has to be renamed The file name may be maximum 8 characters long Some configuration software for the PROFIBUS Master does not operate with longer file names CAN DP Software Manual Rev 1 2 61 Examples 8 Application Example with Page Mode The following summary shows the FBs and DBs required to control the CANopen devices Example for Setup of C calling FB 1 ANopen module by means of a list see below Network 7 motor setup O ZBIT15 domain transfer is on O BIT14 SPB M033 yes jump L INIT LIST DB T t016 AUF DB t016 open DB with init list M012 L 127 maximum 127 motors L MOTOR 1 P MOTOR lt I 127 lt motor gt yes gt configuration ready SPB M013 gt jump to the end 1 motor 1 starts at byte 0 motor 2 starts at byte 8 SLW 3 means 8 motor index gt byte number SLW 3 means 8 byte number gt bit address T t000 L 0 means motor not present L DBW t000 get DB number to init this motor T INIT_DB SPB M012 to next motor L W 16 FFFF means motor not needed to initialize 1 SPB M012 to next motor L t000 16 T t000 L DBW t000 get offset in the actual init DB E ZINIT OFFSET L ZMOTOR motor no L W 16 600 I T TX_ID L MOTOR motor no L W 16 580 TI T ZRX ID UN BIT15 S BIT15 M033 CALL FB 1 DB101 transfer BIT15 tx id TX ID rx
71. the PLC Data block to define the Tx Identifiers In the PLC source code included in the product package the WRITE CONFIG DB has been realized as data block DB94 In WRITE CONFIG DB 6 bytes are required for each Tx identifier to be written marking the end of the endconfig DB or the Tx configuration Table 6 5 2 Structure of the WRITE CONFIG DB Tx Identifier x Here the value of the Tx identifier has to be specified 11 Bit CAN ID 0 2047 29 Bit CAN ID 0 536870911 formx In parameter form you choose whether the output data is to be converted from Motorola format of the PLC into the Intel format of the CAN network or not Byte form has already been described in detail on page 24 length x This byte specifies the number of data bytes which are to be transmitted on the Tx identifier which 1s defined here CAN DP Software Manual Rev 1 2 Page Mode endconfig The PLC has to be told whether another data block is required for the definition of the Tx identifiers and when the Tx definition will be finished If another data block is required the hexadecimal value DDDDDDDD has to be specified as last Tx identifier definition FB2 will then continue with the handling of the following DB If the last Tx dentifier has been defined this 1s indicated to the FB2 by specifying the hexadecimal value EEEEEEEE as last Tx dentifier definition FB2 will then continue with the configuration of the Rx identifiers The
72. the number of data bytes which are to be received by this Rx identifier endconfig The PLC has to be told whether another data block is required for the definition of the Rx identifiers and when the Rx definition will be finished If another data block is required the hexadecimal value DDDDDDDD has to be specified as last Rx identifier definition FB2 will then continue with the handling of the following DB If the last Rx identifier has been defined this is indicated to the FB2 by specifying the hexadecimal value EEEEEEEE FB2 will then continue with the transmission of user data The length of the data blocks differs The required length can be determined from the number of Rx identifiers required plus the four bytes for the end flag CAN DP Software Manual Rev 1 2 Page Mode Example You have to define 19 Rx identifiers starting with DB26 DB26 defines Rx Ids 1 10 therefore requires a length of 10 6 4 64 bytes End flag DDDDDDDD hex DB27 defines Rx Ids 11 19 therefore requires a length of 9 6 4 58 bytes End flag EEEEEEEE hex Note In FB2 the bit FREIGABE has to be set 1 CAN DP Software Manual Rev 1 2 53 Page Mode WRITE DB Data block for writing the output data DB96 The output data is stored in the data block according to identifier number TxIdl TxId2 etc For each Tx dentifier the length number of data bytes force byte 1s stored in one byte the parameter f
73. tion In this example the data of the Rx identifier 0123 hex are to be received Byte of Communication Contents Window high byte of CAN identifier identifier bit 15 10 8 low byte of CAN identifier identifier bit 7 0 Example here hex bytes 2 and 3 always 0 for 11 bit identifier 2 3 4 data byte 0 5 data byte 1 6 data byte 2 q data byte 3 8 data byte 4 9 data byte 5 data byte 6 data byte 7 sn rn mm command EnableRxdenifer o u In order to acknowledge the executlon of the command a read access of byte l3 of the Communication Window should be made with every command call It has to have the same value of the PLC loop counter as it had when the command was called CAN DP Software Manual Rev 1 2 35 Configuration via SIMATIC Manager 2 2 Initiate reception of data of the enabled Rx identifier Byte of Communication Contents Window Example here hex high byte of CAN identifier identifier bit 15 10 8 low byte of CAN identifier identifier bit 6 bytes 2 and 3 always 0 for 11 bit identifier data byte 0 data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 Lusloghirumssimsonmnki m mie 3A command Read Rx Identifier o A o3 2 3 Reading the data 36 After an undetermined time the Rx data is received and can be accessed by reading the Communication Window Since the data
