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CAN-CBM-DP - esd electronics, Inc.

1. Le L4 5h d 7 subcommand command 1 send frame sync time ready time 512 msec subcommand command 20 set sync frame time 1 PDO of motor 1 subcommand command 4 activate reception 1 PDO of motor 10 subcommand command 4 activate reception 1 PDO of motor 3 subcommand command 4 activate reception 1 PDO of motor 4 subcommand command 4 activate reception 1 PDO of motor 7 subcommand command 4 activate reception 1 PDO of motor 8 CAN CBM DP Software Manual Rev 2 0 L 0 T MW 4 T MB 12 T MB 14 L 4 T MB 15 SPA M499 M499 NOP 0 U E 125 7 SPB M498 UN E 125 7 M 99 7 M 99 6 L 0 T MW 0 T MW 4 L 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 MB4 WRITE DATA MB5 WRITE DATA2 MB6 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 F0 READ ADDRESS W 16 F0 TRANSFER READY M99 5 READ CAN ID MWO READ DATAO MB4 READ DATA1 MB5 READ DATA2 MB6 READ DATA3 MB7 READ DATA4 MB8 READ DATA5 MB9 READ DATA6 MB10 READ DATA7 MB11 READ LEN MB12 READ FIFO COUNT MB14 READ COMMAND MB15 READ R
2. CSP CAN CBM DP PROFIBUS DP CAN Gateway Software Manual to Product C 2844 xx CAN CBM DP Software Manual Rev 2 0 esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany E 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 CBM DP Software Manual Rev 2 0 Date of print
3. 977 Examples 128 0 98 istposition4 force5 res5 steuerwort5 sollposition5 empfangszaehler5 reserve5 statuswort5 istposition5 force6 res6 steuerwort6 sollposition6 empfangszaehler6 reserve6 statuswort6 istposition6 force7 res7 steuerwort7 sollposition7 empfangszaehler7 reserve statuswort 7 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 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 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 B 16 0 B 16 0 W 16 0 DW 16 0 Motor
4. morse signal E only 29 bit version CAN off 3x long flash morse signal O only 11 bit version 5x long flash eae short long long CAN warning W N E no power supply check the 24 V power supply the connection to the DP master has failed check the PROFIBUS connection fault in wiring in PROFIBUS cable short circuit terminating impedance in wrong position 2x short flashes check the PROFIBUS address specified parameter telegram is faulty Diagnose via SIMATIC Manager or system function SFCI3 DPNRM DG see chap 3 4 1x short flash looking for bit rate waiting for parameter 3x short flashes telegram waiting for configuration telegram is faulty Diagnose configuration via SIMATIC Manager or system function telegram SFCI3 DPNRM DG see chap 3 4 of no data no data exchange NR oe via PROFIBUS 4x short flashes Table 3 3 1 LED status CAN CBM DP Software Manual Rev 2 0 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 S7 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
5. unknown CAN identifier CAN ID EEEE hex AT communication window CAN ID FFEF hex Table 7 2 4 Pictograms in Edit Parameter window CAN CBM DP Software Manual Rev 2 0 T Parameter Display and Configuration via CICT 3 Bymeans ofthe mouse you can now click the parameter to be change and enter the desired value 4 Bypressing the gt Enter lt key or by clicking the OK button the Edit Parameter window is closed and the entry with the changed parameters is displayed in the user parameter list Deleting all User Parameter Properties l Select menu point Clear in menu CAN CBM DP 2 You are requested to save your changes in a file 3 Alluser parameter properties are deleted Displaying Information about Wrong User Parameters If an error occurs because a user parameter entry has been edited such as assigning a CAN identifier twice this will be indicated by an exclamation mark If you want the reason for the error being displayed you have to follow the steps below 1 Mark user parameter entry for which you want to have an error displayed 2 Click Info button A window with the following error message appears LAH CBH DP Data Mapping CAN CANopen for 1 network File CEM DP ee ee a Misawa BA sikm mm m LI ale CICT CAH Interface Configuration Tool CSC59572 for CAH CAH open Es DP Address AN Der LAN Identifier wurde doppelt vergeben entspricht dem LAN Identifer von Eintrag 0 BTRH User Par
6. 16 CAN CBM DP Software Manual Rev 2 0 Implementing and Diagnose 3 4 2 External Module Specific Diagnose Bytes The CAN CBM 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 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 PROFIBUS master with the correct values byte 8 3E hex configuration SAP62 faulty 1 wrong I O type out input or blank 10 correct input or output 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 CAN CBM DP Software Manual Rev 2 0 17 GSD File 4 GSD File Below the GSD file Device Master Data of the CAN CBM DP module has been printed The specification printed here are for orientation Dec
7. If parameter Format has not been set the default setting will be used In default setting all bits are set to 0 i e no data is being converted 76 CAN CBM DP Software Manual Rev 2 0 Parameter Display and Configuration via CICT Editing User Parameter Properties User parameters CAN Id and Format can only be changed if the module has not been configured via the PROFIBUS last 1 e the comment field has not been filled in during PROFIBUS configuration via the SIMATIC Manager Parameter Config ByDP shows whether the parameters can be edited or not N parameters can be changed via program C CT Y no change is possible All other parameters can only be changed by means of the PROFIBUS In order to edit parameters you have to follow the steps below l Mark user parameter which is to be edited 2 Select menu point Edit from menu Parameter press gt Enter lt or double click the entry with the left mouse button The following Edit Parameter window appears CAN CBH DP CAM C AMNopen Edit Parameter x Index DP Byte Length CAN Identifier Hex Format 10000000 Hex Type RX Cancel Fig 7 2 8 Edit Parameter window In the spreadsheet of the parameter window the assignment of the DP bytes by the CAN identifiers is displayed Each cell in the spreadsheet corresponds to one DP byte The meaning of the pictograms shown in the spreadsheet is explained in the following table DP byte is assigned with entry
8. Motor Motor Motor Motor CAN CBM DP Software Manual Rev 2 0 Examples This page is intentionally left blank CAN CBM DP Software Manual Rev 2 0 99 Important CANopen Messages 9 Important CANopen Messages The following table gives a short list of important general CANopen messages CAN identifier Data HEX HEX Starting all preoperational gt operational Te tat Operational gt preoperational 0 mm 2 sim Rest ee CAN O module gt mmm 2 Ehe Resetcommunication o m m o Sneal Emergency message e g by p m eye errorcode Emergency message e Node ID Node ID of the accessed CANopen module 100 CAN CBM DP Software Manual Rev 2 0
9. T t008 AUF DB t008 open DB with init list L MOTOR 88 CAN CBM DP Software Manual Rev 2 0 Examples t 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 L 32 T t000 L t016 get status of setup T DBW t000 save in init list DB L W 16 FFFF means configuration in FBl allways runs E 016 status of setup 1 SPB M014 L W 16 FFFE means configuration in FBl is ready L t016 status of setup SPB M011 SPA M014 M034 U BIT14 R BIT14 SPA M014 MOll U BIT15 R BIT15 SPA M014 M013 UN BIT1 S BIT1 say motor configuration is ready L 2 T RET VALUE say configuration of Tx ID M014 SPA M035 M015 NOP 0 kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Calling FB 2 Data exchange via Page Mode Page 0 gt reading the lengths absolutely necessary Page 51 ff gt Tx configuration once Page 151 ff gt Rx configuration once Page 251 ff gt data exchange output and input cyclically Page 251 252 253 xyz 251 252 xyz depending on the number of pages required Network 9 page mode output and page mode input CALL FB 2 DB102 FREIGABE BIT1 muss zuerst NULL sein s o WRITE ADDRESS WRITE ADDRESS WRITE CONFIG DB ZWRITE CONFIG DB WRITE DB WRITE DB READ ADDRESS READ ADDRESS READ CONFIG DB READ CONFIG DB READ DB
10. With these the 7 300 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 S7 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 is 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 spec
11. without significance 00 error code of the read function without significance 00 CAN CBM DP Software Manual Rev 2 0 4 Configuration via SIMATIC Manager 2 2 Deactivate reception of data on this Rx identifier 42 If no further data is to be received on this identifier the reception is to be disabled again Byte of Communication Window Conen Example here hex high byte of CAN identifier identifier bit 15 10 8 low byte of CAN identifier identifier bit 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 data byte 7 eT sub command wasser 9 o command Disable Rx denifier 05 CAN CBM DP Software Manual Rev 2 0 Page Mode 6 Page Mode Note Page Mode can only be used if the configuration tool Siemens SIMATIC Manager for S7 is 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 configuration
12. 19425 part 3 Below the status messages will be described in consideration of the CAN CBM 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 CAN CBM DP Software Manual Rev 2 0 13 Implementing and Diagnose 3 4 1 1 Station Status 1 Station status 1 contains error messages of the DP slave If a 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 CBM DP DP slave cannot be addressed by the bus connector correctly wired master power supply available at CAN CBM DP power off power on executed at CAN CBM DP in order to read in DP address DP slave s not yet ready for data wait until the CAN CBM DP has completed exchange start up The configuration data transmitted check whether the station type and the CAN from DP master to DP slave do not CBM DP structure have been correctly entered correspond to the DP slave structure via the 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 structur
13. 2 Number of output bytes Octet 2 gives the consistency the structure byte word and the number of the output bytes Length bytes of the output as seen from the PROFIBUS master see also PROFIBUS Specification Normative Part 8 page 738 MSB LSB Bino 6 s f a4 3 jo 1 o Number of inputs outputs EN UN Tm 0 000 4 1 11 63 uu 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 CAN CBM DP Software Manual Rev 2 0 65 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 0x83 Modul is an output 0x80 and three manufacturer specific configuration byte 0x03 will follow 0x05 Consistency over byte the length format 1s 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
14. 2 0 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 w bytes 2 and 3 always 0 for 11 bit identifier 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 10 data byte 6 11 data byte 7 LJ 1 E EK BE MN data length for transmission commands Tx o ow Oo B 2 3 Reading the data After an undetermined time the Rx data is received and can be accessed by reading the Communication Window Since the data 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 2 bytes 2 and 3 always 0 for 11 bit identifier 3 4 received data byte 0 2 received data byte 1 6 received data byte 2 7 received data byte 3 8 received data byte 4 9 received data byte 5 10 received data byte 6 11 received data byte 7 n a O E E 35 nn II returned sub command
15. 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 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 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 CBM DP Software Manual Rev 2 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 configur
