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(R2-x) CANopen for Runtime Systems

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1. Reset of all configured slaves at system s startup In order to reset the slaves per default the NMT command Reset Remote Node is used explicitly and singly for each slave As per CANopen NMT Network Management The particular commands are described in document DSP301 The experience of some users has shown that it is reasonable to reset the slaves with a Reset All Remote Nodes command in order not to overstress the receive capacities of lower performing slave controllers This is possible by setting the appropriate flag in the application program Polling the slave device type via SDO Requesting object 0x1000 and comparing it to the configured Slave ID Issuing an error state for those slaves that do not fit the configured type If no device type has been received at all the polling will be repeated after 0 5 seconds except the slave is marked as optional in the configuration Configuration of all error free devices via SDO Each SDO is watched for a response and will be repeated if the slave does not respond within the watch time Automatic configuration of slaves via SDOs that send a boot up message to the master while the bus is in operating mode Starting all slaves after having configured them faultlessly if option Automatic startup has been activated for the CAN Master For starting normally the NMT command Start remote node is used As is the case with Reset this command can be replaced by St
2. During the guarding of the boot up phase it must be regarded that per IEC cycle of the task which calls the CANopen Master also see implicit calls only one SDO can be transmitted to each slave That is the boot up phase might take long time depending on the maximum number of SDOs which must be transferred to a slave 2 4 4 7 1 Access on the state of the CANopen Master In order to avoid that application code is processed although the IO network is not yet ready the status of the master must be polled IF pCanOpenMaster 0 nStatus 5 THEN lt application code gt END_IF 2 4 4 7 2 Time guarding in the boot up phase VAR Guarding TON iSlave INT bSlaveFound BOOL END_VAR Guarding IN pCanOpenMaster 0 nStatus lt 5 PT T 10 IF Guarding Q THEN figuring out whether there is a non configurable slave FOR iSlave pCanOpenMaster 0 nFirstNodeNr TO pCanOpenMaster 0 nLastNodeNr DO IF pCanOpenNode iSlave nStatus lt 4 THEN bSlaveFound TRUE EXIT END_IF END_FOR END_IF After this sequence in variable iSlave the number index of the fist slaves appears which is still in status 3 after expiration of the guarding time This example only is valid for a non optional slave Optional slaves must be managed by the application because it is not always recognizable whether they are available or not The startup phase will be validated as OK even if optional slaves are not available 26 DMS 2 0 EN 0
3. 2 SDOs for identification In the following the states of the master and slave are described so that they can be influenced from the user program if required 16 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 4 3 1 Start up of the CANopen Master During start up of the CAN network the master runs through various states which primarily can be read from variable nStatus States 0 1 and 2 are run through by the master automatically within the first cycles after a PLC start Status 3 of the master is kept for some time In status 3 the master configures its slaves For this purpose the slaves get sent one after the other all SDOs which have been created by the configurator After having transmitted all configuration SDOs to the slaves the master changes to status 5 and remains in this status Status 5 is the normal operation status for the master After once having reached this status the master remains in status 5 All other states are managed by function blocks representing the slaves If a slave does not respond on a SDO request upload or download the request will be repeated by the respective function block The master leaves status 3 as mentioned above but not until all SDOs have been transmitted successfully Thus it can be detected whether a slave is missing or cannot correctly receive all SDOs Thereby it is irrelevant for the maste
4. ProductVersion 1 ProductRevision 1 OrderCode xxxx yyyy ZZZZ LMT_ManufacturerName 3S GmbH LMT_ProductName 3S_Dev BaudRate_10 1 BaudRate_20 1 BaudRate_50 1 BaudRate_100 1 BaudRate_125 1 BaudRate_250 1 BaudRate_500 1 BaudRate_800 1 BaudRate_1000 1 SimpleBootUpMaster 1 SimpleBootUpSlave 0 ExtendedBootUpMaster 1 ExtendedBootUpSlave 0 DummyUsage Dummy0000 0 Dummy0001 0 Dummy0002 0 Dummy0003 0 Dummy0004 0 Dummy0005 0 Dummy0006 0 Dummy0007 0 Lenze DMS 2 0 EN 05 2009 TD29 33 L force PLC Designer CANopen for Runtime Systems CanDevice MandatoryObjects SupportedObjects 2 1000 SubNumber 0 ParameterName Device Type ObjectType 0x7 DataType 0x7 AccessType ro DefaultValue 0x191 PDOMapping 0 1001 SubNumber 0 ParameterName Error Register ObjectType 0x7 DataType 0x5 AccessType ro DefaultValue PDOMapping 0 OptionalObjects SupportedObjects 8 1 0x1003 2 0x1005 3 0x100C 4 0x100D 5 0x1014 6 0x1016 7 0x1017 8 0x1018 ManufacturerObjects SupportedObjects 5 1 0x3000 2 0x3001 3 0x3002 4 0x4000 5 0x5000 1003 SubNumber 2 ParameterName Predefined error field 1003sub0 ParameterName Number of entries ObjectType 0x7 DataType 0x5 AccessType rw DefaultValue 1 PDOMapping 0 1003sub1 ParameterName Predefined Error field ObjectType 0x7 DataType 0x7 AccessType rw DefaultValue 0x0 PDOMapping 0 34 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen f
5. which cannot be mapped via the Parameter Manager in a variable These entries only appear in array ODentries at runtime In the monitoring mode online mode of PLC Designer all object dictionary entries can be viewed in the global variables list of 3S_CanOpenDevice lib The access on the content of these objects must exactly as the accesses on the parameter lists of the Parameter Manager be done application controlled Uniquely the index of the entry must be evaluated For this purpose write in the following example for the first CanDevice in the configuration Index FindBinary 16 iiiissO0 CanOpenDev 0 wODStart CanOpenDev 0 wODEnd After that the content of the object can be read via GetODEntryValue Index With SetODEntryValue the content of an object can be manipulated Alternatively a direct access on the content is possible if it is known like it is always the case for implicit objects that the basis data type is a numeric type ODEntries Index dwContent xxxxx 3 6 3 Changing the PDO properties at runtime If the properties of a PDO should be changed during runtime this can be done by another node via SDO write accesses like described by CANopen Alternatively a new property can be written directly like e g the event time of a send SDO and subsequently a StartNode NMT command can be sent to a node although this node is started already This effects that the device will re interpret the object dictionary
6. 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CanDevice 3 4 Generate EDS file If an EDS file should be generated from the configuration of the CanDevice in order to be able to use the device in the configuration of a CANopen Master it is sufficient to activate the functionality in tab Base settings Additionally the file name of the file to be generated must be defined The file will be generated during the compilation of the project Optionally a template for the EDS file can be specified Entries available in the template will not be overwritten by PLC Designer So it is possible to define parts of the EDS file which should not be changed by a template file All the user defined entries in the Parameter Manager get the initial value of a variable variable list or the entered value parameter list as the DefaultValue in the EDS file In the following see an example showing the content of an EDS file in detail FileInfo FileName D PLC Designer lib2 plcconf MyTest eds FileVersion 1 FileRevision 1 Description EDS for PLC Designer Project D PLC Designer CanOpenTestprojects TestHeartbeatODsettings_Device pro CreationTime 13 59 CreationDate 09 07 2005 CreatedBy PLC Designer ModificationTime 13 59 ModificationDate 09 07 2005 ModifiedBy PLC Designer Devicelnfo VendorName 3S Smart Software Solutions GmbH ProductName TestHeartbeatODsettings_Device ProductNumber 0x33535F44
7. Always when an emergency message has been sent this variable is set TRUE bClearResetFlags BOOL The application can set this flag to reset the flags that show the reception of reset NMT messages bClearODEntryWritten BOOL The application can set this flag to reset the flags that show write access to the object dictionary blnit BOOL Used to detect the first cycle bMsgUsed BOOL Internal variable always set when a device message was used by the device bUseOldBootupToo BOOL Flag which can be set by the application in the first cycle in order to cause the device to send also the old bootup message emergency with 0 bytes data length bGuardError BOOL Set by the library if no guard message has arrived within a time span of GuardTime LifeTimeFactor ucState BYTE 127 Current status of the device according to CANopen 38 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems bHeartbeatError BOOL bResetCommReceived BOOL bResetNodeReceived BOOL bEnterPreOpReceived BOOL bODEntryWritten BOOL iLastODEntryWritten INT i ildx INT dwidx DWORD dwldxHelp DWORD bSDOReadrgActive BOOL FALSE bSDOWritergActive BOOL FALSE bSDOReadrspAbort BOOL FALSE bSDOWriterspAbort BOOL FALSE ucModus BYTE dwODEValue DWORD bSwap BOOL byAbortCode ARRAY 0 3 OF BYTE ildxCom INT dwidCom DWORD dwIdMap DWORD ildxMap INT iPDOcur IN
8. Dynamic SDO connections e Blockwise SDO transfer e The guarding of more than one heartbeat from the CAN Device viewpoint e Network variables according to CANopen specification DS302 e Modules according to DS405 e All possibilities of the CANopen protocol not mentioned above 2 2 CANopen for the user 2 2 1 Used modules To realize the CANopen library easily and practically the following modules are necessary For a simple and practical realization of the CANopen function under a PLC Designer programmable PLC the following modules are required e A PLC Designer programming system as from version V2 3 SP5 with integrated CANopen configurator e The STANDARD LIB providing the standard functions defined in IEC 61131 for the PLC e In PLC Designer programmable multitasking systems the libraries SysLibSem lib semaphores for the exclusive processing of certain code sections and SysLibCallback lib IEC function calls at certain events are used to get a multitasking save access on CAN e EDS files for all slaves which are part of the network The EDS files are provided by the hardware manufacturer of the CANopen Slaves e The library 3S_CANDRV Lib realizing the CAN base functions The library is hardware dependent and must be available as external or internal PLC Designer library This library usually is provided by the PLC manufacturer and has a uniform interface to 3S_CANOPEN lib e The library 3S_CanOpenManager
9. Lib providing the CANopen base functionalities e One or several of the libraries 3S CanOpenNetVar 3S CanOpenDevice and 3S_CanOpenMaster Depends on the desired functionality 6 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 2 2 How to create a project with CANopen The creation of a new project with CANopen will be described step by step in the following It is assumed that the PLC Designer programming system is installed and that also the target and EDS files have been installed resp copied correctly Note A description of the dialogs and menu commands of the CAN PLC Configurator is available in the PLC Designer user documentation User Manual Online Help 2 2 2 1 Creating a new project and target selection After having started PLC Designer choose gt File New In the Target Settings dialog select the desired target system Then in tab General activate option Support CANopen configuration If this option is not available in the dialog and no CAN Master can be inserted in the PLC Configuration this means that the target does not support CANopen 2 2 2 2 Create the PLC application After having closed the target settings dialog by OK PLC Designer automatically opens a dialog for adding the main POU PLC_PRG After having selected the programming language ST LD FBD and closed the dialog with OK you can start programming an application 2
10. PLC Designer CANopen configurator per default creates the following SDOs Read access on object 0x1000 in order to check the type of the node Write access on all objects of the EDS file which in the current configuration are not matching the default value defined in the EDS file and which have got assigned read access in the EDS file If in the current configuration Create all SDOs is activated all communication and mapping parameters 1400er 1600er 1800er and 1A00er objects are created each time the ServiceData objects own tab in the configurator however still only in case of a modification towards the EDS file 5 2 Monitoring transmit buffer overruns In the global varlist of the 3S_CanOpenManager lib now an array of flags is available for monitoring transmit buffer overruns to the application g_CanMgrTxBufferOverrun lt Controllerindex gt The application can use these flags for diagnostic and messaging purposes The flags have to be reset by the application The library sets the flags only Lenze DMS 2 0 EN 05 2009 TD29 47 L force PLC Designer CANopen for Runtime Systems Appendix 5 3 FAQs Frequently Asked Questions See in the following some frequently asked questions and the appropriate answers Also regard the example files and projects provided with the document 5 3 1 F1 F2 48 CANopen Functionality Concerning the CANopen slave configuration Is it true that the object li