74. tput is defined Ifno CAN 1s to be assigned when an output is defined it is permissible to specify the value 07F8 hex as an identifier here The individual parameters of the properties window will be explained in detail in the following chapter 5 1 5 Save Settings to Hard Disk Now you have to save the settings via menu points Station Save to hard disc Afterwards the settings are transmitted to the PLC by means of menu points Target System Load in Unit CAN DP Software Manual Rev 1 2 23 Configuration via SIMATIC Manager 5 2 Description of Input Window Properties DP Slave In field Z O Type input or output has to be selected depending on the data direction desired Other properties are not permissible In field Address the PLC I O address is entered as a decimal value By means of fields Length and Unit the number of data bytes is specified The entry in field Consistent over shows whether the data is to be transmitted as individual unit bytes words etc or as complete package 1 8 bytes or 16 bytes in Communication Window during a PLC cycle This function is only to be set to whole length if required because the transmission as unit 1s faster Note If the data 1s to be transmitted consistently over the entire length you have to specify this here and you have to use SFC14 and SFC 1 refer to Step7 PLC Manual In field Comment the CAN identifier and then the control byte
75. u MANUALS CAN CAN DP Englisch CAN DP Haupt_12S en9 Date of print 2007 02 06 Manual order No C 2905 21 Software order No C 2905 02 Described software version Command File CANDP_05 M DP CANopen 1 1 8 Changes in the chapters The changes m the user s manual listed below affect changes in the firmware as well as changes in the description of the facts only Chapter Changes versus previous version Notes inserted Chapter completed and newly structured Chapter Editing the GSD File with a Text Editor inserted Technical details are subject to change without notice CAN DP Software Manual Rev 1 2 This page is intentionally left blank CAN DP Software Manual Rev 1 2 Contents Page WOW OEVICW ATP 3 1 1 About this Manual ce e rr 3 1 2 Introduction into Functionality of the Frmware 3 1 3 Configuration via PROFIBUS DP_ 3 1 4 More addressable Identifiers via Page Mode 3 2 Functionality of the Local Firmware 0 0 0 0 0 ccc ees 4 2 1 PROFIBUS Slave Address 1224262 21 Ba Be o ca 42 4 ZI NIST AU At EP ee es TE TE v02 Xu Star 908W S0 v 0 1W 00c 3 5 2 9 Watchdog Reaction Control zus ae as 5 2E DIPHOSE ee a a Au EMEN ee 5 2 5 Parameter Telegram CAN Bit Rate 54 e eed 1 063606614 eed late a 5 2 6 Global Control Services FREEZE SYNC UNSYNC 5 2
76. uration by means of hexadecimal values will not be considered CAN DP Software Manual Rev 1 2 19 Configuration via SIMATIC Manager Description of Parameters CAN Bit rate For the bit rate the following selections can be made Bit rate kbit s 1000 666 6 Table 5 2 1 Setting the bit rate in 14 levels Communication Window This parameter activates the Communication Window It is CW described in detail on page 26 RTR Frames Transmit RTR frames for the Rx identifiers configured via NR PROFIBUS CANopen Slave Configure gateway as CANopen slave CS CANopen Master Configure gateway as CANopen master CM Start Frame After wake up time has expired a start frame 1s transmitted if the AS gateway 1s a master autostart Page Mode Activate Page Mode PM 20 CAN DP Software Manual Rev 1 2 Configuration via SIMATIC Manager Permissible combinations after wake up time the module automatically transmits 28 dec Module No and is in Pre Operational status after a start frame has been received put out TxId transmit RTR frames on RxId after wake up time the module automatically transmits 728 dec Module No and is in Pre Operational status after a start frame has been received put out TxId after wake up time put out TxId transmit RTR frames on RxId yes yes EE after wake up time put out TxId Be e after wake up time start frame put out TxId transmit RTR
77. y Diagnose via SIMATIC Manager or system function SFCI3 DPNRM_DG see chap 3 4 P green waiting for parameter 3x short flashes telegram configuration telegram is faulty Diagnose via SIMATIC Manager or system function SFCI3 DPNRM_DG see chap 3 4 D PROFIBUS of f data modataexchange green Md LT via eens PROFIBUS Table 3 3 1 LED status 4x short flashes waiting for configuration telegram CAN DP Software Manual Rev 1 2 9 Implementing and Diagnose 3 4 Slave Diagnose In addition to the six diagnose bytes predefined in norm DIN EN 19245 part 3 the module supports three further module specific diagnose bytes The slave diagnose can be requested by the following function components SIMATIC with IM 308 C FB 192 FB IM308C SIMATIC 57 M7 SFC 13 SFC DPNRM DG Table 3 4 1 Function component for requesting the slave diagnose 3 4 1 Diagnose Bytes 0 5 The assignment of these diagnose bytes has been predefined in norm DIN EN 19425 part 3 Below the status messages will be described in consideration of the CAN DP module The following designations will be used for this Status byte designation station status 1 station status 2 station status 3 master PROFIBUS address manufacturer identification high byte manufacturer identification low byte Table 3 4 2 Diagnose bytes 0 5 10 CAN DP Software Manual Rev 1 2 Implementing and Diagnose 3 4 1 1 Station Status 1

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