16. Data Mapping Dialog Box 71 7 2 4 2 Display and Edit User Parameter Properties 74 2 CAN CBM DP Software Manual Rev 2 0 Contents Page Meaning of User Parameters onte aa E be Y 74 Editing User Parameter Properties 0 0 0 0 000 0005 77 Deleting all User Parameter Properties naannaannanana 78 Displaying Information about Wrong User Parameters 78 7 2 4 3 Data Mapping Dialog Box in Page Mode 79 7 2 5 Configuration Example 0 0 00 eee ees 80 7 2 6 Managing the Configuration Files 0 0 cee eee eee 8 1 2 OO eee a AES eA Ee ees ae eee ee ae 83 12 2 1 Seareh NOQUICS s ac soc i an an aan aaa c ae ae dc 83 12 52 DOOR EANOPEN Modules vanen ERES ue Yung 84 OD NIOQUICS coeno tet Ae BENI NE Er 85 7 2 8 GIN CHANCE M PR DC aoe rhenen BA ee ee ee ed 87 122 50 4 MEMO zeestraten dee ade en 87 SE XAMDIES man en a a a E E E 89 8 1 Application Example with Page Mode ene 89 9 Important CANopen Messages l l ras 101 CAN CBM DP Software Manual Rev 2 0 This page is intentionally left blank CAN CBM DP Software Manual Rev 2 0 Overview 1 Overview 1 1 About this Manual This manual describes the local firmware of the CAN CBM 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
17. Geraetes Visible String 32 9 6 supp 1 G 9 6 kBaud wird unterstuetzt 19 2 Supp 1 G 19 2 kBaud wird unterstuetzt idle SHpp 1 fuer Gateway CAN CBM DP nicht moeglich 1234 45 45 supp 1 G ab GSD Revision 2 45 45 kBaud wird unterstuetzt 9954 75 Supp 1 G 93 75 kBaud wird unterstuetzt L9 9 SUD 1 G 187 5 kBaud wird unterstuetzt 500 supp 1 G 500 kBaud wird unterstuetzt l1 5M supp 1 G 1 5 MBaud wird unterstuetzt 3M supp 1 G ab GSD Revision 1 3 MBaud wird unterstuetzt 6M supp 1 G ab GSD Revision 1 6 MBaud wird unterstuetzt 12M supp 1 G ab GSD Revision 1 12 MBaud wird unterstuetzt MaxTsdr 9 6 60 G MaxTsdr 19 2 60 G MaxTsdr 31 25 15 fuer Gateway CAN CBM DP nicht moeglich 1234 MaxTsdr 45 45 60 G ab GSD Revision 2 MaxTsdr 93 75 60 G MaxTsdr 187 5 60 G MaxTsdr 500 100 G MaxTsdr 1 5M 150 G MaxTsdr 3M 250 G ab GSD Revision 1 MaxTsdr 6M 450 G ab GSD Revision 1 MaxTsdr 12M 800 G ab GSD Revision 1 Redundancy 0 D keine redundante Uebertragungstechnik Repeater Ctrl Sig 0 D RTS Signalpegel CNTR P Pin 4 des 9pol SUB D 0 nicht vorhanden 1 RS 485 22 TTL 24V Pins 0 D Bedeutung der 24V Pins des 9pol SUB D Pin 7 24V Pin 2 GND 0 nicht angeschlossen 1 Input 2 Output Implementation Type Visible String 1234 Bitmap Device CDPS00 N O ab GSD Revision 1 Bitmap Diag CDP
18. Parameter Display and Configuration via CICT Further Explanations about Parameters Parameter Format Converting the Data Format Parameter Format is used to convert the data format Background Messages which are longer than 1 byte are normally transmitted m Intel notation lowbyte first in the CAN network while the Siemens PLC operates in Motorola format highbyte first These formats can be converted via the format byte Starting with bit 7 of the format byte you can decide whether the following byte is to be converted as well i e swapped or not Ifa 1 is specified 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 is in Intel format again Binary the following representation results for the format byte hexadecimal pexdeimd PO action Dem end swa E um begin en end SWap P changed changed swap P P swap il jos 4 j s J e p 7 jJ s 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
19. READ DB RET VALUE t016 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 E 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 CAN CBM DP Software Manual Rev 2 0 89 Examples T L E L T SPA M402 U SPB L p L T L T L T L T SPA M403 U SPB L T L T E T L T SPA M404 U SPB L T L T T T L T SPA M405 U SPB L T L T T T L T SPA M406 U SPB L T L T T T L T SPA M407 U SPB L T L T T T L T SPA M408 U SPB L T 90 MB 12 0 MB 14 1 MB 15 M499 M 95 2 M403 0 MW 0 W 16 200 MW 4 0 MB 12 0 MB 14 20 MB 15 M499 M 95 3 M404 W 16 181 MW 0 0 MW 4 MB 12 MB 14 4 MB 15 M499 M 95 4 M405 W 16 18A MW 0 0 MW 4 MB 12 MB 14 4 MB 15 M499 M 95 5 M406 W 16 183 MW 0 0 MW 4 MB 12 MB 14 4 MB 15 M499 M 95 6 M407 W 16 184 MW 0 0 MW 4 MB 12 MB 14 4 MB 15 M499 M 95 7 M408 W 16 187 MW 0 0 MW 4 MB 12 MB 14 4 MB 15 M499 M 96 0 M499 W 16 188 MW 0 5h
20. W 16 1000 index B 16 0 subindex B 16 2 ccs 2 gt read domain upload B 16 0 length B 16 0 data O0 B 16 0 data 1 B 16 0 data 2 B 16 0 data 3 CAN CBM DP Software Manual Rev 2 0 95 Examples 96 v019 v020 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 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 BYTE WORD BYTE BYTE BYTE BYTE B 16 0 W 16 6040 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 1
21. and the implemented CANopen functions Furthermore the Windows configuration tool C CT will be described By means of C CT parameters of the module can be displayed via the serial interface A limited setting by means of C CT 1s possible as well 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 is available with two firmware versions The version with the order no C 2844 03 supports only 11 bit CAN identifier and the version with the order no C 2844 05 supports 11 bit and 29 bit CAN identifier 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 such as PROFIBUS slaves can be operated The PROFIBUS output bytes are transmitted to the CAN bus One to eight output bytes are assigned to an Tx dentifier Rx identifiers are assigned to the input bytes on CAN side Received CAN data is treated as input data by the PROFIBUS The PROFIBUS station address 1s set directly at the CAN CBM DP module by means of coding switches 1 3 Configuration via PR
22. currently stored in the CAN CBM DP module you have select menu point Load from from menu CBM DP All data stored in the CAN CBM DP module are read and displayed in the configuration window Transmitting the Configuration to the CAN CBM DP Module If all parameters are faultless then and only then you can transmit the configuration to the CAN CBM DP module as well For this you have to select menu point Save to from menu CBM DP If you have configured the CAN CBM DP module offline until now a connection to the CAN CBM DP module is established first As soon as the connection has successfully been established all parameters are transmitted to the CAN CBM DP module Then a RESET has to be executed in order to store the configuration and have the parameters available after the following power on of the PLC For this you have to execute the Reset CBM DP command in the diagnose menu Store Configuration File on PC 1 Select menu point Save from menu File A window appears in which you can select a file 2 Select CFG file possibly change path 3 Click OK button or press gt Enter lt key Load Configuration File from PC 1 Select menu point Open from menu File A window appears in which you can select a file 2 Select CFG file possibly change path 3 Click OK button or press gt Enter lt key All data stored in the file will be displayed in the configuration window CAN CBM DP Software Manual Rev 2 0 81 Parameter Displ
23. parameter force 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 length 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 WRITE DB Bit FREIGABE has to be set 1 in FB2 if the output data 1s to be written 60 CAN CBM DP Software Manual Rev 2 0 Page Mode READ DB DB97 Data block for reading the input data 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 1s 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 is stored has to be determined from the data of the previous Rx identifiers therefore user data of Rx Id 2 user data of Rx Id 3 marking the end of the DB or the input data Table 6 5 6 Structure of WRITE DB lengt
24. 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 three different ways 1 In the parameter telegram in the DP properties window refer to page 25 2 Via byte 4 and 5 of the Communication window refer to page 33 3 Via the configuration tool C CT refer to page 73 All three specifications are equal That means that the last specification is valid CAN CBM DP Software Manual Rev 2 0 37 Configuration via SIMATIC Manager 5 3 4 Examples on the Communication Window 5 3 4 1 Transmitting data 1 1 Basic Setting of the Communication Window The basic settings have to be made only once when setting up the Communication Window Activating the Communication Window during the configuration of the CBM gateway see page 24 Communication Window yes 1 2 Definition of the 16 input and output bytes of the Communication Window see page 33 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 Consistently via entire length Consistently via entire length Identifier FFEF hexadecimal always Identifier FFEF hexadecimal always Form byte 00 hexadecimal Form byte 00 hexadecimal 1 3 Program PLC loop counter 38 8 bit lo
25. 15 12 2006 Manual order No C 2844 21 Software order No CAN 2 0A C 2844 02 03 CAN 2 0A B C284405 2 0A B C 2844 05 Described software version Command File cbmdp18 Command File cbmdpb01 DP CANopen V 1 07 DP CANopen V 1 11 Changes in the chapters The changes in the user s manual listed below affect changes in the firmware as well as changes in the description of the facts only Manual Rev Chapter Changes versus previous version Chapter restructured notes inserted Complete chapter restructured Chapter Editing the GSD File with a Text Editor inserted Technical details are subject to change without notice CAN CBM DP Software Manual Rev 2 0 This page is intentionally left blank CAN CBM DP Software Manual Rev 2 0 Contents Page SOHN CNV UC WN a ae LS nb Ven E eM ae eee tole Ce eN 5 1 1 About this Manual ene eee 5 1 2 Introduction into Functionality of the Firmware en 5 1 3 Configuration via PROFIBUS DP 0 0 ce es 5 1 4 The Diagnose and Configuration Tool CICT 1 0 0 cee ee 6 1 5 More addressable Identifiers via Page Mode lille 6 2 Functionality of the Local Firmware ee 7 2 PROFIBUS Slave Address S cos vane 7 DU ST DAN MUT 8 2 9 Walchdo9 Reaction Control carver doe RO ae ORES ENA aE 8 24 Dasnose sauer unie ur d eed oe show qaod de dc doe ee debate ie 8 2 5 Parameter Teleeram CAN Bil R te ddesutpam bed San Sed Rae qned B aom Qe und
26. 4 BYTE data44 BYTE data54 BYTE laenge5 BYTE force5 BYTE data05 BYTE datal5 BYTE data25 BYTE data35 BYTE data45 BYTE data55 BYTE 40 0 laenge6 BYTE force6 BYTE DB97 INPUT DB Address Name 0 0 laengel 1 0 zaehlerl 2 0 data01 3 0 datall 4 0 data21 5 0 data3l 6 0 data4l 7 0 data5l 8 0 laenge2 zaehler2 data02 datal2 data22 data32 data42 data52 laenge3 zaehler3 data03 datal3 data23 data33 data43 data53 laenge4 94 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 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 CAN CBM DP Software Manual Rev 2 0 Comment Length Force byte Data Data Data Datenbyte Data Data byte byte byte BWN FE byte byte5 Length Force byte Data Data Data Data Data Data byte byte byte byte byte byte5 BWN Ho Length Force byte Data Data Data Data Data Data byte byte byte byte byte byte5 BWN Ho Length Force byte Data Data Data Data Data Data byte byte byte byte byte byte5 BWN Ho Length Force byte Data Data Data Data Data Data byte byte byte byte byte byte5 BWN FE Length Force byte Comment L
27. 6 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 0 W 16 6040 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 reserve index 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 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 d
28. 6 Tx dentifiers via DBI 1 DBl11 defines Tx Ids 1 10 therefore requires a length of 10 6 4 64 bytes End flag DDDDDDDD hex DB12 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 is transferred to the PLC 56 CAN CBM DP Software Manual Rev 2 0 Page Mode READ CONFIG DB DB95 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 ofthe READ CONFIG DB Rx Identifier x Here the value of the Rx identifier has to be specified CAN CBM DP order no C 2844 03 0 2047 CAN CBM DP order no C 2844 05 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 29 length x This byte specifies 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 t