11. a CanDevice Module CanDevice Name CanDevice Id 78379 DeviceType CANDEVICE BasisPrmDIg FALSE Class lt class which can be inserted at the root module of the PLC configuration gt Icon codsmall ico optional FixedNumOfPDOs 1 optional default mapping is set to 4 PDOs Now you get the following configuration dialog ioi xi E Steuerungskonfiguratior A 6andevicevanj JF Pave setings CAN setings Defaut PDO manor Bus identifier CAN1 Name of updatetask r EDS file generation IV Generate EDS file Name of EDS file D plc1 EDS Browse Template for EDS file Browse 30 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CanDevice 3 3 CanDevice Settings Bus identifier currently not used Name of updatetask Name of a task in which the CanDevice is called If from the current settings an EDS file should be generated in order to be able to include the CanDevice in any desired master configuration activate option Generate EDS file and enter a file name Optionally in addition a template file can be specified the entries of which will be added to the EDS file of the CanDevice In case of overlaps the defaults of the template will not be overwritten In tab CAN settings Base settings CAN settings Default PDO mapping Node id fi Device Type o1 31 Baud rate 125000 hei Automatic startup m Node guard
12. an expedited or a segmented transfer bWriteActive BOOL bReadActive BOOL DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CANopen Master library dwDataOffset DWORD After the data transfer the number of actually read resp written bytes appears in this variable dwDataReadLength DWORD The estimated length of a SDO upload from the 1 response message ucUploadRequest BYTE bLastToggle BOOL iCurSDODataLen INT ucDownloadRequest BYTE END_VAR In order to be able to use this module for each simultaneous transfer a static instance of the module must be created static means not as a local variable of a function It is not possible per CANopen definition to open multiple SDO channels to the same slave at the same time Send SDO expedited Mode The input parameters to be passed to the module address NodelD of the target node 0 based number of the CAN network on which the module should work the 4 data bytes index and subindex of the target object Further on the mode in which the module should work must be passed For sending of 4 Bytes mode 16 23 3 Bytes mode 16 27 2 Bytes mode 16 2B 1 Byte mode 16 2F Example If a 4 byte value should be written to a SDO server the call of the module must look like shown in the following sdo Enable TRUE wDrvNr 0 ucNodeld 2 windex 16 4002 bySubIndex 0 ucModus 16 23 aAbo
13. are expected Always only one ID is guarded at a time Internal Internal COBld on which the sync message is expected Configured syncWindowLength Configured sync interval Internal Internal Buffer for received messages Counter incremented with each cycle in order to get monitored the number of calls These values are passed to the driver to enable it to set an acceptance mask Internal Internal Internal for the segmented SDO transfer Internal for the segmented SDO transfer Internal for the segmented SDO transfer Internal for the segmented SDO transfer Internal for the segmented SDO transfer Internal for the segmented SDO transfer Internal for the segmented SDO transfer Internal for the segmented SDO transfer Internal must remain unmodified Check whether the driver has set a fatal error BusOff COBld used for sending emergency messages Internal Internal Set as soon as the first guard message has arrived Set as soon as the first heartbeat message has arrived Internally used in order to distinguish the abort codes Index not found and SubIndex not found Lenze L force PLC Designer CANopen for Runtime Systems CanDevice 3 6 2 Access on the object dictionary entries by the application program Naturally there are object dictionary entries which are mapped on variables Parameter Manager But there are also the implicitly generated entries of the CanDevice
14. cycle time by double clicking in the Value field Eg PLC configuration Ba ip Base parameters CAN parameters Module parameters E8400 StateLine C v Benes EPWT 11 V index Name vae Defaut 1 EnableDiags T Yes 2 UpdateTask MyLogicT ask All 2 Set the transmission type Cyclic synchronous and specify the sync at which the PDOs are to be transmitted E gg PLC configuration n s Hg CanMasterVAR Base parameters CAN parameters Receive PDO Mapping Send PDO Mapping Service Data Obje 8400 StateLir E Lenze EP M T PDO 0x1400 Id NODEID 512 PDO 021401 Id NODEID 768 PDO 0x1402 Id NODEID 1024 yet ae PDO properties 0x1400 COB ID NODEID 512 Inhibit Time 100ps 10 Cancel Transmission Type FRR TSMR tnt Number of Syncs 1 Event time ms The settings of the event time via the PDO characteristics dialog are not evaluated DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 3 Functionality of the libraries at runtime 2 3 1 Implicit services of the CANopen Master library The CANopenMaster library provides implicit services for the PLC Designer application that are sufficient for most of the implementations These services are integrated transparently to the user and are available within the application without the need of explicit calls Among those services there are the following
15. is activated Thereby the node will be reconfigured or just restarted depending on its status which is contained in the response on the nodeguard requests If option Autostart is not activated the application must call method NodeStart Depending on the last saved status which always is transmitted with the Heartbeat nodeguard message the node will be restarted or reset For heartbeat errors the same proceeding is applicable 2 4 3 3 Node does not respond in configuration phase The application can time guard the configuration phase of a slave and can set nodes which remain in status 3 to TimeOut The application can achieve this by calling method NodeSetTimeoutState of the node e g pCanOpenNode 0 NodeSetTimeoutState With NodeSetTimeoutState the status of the node will be set to 97 Thus subsequently the node can be treated like an optional node As soon as all configured nodes have reached a status gt 4 the master changes to status 5 normal operation where an exchange of process data via PDOs is done 18 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 4 3 4 Evaluation of the responses of the slaves on the configuration SDOs The application can log the complete configuration phase of a node thus can see each response The responses on the configuration SDOs appear in sdoConfig of the node structure for example in pCanOpenNode 0 sdoCon
16. task with a corresponding cycle time is created containing the program for the transmission The settings for the event time made in the PDO properties dialog will not be taken into account We recommend to use the cyclic synchronous transmission mode and to specify the sync triggering the transmission of the PDO See also page 8 Receiving PDOs from the slave gt to the master Dependent on the slaves event controlled request controlled acyclic and cyclic PDO mapping if supported by the slaves SDO sending and receiving unsegmented i e 4 bytes per object dictionary entry Automatic configuration of all slaves via SDOs at system start Application controlled sending and receiving of SDOs to configured slaves Synchronisation Automatic sending of sync messages by the CANopen Master Nodeguarding Automatic sending of guarding messages and guarding the lifetime for each correspondingly configured slave Lenze DMS 2 0 EN 05 2009 TD29 5 L force PLC Designer CANopen for Runtime Systems CANopen Master library e Heartbeat Automatic sending and guarding of heartbeat messages e Emergency Receiving and storing of emergency messages from the configured slaves e The direct communication between slaves via PDOs is possible but must be configured manually The following functions defined in CANopen are currently not supported by the Lenze CANopen library State May 2005 e Dynamic identifier assignment e
17. the message has reached the receiver The exchange is not done automatically but via calling function blocks in the application program 4 1 CAN network variables for the user To use the network variables with PLC Designer the user must perform the following steps 4 1 1 Preconditions A PLC Designer programming system Version 2 3 SP5 or higher must be installed and the following libraries must be available 3s_CanDrv lib 3S _CanOpenManager lib and 35_CanOpenNetVar lib PLC Designer automatically generates the required initialization code and the calls of the network POUs at the start and the end of each cycle 4 1 2 Target Settings Target Settings a x Configuration CoDeSys SP for Windows NT Realtime Target Platform Memory Layout General Networkfunctionality Visualisation J Support parameter manager IV Support network variables Names of supported networkinterfaces AN Example for a namelist CAN UDP DP DEVNET max 7 characters name Default Cancel Activate option Support network variables in the dialog box Target Settings tab Networkfunctionality At Names of supported networkinterfaces enter the name of the desired network e g CAN The required libraries will then automatically be included in the project with the next compile Lenze DMS 2 0 EN 05 2009 TD29 43 L force PLC Designer CANopen for Runtime Systems CAN network variables 4 1 3 Settings in the Global
18. the request of object 0x1000 and the device type entered in the PLC Configuration are not identical By setting the node status which should be 98 if bDevTypelnvalid is TRUE manually or by the IEC program to 4 the node nevertheless can be activated The application cannot write variable nStatus of a node For this purpose the method NodeStart or SetNodeStatus lt new state gt of the nodes must be used MsgBuffer CAN_Message Receive buffer of the node Internally only used for special messages a INT Counter just used for indicating whether the module is called IPDO WORD Internal variable used for browsing all PDOs belonging to the current slave END_VAR 2 4 3 Interpretation and reaction on the states of the library The phase step up of the CANopen network initiated by the master passes through the following states CANopen slave Action of master Response by slave phase step up ResetNode telegram s BootUp Telegramm BootUp received or waiting time of max 2 5 read param 1000 and configuration Automatic start option set StartNode telegram 4 StartNode received lt Es Special case Masterflag bUseStartAllNodes set 5 wait until all slaves identified in 4 then StartAllNodes During monitoring in PLC Designer these states can be seen in the global variables list Can Open implicit variables
19. to create new object dictionary entries which are not yet part of the default mapping Default PDO Mapping in the CanDevice configuration So e g for a PDO which contains one object mapped in the Default PDO Mapping it is not possible to map a second object in the master configuration Thus the mapping modified by the master configuration maximum can contain the PDOs defined in the default mapping Within these PDOs 8 mapping entries subindices are available Errors which possibly occur in this context are not indicated bit the redundant PDO definitions redundant mapping entries will be treated as non existent The PDOs always must be set up in the master starting with 1641400 receive PDO communication parameters resp 1641800 send PDO communication parameters and must follow each other without a break The default mapping of the CanDevice always is available after a program download It depends on the master configuration whether none available mappings not available in the master configuration but available in the default configuration will be explicitly overwritten by the master Lenze DMS 2 0 EN 05 2009 TD29 37 L force PLC Designer CANopen for Runtime Systems CanDevice 3 6 Working with the CanDevice in the application program 3 6 1 Module CanopenDevice The module is instanced once for each configured CanDevice The components of the function block are used as follows bAutoStart BOOL Setting of option A
20. variable Internal variable Internal variable Internal variable Internal variable Internal variable Internal variable Internal variable Internal variable always set TRUE when a bootup message should be sent Internal variable for sending the nodeguard response Toggle bit of the nodeguard response Historically Guarding timer for nodeguarding Flag always set when GuardLifeTime lt gt 0 Heartbeatproducer time According to this time interval heartbeat messages are created Timer for guarding the arrival of heartbeat messages DMS 2 0 EN 05 2009 TD29 39 L force PLC Designer CANopen for Runtime Systems CanDevice byHeartbeatConsumerlD BYTE bCurPDOChanged BOOL bTransmitCyclic BOOL dwSynchCobld DWORD dwSynchWinLen DWORD dwSynComCycle DWORD diHelp DINT dwHelp DWORD MsgBuffer CAN_Message a INT dwCobldPDOMin dwCobldPDOMax dwAcceptance DWORD bInitiateRspSend BOOL bInitiateWrReqSend BOOL iActiveSegSDORead INT 1 pActiveSegSDORead POINTER TO BYTE wSegSDOReadSendOffs WORD wSegSDOReadSendLen WORD iActiveSegSDOWrite INT 1 pActiveSegSDOWrite POINTER TO BYTE wSegSDOWriteRecvOffs WORD wSegSDOWriteRecvLen WORD wSwapCheck WORD 16 55AA bErrCodeNot0 BOOL dwEmergCobld DWORD iSDOWriteLen INT iSDOReadLen INT bGuardingStarted BOOL bFirstHeartbeatRecv BOOL bSubONotFound BOOL 40 DMS 2 0 EN 05 2009 TD29 ID on which heartbeat messages
