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FMU Technical Manual - Panasonic Electric Works

1. 56 FMU Technical Manual 5 3 FMU DataExchange KUTO 1 ARRAY 1 lower byte online error peel MEN EC EM nw Les E WE E E GNE EE REN EAE EA El EAE EA MEME ut Ear EA EA The lower byte of ARRAY 1 contains the actual online error of the device station is stored See the table Err_Event of the global bus status field for possible entries see page 41 ARRAY 1 higher byte general error codes The higher byte ARRAY 1 provides more detailed general error codes if the value for Err_Event see page 41 is 35 57 Programming Information for Control FPWIN Pro FMU Technical Manual Ce 0003 ARRAY 2 lower byte additional code The lower byte of ARRAY 2 contains additional code This additional error information is only valid if value listed for general error codes in the higher byte of ARRAY 1 is not equal to 0 The value for the additional code is filled transparently just as with the general error codes with the additional error code of each incoming error response message of the device ARRAY 2 higher byte and ARRAY 3 lower byte timeout information The higher byte of ARRAY 2 and the lower byte of ARRAY 3 contain timeout information If a device is supervised by the expected packet rate of a connection and times out the timer will be incremented The actual value gives an ove
2. 12 FMU Technical Manual 2 3 FP FMU LEDs and Connectors 2 3 3 FP CANopen SYS LED see page 10 COM LED Color State Indication Yellow ON FMU is currently sending a CAN telegram OFF FMU has finished sending a CAN telegram Red ON FMU has detected a communication problem with at least one CANopen node device Connection timout CANopen Interface Connector Pin Signal Description 1 2 CAN L CAN low bus line dominant low 3 CAN GND Negative bus power supply input 4 5 6 7 _ CAN high bus line dominant high 8 9 13 Chapter 3 Specifications Specifications FMU Technical Manual 3 1 FMU General Specifications Item Description Operating temperature 0 to 55 C 32 to 131 F Storage temperature 20 to 70 C 4 to 158 F Operating humidity 30 to 85 RH non condensing Storage humidity 30 to 85 RH non condensing Vibration resistance 10 to 55Hz 1 cycle min double amplitude of 0 75mm 0 030in 10 min on 3 axes Shock resistance Shock 98m s2 or more 4 times on axes Operation condition Free from corrosive gases and excessive dust Current consumption 5V FP2 DPV1 M 450mA FP2 CAN M 450mA FP2 DEV M 150mA Current consumption 24V FP2 DPV1 M 135mA 135mA 45mA Weight FP
3. IBM Personal Computer AT is a registered trademark of the International Business Machines Corporation Important Symbols One or more of the following symbols may be used in this documentation Warning e The warning triangle indicates especially important safety instructions If they are not adhered to the results could be fatal or critical injury LY CAUTION Indicates that you should proceed with caution Failure to do so may result in injury or significant damage to instruments or their contents e g data NOTE Contains important additional information y EXAMPLE Contains an illustrative example of the previous text section A Procedure 3 Indicates that a step by step procedure follows REFERENCE Indicates where you can find additional information on the subject at hand p KEY POINTS Summarizes key points in a concise manner Eve SHORTCUTS Provides helpful keyboard shortcuts EXPLANATION Provides brief explanation of a function e g why or when you should use it next page Indicates that the text will be continued on the next page FMU Technical Manual Table of Contents Table of Contents L Features and 5 1 141 Fieldbus Master Units 0 2 1 2 Expansion Restrictions and Current Limitations 3 1 2 1 Expansion R