29. 8 2 6 Global Control Services FREEZE SYNC UNSYNC 0 005 8 2 7 PROFIBUS DP Profiles eee 8 2 8 More Addressable CAN Identifiers in Page Mode eee eee 9 3 Implementing and Diagnose 0 0 0c eee ene ens 10 3 1 Prerequisites for Implementation ee 10 3 2 Implementation nee 10 SUMMO A cT TM 10 322 EA Do redden erden 11 52 9 Data Transier iss aah aera tao ac en od Db o d ae De ee 11 5 5 Diaenose via LED Display sans a aan 12 PER Diasiios eed ar ternet rte vane re ended den 13 35 4 DL Diasnose Bytes DD e doe u deed reni ded qiiem Chad eee dead ur eio abo a 6x 13 S 4L I Statiom Stans T asus era RIBERA TEE 14 3 4 1 2 Station Status 2 ee eee ee 15 3412 SEQUOT SEATS oes dre erven En Cue ari v eid ar 16 3 4 1 4 Diagnose Byte 3 Master PROFIBUS Address 16 3 4 1 5 Diagnose Bytes 4 and 5 Manufacturer Identification 16 3 4 2 External Module Specific Diagnose Bytes 2 22222220 I7 OD IO ee ee we en E eee mere ensure S S ETN 18 5 Configuration via SIMATIC Manager 2 5 1 Course of Configuration sa veranderende RES ERE TR 21 5 1 1 Set PROFIBUS address ee 22 3 12 Parameter Tele BEADW uc euo vache arc e pa E eed 23 CAINZ BIN REM PREIS 24 Communication Window sse 2 u En rauen P E MEER VS WLN sone 24 RIRF raS o ode in eae eea hee hete E d 24 CANopen Slave era vatbaar eta dues di
30. AN 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 is required to provide the CAN CBM gateway with the OBI cycle of the PLC CAN CBM DP Software Manual Rev 2 0 35 Configuration via SIMATIC Manager Command 3 Reception on enabled Rx identifiers The reception of data requires the CAN Rx identifiers which are 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 34 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
31. 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 B 16 F B 16 0 B 16 0 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 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 CAN CBM DP Software Manual Rev 2 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 subindex ccs length data O0 data 1 data 2 data 3 reserve index 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 DATA DB Data block with input and output data of the maximum 127 motors Motor 1 Motor 2 Motor 3 Motor 4 Examples
32. 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 reception on the Rx identifier has to be enabled by command 4 Command 7 Executes command 4 and command 6 See there 36 CAN CBM DP Software Manual Rev 2 0 Configuration via SIMATIC Manager Command 20 21 Cyclical transmission of the CANopen commands SYNC or START The CAN CBM DP module can cyclically transmit the commands SYNC and START for simple CANopen applications The commands are 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 is configured refer to page 31 The cycle is specified in milliseconds and is used for SYNC as well as for START 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
33. DP module you have to select menu point Load from from menu CBM DP All data stored in the CAN CBM DP module are read and displayed in the configuration window Further notes on the management ofthe configuration file can be found in the chapter ofthe same name on page 81 CAN CBM DP Data Mapping CAN CANopen for 1 network File CBM DP Parameter Diagnose Maintenance Help DP Address Wakeup Time ms LAN Baudrate OOI Register ETRO ETR1 500 kBit s User Parameter Info Index 1 0 DP Byte Length CAM Id Format Type Configby DP 0189 D80 0209 080 TED TED 0309 OBS Communication Window Dump Parameter ok CBM DPCAN Wo2 DP v0 1 ONLINE m Fig 7 2 7 User parameter properties in data mapping window Meaning of User Parameters Index Chronological number of properties decimal I O In selection box I O the setting of the data direction of the PLC port selected via DP Byte as seen from the PLC is displayed The data direction can only be set or changed via the PROFIBUS side by means of the SIMATIC Manager program 74 CAN CBM DP Software Manual Rev 2 0 Parameter Display and Configuration via CICT DP Byte Absolute PLC peripheral address decimal Parameter DP Byte can only be set or changed via the PROFIBUS side by means of the SIMATIC Manager program and is only displayed here Value range 0 127 decimal Length Number of data bytes of one frame transmitted on the CAN bus dec
34. ET VAL MW14 WRITE RET VAL MW16 L W 16 181 L MW 0 gt I SPB M601 L W 16 1FF L MW 0 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 subcommand command 4 activate reception time 0 gt sync frame off subcommand command 20 set sync frame time CAN ID CAN CBM DP Software Manual Rev 2 0 Examples 91 Examples M601 T MD 14 L 0 T DBW MD 14 L MD 14 L 16 T MD 14 L MD 4 m DBD MD 14 L MD 14 L 32 T MD 14 L MD 8 T DBD MD 14 L MD 14 L 32 T MD 14 L MD 12 T DBD MD 14 UN M 99 6 S M 99 6 U M 99 5 R M 99 6 U M 99 5 U M 95 7 S M 96 0 U M 99 5 U M 95 6 S M 95 7 U M 99 5 U M 95 5 S M 95 6 U M 99 5 U M 95 4 S M 95 5 U M 99 5 U M 95 3 S M 95 4 U M 99 5 U M 95 2 S M 95 3 U M 99 5 U M 95 1 S M 95 2 U M 99 5 U M 95 0 S M 95 1 U M 99 5 S M 95 0 reserve byte 2 3 data byte 0 3 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 92 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 Communication Window can be us
35. M DP module can cyclically transmit the commands SYNC and START for simple CANopen applications The SYNC Time for the transmission can be specified in the properties window via the Communication Window or via the tool C CT as described above The specified cycle is used for the SYNC command as well as the START command It is specified in milliseconds SYNC Time is specified as a decimal value here Value range dec in ms a NN No SYNC and Start transmissions possible SYNC Time and Start Time in milliseconds SYNC Time 1 65534 1 65534 ms 65535 Use current value from gateway default Table 7 2 3 Function of parameter SYNC Time Attention SYNC Time can be set in three different ways 1 As described above 2 Via the parameter telegram in the DP properties windows refer to page 23 3 Via bytes 4 and 5 of the Communication Window refer to page 37 All three specifications are equal That means that the last specification 1s valid In program C CT the CAN bit rate can only be read The CAN bit rate 1s set by means of the configuration telegram as described on page 23 CAN CBM DP Software Manual Rev 2 0 73 Parameter Display and Configuration via CICT 7 2 4 2 Display and Edit User Parameter Properties In order to display parameter properties they have to be loaded from the CAN CBM DP module into the PC by means of the interface In order to load the configuration currently stored in the CAN CBM
36. Modules Reset DPLAM Fig 7 2 13 Diagnose menu 7 2 7 1 Search Modules Net 0 Module No Module Type Chr Search By means of this command the CAN bus can be searched CSC595 2 EEEN for CANopen modules which are connected to the CAN Ean iur network specified under Net Net 0 gt CAN network 1 Net 1 gt CAN network 2 The search is started by the Start Search button Once the search has been started it can always be terminated by means of the Abort button The search of the CANopen modules was ended successfully The search results are shown in the list Fig 7 2 14 Search results of command Start Search CAN CBM DP Software Manual Rev 2 0 83 Parameter Display and Configuration via C CT The Module Type 1s structured as follows Example from display above hex Device Profile Type u Additional Information 7 Table 7 2 6 Meaning of parameter Module Type The meaning of the contents of Device Profile Type and Additional Information can be taken from the CANOPEN specification DS 301 In addition to the display of all CANOPEN modules at the CAN bus you can have the most important CANOPEN standard objects for the individual CANOPEN modules on the list being displayed see Look CANOPEN Modules For this you have follow the steps below 1 Select entry in the list In order to select the Look CANOPEN Modules dialog double click the selected entry or press th
37. OFIBUS DP The CAN CBM 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 is assigned with logical modules which are assigned with further parameters such as the PLC address data direction data length and CAN identifier CAN CBM DP Software Manual Rev 2 0 5 Overview 1 4 The Diagnose and Configuration Tool C CT The tool C CT offers an operating surface designed for the CAN CBM DP for the display of parameters and configuration of the module Since the module is mainly to be configured via the PROFIBUS the tool is mainly used for the display of transmitted parameters Only a limited number of parameters can be modified 1 5 More addressable Identifiers via Page Mode Page Mode offers the possibility to address more CAN Identifiers than a PROFIBUS Telegramm can contain thus more than 48 The number of the identifiers possible 1s only limited by the available memory capacity of the PLC and the CAN Gateway 6 CAN CBM DP Software Manual Rev 2 0 Functionality of the Local Firmware 2 Functionality of the Local Firmware The following figure represents the functionality of the firmware Profibus Slave 2 output Profibus 4 switch Fig 2 1 1 Overview of functions of the CAN CBM DP module 2 1 PROFIBUS Slave Address The CAN CBM DP module simulates a slave module on the PROFIBUS side The slave address is set b
38. RE RE RUE B RUN ew a Ke RO esa ue Sca dos 44 OA AE Tav m 44 6 4 2 Definition of PLC Addresses 0 0 ccc eee eee 45 OPOE EFIE UU ae ate bate de Mie ate tae Bahia oh bre Ag IU UNT Ronee 48 644 Sep via Pace 0 and edant iio dom due ett ene iode dede tried aes 49 6 4 5 Tx Configuration via Pages 51 150 e ee 50 6 4 6 Rx Configuration via Pages 151 250 ee 51 6 4 7 Data Exchange via Pages 251 n llle 52 6 5 Using the Page Mode with FBsand DBs 0 0 0 0 0 eee 54 6 5 1 Function Block FB 2 Configuration and Data Exchange 54 ERFIGABE 22222 RE On 55 WRITE ADDRESS up aros gri eor atit heee Paw atico di 55 WRITE CONFIG DB 93 318 2 52 8 8 24 9 dudit d be om be E a 55 RBEAD ADDRBESS s E eres ub erae a Taerar 56 READ CONFIG DB eese 57 WRITE DET 59 READ DB xa 32 532 21 BS Ed Ree dera Maio av ar doa does a UE omo od 61 6 6 MethO00108 3 rreren acp qun dtc aan dg do een BG aot da ae 63 7 Configuration via Tools of other Manufacturers ee 64 7 1 Editing the GSD File with a Text Editor 2 llle 64 7 2 Parameter Display and Configuration with the Tool CICT en 67 7 2 Displa aad Conte EATON us teo eet re 67 7 2 2 ETE Selection va ew ea heer pui tror ru Otro iru ee ett a ea 68 7 2 3 Online Offline Configuration eesis 0 0 0 0 0c ene 69 7 2 4 Configuration of the CAN CBM DP Module Less 70 7 2 4 1 Properties in the
39. S00_D O ab GSD Revision 1 Bitmap SF CDPS00_S O ab GSD Revision 1 Kapitel 2 3 4 DP Slave bezogene Schluesselwoerter Freeze Mode supp 0 D Der Freeze Mode wird nicht unterstuetzt Sync Mode supp 0 D Der Sync Mode wird nicht unterstuetzt Auto Baud supp 1 D Die Automatische Baudratenerkennung wird unterstuetzt Set Slave Add supp Q D Die Slave Adresse kann vom Master nicht gesetzt werden User Prem Data Len 9 D Hoechstlaenge von User Parameter Daten User Prm Data 0x00 0x06 0x00 0x00 0x00 0x00 0xff 0xff 0xff O User Parameter Daten byte 7 15 Min Slave_Intervall 20 M Minimaler Abstand zwischen 2 DDIM Data Exchange Aufrufen xx 100us Modular Station 1 D 0 Kompaktstation 1 Modulare Station Max Module 244 M falls modulare Station Hoechstanzahl der Module einer Modularen Station Max Input Len 240 M falls modulare Station Hoechstlaenge der Eingangsdaten einer Modularen Station 18 CAN CBM DP Software Manual Rev 2 0 Max Output Len Max Data Len p o sswee 1230 uem PrmText Text 0 Text 1 T STOPP START GSD File M falls modulare Station Hoechstlaenge der Ausgangsdaten einer Modularen Station O nur falls modulare Station Groesste Summe der Ein und Ausgangsdaten einer Modularen Station in Bytes PrmText 2 Text 0 Drehzahl 1 Text 1 Drehzahl 2 Text 2 Drehzahl 3 Text 3 Drehzahl 4 EndP