21. 1008 1009 100A How can I do this A see chap 3 6 2 Access on the object dictionary entries by the application program Naturally there are object dictionary entries OD entries which are mapped on variables Parameter Manager But there are also the implicitly generated entries of the CanDevice which cannot be mapped to a variable via the Parameter Manager These entries are only visible at run time of the system in array ODEntries In monitoring mode online mode of PLC Designer all object dictionary entries can be seen in the global variable list of the 3s_CanOpenDevice lib The access on contents of these objects like the access on parameter lists of the Parameter Manager must be controlled by the application One time the index of the entry must be evaluated For this purpose write see here for the first CanDevice within the configuration Index FindBinary 16 iiiiss00 CanOpenDev 0 wODStart CanOpenDev 0 wODEnd After that the content of the object can be read with GetODEntryValue Index With SetODEntryValue the content of an object can be manipulated Alternatively the content can be directly accessed if which is always the case for implicit objects you know that it is a numeric base data type ODEntries Index dwContent xxxxx F12 If one writes from outside to my object dictionary can only recognize this by the change of the variable which is assigned to the respective index subindex Is it also pos
22. 10h 0607 0012h 0607 0013h 0609 0011h 0609 0030h 0609 0031h 0609 0032h 0609 0036h 0800 0000h 0800 0020h 0800 0021h 0800 0022h 0800 0023h Lenze Toggle bit not alternated SDO protocol timed out Client server command specifier not valid or unknown Invalid block size block mode only Invalid sequence number block mode only CRC error block mode only Out of memory Unsupported access to an object Attempt to read a write only object Attempt to write a read only object Object does not exist in the object dictionary Object cannot be mapped to the PDO The number and length of the objects to be mapped would exceed PDO length General parameter incompatibility reason General internal incompatibility in the device Access failed due to an hardware error Data type does not match length of service parameter does not match Data type does not match length of service parameter too high Data type does not match length of service parameter too low Sub index does not exist Value range of parameter exceeded only for write access Value of parameter written too high Value of parameter written too low Maximum value is less than minimum value general error Data cannot be transferred or stored to the application Data cannot be transferred or stored to the application because of local control Data cannot be transferred or stored to the application because of the present device state Object dictio
23. 2 2 3 Including the required libraries The needed libraries 3S _CanOpenManager LIB and 3S_CANDRV LIB and one or several of the libraries 3S_CanOpenNetVar Master Device lib must be included in the project For this purpose use command Window Library Manager and then for each of the libraries Insert Additional Library from the context menu of the library manager or from the menu bar Note When you insert one of the libraries 353 _CanOpenNetVar Master Device lib all libraries referenced by this library will be included automatically Including the libraries is an important step By the presence of the libraries PLC Designer can recognize that a CANopen project is done for which then special implicit program parts will be created automatically A description on the PLC Designer CAN configurator you find in the PLC Designer online help See there how to configure a CANopen Master and slaves After having included the CANopen libraries in the project you must insert a CANopen Master or Device before you can compile the project without any errors Lenze DMS 2 0 EN 05 2009 TD29 7 L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 2 2 4 Time controlled PDO transmission for Logic CAN For the time controlled transmission of PDOs at the CANopen Logic bus basically the assignment of a task with the corresponding cycle time is required 1 Forthe UpdateTask specify the task with the corresponding
24. 5 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 5 Implicit calls PLC Designer creates implicit calls to the CANopen libraries If PLC Designer is started with command line option debug these calls are stored to the compile directory as files name starts with CANopen extension is exp The calls are generated after the following pattern If there is no module parameter UpdateTask of the CAN master then all calls will be done in the task of the highest priority The CAN Master and all PDOs belonging to this master will be called in one task If parameter UpdateTask of the CAN Master is set the task specified there will be used for the calls If PDOs or the master are called according to the above described pattern in an event task a warning will be issued By adding an entry PDOsToReferenceTasks TRUE in the CANMASTER section of the target configuration file cfg you can achieve the following The calls of the CAN Master will be linked to a task and the PDOs will be created in those tasks in which the lOs of the PDOs are referenced Regard This entry in the cfg file may not be added without prior consultation of the PLC manufacturer 2 6 Object dictionary of the CANopen Master In some cases it is helpful if the CAN master has an own object dictionary e g for the data exchange of the application with other CAN nodes The object dictionary of the master i
25. EN 05 2009 TD29 45 L force PLC Designer CANopen for Runtime Systems CAN network variables 4 1 4 Generated calls An implicit variable list will be created For each PDO sending or receiving an array entry of type NetVarPDO_Rx_CAN resp NetVarPDO_Tx_CAN will be inserted For debug purposes a file containing the generated declarations will be created The file is named NetworkGlobalVars_CAN exp and will be found in the compile files directory Only if PLC Designer has been started with command line option debug Initialization code is generated which will initialize the generated data The initialization code will be called by the Globallnit POU which in turn is called immediately after a download in order to initialize the project data For each task which uses network variables initially a receive call will be generated for each PDO a sole instance of the POU NetVarManager_Udp_FB bzw NetVarManager_Can_FB will be called NetVarManager_CAN Atthe end for each task which uses network variables a send call will be generated for each PDO The calls all in all CAN_Read 0 NetVarManager_CAN pNetVarPDO_Rx_CAN 0 lt application code gt MgrClearRxBuffer wCurTask 1 wDrvNr 0 dwFlags 0 dwPara 0 pNetVarPDO_Tx_CAN 0 46 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems Appendix 5 Appendix 5 1 List of SDOs usually created for a slave The
26. IV Nodeguarding Guard COB ID 0 700 Nodeld Guard time ms 200 Life time factor Ro 007 m Heartbeat settings Activate heartbeat generation Heartbeat producer time fo ms Activate heartbeat consumer Heartbeat Consumer Time a ms Consumer ID jo Emergency telegram IV Emergency COB ID 0x80 Nodeld Here the Node id and the Baud rate can be set The Device Type default value of object 0x1000 entered in the EDS file is predefined with 0x191 Standard IO Device and can be arbitrarily modified by the user The Nodeguard parameters die Heartbeat settings and the Emergency COBID are defined here The device here only can be configured for guarding one heartbeat not for a list of hearbeat generators Normally it is sufficient for a slave to guard the heartbeat of its master In tab Default PDO Mapping Here the assignment between local object dictionary Parameter Manager and the PDOs sent received by the CanDevice is determined In the used object dictionary entries parameter lists of type Variables an assignment of object index subindex to variables of the application is done Thereby it must be regarded that subindex 0 of an index containing more than one subindices implicitly will be used to store the number of the subindices Lenze DMS 2 0 EN 05 2009 TD29 31 L force PLC Designer CANopen for Runtime Systems CanDevice Example Purpose On th
27. O_Rx 0 Implicitly created call e lt processing of the application code gt e pCanOpenPDO_Tx 0 Implicitly created call e MgrClearRxBuffer wCurTask 1 wDrvNr 0 dwFlags 0 dwPara 0 Implicitly created call for clearing the receive buffer 2 4 1 Structure of the CANopen Master If the libraries 3S CanOpenMaster 3S_ CanOpenManager and 3S_CanDrv lib are included in a project PLC Designer implicitly automatically will create a Global Variables List and before after the application code in certain tasks will add calls of library modules The Global Variables List is named CanOpen implicit Variables and will be filled by PLC Designer with the appropriate data from the PLC configuration Note To view the initialization code in ST without going online PLC Designer can be started by the command line option debug In this case besides other useful information the files CanOpenlnitcode exp and CanOpenBeforeTask AfterTask_ lt Taskname gt exp will be in the compile directory The variables list CanOpen implicit Variables in details The constants always indicate the bounds of the array which are declared in this variables list VAR_GLOBAL CONSTANT MAX_CTRLINDEX INT lt Maximum Index of the CAN controller in the CANopen configuration 0 if there is one controller 1 if there are two controllers etc gt END VAR VAR_GLOBAL CONSTANT USE CANOPEN NODES BOOL lt TRUE indicates w
28. PUT bError BOOL END_VAR VAR Konfig 12 sDrvName STRING 40 wBaudrate WORD nFirstNodeNr INT nLastNodeNr INT SyncTimer TON Historically not used Historically not used Baudrate as used in the configuration entered by PLC Designer Index of the first slave belonging to the current master entered by PLC Designer Index of the last slave belonging to the current master entered by PLC Designer Timer used for the generation of the sync message dwCOBID_Sync DWORD COBID of the sync message as used in the configuration entered by PLC Designer dwHeartbeatTime DWORD Heartbeat generation time in ms entered by PLC Designer nNodeld WORD HeartbeatTimer TON Nodeld of the master as used in the configuration entered by PLC Designer Timer which is used by the master for heartbeat generation DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CANopen Master library bSendHeartbeat BOOL Internally set and reset by the master whenever a heartbeat message should be sent and as soon as it has been sent byHeartbeatState BYTE According to the state of the master here the CANopen conforming states 0 4 5 or 127 are entered which are sent with the heartbeat message wODMFirstldx WORD Index of the first MasterOD entry in array ODMEntries wODMCount WORD Number of ODMEntries
29. SHPPLCDCAN wen L force Engineering Software Manual PC based Automation PLC Designer Drive programming PLC Designer CANopen for Runtime Systems Lenze L force PLC Designer CANopen for Runtime Systems Content 1 About this documentation 1 1 Document history 1 2 Liability 1 3 Trademarks 1 4 CANopen terms and Lenze implementation 2 CANopen Master library 2 1 Differentiation from other CANopen libraries 2 2 CANopen for the user 2 2 1 Used modules 2 2 2 How to create a project with CANopen 2 3 Functionality of the libraries at runtime 2 3 1 Implicit services of the CANopen Master library 2 3 2 Explicit services of the CANopen library 2 3 3 Starting the CANopen network 2 4 Working with the CANopen Master part in the application 2 4 1 Structure of the CANopen Master 2 4 2 Structure of the CANopen node Slave 2 4 3 Interpretation and reaction on the states of the library 2 4 4 Examples for application controlled actions of the libraries ___ 2 5 Implicit calls 2 6 Object dictionary of the CANopen Master 3 CanDevice 3 1 Functionality 3 2 Configure CanDevice 3 3 CanDevice Settings 3 4 Generate EDS file 3 5 Modifying the default mapping by the master configuration 3 6 Working with the CanDevice in the application program 3 6 1 Module CanopenDevice 3 6 2 Access on the object dictionary entries by the application program 3 6 3 Changing the PDO properties at runtime 3 6 4 Sending emergency messages by the application pro
30. T ucCurPDOLen BYTE iNumOfMappedObjects INT iMapOb INT iCurRxPDO INT iCurTxPDO INT bSendBootUp BYTE bSendNodeGuard BOOL ucToggle BYTE bReentry BOOL tGuardLifeTime TON bGuardingEnabled BOOL tHeartbeatProducer TON tHeartbeatConsumer TON Lenze CanDevice If the device is configured to be heartbeat consumer this flag will be set if no new heartbeat message has been notified within the configured heartbeat consumer time Reset Communication NMT Message was received A flag for the application Reset Node NMT Message was received A flag for the application Enter Preoperational NMT Message was received A flag for the application An object dictionary entry was written by SDO access Index of last written entry Internal running variables internal variable for the object dictionary access Internal Internal variable for SDO server functionality Internal variable for SDO server functionality Internal variable for SDO server functionality Internal variable for SDO server functionality Internal variable for SDO server functionality Internal variable for SDO server functionality Internal variable used to determine whether the CanDevice is running on a processor using Intel or Motorola Byteorder According to CANopen the order of the bytes in a SDO transfer always is Intel Byteorder Internal variable for SDO server functionality Internal variable Internal variable Internal