4. The bit for the corresponding slave is logical e 1 the slave is configured in the FMU e O the slave is not configured in the FMU 48 FMU Technical Manual 5 3 FMU DataExchange 5 3 2 3 SI cfg for CANopen This variable is an ARRAY 0 127 of BOOL i e a field of 8 words and contains the parametrization state of each FMU node The bit for the corresponding node is logical e 1 node is configured in the FMU e 0 node is not configured in the FMU 5 3 3 Slaves ablsConnected Output Connected to the output pin Slaves ablsConnected is a variable of the type ARRAY 0 127 of BOOL S FALSI VAR 5 state RRAY 0 127 OF BOOL 128 FALSE Ld p JL J 0 DataExchang Ready UnitError GlobalBusState state 0 In this example the identifier is SI state This variable is used for all network types but the information stored in the variable is nevertheless network specific e SI state for PROFIBUS see page 49 e SI state for DeviceNET see page 50 e SI state for CANopen see page 50 5 3 3 1 SI state for PROFIBUS This variable is an ARRAY 0 127 of BOOL i e a field of 8 words and contains the parametrization state of each FMU slave The bit of the corresponding slave is logical e 1 the slave and the master are exchanging I O data e 0 slave and the master not exchanging data The values in the variable SI state are only va
5. 51 state for DeviceNet 50 SI state for PROFIBUS 49 SlaveDiagnostic awData Output 54 SlaveDiagnostic blsDone Output 53 SlaveDiagnostic iHasError Output 53 Slaves abHasDiagnostic Output 50 Slaves ablsConfigured Output 48 Slaves ablsConnected Output 49 Specifications 15 SYS LED 10 U Unitlnfo DUT 60 Wiring of the FP FMU Connectors 28 Wiring of the FP2 FMU 31 66 Record of Changes Manual No Description of changes ACGMO0161V10EN July 2008 First edition Global Network 499999 Panasonic Electric Works Global Sales Companies gt Headquarters Panasonic Electric Works Europe AG Rudolf Diesel Ring 2 83607 Holzkirchen Tel 49 0 8024648 0 Fax 49 0 8024648 111 www panasonic electric works com Austria Panasonic Electric Works Austria GmbH Rep of PEWDE Josef Madersperger Str 2 2362 Biedermannsdorf Tel 43 0 223626846 Fax 43 0 223646133 www panasonic electric works at PEW Electronic Materials Europe GmbH Ennshafenstrafte 9 4470 Enns Tel 43 0 7223883 Fax 43 0 722388333 www panasonic electronic materials com gt Benelux Panasonic Electric Works De Rijn 4 Postbus 211 5684 PJ Best 5680 AE Best Netherlands Tel 31 0 499372727 Fax 31 0 499372185 Sales Western Europe B V www panasonic electric works nl Czech Republic Panasonic Electric Works Czech s r o Prumtyslov 1 34815 Plan Tel 420 374799990 Fax 420 374799999 www pa
6. Error remote address is not equal to 255 Explanation Source of error Recommendation Device guarding failed after device Device Check if device is still running was operational Device access timeout Device Device does not respond Check the baud rate and MAC ID Device rejects access with unknown Device Use single device diagnostic to error code get reject code Device response in allocation phase Device Use single device diagnostic to with connection error get additional reject code 36 Connection produced process data Device configuration Use single device diagnostic to input length from the FMU s get true produced connection point of view is different from the one size configured Size of connection consumed Device configuration Use single device diagnostic to process data output length from the get true consumed connection FMU s point of view is different from size the one configured Device service response telegram Device configuration Use single device diagnostic to unknown and not handled get true consumed connection size Connection already requested Device Connection will be automatically released 1 30 32 35 37 38 39 40 Number of CAN message data bytes Device Device cannot operate with the read in the produced or consumed FMU and norm description connection size response unequal to 4 41 Predefined master slave connection Device FMU Connection will be automatically already exits released