40. 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 CAN CBM DP Software Manual Rev 2 0 59 Page Mode force x userdata x enddata Note Via this byte you can specify the time when the data of the Tx identifier are to be transmitted to the CAN uw 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 if 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 between the values triggers a transmission of frames The user data between 1 to 8 bytes is specified after
41. a lien 24 CANopen Master s u Sac SOUS SQUE ran OUS SOUS RS El 24 Start PAM ona cop Ed PAPE a d ITem REPE Ca EPI ee dong 24 Pao MOUS O 24 Modu SD ereen ve bent eer ese onbe ben 25 CAN CBM DP Software Manual Rev 2 0 Contents Page Wakeup Liner osos ue pede pretio olea at aud T redet area 25 vb QUIS Ni rn eae ee erate ae eae 26 5 1 3 Assigning the Slots of the DP Slave 0 0 0 0 cece eee 21 SLA CODUPurauott or 51018 su mcn rod boe RA E rS em E pA RES iede 28 3 1 5 Save Deu nes o Hard DISK za 25 do vbt EE EXER 28 5 2 Description of Input Window Properties DP Slave ee 29 5 3 The Communication Window nen 31 3 1 Introduction PET tees EN 3l 5 3 2 Configuring the Communication Window 0 eee eee 32 5 3 3 Format of Communication Window eene 33 5 3 3 1 Write Bytes of the Communication Window 33 5 3 3 2 Read Bytes of the Communication Window 34 5 3 4 Examples on the Communication Window 0 0 00 cee eee 38 5 3 4 1 Transmitting data eenen 38 3 942 RECCIVING DA er oke neee te DRE te UE 40 Oe FAS NM OUD orree os m eue qa anie trao eternet en eek 43 Oc Propere S 4 onser a acie ee dete Va deut m deu Sar Hin ee M iate Sors 43 0 2 JXCUVALUOT isch reu rer bier PIE IRI UP IS ISOQeLP PPIITQQR TQ 43 6 3 Communication Window in Page Mode e eee 43 6 4 MOGde Of Operallon s i Sog toe RUE
42. an Info Index i70 DP Byte Length CAM Id Format Type ConfigBy DP 000 000 02 0183 080 Hx Y 001 0 Dn 02 0183 O80 TX N 002 E Fig 7 2 9 Example Error message caused by assigning an identifier twice 3 Read error message and click OK button or press gt Enter lt key 4 Correct error by editing the user parameter entry 78 CAN CBM DP Software Manual Rev 2 0 Parameter Display and Configuration via CICT 7 2 4 3 Data Mapping Dialog Box in Page Mode The Data Mapping can also be shown by means ofthe tool C CT when the module is operated in Page Mode You cannot change specifications in the user parameter window however In contrast to the normal way of representation the user parameter window is divided horizontally in Page Mode In the upper half only outputs are represented while the lower half only shows inputs CAN CEH DF Data Mapping CAN CAMNopen for 1 network File CBM DP Parameter Diagnose Maintenance Help W akeup Time DUAE UCI kBit s Flags read only Cycl Sync Time 512 E Fies Fies DWR ts cM AS FPM User Parameter in the PAGE MODE Index I O DP Byte Length CAM Id Format Page Start End Time mz en ee ee ee en D D D mk a mk a a a m kk EE ek EE go TTT TT TTT Fig 7 2 10 Data Mapping dialog box in Page Mode Most of the parameters have already been described above Only the differing parameters are to explained shortly here Page Shows the number of the a
43. 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 44 CAN CBM DP Software Manual Rev 2 0 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 The FB and DB will be described from page 54 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 Ea HW Config SIMATIC 300 Station 2 Configuration can sig3 ally Station Ed
44. ata 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 CAN CBM DP Software Manual Rev 2 0 129 130 132 133 ooo 140 0 DB100 oO OOOO oO O v0168 v0178 v0188 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 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 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 B 16 F B 16 0 B 16 0 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
45. ation 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 page of output communication window of input communication window end flag 93 Examples Data block for output 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 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 7 B 16 2 B 16 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 DB96 OUTPUT_DB Address Name Type 0 0 laengel BYTE 1 0 forcel BYTE 2 0 data01 BYTE 3 0 datall BYTE 4 0 data21 BYTE 5 0 data31 BYTE 6 0 data41 BYTE 7 0 data5l BYTE 8 0 laenge2 BYTE 9 0 force2 BYTE 10 0 data02 BYTE 11 0 datal2 BYTE data22 BYTE data32 BYTE data42 BYTE data52 BYTE laenge3 BYTE force3 BYTE data03 BYTE datal3 BYTE data23 BYTE data33 BYTE data43 BYTE data53 BYTE laenge4 BYTE force4 BYTE data04 BYTE datal4 BYTE data24 BYTE data3
46. ay and Configuration via CICT Printing a Configuration File 1 Select menu point Print from menu File A window appears in which you can select a file 2 Select CFG file possibly change path 3 Click OK button or press gt Enter lt key The Windows standard window for setting the printer options appears 4 Click OK button or press gt Enter lt key The printout will be generated 82 CAN CBM DP Software Manual Rev 2 0 Parameter Display and Configuration via CICT 7 2 7 Diagnose The functionality described here is valid for various esd CAN modules Therefore the descriptions have been kept general If limitations regarding the modules apply this will be mentioned at the according place The functionality described in this chapter is not being supported by CAN Interface modules which use the standard esd CAN protocol but only by CAN Interface modules with CANopen Protocol apart from the CAN CSC595 1 The CAN protocol used is shown in the status line as represented on page 71 The diagnose functions have been implemented into the following CAN Interface modules Interface module CSC595 2 CSC515 CAN CBM DP Table 7 2 5 CAN modules with diagnose mode x x software version The following figure represents the four selection points in the submenu of the diagnose CAN CBM DP Data Mapping C4N CANopen for 1 network File CBM DP Parameter AMER Maintenance Help Search Modules Look Modules Contig
47. be changed as well provided that the parameter Config ByDP has the value N Status Line In the status line of the Data Mapping dialog box the following properties are displayed Status of the Serial Interface File Name Status Information Hardware Module Protocol and Protocol Version Kernel Version Fig 7 2 6 Meaning of specifications in the status line PROFIBUS DP Address The PROFIBUS DP Address can only be read The value read corresponds to the value set via the coding switches Value range 3 124 decimal CAN CBM DP Software Manual Rev 2 0 71 Parameter Display and Configuration via CICT Wakeup Time 72 By means of this parameter a delay is specified m milliseconds which determines the time a module waits after a RESET or power on before it transmits data to the CAN bus In default setting of the parameters the wake up time 1s 2000 ms Wake up Time can here only be entered as a decimal value Value range En Delay in milliseconds TREE d Decimal value range 0 ms 32767 Table 7 2 2 Function of parameter Wake up Time Attention Wakeup Time can be set in two different ways 1 As described above 2 Via the parameter telegram in the DP properties windows refer to page 23 Both entries are equal That means that the last specification 1s valid CAN CBM DP Software Manual Rev 2 0 Parameter Display and Configuration via CICT SYNC Time CAN Bit Rate The CAN CB
48. data byte 0 data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 m number of received data bytes return of the PLC loop counter which has been transmitted to the gateway via the last PROFIBUS telegram m iN return of the sub command p error code of the read function not supported at the moment 0 l 2 3 4 5 6 7 8 9 10 11 m Table 5 3 2 Read bytes of the Communication Window 34 CAN CBM DP Software Manual Rev 2 0 Configuration via SIMATIC Manager The following table shows commands which are currently being supported The sub command is not yet being evaluated and should always be set to 0 therefore ma executes command 4 and command 6 If the gateway is configured as CANopen master Cyclical transmission of the CANopen SYNC command ID 80 hex len 0 If the gateway is configured as CANopen master Cyclical transmission of the CANopen START command ID 00 hex len 2 data 0100 hex Table 5 3 3 Commands of Communication Window Attention A command is only completely processed if when reading the Communication Window byte 13 of the CBM module provides the value of the PLC loop counter which was specified during the command call Before the following command is called it 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 C
49. data format of the CAN network or not Byte form has already been described in detail on page 29 length Here the number of data bytes of the Rx identifier is specified Entries between 1 and 8 are permissible CAN CBM DP Software Manual Rev 2 0 5 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 pojiposfefspele s pmoju e o eher pes o foo 1 8 here 4 1 8 here 6 DEED Contents page no protocol data data of Tx identifier 1 data of Tx identifier 2 FE NN 12 34 56 78 hex BA98 765432 10 hex Table 6 4 6 Example of a data page for output data Bytes 0 to 7 contain the protocol information already mentioned above refer also to page 48 Starting with byte 8 in the first segment the data of the first identifier are transmitted to the gateway The data of the 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 orce In this byte you can specify the time when the Tx data is to be transmitted y p force Tran
50. e gt Enter lt key 3 The Look CANOPEN Modules dialog will be displayed Note Sometimes it might be helpful to have an overview of all CANOPEN modules available at the CAN bus and their parameters while generating a parameter list in the Data Mapping dialog This can be achieved by means of the software Do not close the Search Modules dialog after Start Abort of the search for CANOPEN modules and switch between the dialogs as desired 7 2 7 2 Look CANOPEN Modules By means of the Look CANOPEN Modules dialog it CAN CEM DP Look CANopen Modules is possible to have the CANOPEN standard objects yer 0 Module No 1 Device Type Device Lype 00010120 2D010100 Manufacturer Device Name M Hara Verd Manufacturer Device Name anufacturer Hardware Version 35393543 49 35 39 35 C595 Manufacturer Software Version Manufacturer Hardware Revision being displayed as shown in the figure on the right Manufacturer Software Revision GF 322E 30 30 2E 32 GF 0 20 Fig 7 2 15 Menu Look CANopen Modules 84 CAN CBM DP Software Manual Rev 2 0 Parameter Display and Configuration via CICT Net Net indicates the CAN network for which the CANOPEN standard objects from the CANOPEN module specified under Module No are to be determined A 0 indicates CAN network 1 and a 1 indicates CAN network 2 The value can only be changed for CAN interface modules which have more than one CAN network Module No Module No di
51. e 5 response of the DP slave this bit is always 1 if you e g just access the CAN CBM DP by means of a PG or another 7 DP slave has already been set by DP 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 14 CAN CBM DP Software Manual Rev 2 0 Implementing and Diagnose 3 4 1 2 Station Status 2 Station status 2 contains status messages to the DP slave Ifa bit is 1 the according message is active A bit set to 0 signalizes an inactive message Error message if bit 1 x 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 3 Tr 00 Tor esse Se OOOO s LT Toren I Table 3 4 4 Bits of station status 2 CAN CBM DP Software Manual Rev 2 0 15 Implementing and Diagnose 3 4 1 3 Station Status 3 Station status 3 is reserved and without significance for the CAN CBM 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 CBM DP module the designation 04A4 hex is returned