31. Variables Lists Add a new global variables list command Add Object The Properties dialog will open automatically also accessible via command Object Properties Here you define the variables which you want to exchange with the other PLCs Use the to open the following dialog Properties Global Variable List Name of the global variable list Global Variable Link to file Filename Browse Add network Import before compile Export before compile Cancel Click on the button Add Network to get the options for defining the network properties of the current variables list If you have set up several network connections then you can configure several connections for each Global variable list Properties Global Variable List Name of the global variable list Global_Variables Link to file Filename Browse f f Add network Import before compile C Export before compile Connection 1 CAN Remove Network type CAN v Settings network IV Pack variables List identifier COB ID 1 r r V Read I Request on bootup I Write ja Interval Minimum gap Variable 44 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CAN network variables The options and their meaning Network type one of the network types which are defined in the Target Settings dialog tab Networkfunctionality Read The values of the var
32. accesses on the object dictionary of the master bSDOWritergActive BOOL bSubONotFound bSDOReadrspAbort bInitiateRspSend bSDOWriterspAbort bInitiateWrReqSend BOOL i iActiveSegSDORead INT ucModus BYTE dwldx DWORD wSegSDOReadSendOffs wSegSDOReadSendLen WORD pActiveSegSDORead POINTER TO BYTE iActiveSegSDOWrite INT 1 pActiveSegSDOWrite POINTER TO BYTE wSegSDOWriteRecvOffs WORD wSegSDOWriteRecvLen WORD dwODEValue DWORD isDOReadLen iSDOWriteLen INT byAbortCode ARRAY 0 3 OF BYTE bSwap BOOL Here the master indicates whether it is running on an INTEL or a Motorola byteorder machine END_VAR Thus in order to set e g variable bUseStartAllNodes of the first master you have to use pCanOpenMaster 0 bUseStartAllNodes TRUE Lenze DMS 2 0 EN 05 2009 TD29 13 L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 4 2 Structure ofthe CANopen node Slave The access on the CANopen nodes is performed via the implicit variable pCanOpenNode created by the programming system This variable is an array of function blocks representing the configured nodes Thus methods of the nodes like e g ResetNodes are called as follows pCanOpenNode 0 ResetNode 0 is the index of the node not the Nodeld The Nodeld is part of the function block All instance data of a node can be accessed reading and partly writing For this purpose please open the modul
33. art all remote nodes Cycling sending of the sync message Nodeguarding with lifetime supervision for each slave and producing an error state for slaves at which the lifetime supervision failed Heartbeat of the master to the slaves and watching the heartbeats of the slaves Receiving of emergency messages for each slave and storing the last received emergency messages separately for each slave Receiving of PDO messages and task consistent data transfer to the process image of the application Sending PDO messages after end of the task depending on the set Transmission Type des PDOs Lenze DMS 2 0 EN 05 2009 TD29 Standard Standard Standard Standard configurable configurable configurable configurable Standard Standard Standard L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 3 2 Explicit services of the CANopen library In addition to the implicit services described above the CANopen library provides the following functions e Indication of the recently received PDOs via a flag which can be removed by the Standard application e Application triggered transmission of remote telegrams for receive PDOs Standard e Application triggered transmission of SDO objects to slaves Standard e Application triggered reset of slaves with subsequent reconfiguration of slaves Standard Specifically still possible The application can send and directly receive own CAN message
34. asier to self generate a Start Node NMT command For this purpose a call of the CanOpenWriteMSG function block instance can be used This instance always is available globally in the manager library CanOpenWriteMSG wDrvNr pCanOpenNode xx wDrvNr dwCanlD 0 ucLen 2 bRtrFrame FALSE ucByte1 16 01 ucByte2 pCanOpenNode xx ucNodeNr Thus always one StartNode NMT command is put on the bus The parameters of the module thereby are read from the array containing the descriptions of the slaves IN order to start the complete network the NMT message also as described above can be self generated This procedure always must be utilized for nodes which are working without nodeguarding heartbeat CanOpenWriteMSG wDrvNr pCanOpenMaster xx wDrvNr dwCanlD 0 ucLen 2 bRtrFrame FALSE ucByte1 16 01 ucByte2 0 This NMT command is named Start All Nodes Thereby however all node states must be adapted in order to achieve that the library even sets on the current state if the master has not started the nodes So it is better to use the method StartAllNodes of the master Then the NMT command Start All Nodes will be created and the nodes states will be updated In order to start a slave which was brought to status 98 during boot up device type does not match with the configured type it is sufficient to use method SetNodeStatus nNewStatus 4 If the master has been configured to s
35. atus 97 if it is optional option Optional device in the CAN configuration and has not reacted on the SDO request for object 0x1000 e It changes to status 98 if the device type object 0x1000 does not match the configured one after nevertheless having got all configuration SDOs Concerning starting the nodes in this case please see add on in 2 4 4 2 Boot up of the network without automatic start If the master is configured for automatic start the slave will be started in status 4 i e a Start Node NMT messages will be generated and the slave will automatically change to status 5 Status 5 is the normal operation mode of the slave If the master flag bUseStartAlINodes has been set by the application then it will be waited until all slaves are in status 4 and after that all slaves will be started with NMT command Start All Nodes If the slave is in status 4 or higher nodeguard messages will be sent to the slave if nodeguarding is configured 2 4 3 2 Nodeguarding heartbeat errors In case of a nodeguarding timeout the variable nStatus of the node will be set to 99 In order to restart the slave it is sufficient to reset the state of the node to 4 Therewith the node gets sent a Start communication and the CANopen Master restarts communicating For this the method NodeStart is used The master autonomously will do this as soon as the node restarts to react on nodeguard requests and if option Autostart
36. belonging to this master END_VAR VAR bReentry BOOL Historically not used bGefunden BOOL Historically not used dwCOBID_NMT DWORD 16 0000 Exclusively used for starting the slaves Never should be changed by the application nindex INT internal auxiliary variable of the master dwMerker DWORD historically not used dwSem DWORD 16 FFFFFFFF Intended for locking operations in multi tasking operation Not used because the implicit calls always are executed by one task only a INT Lifecounter only counted up in order to make the implicit calls visible in monitoring mode Herewith you can check whether the master is called bSynchSend BOOL Always will get TRUE for the duration of one IEC cycle when the master sends a sync message The same also happens when the master receives an externally generated sync message If the master itself generates the sync message the flag will not be set when receiving an external sync bErrCodeNot0 BOOL Used to delete the error code of the CAN driver for BusOFF Errorcode 1 with an offset of 1 cycle MsgBuffer CAN Message Receive buffer of the master Only used for the SDO server functionality and for receiving an external sync message bSDOMsgUsed BOOL Always set in case of an access on the object dictionary of the master bSDOReadrqActive BOOL The following variables are used in order to manage the
37. bytes appears after the transfer in dwDataOffset 22 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems General CANopen Master library The module always sends the request on COBID 16 600 Nodeld the response of the SDO server always is expected on COBID 16 580 Nodeld The response data are transparent i e the response message on the SDO request simply appears in ucAnswerBytes This however is only valid for the case of an expedited Read Request Expedited Upload The meaning of the particular bytes is described in the CANopen protocol specification Byte ucAnswerBytes 0 contains the server command specifier ssc 0x60 as a response on a download request Ox4y as a response on an upload request y Bits 0 3 are allocated as follows Bit 1 must be 1 otherwise the SDO server responds with a segmented upload not supported by the module 0x80 means that the transfer has been aborted Abort Bytes ucAnswerBytes 1 2 contain the index Intel byte order Bytes ucAnswerBytes 3 contain the subindex Bytes ucAnswerBytes 4 7 contain the data of the response in case of an expedited SDO upload In case of an abortion the abort code appears in aAbortRec see the following table from DSP3 01V401 0503 0000h 0504 0000h 0504 0001h 0504 0002h 0504 0003h 0504 0004h 0504 0005h 0601 0000h 0601 0001h 0601 0002h 0602 0000h 0604 0041h 0604 0042h 0604 0043h 0604 0047h 0606 0000h 0607 00
38. e interface in the library manager in PLC Designer The components of the function block in detail VAR_INPUT nRxIndex INT nSDOSend INT bAutoStart BOOL nNewStatus INT bSynchSend BOOL dwHeartbeatTime DWORD historically not used Index of the current SDO which is sent to the node during the configuration phase Always set TRUE as soon as the master sets the node to automatic start Status parameter used when action SetNodeStatus is called Transferred by the master at call of the module in order to indicate the receiving of an externally generated sync message or the generation of a sync message by the master Only used internally and immediately reset afterwards Interval in msec according to which the master guards the receiving of a heartbeat message of the node The configurator will enter the heartbeat time by using 1 5 times of the heartbeat time of the node bSendReset BOOL TRUE Per default set by the master except it wants to use END_VAR VAR Konfig 14 wDrvNr WORD wMasterldx WORD ucNodeNr BYTE 1 dwNodeldent DWORD dwGuardCOBID DWORD dwEmergCOBID DWORD wDiagSegment WORD dwDiagOffset DWORD wFirstSDOIndex WORD wNummoOfsDO WORD wFirstRxPDOIndex WORD wNummOfRxPDO WORD wFirstTxPDOIndex WORD wNummOfTxPDO WORD GuardTime TIME GuardTimer TON LifeTimer TON bDolnit BOOL TRUE Res
39. e first receive PDO COB Id 512 Nodeld of the CanDevice variable PLC_PRG a should be received Thus in the Parameter Manager an index subindex must be connected with variable PLC_PRG a For this purpose add a line in a variables list and enter index and subindex In the access field only Write Only is applicable because in a receive PDO only a writeonly value can be mapped In column Variable enter PLC_PRG a or press F2 and select this variable Note The Parameter Manager editor is only available if in the Target Settings in Network functionality option Support parameter manager is activated and parameterized with useful index subindex ranges After that in the Default PDO Mapping of the CanDevice the index subindex entry is assigned as a mapping entry to a receive PDO The properties of the PDO can be defined in the Properties dialog which is known from the CAN slave configuration below a master Only objects of the Parameter Manager which have got attribute read only resp write only will be marked as mappable in a possibly generated EDS file and will appear in the list of mappable objects An object which has been created in the Parameter Manager gets assigned a default value in the EDS file This default is either the initial value of the variable variables lists or the value defined by the user parameter lists All other objects will be marked as not mapable in the EDS file 32 DMS
40. e the same identifier can exchange their data But assure that the lists which have the same identifier also contain identical definitions For this it is recommended to use the feature Link to file to export the desired variable list from one project and to import it into the other projects WARNING In a CAN network the list identifier will be used directly as COBID of the CAN message s There s no check for collisions of identifiers used here and the ones which are used in the CANopen configuration for IO PDOs To exchange data properly between two controllers the definition of the variable lists in the two projects must be same You can use the Link to file feature to assure that both projects use the same variable list One project should export the file before compile the other projects import it before compile Besides simple data types a variable list may also contain structures and arrays Elements of these compound data types are sent individually If a variable list is bigger than the PDO size of the respective network it is sent using several PDOs This means that it can not be assured that all data of a variable list is received in the same cycle Portions of the variable list may arrive in different PLC cycles This can happen also for variables of array or structure data types Options not supported for CAN Transfer checksum Answer bootup requests Confirmed transfer Request on Bootup Lenze DMS 2 0
41. e value of the entry e GetODMEntryDataLen for evaluating the length of the data of the entry e GetODMEntryValue for requesting the value of the entry e SetODMEntryValue for setting the value of the entry 28 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CanDevice 3 CanDevice A PLC Designer programmable PLC can appear in a CAN network also as a CANopen slave also named CANopen node in the following named CanDevice 3 1 Functionality The CanDevice library together with the CANopen configurator provide the following functionality for the user Configuration of the following properties in PLC Designer NodeGuarding Heartbeat Emergency NodelD and baudrate on which the device should work Together with the Parameter Manager in PLC Designer a default PDO mapping can be created which can be modified by the master during run time The change of the PDO mapping is done during the configuration phase by the master By the mapping IEC variables of the application can be mapped to PDOs The CanDevice library provides an object dictionary the size of which is determined by PLC Designer during compilation This dictionary contains all objects describing the CAN device and additionally those which are defined by the Parameter Manager In the Parameter Manager together with the CanDevice only the list types Parameters and Variables can be used The library manag