7. FP2 DPV1 M AFP27971 FP2 DEV M AFP27972 FP2 CAN M AFP27973 DPV1 M DEV M CAN M MNS sys sys PROFIBUS DeviceNet CANopen 5599 COM RS485 ONE ONE FP2 Fieldbus Master Units front view FMU Technical Manual 2 1 FP2 FMU FP2 Fieldbus Master Units back view side view on backplane DIN rail attachment lever DIN standard rail attachment Connector to the slot on the backplane Expansion hook Parts and Functions FMU Technical Manual FP gt PROFIBUS DP Master Unit FP gt DeviceNet Master Unit CANopen Master Unit FPG DPV1 M AFPG7971 FPG DEV M AFPG7972 FPG CAN M AFPG7973 PROFIBUS DeviceNet CANopen Master Master Master sys MNS SYS FPS Fieldbus Master Units front view FMU Technical Manual 2 2 FP2 FMU gU NG FPJ Fieldbus Master Unit side views O FPZ expansion connector Used to connect the unit to the control unit or other expansion units DIN standard rail attachment G DIN rail attachment lever Used for easy attachment to a DIN rail The lever is also used for installation on the FPO slim 30 type mounting plate part no AFP0811 Expansion hook Used to secure an expansion unit The hook is also used for installation on the
8. 42 Length in polling device response Device unequal to produced connection size 43 Sequence error in device polling Device Two initial segments in response multiplexed transfer were received 44 Fragment error in device polling Device Fragmentation counter during response multiplexed transfer differs from the one expected 45 Sequence error in device polling Device Middle or last segment was response received before the first segment 46 Length in bit strobe device response Device unequal to produced connection size 47 Sequence error in device COS or Device Two initial segments in cyclic response multiplexed transfer were received 48 Fragment error in device COS or Device Fragmentation counter during cyclic response multiplexed transfer differs from the one expected 49 Sequence error in device COS or Device Middle or last segment was cyclic response received before the first segment 43 Programming Information for Control FPWIN Pro FMU Technical Manual Length in COS or cyclic device Device response unequal to produced connection size 51 UCMM group not supported Change the UCMM group Device keying failed vendor ID Device configuration Check vendor ID configured with mismatch device s vendor ID Device keying failed device type Device configuration Check device type configured mismatch with device s device type Device keying failed product code Device configuration Check product code configured mismatch wi
9. Manual FP2 FMU Install the FP2 FMU on the FP2 backplane You can mount the backplane on a DIN rail REFERENCE For more information please refer to the FP2 Hardware Manual 26 FMU Technical Manual 4 3 Cable Selection 4 3 Cable Selection Select a cable suitable for the network used PROFIBUS Use a standard PROFIBUS cable and a standard 9 pin Sub D PROFIBUS connector CANopen Use a standard CANopen cable and a standard 9 pin Sub D CANopen connector DeviceNet Use a standard DeviceNet cable The round cable contains five wires one twisted pair red and black for 24V DC power one twisted pair blue and white for signal and a drain wire bare You can find proposals for standard cables on the Open DeviceNet Vendor Association s Web site ODVA http www odva org http www odva org default aspx tabid 84 27 Installation and Wiring FMU Technical Manual 4 4 Wiring of the FP FMU Connectors 4 4 1 PROFIBUS DP Wiring Use a standard PROFIBUS cable and standard 9 pin Sub D male PROFIBUS connectors 4 4 2 DeviceNet Wiring Open style connector suitable wire DeviceNet has a standard open style connector If additional connectors are needed use the standard CAN 5 poles open style connectors manufactured by Phoenix Contact No of contacts Phoenix Contact product ID 5 Model no Product no MSTB 2 5 5 ST 5 08 ABGY AU 1849037 Terminal block fo