52. e data bytes 00 01 02 03 04 05 07 are transmitted on Tx identifier 0012 hex 2 3 4 5 6 7 8 9 10 11 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 CBM DP Software Manual Rev 2 0 39 Configuration via SIMATIC Manager 5 3 4 2 Receiving Data l 2 Basic Setting of the Communication Window The basic settings of the Communication Window have already been described in the example above Transmitting data Receiving Data 2 1 Enabling the Rx identifier for reception 40 In this example the data of the Rx identifier 0123 hex are to be received 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 7 0 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 ns men e ee 4 command Enable Rx Identifier N oa 2 3 4 5 6 J 8 9 10 11 In order to acknowledge the execution of the command a read access of byte 13 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 CBM DP Software Manual Rev
53. e with the order no C 2844 05 can handle 29 Bit CAN identifiers 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 CAN CBM DP Software Manual Rev 2 0 43 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 is 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 Txld Configuration Page 51 Acknowledge of Txld Configuration CAN NM Gateway From Page 151 Rxld Configuration Page 151 Acknowledge of Rxld Configuration PLC Cycles Single Call From Page 251 Tx Data From Page 251 Rx Data Program Loop Hox ir l MM Fig 6 4 1 Exchange of parameters
54. ed CAN CBM DP Software Manual Rev 2 0 DB93 CONFIG DB configuration data block Name Type v000 WORD v002 WORD v004 WORD v006 WORD v008 WORD v010 WORD v012 WORD v014 WORD 016 WORD v018 WORD v020 WORD v022 WORD v024 WORD v026 WORD v028 WORD v030 WORD v032 WORD 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 LENGTHS CAN ID6 FORMAT 6 LENGTH6 CAN ID7 FORMAT7 LENGTH7 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 7 and 8 gt DB 94 DB 95 Comment 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 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
55. ed 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 CBM DP Software Manual Rev 2 0 Page Mode 6 6 Methodology The following list gives a step by step instruction for the configuration and operation ofthe 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 FBI initializing CANopen modules by means of a list INIT LIST DB INIT DB 3 3 FB3 controlling 127 uniform CANopen devices This page is intentionally left blank CAN CBM DP Software Manual Rev 2 0 63 Editing the GSD File with a Text Editor 7 Configuration via Tools of other Manufacturers We recommend to configure the module with a PROFIBUS configuration tool as e g the SIMATIC manager Not every PROFIBUS configuration software supports t
56. ed 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 is in Intel format again Binary the following representation results for the format byte Data a es je js fe 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 is 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 If parameter form is not set the default setting will be used In default setting all bits are set to 0 Le no data is converted If form and the CAN Identifier are not set these parameters can be changed via tool C CT A Can identifier which has not been set is indicated by the entry EEEE hex 30 CAN CBM DP Software Manual Rev 2 0 Configuration via SIMATIC Manager 5 3 The Communication Window 5 3 1 Introduction If the connected CANopen modules are addressed as described in chapter 5 1 Course of Configuration each CAN identifier needs its own PLC address The Communication Window has the advantage that individual PLC addresses for different Tx identifiers and different Rx identifiers can be used This 1s possible because t
57. ed on the PC is loaded Wakeup Timer configuration Edit enter user parameter one entry per identifier here PLC addresses are assigned to CAN IDs last entry end flag Ed 7 File Save configuration be stored n PC 8 Conmect only if configuration has been offline Table 7 2 1 Configuration commands CAN CBM DP Software Manual Rev 2 0 67 Parameter Display and Configuration via CICT 7 2 2 Hardware Selection In order to configure the CAN CBM DP module you first have to select the hardware to be configured the CAN protocol and the serial interface to which the module is connected This can be achieved in the following way 1 Select menu point Properties from menu File see following figure or click the properties button in the tool bar C5 CICT CAN Interface Configuration Tool CSC595 2 for CANS View Help Connect Properties Button Data Mapping DeviceWetlAterare Initial Parameter Fig 7 2 1 Select menu point Properties 2 Now the dialog box represented in the following figure appears example CAN CBM DP IN order to configure the CAN CBM DP module it has to be set as shown The selection of the Serial Port depends on the interface available at your PC If a mouse is already connected to interface COMI please select COM2 for the module The configuration program automatically sets the required parameters of the serial interface in your PC Apart from the selecting
58. ength Counter Data Data Data Data Data Data byte byte byte byte byte byte Length Counter Data Data Data Data Data Data byte byte byte byte byte byte Length Counter Data Data Data Data Data Data byte byte byte byte byte byte Length OP WN EO OB WN EO OP WN FE oO zaehler4 data04 datal4 data24 data34 data44 data54 laenge5 zaehler5 data05 datal5 data25 data35 data45 data55 laenge6 zaehler6 BYTE BYTE 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 B 16 0 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 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 Examples DB99 e e ee e oooooooooooooooooooooooooooooooooo oO O INIT DB Data block with setup list init dbl init offsetl init statusl reservel init db2 init offset2 init status2 reserve2 init db3 init offset3 init status3 reserve3 init db4 init offset4 init status4 reserve4 init db5 init offset5 init status5 reserve5 init db6 init offset6 init status6 reserve6 init db7 init o
59. fferent PLC addresses are permissible for input and output direction Data direction input Data direction output PLC address any example 30 PLC address any example 30 Length 16 Length 16 Unit byte Unit byte Consistent for whole length Consistent for whole length Identifier FFEF hexadecimal Identifier FFEF hexadecimal Form byte 00 hexadecimal Form byte 00 hexadecimal DP Slave Properties x DP Slave Properties x Address ID Address ID 1 0 type Direct Entry 1 0 type Output Direct Entry Output Address Length Unit Consistent via Start 30 16 Byte x Total Length Md 45 No fi End Part process image Input Address Lenath Unit Consistent via Start 30 16 Byte Total Length End 45 5 Part BrGGess mage Comment 9 m Comment Manufacturer specific data max Manufacturer specific data max FFEF 00 00 00 14 bytes hexadecimal separated FF EF 00 00 0 14 bytes hexadecimal separated FF EF 00 00 00 by comma or space FFEF 00 00 00 by comma or space Cancel Help Cancel Help Fig 5 3 1 Configuring the input path ofthe Fig 5 3 2 Configuring the output path of the Communication Window Communication Window 32 CAN CBM DP Software Manual Rev 2 0 Configuration via SIMATIC Manager 5 3 3 Format of Communication Window The 16 bytes of the Communication Window are assigned different
60. ffset7 init status7 reserve init db8 init offset8 init status8 reserve8 init db9 init offset9 init status9 reserve9 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 list 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 gt motor xxx not available oOo NAU WNO e e o o o o oO OOOO oO oO O W 16 1000 B 16 0 B 16 2 B 16 0 B 16 0 B 16 0 B 16 0 B 16 0 Comment
61. g CANopen Rx PDO for Modul ID 3 0x00 Manufacturer specific data 0x00 no byte swapping Le the sequence of the data 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 66 CAN CBM DP Software Manual Rev 2 0 Parameter Display and Configuration via CICT 7 2 Parameter Display and Configuration with the Tool CICT CICT is a menu controlled program for PC It is used to display parameters and configure limited the CAN CBM DP module It can be operated under Windows 3 11 Windows NT 4 x and Windows 95 At the moment C CT only supports 11 bit CAN identifiers Note We recommend to configure the module with a PROFIBUS configuration software e g the SIMATIC Manager If this is not available we recommend to edit the GSD file via a text editor This chapter explains the individual menu points of C CT in detail An application example can be found at the end of this chapter 7 2 1 Display and Configuration In order to display parameters and configure the module the following steps are required Setup selecting the serial interface at the PC COMI COM2 if an online configuration is desired Data Mapping opens dialog box C E e A Ion for display the current parameters are loaded from the module or Or File Open a configuration file stor
62. h 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 CAN CBM DP Software Manual Rev 2 0 61 Page Mode RET VALUE 62 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 length 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 is 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 is bemg handled at the moment RET VALUE at FR EIGABE 1 Page type currently being transmitted no page transmission reserv
63. he 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 or the CAN CBM DP module can be configurated via the tool C CT whereas editing the GSD file with a text editor is recommended 7 1 Editing the GSD File with a Text Editor The configuration of a module is made by means of a configuration frame whose content is enterd in the GSD file The frame of the configuration is sub devided in three octets see also PROFIBUS Spezification Normative Part 8 Spage 738 Fig 16 Octet 1 Number of the manufacturer specific data Octet 2 Number of output or iputbytes Octet 3 Manufacturer specific configuration byte The octets have the following meaning Octet 1 Number of manufacturer specific data Because the CAN CBM 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 Bien D 7 6 s 4 3 jJ 2 0 0 00 free place Length of the manufactuere specific data Content 01 Input always always 0011 11 bit identifier 10 Output 0 0 0101 29 bit identifier 0101 Communication window 64 CAN CBM DP Software Manual Rev 2 0 Editing the GSD File with a Text Editor Example Octet 1 0x83 Output 3 byte manufactuerer specific data 11 bit identifier Octet
64. he DP slaves Assign the slots as described in chapter 5 1 3 on page 27 5 Configuration of the Slots SPS Adresse Configure the slots as described in chapter 5 1 4 on page 28 6 Save settings on hard disk save the settings as described in chapter 5 1 5 on page 28 CAN CBM DP Software Manual Rev 2 0 2l 22 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 a HW Config SIMATIC 300 Station 2 Configuration can315 1 aly Station Edit Insert PLC View Options Window Help Slaa g S Sl JE Re Hardware Catalog i DP Master System 1 1 Profile Standard el Properties PROFIBUS Node CAN CBM DP PROFIBUS DP 2 Additional Field Devices Address Q3 1 0 LJ SIMATIC 3 7 Gateway DP RS232C Link CJ DP DP Coupler CAN CBM DP Universal Module LJ Closed Loop Controller Lj Configured Stations a CP 342 5 as DP Master Properties DP AS i Delete General Parameters Transmission rate 1 5 Mbps Subnet C 2844 02 Cancel Help 15 Universalmodul MaA 16 67 Universalmadul T r IPSE 17 Universalmodul BEE 18 67 Universalmodul 80 87 Paste possible Fig 5 1 1 Setting the PROFIBUS address of the CAN CBM DP CAN CBM DP Software Manual Rev 2 0 Configuration