42. eartbeatConsumer BOOL Not used Reserved for information purposes tHeartBeatLifeTime TON Watch time for the heartbeat messages of a slave Always restarted as soon as a heartbeat message coming from the slave has been received END_VAR VAR_OUTPUT byLastState BYTE 0 Last status as contained in the answer of the node on the last guard message nStatus INT Current status of the node This status is the status of a node within the current library and is not at all concerned with the status defined by CANopen 0 undefined 1 Node will be reset by the master and re configured Master waits on a bootup message of the node or on the expiry of the given guard time and after that switches the state of the node to status 2 2 Master waits ca 300 msecs before requesting object 0x1000 Then the status is set to 3 3 Master starts the configuration of the slave with a SDO read request index 0x1000 to the node All SDOs generated by the configurator will be sent to the node in this status The generated SDOs are packed in an array of SDOs where the node knows its first SDO and the number of its SDOs Instance components wFirstSDOlndex and wNummOfSDO 4 If in the configuration of the Master Auto startup is activated the node will get sent a Start Node and change to status 5 5 Node receives sends PDOs Master also Normal operation 97 Optional node has not been detected at start u
43. en PDO 0x1400 COB ID Nodeld 0x200 Inhibit Time 100ps Abbrechen PDO Einf gen Transmission Type asynchron ger teprofilspezifisch klisch synchron Number of Syne s zyklisch synchron Entfernen synchron nur ATR asynchron nur ATR asynchron herstellerspezifisch asynchron ger teprofilspezifisch Event Time If the PDO should be transferred synchronously additionally the sync functionality must be activated yellow marked fields Base parameters CAN parameters Module parameters baud rate 125000 r Com Cycle Period usec Sync Window Lenght usec foo o Sync COBID 128 activate W Node Id m IV Automatic startup Heartbeat Master ms fo Hint For the Com Cycle Period enter an integer multiple of the task cycle time If you e g have set a task cycle time of 10ms it is recommended to set a Com Cycle Period of 10000 us 20000 us DMS 2 0 EN 05 2009 TD29 E i D B 05 2009 Lenze Automation GmbH Gr nstra e 36 D 40667 Meerbusch Germany 49 0 21 32 99 04 0 49 0 2132 72190 Lenze Lenze de www Lenze com Service B tt E Lenze Service GmbH Breslauer Stra e 3 D 32699 Extertal Germany 00 80 00 24 4 68 77 24h helpline 49 0 51 54 82 1112 Service Lenze de SHPPLCDCAN 13296252 EN 2 0 TD29 10 9 8 7 6 5 4 3 2
44. es accesses on the object dictionary thus acting as SDO server at the bus The library watches the nodeguarding resp the heartbeat consumer time only of one producer each and sets the corresponding error flags for the application Creation of an EDS file describing the configured properties of the CanDevice in a way that the device can be configured as slave below a CAN master The CanDevice library explicitly not provides the following functionalities which are described in CANopen All possibilities of the CANopen protocol mentioned here and in the upper paragraph also are not implemented Dynamic SDO PDO identifier Blocking SDO transfer Implicit generation of emergency messages Emergency messages always must be created by the application For this purpose the library provides a function block which can be used by the application Dynamic changes of the PDO properties resp runtime properties always are updated at the arrival of a StartNode NMT message and at each access on an object in the communication properties of the CanDevice Lenze DMS 2 0 EN 05 2009 TD29 29 L force PLC Designer CANopen for Runtime Systems CanDevice 3 2 Configure CanDevice In order to configure a CanDevice in the context menu of the PLC Configuration choose command Append subelement gt CanDevice This command is only available if at least one cfg file manufacturer specific description of the PLC configuration contains an entry for
45. et All Nodes In this case the reset is switched off by the module Number of the CAN controller used by this module Index of the master below which the current slave is running NodelD of the slave as used in the configuration Type of the node which is also saved in object 0x1000 of the node COBID of the guard telegram used when sending nodeguard telegrams to the slave Emergency COBID used when waiting for emergency telegrams of the slave In the future used for storing the diagnosis address Range of configuration SDOs for this slave within the array of SDOs entered by the configurator Number of SDOs generated by the configurator for this slave In these and the following three components the PDOs for this slave will be identified Nodeguard time as used in the configuration Timer for generation of the guard message Timer for guarding the slave If within the guard time not at least one answer on a nodeguard telegram is received a guard error will be issued The time for the LifeTimer is calculated as follows Lifetimefactor GuardTime 0 5 GuardTime Set to FALSE by the configurator if option Do not initialize is set DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CANopen Master library bOptional BOOL Setto TRUE by the configurator if option optional device has been set bH
46. fig ucAnswerBytes 0 7 see also description of function block CanOpenSendSDO The master sends one SDO after the other as soon as a response from the slave has been received Therefore the application must detect the change of the response in order to determine when a new SDO response has come in VAR ucOldAnwer array 0 7 of BYTE i INT END_VAR FOR i 0 to 7 DO IF pCanOpenNode 0 sdoConfig ucAnswerBytes i lt gt ucOldAnswer i THEN ucOldAnswer pCanOpenNode 0 sdoConfig ucAnswerBytes Here the new response can be evaluated if desired by the application Information on the abort codes see in the description of CanOpenSendSDO EXIT Leave loop at first change END_IF END_FOR Lenze DMS 2 0 EN 05 2009 TD29 19 L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 4 4 Examples for application controlled actions of the libraries In the following some standard actions are described which often have to be done by applications 2 4 4 1 SDO Transfer via function block CanOpenSendSDO In order to control the initiation of a SDO transfer by the application use module CanOpenSendSDO of the CanOpenManager library Interface of the module VAR_INPUT Enable BOOL Rising edge at this flag starts SDO transfer wDrvNr WORD Index of the CAN controller to be used for the SDO transfer 0 for the first one etc ucNodeld BYTE Nodeld of the SDO server receiver of
47. g Yes If a ResetNode or ResetCommunication is received the values of the objects normally are reset to their default values In case of a CanDevice this must be done by the application The application can use the variables bDResetCommReceived and bResetNodeReceived to record whether one of the both NMT services has been received Can modify Guard Time and Life Time Faktor also via my object dictionary Yes If written via an SDO access the library automatically will modify the respective variables If you are writing to the OD from the application you must in order to get the modification effective at all call the following CanOpenDev 0 SetupPDOTable This method of the CanDevice effects that the complete OD will be re interpreted Can Node ID and Baudrate also be set via the PLC Designer code If you set variable nNewNodeld and afterwards call method Init the device will get a new NodelD All NodelD related values in the OD will be adapted If you want to modify the baudrated you must enter that in structure g CanInterface xx and afterwards call Can_Init xx ADR g_CanInterface xx Thereby the driver gets informed about the modification In dialog Networkfunctionality in the Target Settings the size of the object dictionary is defined Does this setting only refer to the self defined range e g 2000 or also to the default range 1000 Only the objects defined in the Parameter Manager have t
48. ght read only value 0 wOut WORD parameter list lOs name WriteOutput16Bit index 16 6300 subindex 16 0 accesslevel middle accessright write only value 0 Not mappable byMode BYTE parameter list IOs name Mode index 16 6500 subindex 16 0 accesslevel middle accessright read write value 0 DMS 2 0 EN 05 2009 TD29 Lenze F3 F5 F6 L force PLC Designer CANopen for Runtime Systems Appendix Objects could be mapped if required winExt WORD parameter list ExtlOs name ReadInput16BitExt index 16 6200 subindex 16 0 accesslevel middle accessright read only value 0 wOutExt WORD parameter list ExtlOs name WriteOutput16BitExt index 16 6400 subindex 16 0 accesslevel middle accessright write only value 0 END_VAR gt Lists automatically created in the Parameter Manager Sub Acce Acce varia Value Min Max ExtIOs Readinputi6BitEtt 16 62 16 0 mid w rea winExt 0 IOs WriteOutputi6BitExt 16464 16 0 mid w writ wOut 0 La Parameter Name index subindex Accesslevel_ Accessrignt__ Variable Dun ExtIOs WriteOutputt 6Bit 16 6300 16 0 middle write only wOut IOs Mode 16 6500 16 0 middle j read write xj byMode Readinputi 6Bit 16 6100 16 0 middle read onl win Do the following NMT commands work Boot Up Switching mode between Operational and Preoperational Reset Emergency Node Guardin
49. gram ___ 4 CAN network variables Lenze DMS 2 0 EN 05 2009 TD29 Aa A WwW Ww ON DD OA OH 10 11 11 14 16 20 27 27 29 29 30 31 33 37 38 38 41 41 42 43 L force PLC Designer CANopen for Runtime Systems 4 1 CAN network variables for the user 4 1 1 4 1 2 4 1 3 4 1 4 5 Appendix Preconditions Target Settings Settings in the Global Variables Lists Generated calls 5 1 List of SDOs usually created for a slave 5 2 Monitoring transmit buffer overruns 5 3 FAQs Frequently Asked Questions 5 3 1 5 3 2 2 3 9 5 3 4 CANopen Functionality CANopen Master Application Possible Errors Error causes and Solutions DMS 2 0 EN 05 2009 TD29 43 43 43 44 46 AT AT 47 48 48 52 53 53 Lenze L force PLC Designer CANopen for Runtime Systems About this documentation 1 About this documentation This document consists of three partitions The first one describes the CANopen Master library the second describes the CANopen Slave library and there is a separate chapter for the CAN network variables The library descriptions each are structured as follows Overview on the features of the library Description of the default steps for working with the library Description of the possibilities which the application has to influence the CAN stack and to get information from the stack Overview on possible error states and their causes Target group This documentation addresse
50. he heartbeat will start immediately after the start of the master PLC After all slaves have received their configuration SDOs the nodeguarding will be started for those slaves that have been configured to be guarded If the master has been configured for automatic startup now each slave will be started individually by the master For this purpose the NMT command Start Remote Node 0x1 is used If the application sets the flag bUseStartAllNodes the command will be used with Nodeld 0 and thus all slaves will be started with Start all nodes At least once all configured Tx PDOs for the slaves these are the Rx PDOs will be sent It is always on the application to send RTRs for RTR PDOs For this purpose a method of the Rx PDOs is available DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 4 Working with the CANopen Master part in the application There are various cases in which the IEC application must cooperate with the CANopen library Among those is the detection of and reaction on an error Regard thereby the call sequence which cannot be influenced by the application programmer The calls and in which tasks they are generated is also described in chapter 2 5 Implicit Calls Here an example for a CAN controller and a Rx Tx PDO each e CanRead 0 Implicitly created call e pCanOpenMaster 0 Implicitly created call e pCanOpenPD
51. hether there is at least 1 Slave below a master gt MAX_MASTERINDEX INT lt Index in the controller table in the Global Variables List of the CANopen Manager library the controllers are assigned to a master and not to a CanDevice for CanDevice see chapter 3 gt MAX_NODEINDEX INT lt Size ofthe CanOpenNodes array gt MAX_SDOINDEX INT lt Size of CanOpenSDOs array gt MAX_PDOINDEX_RX INT lt Number of RX PDOs which are available all over all CANopen Masters gt MAX_PDOINDEX_TX INT lt Number of TX PDOs available all over all CANopen Masters gt MAX_MASTER_ODENTRY_IDX INT lt Number of object dictionary entries all over all CANopen Masters gt END_VAR Lenze DMS 2 0 EN 05 2009 TD29 11 L force PLC Designer CANopen for Runtime Systems CANopen Master library The configuration data are stored in the following arrays VAR_GLOBAL pCANopenMaster ARRAY 0 MAX_MASTERINDEX OF CanOpenMaster pCanOpenNode ARRAY 0 MAX_NODEINDEX OF CanOpenNode pCanOpenSDO ARRAY 0 MAX_SDOINDEX OF CanOpenSDO pCanOpenPDO_Rx ARRAY 0 MAX_PDOINDEX_RX OF CanOpenPDO_Rx pCanOpenPDO_Tx ARRAY 0 MAX_PDOINDEX_TX OF CanOpenPDO_Tx ODMEntries ARRAY 0 MAX_MASTER_ODENTRY_IDX OF CanOpenODEntry END_VAR Thereby the function block member variables are used as follows pure internal variables declared in the VAR sections should not be written by the application however some of them are of interest for diagnosis