65. he 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 CBM DP Software Manual Rev 2 0 57 Page Mode 58 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 CBM DP Software Manual Rev 2 0 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 identifier the length number of data bytes force byte is stored in one byte the parameter force 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
66. he identifiers of the CANopen modules are transmitted as parameters together with the data at each access 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 Note The CAN CBM DP module with the order no C 2844 05 can handle 29 Bit CAN identifiers 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 CAN CBM DP Software Manual Rev 2 0 31 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 is 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 di
67. ified 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 160 191 63 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 Slot 1 Example Page 51 Parameter of Tx Id 5 Parameter of Tx Id 6 Parameter of Tx ld 7 Parameter of Tx Id 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 46 CAN CBM DP Software Manual Rev 2 0 Page Mode Ifthe Page Mode is used with Communication Window the Communication Window must be defined in the segment which is assigned to the last PL C 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 CAN CBM DP Software Manual Rev 2 0 47 Page Mode 6 4 3 Page Str
68. igned8 6 0 13 Prm Text Ref 1 EndExtUserPrmData ExtUserPrmData 2 Communication Window Bit 7 0 0 1 Prm text Ref 2 EndExtUserPrmData ExtUserPrmData 3 RTR Frames Bit 4 0 0 1 Prm Text Ber 3 EndExtUserPrmData ExtUserPrmData 4 CANopen Slave Bit 3 0 0 1 Prm Text Bet 2 EndExtUserPrmData ExtUserPrmData 5 CANopen Master Bit 2 0 0 1 Prm Text _ Ref 2 EndExtUserPrmData ExtUserPrmData 6 Start Frame Bit 1 0 0 1 Prm Text Ber 2 EndExtUserPrmData ExtUserPrmData 7 Page Mode Bit 0 0 0 1 Prm Text Ref 2 EndExtUserPrmData CAN CBM DP Software Manual Rev 2 0 16 Byte Diagnosedaten erste Steckplatznummer 19 GSD File Unsigned8 1 1 127 EndExtUserPrmData ExtUserPrmData 9 WakeUp Time O Off 255 Default Unsigned8 255 0 255 EndExtUserPrmData ExtUserPrmData 10 Sync Time O Off 65535 Default Unsigned16 65535 0 65535 EndExtUserPrmData Ext User Prm Data Consti Ext User Prm Data Ref 1 Ext User Prm Data Refl Ext User Prm Data Ref Ext User Prem Data Ref Ext User Prm Data Ref Ext User Prm Data Berk 0x00 0x06 0x00 0x00 0x00 0x00 0xff 0xff O0xff Ext User Prm Data Ref Ext User Prm Data Ref Ext User Prm Data Ref Ext User Pim Data Ref Slave Family 9 CAN VO Periphery ET 200 OrderNumber C 2844 03 F2 40 0 100145 CO PO ES oO 20 CAN CBM DP Software Manual Rev 2 0 Configuration via SIMATIC Manager 5 Configuration via SIMATIC Manager 5 1 Co
69. imal Parameter Length can only be set or changed via the PROFIBUS side by means of the SIMATIC Manager program and is only displayed here Value range 1 8 16 decimal CAN ID CAN identifier which is to be linked to PLC address hexadecimal If a PLC input port 1 e O input has been selected for the address the CAN identifier for the CAN CBM DP module is a reception identifier RxId Ifa PLC output port i e O output has been selected for the address the CAN identifier for the CAN CBM DP module is a transmission identifier TxId The CAN identifier can only be changed if parameter Config ByDP has the value N see user parameter list Value range 0 7FD hex EEEE hex FFEF hex Format Setting of byte assignment between CAN and PLC data regarding Intel and Motorola format hexadecimal Parameter Format will be described in detail on the following page Format can only be changed if parameter Config ByDP has the value N see user parameter list Value range OO FE hex Type Parameter Type depends on the setting of other parameters and 1s only used for information Config ByDP This parameter shows whether the module has last been configured via the PROFIBUS Only if an N for NO is displayed it is possible to change parameters CAN Id and Format via the configuration program CICT Otherwise 1 e Y for YES the configuration can only be changed via the PROFIBUS CAN CBM DP Software Manual Rev 2 0 75
70. imeout The message Timeout appears 1f no response has been received within about 100 ms after a read or write request has been transmitted Abort The message Abort appears always if an error response has been received The data specified behind the status messages indicate the error code ofthe SDO domain transfer The error codes and their meaning are represented in the following table Error code l l HEX en 0x05040001 SDO CS UNKNOWN wrong command specifier 0x06010000 SDO WRITE ONLY read access is wrong here 0x06010001 SDO READ ONLY write access is wrong here 0x06020000 SDO WRONG INDEX wrong index 0x06060000 SDO ACCESS FAIL PC EEPROM has not been accessed 0x06070010 SDO WRONG LENGTH wrong number of data bytes 0x06090011 SDO WRONG SUBIND wrong subindex 0x06090030 SDO VALUE EXCEED specified value exceeds permissible thresholds 0x06090031 SDO VALUE 2 HIGH value range too high 0x06090032 SDO VALUE 2 LOW value range too low 0x08000000 SDO OTHER ERROR undefined error Table 7 2 7 Error codes of the SDO domain transfer 86 CAN CBM DP Software Manual Rev 2 0 Parameter Display and Configuration via C CT 7 2 8 Maintenance 7 2 8 1 Memory Attention setting or changing memories can be risky because you can also change memories which are of great significance for the function of the interface module Even the reading out of certain memories itself can trigger system errors because reading out memories can
71. in the format shown above Here the parameters can be configured directly Therefore in the following descriptions the configuration by means of hexadecimal values will not be considered CAN CBM DP Software Manual Rev 2 0 23 Configuration via SIMATIC Manager Description of Parameters CAN Bitrate For the bit rate the following selections can be made Bitrate kbit s 1000 666 6 Table 5 1 1 Setting the bit rate in 14 levels Communication Window This parameter activates the Communication Window It 1s CW described in detail at page 31 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 is transmitted if the AS gateway is a master autostart Page Mode Activate Page Mode PM 24 CAN CBM DP Software Manual Rev 2 0 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 28 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 transm
72. isive is the data contained in the GSD file CDPSO4A4 GSD included in the product package c esd electronic system design GmbH Hannover PROFIBUS DP Geraetestammdatei Version 1 06 Autor Olaf Kruse Erstellungsdatum V1 0 30 04 1999 ok Aenderungen V1 01 03 08 1999 ok baudrate 6 MBaud MaxTsdr times V1 06 10 04 2000 uh menu structure for parameter Art des Parameters M Mandatory zwingend notwendig O Optional zus tzlich m glich D Optional mit Default 0 falls nicht vorhanden G mindestens einer aus der Gruppe passend zur entsprechenden Baudrate PROFIBUS DP Kapitel 2 3 2 Allgemeine DP Schluesselwoerter GSD Revision 1 M ab GSD Revision 1 Unsigned8 Vendor Name esd M Herstellername Visible String 32 Model Name CAN CBM DP M Herstellerbezeichnung des DP Geraetes Visible String 32 Revision Lb VM M Ausgabestand des DP Geraetes Visible String 32 Revision Number 1 M ab GSD Revision 1 Unsigned8 1 bis 63 1234 Ident Number 1188 M Ger tetyp des DP Ger tes Unsigned16 Protocol Ident 0 M Protokollkennung des DP Geraetes 0 Profibus DP Unsigned8 Station Type 0 M DP Geraetetyp 0 DP Slave Unsigned8 FMS supp 0 D kein FMS DP Mischgeraet Boolean Hardware Release V1 0 M Hardware Ausgabestand des DP Geraetes Visible String 32 Software Release E OT M Software Ausgabestand des DP
73. it Insert PLC View Options Window Help amp x Dee S Sale soll Sf 82 rel Profile Standad PROFIBUS 1 DP Master System 1 m PROFIBUS DP CPU 315 2 DP Additional Field Devices DP AFIS m 1 0 Bg Gateway ga 13 ET 20C wl CAN C ma 22 CAN C ga 33 ET 200 LP T i 3g DP RS232C Link 29 DP DP Coupler DP Slave Properties H E SIMATIC ren J Closed Loop Controller LJ Configured Stations 17 CAN CBM DP 1 0 type v Direct Entry as DP Master Slot Jf Module D Order Number Address O Address a DP PA Link 0 54 Universal Module sms E 1 128 J Universal Module 28 159 m Ero 2 64 X Universal Module Er EN ERES Cj ET 200L 3 128 Universal Module NE a ET 200M 4 64 Universal Module 240 255 m ELO 5 128 J Universal Module 240 255 j 8 1 C di ET 200 LUN NEN CM rm jr eer pur ee iieri a Bf Start fe Re jb ee ml foten z ia End i88 12 Part process image X SIMADYN T ME jg nn en em n E s Dn nn eee pee gg SIPOS LJ Switching Devices cepe E EE Bene 8 aane n 20 ml SIMATIC PC Based Control Fig 6 4 2 Example 1 Configuring the PLC addresses in Page Mode CAN CBM DP Software Manual Rev 2 0 45 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
74. it RTR frames on RxId after wake up time put out TxId after wake up time start frame put out TxId transmit RTR frames on RxId after wake up time start frame put out TxId Table 5 1 2 Example for permissible settings Module ID The Module ID under which the gateway is addressed is 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 CBM 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 CAN CBM DP Software Manual Rev 2 0 25 Configuration via SIMATIC Manager SYNC Time 26 Value range dec in s Low Wakeup Time function off Wakeup Time 1 4254 Wakeup Time in seconds 255 Use current value from gateway default Table 5 1 3 Function of parameter Wakeup Time Attention Wakeup Time can be set in two different ways 1 As described above 2 Via the configuration tool C CT refer to page 72 B
75. ition of Tx Id 3 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 dentifier has to be specified CAN CBM DP order no C 2844 03 0 2047 CAN CBM DP order no C 2844 05 0 536870911 form x 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 29 length x This byte specifies the number of data bytes which are to be transmitted on the Tx identifier which 1s defined here CAN CBM DP Software Manual Rev 2 0 55 Page Mode endconfig The PLC has to be told whether another data block 1s 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 identifier has been defined this 1s indicated to the FB2 by specifying the hexadecimal value EEEEEEEFE as last Tx dentifier definition FB2 will then continue with the configuration of the Rx identifiers The 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 1
76. le with the order no C 2844 05 supports 29 bit dentifier too 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 29 length Here the number of data bytes of the Tx identifier is specified Entries between 1 and 8 are permissible 50 CAN CBM DP Software Manual Rev 2 0 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 is as follows Fra eos EC CO a CD BR 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 48 From byte 8 in 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 The CAN CBM DP module with the order no C 2844 03 supports 11 bit identifier 0 2047 decimal The CAN CBM DP module with the order no C 2844 05 supports 29 bit dentifier too form Via this byte you can choose whether the output data is to be converted from Motorola data format of the PLC into Intel