52. iables in this list should be read by one or several of the other PLCs in the network Write The values of the variables in this list should be sent to other PLCs It is recommended to set only one of the options Read or Write for a variables list If some variables of a project should be read and written then use two variables lists one for reading one for writing Besides that it is recommended to have only one PLC in a network which is used to send a certain variables list Cyclic Transmission Only valid if Write is activated The values will be sent in the defined Interval no matter whether they have changed or not Transmission at Change The values will only be sent in case they have changed or when the time set at Min interval is over Pack Variables If this option is activated as many variables as possible will be packed in one transmission unit For UDP a transmission unit has a maximum size of 256 Bytes for CAN 8 Bytes If one transmission unit is to small to catch all variables then further units will be generated If the option is deactivated each variable will be packed in a separate transmission unit If Transmission at Change is activated for each particular transmission unit it will be checked whether it has been changed and is to be sent List identifier COBID This is an unique identifier to mark the variables lists which should be exchanged between several projects Only lists which hav
53. ime systems The libraries are made according to the CiA DS301 V401 specification For users of the PLC Designer CANopen library the following advantages result The implementation is independent from the target system and so usable on every PLC Designer compatible PLC without changes The customer gets a complete system from one distributor This means the configurator and the embedding of the CANopen protocol into the runtime system are optimally coordinated The CANopen functionality is loadable This means the CANopen functions can be reloaded and updated without changing the runtime system The resources are used carefully Memory is allocated depending on the used configuration not for a maximum configuration Automatic IO update without additional measures The following functionalities defined by CANopen are supported by the CANopen library of Lenze May 2005 Sending PDOs from the master gt to the slaves Event controlled on change and as synchronous PDOs i e always after a certain number of Sync messages has gone over the bus the number is defined by the Transmission Type of the PDO in the CAN configurator the PDO will be sent by the master Also an external Sync source can be used in order to initiate the sending of synchronous PDOs The time controlled transmission of individual PDOs can only be implemented in the PLC Designer by means of a program written in the IEC61131 code For this purpose a
54. in certain confines The rule ist hat the CanDevice is not able to create new object dictionary entries which are not yet available in the standard mapping Default PDO Mapping in ther CanDevice configuration Thus e g for a PDO which contains a mapped object in the default PDO mapping no second object can be mapped in the master configuration So the mapping modified in the master configuration at maximum can contain those PDOs which are available in the standard mapping Within those PDOs there are 8 mapping entries subindices Possible errors which might occur in this context will not be indicated but the redundant PDO definitions redundant mapping entries will be treated as if they were not existing In the master the PDOs always must be arranged starting at 16 1400 Receiving PDO communication parameter resp 16 1800 Sending PDO communication parameter and must gaplessly follow each other The standard mapping of the CanDevice always is available after having loaded the program It depends on the master configuration whether non available mappings available in the master configuration but not available in the standard configuration will explicitly be overwritten by the master How many PDOs are allowed There is only a limit given by the memory space but no systematic limit DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems Appendix F11 I must write device specific data to index 1000
55. lar nodes can be regarded Here the device type appears which has been read by the slave via request of object 0x1000 In member dwNodeldent the configured type is stored dwMerker is always valid if it is unequal 0 2 4 4 6 Initialization of the network via bUseResetAllNodes For the same reasons as described for bUseStartAllNodes there are cases in which it is better to use NMT command Reset All Nodes instead of Reset Node for each single node For this the application uniquely must set flag bUseResetAllNodes of the master IF NOT bInit THEN pCanOpenMaster 0 bUseResetAllNodes TRUE bInit TRUE END_IF Attention This flag may not be set cyclically because then single nodes would not be re started correctly after a failure Lenze DMS 2 0 EN 05 2009 TD29 25 L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 4 4 7 Guarding the configuration phase The configuration phase of the slaves can be guarded First of all the master must be guarded in its boot up phase because it will get caught at nStatus 3 if a non optional slave is not found during boot up Slaves at which a problem occurs during the configuration phase will get caught at nStatus 3 or will directly change to error state gt 5 after the configuration phase The following examples show application code which can be used to keep working with the CAN network even in certain situations resp to get diagnosis information
56. ltage inside the device 33xx Output Voltage 40xx Temperature 41xx Ambient Temperature 42xx Device Temperature 50xx Device Hardware 60xx Device Software 61xx Internal Software 62xx User Software 63xx Data Set 70xx Additional Modules 80xx Monitoring 81xx Communication 8110 CAN Overrun Objects lost 8120 CAN in Error Passive Mode 8130 Life Guard Error or Heartbeat Error 8140 recovered from bus off 8150 Transmit COB ID 82xx Protocol Error 8210 PDO not processed due to length error 8220 PDO length exceeded 90xx External Error FOxx Additional Functions FFxx Device specific 42 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CAN network variables 4 CAN network variables Network variables can be used to exchange data between one or multiple PLCs The mechanism should be easy to handle fort he user Currently network variables are implemented for CAN and UDP The variables values are exchanged automatically on the basis of broadcast messages In UDP these are realized as broadcast telegrams in CAN as PDOs Concerning the used protocol these services are not confirmed services i e there is no control whether the message reaches the receiver Network variables exchange is a 1 Sender to n receiver connection The Parameter Manager is another possibility to exchange variables This is a 1 to 1 connection using a confirmed protocol This means that the user can guard whether
57. nary dynamic generation fails or no object dictionary is present e g object dictionary is generated from file and generation fails because of an file error DMS 2 0 EN 05 2009 TD29 23 L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 4 4 2 Boot up of the network without automatic start Sometimes it is required that the application determines the time at which the CANopen Slaves should be started For this purpose option Automatic startup of the CAN master must be activated in the configuration Then the application is responsible for starting the slaves The normal way to start a slave via a library is to call the method NodeStart of the respective slave This method call after the configuration effects that slaves for which nodeguarding resp heartbeat is activated will be started depending on their current status which is contained in their nodeguard heartbeat message If the current status of a slave is not yet OPERATIONAL a Start Node NMT command will be sent to the slave If the method is used to start a slave which does not use nodeguarding the slave always will get sent the complete SDO set and afterwards a StartNode command will be sent if the startup was o k means the device type matched the one in the configuration In order to start such a slave after the automatic configuration phase after which it needs no more configuration SDOs because it just has received those it is e
58. ny CANopen devices not immediately after having sent their boot up message are ready for receiving their configuration SDOs In status 3 the slave gets configured The slave remains in status 3 until having received all SDOs created by the configurator Thereby it does not matter whether the slave has responded to SDO transfers with an abort error or error free Decisive is just the fact of having got any response from the slave The application can guard the responses on the SDO requests and itself can react on the responses of the slaves If option Reset nodes is activated in the configurator a reset of the node will be done after the transmission of object 0x1011 subindex 1 which after that gets value load Thereby the library enters 0 to this object in order to get the reset executed only once after the initialization of the application Thereupon the slave will be requested by an upload of object 0x1000 Lenze DMS 2 0 EN 05 2009 TD29 17 L force PLC Designer CANopen for Runtime Systems CANopen Master library After having run through the configuration phase the slave can change to the following states e It always changes to status 4 with the following exceptions It is an optional slave not detected as being available at the bus request object 0x1000 It is available but on the request of object 0x1000 it has responded with a different type in the lower 16 bits than expected by the configurator e It changes to st
59. o be regarded here Lenze DMS 2 0 EN 05 2009 TD29 49 L force PLC Designer CANopen for Runtime Systems Appendix F7 F8 F9 F10 50 My customer specific object dictionary starts at 2000 and ranges to the default I O range 6400 Will this size be a problem No as long as the used controller has enough memory for those variables If you are using a target system with a C16x controller 65K segment limit then a variable only can have a size of 64K ODEntries is an array of structures each needs 12 Bytes Thus theoretically maximum 65536 12 5461 entries can be created But due to the fact that on a C16x system the module which initializes all variables at once also cannot be bigger than 64K the number of entries is considerably lower about 500 to 1000 strongly depending on the rest of the application As from index 4000 0 I need 130 entries of strings of each 32 characters Will this be a problem How do get the strings into the object dictionary This is to be done like for all other variables The strings must be IEC variables then you can enter them like numeric variables via the Parameter Manager and can access them via SDO transfers Can you write from outside i e from the master to my mapping table i e in my object dictionary see chap 3 5 Modifying the default mapping by the master configuration The given PDO Mapping in the CanDevice configuration can be modified by the master with
60. or Runtime Systems 1005 SubNumber 0 ParameterName COBID Synch Message ObjectType 0x7 DataType 0x7 AccessType rw DefaultValue 0x80 PDOMapping 0 100C SubNumber 0 ParameterName Guard Time ObjectType 0x7 DataType 0x6 AccessType rw DefaultValue 0 PDOMapping 0 100D SubNumber 0 ParameterName Lifetime Factor ObjectType 0x7 DataType 0x5 Access Type rw DefaultValue 0 PDOMapping 0 1014 SubNumber 0 ParameterName COBld Emergency ObjectType 0x7 DataType 0x7 AccessType rw DefaultValue 0x80 Nodeld PDOMapping 0 1016sub0 ParameterName Nums consumer heartbeat time ObjectType 0x7 DataType 0x5 AccessType rw DefaultValue 1 PDOMapping 0 1016sub1 ParameterName Consumer heartbeat time ObjectType 0x7 DataType 0x7 AccessType rw DefaultValue 0x0 PDOMapping 0 1017 SubNumber 0 ParameterName Producer heartbeat time ObjectType 0x7 DataType 0x6 AccessType rw DefaultValue 0 PDOMapping 0 Lenze DMS 2 0 EN 05 2009 TD29 CanDevice 35 L force PLC Designer CANopen for Runtime Systems CanDevice 1018 SubNumber 4 ParameterName Vendor identification 1018sub0 ParameterName Number of entries ObjectType 0x7 DataType 0x5 AccessType ro DefaultValue 2 PDOMapping 0 1018sub1 ParameterName VendorlD ObjectType 0x7 DataType 0x7 AccessType ro DefaultValue 0x0 PDOMapping 0 1018sub2 ParameterName Product Code ObjectType 0x7 DataType 0x7 AccessType ro DefaultValue 0
61. ow each other are not detected by all mostly slow IO nodes slaves This happens due to the reason that all those nodes must listen to all messages with ID 0 NMT messages which are sent in a too quick succession overstress the receive logic of such nodes A symptom for this fact is that these nodes sometimes are not started Relief can only be produced by reducing the number of quickly succeeding NMT messages Additionally the application can cause the CANopenMaster library to use command Start All Nodes instead of starting all nodes singly per Start Node For this purpose the application must set the flag bUseStartAllNodes of the master uniquely always at start of the controller e g like shown in the following blnit is defined by the application IF NOT bInit THEN pCanOpenMaster 0 bUseStartAllNodes TRUE bInit TRUE END_IF Attention This flag may not be set cyclically because then single nodes after a failure would not be re started correctly Always when the application uses this command for starting the network also nodes which e g because they had responded with a wrong device type are in status 98 will be started However then PDOs for these nodes remain deactivated To unlock them the application must act like described in 2 4 4 2 Boot up of the network without automatic start If it is not sure whether all slaves have been parameterized with the correct device type member dwMerker of the particu