77. lication 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 BIT15 domain transfer is on O BIT14 SPB M033 yes gt jump L INIT LIST DB T t016 AUF DB t016 open DB with init list M012 L 127 maximum 127 motors L MOTOR 1 T 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 byte number SLW 3 means 8 byte number bit address T t000 L 0 means motor not present L DBW t000 get DB number to init this motor T INIT DB I SPB M012 to next motor L W 16 FFFF means motor not needed to initialize I SPB M012 to next motor L t000 16 T t000 L DBW t000 get offset in the actual init DB T ZINIT OFFSET L ZMOTOR motor no L W 16 600 I T ZTX ID L ZMOTOR motor no L W 16 580 I T RX_ID UN BIT15 S BIT15 M033 CALL FB 1 DB101 transfer BIT15 tx id TX_ID rx id RX_ID write address cw ZWRITE 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 016 status of setup 1 SPB M034 UN ZFREIGABE SPB M014 L INIT LIST DB
78. ly 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 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 EY data length for transmission jobs Tx PLC loop counter has to be incremented in pulse with OBI in order to tell the gateway the OBI cycle mA sub command always set to 0 0 l 2 3 4 5 6 7 8 9 10 11 mA command description refer page Table 5 3 1 Write bytes of the Communication Window CAN CBM DP Software Manual Rev 2 0 33 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
79. 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 54 CAN CBM DP Software Manual Rev 2 0 Page Mode FREIGABE WRITE ADDRESS WRITE CONFIG DB DB94 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 ofthe first segment of the output page is transferred to 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 Tx Identifier 1 length 1 definition of Tx Id 1 Tx Identifier 2 length 2 definition of Tx Id 2 Tx Identifier 3 length 3 defin
80. on program older than 12 1999 the missing entry of the configuration data would be interpreted as 0 and the SYNC and START functions would be deactivated therefore 5 1 3 Assigning the Slots of the DP Slave The desired number of slots to be used by the T SIMATIC 300 Station 2 Configuration can315_1 fly Station Edit Insert PLC View Options Window Help DP slave for data exchange is set by double E aal nao Mp Deal amp Bale doll k clicking the device Universal Module for s EE OE each byte with activated DP slave window In the DP slave window the assigned slots are ETUR represented by a 0 EC Additional Field Devices BH UO 00 BA SIMATIC pM Gateway P H DP RS232C Link 23 DP Slave eS DP DP Coupler B CAN CBM DP ett AE Module D Order Number T PO 3 Preis Unis ersal Module Ga Closed Loop Controller E T Module ER LJ Configured Stations 0 Universal Module pp CP 342 5 as DP Master rivers Module DPS 0 Universal Module 0 Universal Module 0 ju niversaldodue Fig 5 1 3 Setting the parameters Press F1 for help CAN CBM DP Software Manual Rev 2 0 27 Configuration via SIMATIC Manager 5 1 4 Configuration of Slots In order to configure the slots the slot entry has to be double clicked A properties window opens in which the simulated PLC slots are configured Below two examples with 11 bit identifiers are sh
81. on the right below and the CAN CBM DP module can be configured as described in the following chapter Offline configuration In offline operation you configure the CAN CBM DP module as described in the following chapter In order to transmit the configuration to the CAN CBM DP module after it has been configured offline you have to execute the command Save to from the DPCAN menu The DPCAN menu will be described in detail in one of the following sections CAN CBM DP Software Manual Rev 2 0 69 Parameter Display and Configuration via C CT 7 2 4 Configuration of the CAN CBM DP Module In order to configure the CAN CBM DP module you have to select menu point Data Mapping from menu File or click the Data Mapping button in the tool bar EY CICT CAM Interface Configuration Tool C5C595 2 for CAN File Data Mapping Data MENGEN Intern M N vt apping HENNEN ELEN eo Fig 7 2 4 Select menu point Data Mapping The following dialog box appears CAN CBM DP Data Mapping CAN CANopen for 1 network Into Fig 7 2 5 Data Mapping dialog box 70 CAN CBM DP Software Manual Rev 2 0 Parameter Display and Configuration via CICT 7 2 4 1 Properties in the Data Mapping Dialog Box In the Data Mapping dialog box the parameters set via PROFIBUS can be displayed after they have been read in from the module The parameters Sync Time and Wakeup Time can also be changed Parameters CAN ID and Format can
82. op 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 34 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 33 if unequal go to 6 if equal go to 3 Evaluation of Read Bytes of Communication Windows refer to page 34 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 33 with increased loop counter value of 3 and if necessary new application data Continue PLC programm new request at the next programm cycle 3 Increase PLC loop counter Byte 13 of Write Bytes of Communication Window refer to page33 CAN CBM DP Software Manual Rev 2 0 Configuration via SIMATIC Manager 2 Start Transmission Command by Writing the 16 Bytes of the Communication Window 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 7 0 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 ns m fe eT Rf E E command transmitdata i A a o Th
83. oth entries are equal That means that the last specification is valid Note If the software is updated to a version 1 03 when using an existing application program older than 12 1999 the missing entry of the configuration data would be interpreted as 0 and the Wakeup Time function would be deactivated therefore The CAN CBM DP module can cyclically transmit the commands SYNC and START for simple CANopen applications The SYNC Time for the transmission can be specified in the properties window as described above via the Communication Window or via the tool CICT The specified cycle is used for the SYNC command as well as the START command It is specified in milliseconds SYNC Time is specified as a decimal value here Value range dec in ms ME No SYNC and Start transmissions possible SYNC Time 1 65534 SYNC Time and Start Time in milliseconds 1 65534 ms 65535 Use current value from gateway default Table 5 1 4 Function of parameter SYNC Time CAN CBM DP Software Manual Rev 2 0 Configuration via SIMATIC Manager Attention SYNC Time can be set in three different ways 1 As described above 2 Via bytes 4 and 5 of the Communication Window refer to page 37 Via the configuration tool C CT refer to page 73 All three specifications are equal That means that the last specification is valid Note If the software is updated to a version gt 1 03 when using an existing applicati
84. own Data direction input Data direction output PLC address 172 decimal PLC address 172 decimal Length 6 Length 6 Unit byte Unit byte Consistent for whole length Consistent for whole length Identifier 0289 hexadecimal Identifier 0309 hexadecimal Form byte B8 hexadecimal Form byte B8 hexadecimal DP Slave Properties x DP Slave Properties x Address ID Address ID 170 type Direct Entry 170 type Output Direct Entry Output Address Length Unit Consistent via Start 172 E Byte Total Length End 177 _ Part process image No o Input Address Length Unit Consistent via Start 172 5 Byte Total Lenath End 177 Part process image r Comment m m Comment Manufacturer specific data max ES Manufacturer specific data max 14 bytes hexadecimal separated nod 14 bytes hexadecimal separated 02 83 88 by comma or space 03 09 84 by comma or space Cancel Help Fig 5 1 4 Example Configuration of input Fig 5 1 5 Example Configuration of output data data 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 1f no output 1s defined If no CAN is to be assigned when an output is defined it is permissible to specify the value 07F8 hex as an identifier here The individual
85. parameters ofthe 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 disk Afterwards the settings are transmitted to the PLC by means of menu points Target System Load in Unit 28 CAN CBM DP Software Manual Rev 2 0 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 for 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 1s only to be set to whole length if required because the transmission as unit 1s faster Note If the data is to be transmitted consistently for the entire length you have to specify this here and you have to use SFC14 and SFC15 refer to Step7 PLC Manual In field Comment the CAN identifier and then the control byte form each divided by commas are transmitted in the first two bytes The data format for all properties is hexadecimal Note The CAN CBM DP module with the orde
86. r no C 2844 05 can handle 29 Bit CAN identifiers 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 identifier 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 1s used to convert the user data from Motorola format high byte first into Intel format low byte first CAN CBM DP Software Manual Rev 2 0 29 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 1s to be converted as well i e swapped or not Ifa 1 is specified for a byte the following bytes are converted until the next 0 transmitt
87. rmText lt 1234 Unit Diag Bit 0000 Unit Diag BET Unit Diag Bit Unit Diag Bit Unit Diag Bit Unit Diag Bit Unit Diag Bit 0006 Wert 0 Unit Diag Bit 0007 Wert 1 Wert 2 Wert 3 Wert 4 Wert 5 1234 Wert 6 Wert 7 Wert 9 Wert 9 Wert 10 1234 Wert 11 Unit Diag Bit 0008 Unit Diag Bit 0009 Unit Diag Bit 0010 Unit Diag Bit 0011 Unit Diag _ Bit 0012 Wert 12 Unit Diag Bit 0013 Wert 13 1234 Unit Diag Bit 0014 Wert 14 Unit Diag _ Brtt00L5 Wert 15 Unit Drag Area 0 5 1234 Value 0 Fehlerfrei 1234 Value 1 Fehler auf Eingang 0 23 1234 Value 2 Fehler auf Ausgang 0 15 1234 Value 3 24V ausgefallen 1234 Unit Diag Area End 1234 Max Diag Data Len 16 max Modul Offset 0 D ab GSD Revision 1 Max User Prm Data Len 9 PrmText 1 Text 0 1000 666 6 kbit s 500 kbit s 333 3 kbit s y 250 kbit s y 166 kbit s y 125 kbit s y 100 kbit s 66 6 kbit s 0 ie 2 kbit s To UU kbit s 33 3 kbit s kbit s 2 5 kbit s Text 13 10 kbit s EndPrmText PrmText 2 Text 0 No Text 1 Yes EndPrmText PrmText 3 Text 0 Yes Text 1 No EndPrmText ExtUserPrmData 1 CAN Bitrate Uns
88. s 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 into the mode of operation and be able to use the contained functional and data blocks according to your demands The Page Mode is activated for instance via the SIMATIC manager SIEMENS PLC S7 during the configuration of the gateway in the DP slave properties window refer to page 24 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 The Communication Window is set up and handled like in normal operation see page 31 The Communication Window must be defined in the last segment however Note Using the Communication Windows CW 1s only useful to configure the connected CAN devices If the connected CAN devices have been configured the normal page mode PM is to be preferred The CAN CBM DP modul
89. sed 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 recommendable 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 12 2 5 Parameter Telegram CAN Bit Rate In addition to the seven standard bytes of the configuration the CAN CBM 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 23 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 8 CAN CBM DP Software Manual Rev 2 0 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 ofthe gateway The data exchange between PROFIBUS and CAN requires two c
90. smission 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 52 CAN CBM DP Software Manual Rev 2 0 Page Mode IIT 1 8 here 6 ESE 1 8 here 4 le Contents page no protocol data daaofRxidm ferl 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 is 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 CAN CBM DP Software Manual Rev 2 0 53 Page Mode 6 5 Using the Page Mode with FBs and DBs The previous chapter has described the principal function of the Page Mode and the assignment of pages to show the functionality The product package ofthe 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
91. splays the module No whose values are to be displayed 7 2 7 3 Config Modules CAN CBM DP Config CANopen Modules EJ Het o Module No Tx SDO Rx SDO Motorola Format Index Sub Index o Data Status mu spot aa Close Fig 7 2 16 Window Config CANOPEN Modules Net Net indicates the CAN network for which the CANOPEN standard objects from the CANOPEN module specified under Module No are to be determined A 0 indicates CAN network 1 and a 1 indicates CAN network 2 The value can only be changed for CAN interface modules which have more than one CAN network Module No Module No displays the module No whose values are to be displayed Tx SDO Rx SDO TxSDO and RxSDO indicate the transmission or reception CAN identifier for the CANOPEN module No specified under Module No Index Indicates the index of the SDO Sub Index Indicates the sub index of the SDO Data Here the data is entered which is to be written or the received data 1s displayed CAN CBM DP Software Manual Rev 2 0 85 Parameter Display and Configuration via CICT Status Status shows the kind of a response received for a read request Read button or write request Write button and the data received The data behind the status display are displayed as they are received via the CAN bus The following status messages are implemented Ok At a read request the received data 1s displayed At a write request no further data is displayed T
92. ssigned page Start End Here the first and last entry of a page are represented by a 1 CAN CBM DP Software Manual Rev 2 0 79 Parameter Display and Configuration via CICT 7 2 5 Configuration Example The configuration example shown in the following figure will be explained in the table below CAN CBH DP Data Mapping CAN CANopen for 1 network File CEM DF Parameter Diagnose Maintenance Help DP Address CAN Baudrate kBit s Flags read only Lew res Fores NR J CS TCM AS T PH Time ms Wakeup Time Cycl Sync Time D User Parameter Info Index IFO DP Byte Length LAM Id Format Type Config By DP 0189 030 Ax 0209 030 TX TBD TBD RX 0305 OBS TX Communication Window Fig 7 2 11 Example configuration The properties shown above have the following meaning Q S WE OLO 000 1 000 02 0189 80 RX this entry can not be changed 001 o 000 02 02 0209 180 HE entry can be changed 002 1 002 02 rr 00 RX PN the identifier has to be set nan eo 004 lo 004 FFEF 00 TX N communication window 005 end mark wee These parameters are changable if ConfigByDP N Table 7 2 12 Explanation of some parameters by means of an example configuration 80 CAN CBM DP Software Manual Rev 2 0 Parameter Display and Configuration via CICT 7 2 6 Managing the Configuration Files Loading the Configuration from the CAN CBM DP Module In order to load the configuration
93. the gateway first The gateway then returns the setup data in page 1 The product package contains a function block which is 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 CAN CBM DP Software Manual Rev 2 0 49 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 is as follows pre qeojrpo sepepo e s o e ubvo boo Depepe n is jo fo Length bytes D Contents page no protocol data parameters of Tx identifier 1 parameters of Tx identifier 2 as s wa Js s ow Ps Table 6 4 4 Structure of pages 51 150 Bytes 0 to 7 contain the protocol information already mentioned above refer also to page 48 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 Txld value These four bytes specify the numeric value of the Tx identifier The CAN CBM DP module with the order no C 2844 03 supports 11 bit dentifier 0 2047 decimal The CAN CBM DP modu
94. the port COMI COM2 you do not have to set any parameters Properties E4 Number of DAN nets fi Type Protocol CSC515 CSC595 1 DeviceNet DeviceNet CANopen Fig 7 2 2 Settings of menu Properties 3 By pressing the OK button or by pressing the gt Enter lt key the selection of the hardware to be configured is completed These settings are stored in the INI file and are available at once when you call the program the next time 68 CAN CBM DP Software Manual Rev 2 0 Parameter Display and Configuration via CICT 7 2 3 Online Offline Configuration The CAN CBM DP module can either be configured in online or offline operation During online configuration a connection must be available between PC and CAN CBM DP module by means of the serial interface If you configure offline the connection to the CAN CBM DP module only has to be established after all configuration parameters have been entered in the CICT program Online configuration In order to configure online you have to select menu point Connect from menu File or click the Connect Disconnect button in the tool bar EY CICT CAN Interface Configuration Tool C5C595 2 for CAN View Help ENT Data Mapping DeviceWeb teer Connect Button Intal Earameten Properties Exil Fig 7 2 3 Select menu point Connect Ifa connection to the CAN CBM DP has been established the message ONLINE appears in the status line
95. tomatically It does not have its own mains switch During start up LEDs 2 PROFIBUS LED and 3 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 If the projection complies with the structure the CAN CBM 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 1s transmitted from the CAN CBM DP module to the CAN bus When the CAN CBM 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 21 CAN CBM DP Software Manual Rev 2 0 11 Implementing and Diagnose 3 3 Diagnose via LED Display 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 LEDS Coding Switch SW 11 Coding Switch SW210 Fig 3 3 1 Position of LEDs CAN bus status module PROFIBUS status PROFIBUS data exchange 12 0 Toff no power supply check the 24 V power supply no power supply check the 24 V power supply 1x short flash en
96. trigger or prevent interrupts unintentionally and a faultless function cannot be guaranteed anymore Therefore please execute these functions reading and writing of memory cells only after you have specifically talked about it with esd By means of the Memory dialog data can be read or written in memory and controller of the interface module Address Address specifies the address from which the module is to be read out Data Editing field for entering data which 1s to be overwritten Depending on the format selected values in the range of 00 FF hex or 0000 FFFF hex can be entered here Lines Number of lines which are to be read a maximum of 16 lines Therefore a total of 256 bytes or 128 words depending on the format selected can be read in a read access Format By means of Format you can select the display of data Changing the format influences both the data on the list and the maximum value which can be entered the entry field Data If the format is changed from Byte to Word or vice versa the memory is read in completely again Dump Memory By clicking the Dump Memory button n times 16 bytes or n times 8 words are read in at the address specified under Address Here n indicates the number of lines specified under Lines Set Memory By clicking the Set Memory button the byte or the word 1s overwritten at the address specified under Address CAN CBM DP Software Manual Rev 2 0 87 Examples 8 Examples 8 1 App
97. ucture The maximum length of the page depends on the configuration of addresses made by the user see page 45 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 ofthe page During configuration this data contains e g the definition of identifiers during operation the data of the identifiers depending on page no user data 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 and the functional and data blocks which are available Function Formal operand CN ee output DB96 gt m 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 48 CAN CBM DP Software Manual Rev 2 0 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
98. urse of Configuration The CAN CBM DP module is configured via the PROFIBUS or the serial interface by means of tool CICT limited configuration The configuration via the PROFIBUS is of higher priority 1 e the PROFIBUS configuration overwrites the configuration made via the serial interface It is not possible to change parameters which have been set via the PROFIBUS by means of the serial interface Note Without correct configuration via the SIMATIC manager the CAN CBM 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 CBM 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 CBM DP module 1 Select CAN CBM DP Select menu Hardware Catalogue and there Additional Field Devices and Other There select GSD CAN CBM DP 2 Set PROFIBUS Address Set the PROFIBUS address as described in chapter 5 1 1 on page 22 3 Parameter Telegramm 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 23 4 Assignment of the Slots of t
99. 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 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 is HW Config SIMATIC 300 1 Configuration sig_tetra 13 x ill Station Edit Insert PLC View Options Window Help 8 x Dee S Sje doll afm Bl rel Profile Standard sl PR OFIBUS 1 DP Master System 1 PROFIBUS DP SIMATIC 300 17 CAN C SIMATIC 400 LP 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 WakeUp Time 0 0ff 255 D efault Sync Time O 0ff 65535 D efault CO OO Ol amp co poy Abbrechen Hilfe PROFIBUS DP slaves for SIMATIC 57 M7 Zn B C7 distributed rack Press F1 for help Fig 5 1 2 Setting the parameters in the DP slave properties window Note 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
100. y means of coding switches at the module When switching on the module the hexadecimal PROFIBUS address set is requested The settings have to be changed before switching on the module because changes are ineffective during operation The address range which can be set is hexadecimal 03 to 7C or decimal 3 to 124 If an address is set which is smaller than 3 decimal or smaller than 03 HEX address 3 is valid If an address is set which is larger than 7C HEX or larger than 124 decimal address 124 is valid The upper coding switch SW211 HIGH is used to set the MSBs while the LSBs are set by means of the lower coding switch SW210 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 CAN CBM DP Software Manual Rev 2 0 7 Functionality of the local Firmware 2 2 User Data The CAN CBM 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 is 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 31 each are assigned to a Tx or Rx identifier The same identifier cannot be u
101. ycles instead of one PLC cycle CAN CBM DP Software Manual Rev 2 0 9 Implementing and Diagnose 3 Implementing and Diagnose 3 1 Prerequisites for Implementation This chapter describes the implementation of the CAN CBM module at a PROFIBUS which is controlled by a Siemens SIMATIC S7 300 or S7 400 In order to be able to implement the module as will be described here you need the configuration program SIMATIC Manager with the tool HW configurator Note for CANopen Configure the CAN CBM 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 CBM DP module can be identified as CANopen slave 3 2 Implementation 3 2 1 Strategy Please make the following steps to implement the module Install and wire the CAN CBM 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 CBM DP module Configure the settings of the CAN CBM DP module in the PLC via the SIMATIC manager Switch on the power supply for the CAN CBM DP Now the module has to run The CAN CBM DP module is now automatically configured via the PLC 10 CAN CBM DP Software Manual Rev 2 0 Implementing and Diagnose 3 2 2 Start Up After switching on the power supply the CAN CBM module starts au

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