62. p 98 Node has answered on a request for the device type object 0x1000 with a different type 99 LifeTimer is exceeded Nodeguarding error The state of a node during the normal operation when I O data are being exchanged is 5 nSDOActiv INT Index of the active SDO managed by the node 1 means that no SDO is active EmcyMsg CAN_Message Last emergency message received from the node aEmcyMsg ARRAY 0 7 OF CAN_ Message lt Here the last 8 emergency messages received by the node will be stored aEmcyMsg 0 contains the most recently received and thus latest emergency message sdoConfig CanOpenSendSDO Instance of the CanManger Lib function block used for the configuration of the node END_VAR VAR nSDOlndex INT Current index of the configuration SDOs bReady BOOL Always when an emergency or guard message has been received bReady is set TRUE for the duration of one cycle SDO_TimeOut TON PT T 500ms dwMerker DWORD Lower 16 bits of object 0x1000 as read from the device nStatusOld INT Internal variable used to detect a status change bManualStart BOOL FALSE Internally used by StartNode for advising the function block to start the slave Lenze DMS 2 0 EN 05 2009 TD29 15 L force PLC Designer CANopen for Runtime Systems CANopen Master library bDevTypelnvalid BOOL TRUE indicates that the device type given back by the node on
63. purposes VAR_INPUT nStatus INT bMsgUsed BOOL nRxIndex INT wDrvNr WORD Current status of the master This status has nothing to do with the states defined according to CANopen It is an own internal definition Can be used by the application in order to detect that a new SDO Client request has been processed Subsequently e g the object dictionary of the master can be inspected for changes or can be re evaluated Only valid if the appropriate entries in the PLC Designer cfg file effect that the master has an object dictionary Otherwise without any meaning Historically in order to avoid compile errors in old projects not used Needed for the configuration Number of the CAN controller given from the library to the CAN driver in order to inform the driver on which controller the write and read requests refer to The application may not write this parameter bUseStartAllNodes BOOL Can be used by the application to determine whether the library bAutoStart BOOL should use command Start Node FALSE or Start All Nodes TRUE The application only once may write this flag preferably during the first few cycles after start Cyclic writing causes that single slaves will not be restarted after a failure TRUE set by PLC Designer if the Autostart option of the master has been set bUseResetAllNodes BOOL Analog to bUseStartAllNodes END_VAR VAR_OUT
64. r whether a slave answers with a confirmation or with an abort for the master it is only of concern whether any answer has come from the slave An example for the detection of aborts during start up see below An exception is a slave which is marked optional Optional slaves are only requested once for object 0x1000 If they do not respond within 0 5 seconds the slave at this time will be ignored by the master and the master will change into status 5 without any reaction of the slave If thenceforwards the slave is wanted to get re configured by the master or to be checked for presence the application must do that See add on in 2 4 4 2 Boot up of the network without automatic start Boot up of the CANopen Slaves A slave is represented by a function block instance in array pCanOpenNodes in the global variables list Can open implicit Variables During boot up of the CAN network the slave automatically runs through states 1 1 and 2 These states mean the following Regard they partially are internal states which might be not detected by the application because they are only valid for the length of one cycle e 1 Node is reset by NMT message Reset Node and autonomously changes to status 1 e 1 Node changes to status 2 after a maximum time of 2 sec or immediately after having received its boot up message e 2 Node automatically changes to status 3 after a delay time of 0 5 sec This delay matches the experience that ma
65. rame to the corresonding PDO pCanOpenPDO_Rx x bNewMessage FALSE pCanOpenPDO_Rx x SendRTRFrame If pCanOpenPDO_Rx x bNewMessage FALSE Then END_IF 5 3 4 Possible Errors Error causes and Solutions Find in the following a description on errors which might occur when using the 3S CANopen stack NOTE Also observe the descriptions of the drive specific error messages in the respective drive documentations F1 The outputs are not set What can be the reason A Please check the following 1 Usage of variables In order to get updated the output variables it is necessary that those get called cyclically in your application program For this reason open the PLC Configuration and define a name for the output e g byOut1 Then call this output in your application byOut1 In online mode now you can modify the value of the variable and write to new value to the PLC by Ctrl F7 2 Transmission Type It may be that you have asynchronous PDO This will only be transferred if parallel the sync functionality is activated You can check this by having a look at the properties of the respective PDO Lenze DMS 2 0 EN 05 2009 TD29 53 L force PLC Designer CANopen for Runtime Systems Appendix 54 Idulauswahl PDO Mapping Empfangen PDO Mapping Senden Service Data Objects Modulparameter PDO 01400 Id Nodeld 0 200 OUT1 WriteQutput8Bit_Generic OUT2 WriteDutput8Bit_Generic Be Eigenschaft
66. rtCode aAbort ucByte0 DWORD_TO_BYTE ucByte1 DWORD_TO_BYTE ucByte2 DWORD_TO_BYTE ucByte3 DWORD_TO_BYTE dwWrite SHR dwWrite 8 SHR dwWrite 16 SHR dwWrite 24 a Thereby sdo is an instance of CanOpenSendSDO To check whether the transfer has been terminated for example could be programmed like follows IF sdo bAnswerRec OR NOT sdo bWaitForAnswer then Transfer is terminated If bAnswerRec is not TRUE an error has occurred END_IF Lenze DMS 2 0 EN 05 2009 TD29 21 L force PLC Designer CANopen for Runtime Systems CANopen Master library Receive SDO Like Sending SDO except that 4 x 0 data Bytes are passed and mode 16 40 Each other input value for Mode will lead to an undefined behaviour of the module Thus the call of the module e g could look as follows sdo Enable TRUE wDrvNr 0 ucNodeld 2 windex 16 4001 bySubindex 0 ucModus 16 40 aAbortCode aAbort IF sdo bAnswerRec AND NOT sdo bAbortRec THEN dwRead SHL BYTE_TO_DWORD sdo ucAnswerBytes 7 24 dwRead dwRead SHL BYTE_TO_DWORD sdo ucAnswerBytes 6 16 dwRead dwRead SHL BYTE_TO_DWORD sdo ucAnswerBytes 5 8 dwRead dwRead BYTE_TO_DWORD sdo ucAnswerBytes 4 END_IF It is proceeded on the assumption that in index 4001 Sub0 there is a 4 byte value which always can be read with an expedited transfer If it is unknown whether the value is transmitted by the SDO server
67. s a SDO server in the network Always when a client performs a writing access an object dictionary entry the application will be notified through the master flag bMsgUsed This flag is implemented as an input variable of the master so that the application can reset the flag The master only sets the flag The application can use the object dictionary by directly writing or reading entries or by the assignment of entries to IEC variables In the latter case these IEC variables will be directly accessed when reading or writing from to another node An entry can be accessed as follows if index subindex are known FindInODMEntries 16 iiiissOO pCanOpenMaster 0 wODMFirstldx pCanOpenMaster 0 wODMFirstldx pCanOpenMaster 0 wODMCount Therewith the index of the entry is available in Now the components of the entry can be accessed directly For example In order to get an entry directly pointing on an IEC variable it is sufficient to enter address length and flags ODMEntries I dwContent ADR lt variable name gt ODMEntries I wLen sizeof lt variable name gt ODMEntries l dwldxSubldxF ODMEntries l dwIdxSubldxF OR OD_ENTRYFLG_WRITE OR OD_ENTRYFLG_ISPOINTER In order just to modify the content of the entry it is sufficient to modify dwContent Alternatively the following functions can be used whereby always the index is to be set as input parameter e GetODMEntryDataAddress for accessing the address of th
68. s created via an EDS file during compilation and is pre allocated with values The EDS file to be used is defined by two entries in the cfg file MasterEDS TRUE MasterEDSFile MyMaster eds In this example the first file named MyMaster eds which is found all over all configuration directories will be used The object dictionary is an array of the following structure TYPE CanOpenODEntry STRUCT dwidxSubldxF DWORD The structure of this component is 16 iiiissff whereby iiii signifies 2 bytes index ss signifies 1 byte subindex and ff signifies 1 byte flags dwContent DWORD Content of the entry wLen WORD Data length byAttrib BYTE Originally intended for defining the access right but can be arbitrarily used by the master application byAccess BYTE Formerly access right but can be arbitrarily used by the master application END_STRUCT END_TYPE The PLC Designer user interface provides no editor for the object dictionary The EDS file just defines with which objects the object dictionary has to be created Thereby the entries always are created with length 4 and the flags lowest prior byte of the component of an object dictionary entry dwidxSubldxF always with 16 41 resp 16 01 for the last entry Lenze DMS 2 0 EN 05 2009 TD29 27 L force PLC Designer CANopen for Runtime Systems CANopen Master library If an object dictionary is available in the master the master can act a
69. s to from the bus Layer 2 Standard 2 3 3 Starting the CANopen network After a project download to the PLC or after a reset of the application the CAN network will be re started by the master The restart always is done with the same sequence of actions 10 All slaves are reset except they are marked in the configurator as not to be reset Resetting is done singly by the NMT command Reset Node 0x81 always with the NodelD of the slave Exception the application has set flag bUseResetAllNodes in this case the command for restarting the network is used once with NodelD 0 Reset All Nodes All slaves get configured For this purpose initially object Ox1000 of the slave gets polled If the slave responds within the wait time of 0 5 seconds the next configuration SDO will be sent If a slave is marked optional and does not respond to the request within the wait time it will be marked as not existent and no further SDOs will be sent to it If a slave responds on the request for object 0x1000 with another type than configured in the lower 16 bits it will be configured nonetheless but marked as wrong type All SDOs including the polling for object 0x1000 are sent repeatedly until an answer of the slave is detected within the wait time The application can watch the boot up of the particular slaves and react if necessary see below If the master has configured a heartbeat time unequal 0 the generation of t
70. s to qualified personnel in accordance with IEC 364 Information on the validity The information in this documentation is valid for the following Lenze software Software From software version L force PLC Designer 2 2 0 7 1 1 Document history Version Description 1 0 08 2008 TD29 First edition 2 0 05 2009 TD29 Revision 1 2 Liability All information given in this documentation has been selected carefully and tested for compliance with the hardware and software described Nevertheless discrepancies cannot be completely ruled out We do not accept any responsibility or liability for any damage that may occur Required corrections will be included in updates of this documentation This documentation is based on the original CoDeSys documentation by the company 3S Smart Software Solutions GmbH Kempten The screenshots shown may deviate from the PLC Designer representation Lenze DMS 2 0 EN 05 2009 TD29 3 L force PLC Designer CANopen for Runtime Systems About this documentation 1 3 Trademarks Microsoft Windows and Windows NT are either registered trademarks or trademarks of Microsoft Corporation in the U S A and or other countries Adobe and Reader are either registered trademarks or trademarks of Adobe Systems Incorporated in the U S A and or other countries All other product names contained in this online documentation are trademarks of the corresponding owners 1 4 CANopen terms and Lenze implementa
71. sible in the PLC Designer code to directly receive incoming write accesses on my object dictionary via PLC Designer instruction A see chapter 3 6 1 Description of the module CANopenDevice Variable bODEntryWritten und iLastODEntryWritten F13 Only read only and write only objects can be managed However in my application need to use also read write objects wonder if there is already an update solving this problem A Read Write objects are viewed in the master configuration dialog in tab Service Data Objects gt ErrorModeOutput16Bit They also can be modified there If these values get modified deviation from the default value the object will be sent to the CANdevice during startup phase However it is not possible to map these objects to PDOs According to CANopen norm mapable objects always are either read only or write only F14 I do not want to have the boot up message acc V4 I need the V3 variant A You can use a V3 bootup message additionally to the other one Both will be sent when you set variable bUseOldBootupToo TRUE in the first PLC cycle Lenze DMS 2 0 EN 05 2009 TD29 51 L force PLC Designer CANopen for Runtime Systems Appendix 5 3 2 CANopen Master 5 3 2 1 Configuration In this chapter you find questions and answers on the CANopen Master configuration F1 F2 52 How do get displayed the CAN Parameters options Optional device and No initialization in the PLC Config
72. st gets filled via the Parameter Manager Yes Can the object list also be created extended in the PLC Designer code What is to be done The object list for list type Variables can be generated out of the code by using pragmas For how to use pragmas see also the PLC Designer user manual resp online help See in the following an example where in a global variables list Pragmas are inserted which will effect that the respective variables will be entered in a list in the Parameter Manager The appropriate configuration of the index ranges must be done in the PLC Designer target settings in category Networkfunctionality VAR_GLOBAL g_byCANNodelD BYTE 16 10 CANopen NodelD normally read from a rotary switch Format of the ParameterManager entry parameter list lt name gt name index 16 subindex accesslevel accessright value Possible keys and its values name The name is only for information purposes not shown in PLC configuration or EDS file index Index of the variable subindex SubIndex of the variable accesslevel Not used for CAN but must be defined low middle high accessright Accessright values read only Tx PDO Input Master s view write only Rx PDO Output Master s view value Default value D Objects mapped by default wln WORD parameter list IOs name ReadInput16Bit index 16 6100 subindex 16 0 accesslevel middle accessri
73. t set a default value there If SDOWrite is executed on this object the default values will be stored back and ResetNode will be executed In the download structure there is no direct variable indicating this value However you can check the list of SDOs for the object If it is available the word load will be written in the 32 bit value DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems Appendix 5 3 3 Application In this chapter you find questions and answers on the handling of CANopen libraries in the application layer F1 Is there any possibility to guard the PDOs of a CAN slave The slave does not support Heartbeat and Nodeguarding I want to check whether the slave e g every 50ms sends a PDO telegram A Always when a RxPDO is received the output variable bNewMessage will be set The variable has no other function When the value of this variable changes from 0 to 1 trigger your watch timer and reset the variable Due to the fact that it is the output of a function block you must do the following in order to reset the variable pB Pointer TO BOOL pB ADR pCanOpenPDO_Rx 0 bNewMessage pB FALSE F2 How can RTR frames be sent application controlled A In the CanOpen implicit Variables Ressources gt Global Variables you find a list of all CAN RxPDOs pCanOpenPDO_Rx currently mapped in the PLC Configuration By using action SendRTRFrame it is possible to send a RTR f
74. tart automatically the node now will be started Otherwise the application must additionally call method NodeStart of the node pCanOpenNode iNodeXX NodeStart If the device type of the node did not fit the one in the configuration the node has to be started if desired by using the explicit generation of a NMT message see above The use of NodeStart will only lead to a sending of the whole set of configuration SDOs with no Start Node command at the end For an optional slave which was not present at the start up of the master and which therefore currently is in status 97 the same procedure can be utilized But also alternatively method NodeReset can be called This method always causes that the slave is re configured and then started Indeed it will only be started if the autostart option is activated Otherwise the node nevertheless must be started manually 24 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 4 4 3 Stopping a node By calling method NodeStop analogue to NodeStart a NMT command for stopping the slave will be created Thereupon the slave normally will change to status Stopped 2 4 4 4 Resetting a node By calling method ResetNode the respective slave will be reset and re configured 2 4 4 5 Starting the network by bUseStartAllNodes In a CAN network with many participants mostly more than 8 it often happens that NMT messages which quickly foll
75. the SDO windex WORD Index of the object dictionary entry bySubindex BYTE Sublndex ucModus BYTE SDO mode 16 40 for read request use 16 23 for 4 byte write request use 16 27 for 3 byte use 16 2B for 2 byte use 16 2F for 1 byte use 16 21 for a download with more than 4 Bytes ucByteO BYTE The 4 possible data bytes in the expedited transfer ucByte1 BYTE ucByte2 BYTE ucByte3 BYTE aAbortCode ARRAY 0 3 OF BYTE Additional input parameters in case of a segmented transfer For modes 16 41 and 16 40 for segmented reading and 16 21 for segmented writing In these cases a buffer must be defined for the data dwDataBufferLength DWORD pDataBuffer POINTER TO BYTE END_VAR VAR_OUTPUT bWaitForAnswer BOOL During transmission this flag is set TRUE at least for the duration of one cycle and after the transmission it is set FALSE bAnswerRec BOOL Only in case of an error free transmission this flag is set TRUE ucAnswerBytes ARRAY 0 7 OF BYTE iAnswerLength INT bToggleUnequal BOOL bAbortRec BOOL If an there was an abort this variable will be set TRUE the abort code appears in aAbortRec aAbortRec ARRAY 0 3 OF BYTE END_VAR VAR 20 EnableOld BOOL bAnswer BOOL n INT dwActiveCOBld DWORD dwAnswerld DWORD Buffer CAN_Message bExpedited BOOL Here the module shows whether the reading has been done via
76. tion According to CANopen in a CAN network there are no masters and slaves According to CANopen there is a NMT Master a configuration master etc always keeping in mind that all participants in a CAN network have equal rights The Lenze implementation proceeds on the assumption that a CAN network serves as periphery of a PLC Designer programmable controller As a consequence PLC Designer in the CAN configurator names a PLC CAN Master This master is NMT master and configuration master Normally the PLC will mind that the network can be taken into operation The master starts the particular nodes which are known to it via the configuration These nodes are named slaves In order also to approach the master to the status of a CANopen node an object dictionary for the master was introduced The master also can act as a SDO server not anymore only as a SDO Client in the configuration phase of the slave Further details in a later chapter 4 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CANopen Master library 2 CANopen Master library 2 1 Differentiation from other CANopen libraries The library implemented by Lenze differs in several respects from other systems available on the market It has not been developed to make abundant other libraries which are provided by prestigious manufacturers but pointedly has been optimized for the use with the PLC Designer programming and runt
77. uration dialog Base parameters CAN parameters Receive PDO Mapping Send PDO Mapping AN General Node ID Write DCF Create all SDO s Optional device V Beset Node 7 No initialization Jv The CAN Parameters options Optional device and No initialization can be activated via the PLC configuration file cfg For this purpose you have to add the entries OptionalDevice and Nolnitialize for the CANopen slave Module CanSlave Name CanSlave Id 693734 OptionalDevice TRUE Nolnitialize TRUE Just the availability of the entries will effect that the options are displayed in the dialog By assigning FALSE or TRUE the default value can be set How to use option Reset node in dialog CAN Parameters of the PLC configuration The tick of this option is deactivated and greyed Questions Can use this option to define that NMT Reset Node should be send to the node before configuration otherwise NMT Reset Communication How can modify the option setting i e how do get editable the tick How can set a default value fort his option activated deactivated Is the current value of the option setting available in the download structure structure CCCanSlave in RTSCFG H does not contain an appropriated entry This option will be activated if object 0x1011 is available in the EDS file resp deactivated if this object is not listed in the file You canno
78. utomatic startup ucNodeld BYTE Node ID of the CanDevice wDrvNr WORD Index of the CAN controller in the configuration wODStart WORD Index of the first object dictionary entry of the CanDevice wODEnd WORD Index of the last object dictionary entry of the CanDevice wPDOStartRx WORD Index of the first Rx PDOs of the CanDevice within the array of RxPDOs pCanDevPDO_Rx wPDOCountRx WORD Number of RxPDOs of the CanDevice wPDOCountRxCurMap WORD Running variable for the configuration of the PDO Mappings of the object dictionary wPDOStartTx WORD Index of the first Tx PDOs of the CanDevice within the array of TxPDOs pCanDevPDO_Tx wPDOCountTx WORD Number of TxPDOs of the CanDevice wPDOCountTxCurMap WORD Running variable for the configuration of the PDO Mappings of the object dictionary ucNodeldNew BYTE This variable is set by init code as follows After calling the CAN driver function Canlnit in which the driver can set a new NodelD e g from a rotary switch this variable gets assigned the value WORD_TO_BYTE gCanInterface 1 pArray 1 Thus CAN drivers must write a new NodelD in pArray 1 ErrorCode WORD If the application wants to send an emergency message here the input parameter ErrorCode according to CANopen of function block SEND_EMERGENCY is entered ErrorRegister BYTE Like ErrorCode ManufacturerErrorField ARRAY 0 4 OF BYTE Analogue to ErrorCode bEmergencySent BOOL
79. values But of course also a local application can change the properties of a PDO For this purpose the application just must modify as described above the contents of the respective object s and subsequently must call method SetupPDOTable of the CanDevice CanOpenDev 0 SetupPDOTable Lenze DMS 2 0 EN 05 2009 TD29 41 L force PLC Designer CANopen for Runtime Systems CanDevice 3 6 4 Sending emergency messages by the application program In order to transmit an emergency message via the application program function block SEND_EMERGENCY can be used The module has the following interface VAR_INPUT ENABLE BOOL As long as Enable is TRUE with each call an emergency message is transmitted ErrorCode WORD Error code according to CANopen some values are already pre defined See table below ErrorRegister BYTE The error register is content of object 1001h ManufacturerErrorField ARRAY 0 4 OF BYTE Here the application can define its own error codes Devicelndex INT The O based index of the device which should send the emergency messages END_VAR VAR_OUTPUT bReady BOOL As soon as the message has been sent bReady gets FALSE END_VAR Table with error codes from DSP301 00xx Error Reset or No Error 10xx Generic Error 20xx Current 21xx Current device input side 22xx Current inside the device 23xx Current device output side 30xx Voltage 31xx Mains Voltage 32xx Vo
80. via expedited transfer or not always a data buffer must be defined In this case after the transfer has been done it can be determined via the flag bExpedited whether the data will appear in ucAnswerBytes 4 7 or in the buffer The input parameter aAbortCode serves to inform the module about the abort code which should be sent in case the communication is aborted by the application per deleting the enable input Always when a rising edge is detected at the Enable input of the module during a running transfer an abort will be generated The module itself does not watch timeouts Thus the application must watch the SDO transfer and e g via call Sdo Enable FALSE aAbortCode 0 0 aAbortCode 1 0 aAbortCode 2 4 aAbortCode 3 5 must pass the abort code SDO Protocol timed out This will be sent at a falling edge at Enable if the protocol has not yet finished the transfer If more than 4 bytes should be read the address of a buffer and a maximum size of this buffer can be passed to the module sdo Enable bReadString wDrvNr 0 ucNodeld 2 wlndex 16 4000 bySublndex 2 ucModus 16 40 aAbortCode aAbort dwDataBufferLength SIZEOF str pDataBuffer ADR str In this example str is a string The size of this string within the memory can be determined by means of the SIZEOF operator The corresponding number of characters will be maximum transferred by the module The actually read number of
81. x0 PDOMapping 0 For the meaning of the particular objects please see the CANopen specification DS301 The EDS file contains besides the mandatory entries the definitions for SYNC Guarding Emergency and Heartbeat If this objects are not used as Guarding and Heartbeat in the shown example the default values are set to 0 But these objects are available at runtime in the object dictionary of the CanDevice thus they are described nevertheless in the EDS file Analogue this is valid for the not listed here entries for the communication and mapping parameters Always all 8 possible bit mapping is not supported by the library subindices of the mapping objects 0x16xx resp 0x1Axx are available but potentially not regarded in subindex 0 Note With entry FixedNumOfPDOs 1 in the cfg file in the CANDEVICE section the mapping objects if e g no default mapping is predefined always are set up for 4 PDOs so that at runtime 4 PDOs are available for the mapping of variables Subindex 0 of the mapping objects however is pre set with O because in case no default mapping is defined none of the objects is allocated 36 DMS 2 0 EN 05 2009 TD29 Lenze L force PLC Designer CANopen for Runtime Systems CanDevice 3 5 Modifying the default mapping by the master configuration The given PDO mapping in the CanDevice configuration can be modified within certain bounds by the master Thereby the rule must be observed that CanDevice is not able

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