10. Programming Information for Control FPWIN Pro FMU Technical Manual 5 3 FMU DataExchange DataExchange 2 iUnitS FMU_ProfibusDP iNet RO P A PROFIBUS 51010 Input g FMU FP PROFIBUS Slot0 Output The FMU DataExchange function block is used to start communication with the network It has to be supplied with information about the input and output size and network specific data Just leave the pins unconnected that you do not require PLC types available for FP2 FP2SH and Variables of this function block have to be of one of the following data types Inputs Data type Input Function INT iUnitSlotNumber Installation position of the FMU INT NetworkType Use e ProfibusDP e DeviceNet e Defined in the library as VAR GLOBAL CONSTANT BOOL DataExchange bRun If true network communication runs POINTER DataExchange plnputData Pointer to the input s process data table POINTER DataExchange pOutputData Pointer to the output s process data table BOOL SlaveDiagnostic bStart If rising edge slave diagnostic starts on time INT SlaveDiagnostic iNumber Node number for diagnostic BOOL bMasterReset If true the unit is in reset stage Outputs Data type Output Function BOOL Unit blsReady ON if unit is ready INT Unit ErrorNumber Unit is in error DUT dutNetworkStatus Depends
11. This DUT is used for all network types but the information stored in the DUT is nevertheless network specific e PROFIBUS see page 38 37 Programming Information for Control FPWIN Pro FMU Technical Manual e DeviceNET see page 41 e CANopen see page 45 5 3 1 1 GlobalBusStateField for PROFIBUS 2 GlobalBusStateField DUT Identifier Type Initial GlobBit Status WORD 0 1 ErRem ddr ErrEvent WORD 0 2 BusErrorCnt INT 0 Gum TimeOutCount INT 0 4 Morelnformation ARRAY 0 3 OF 4 0 Identifier part Identifier Explanation Global bits GlobBit Status Lower byte of the WORD Details follow the table Status GlobBit Status Higher byte of the WORD The master system can be in one of the following states 16400 OFFLINE 16240 STOP 16 280 CLEAR 16 C0 OPERATE Error remote address ErrRemAddr_ErrEvent Lower byte of the WORD Some of the global bits indicate errors in the network or in the FMU itself that require a more detailed explanation In these cases ErrRemAddr represents the source of the error and can arise from either the FMU itself value 255 or be detected and reported by a network device In this case the lower byte represents the station address Range 0 to 125 Error event ErrRemAddr_ErrEvent Higher byte of the WORD Each error is assigned a number The errors are explained following the table Bus error count BusErrorCnt Counts severe bus errors e g bu
12. see 5V termination power isolated note 7 E 8 Line Negative RxD TxD RS485 level 9 E 4 Housing Cable shield e Internally connected to the function earth connector of the FMU e 2 Internally connected to the earth terminal of the power unit NOTE Any current drawn from pin 6 the 5V bus output pin will affect the total power consumption 11 Parts and Functions FMU Technical Manual 2 3 2 FP DeviceNet MNS LED see page 10 COM LED Color State Indication Green ON FMU is operational and online connections established e is allocated to another master e FMU has established a connection to a slave Flashing 1Hz FMU is operational and online no connection established e Configuration missing e FMU has passed the duplicate MAC ID check but has not established connection to another device Red FMU cannot access the network e BUS off because of severe CAN faults e Duplicate MAC ID detected OFF FMU is not online e Duplicate MAC ID test not completed e Power may not be supplied DeviceNet Connector Mandatory 24V bus power Connector Pin Signal Description 1 V Negative bus supply voltage see note e 2 CAN_L CAN low bus line 3 SHIELD Cable shield LI 4 CAN H CAN high bus line LI 5 V Positive bus supply voltage see note LT NOTE
13. w Polsce Al Krakowska 4 6 02 284 Warszawa Tel 48 22 338 11 33 Fax 48 22 338 12 00 www panasonic electric works pl b Portugal Panasonic Electric Works Espa a S A Portuguese Branch Office Avda Adelino Amaro da Costa 728 R C J 2750 277 Cascais Tel 351 214812520 Fax 351 214812529 gt Spain Panasonic Electric Works Espa a S A Barajas Park San Severo 20 28042 Madrid Tel 34 91 3293875 Fax 34 91 3292976 www panasonic electric works es gt Switzerland Panasonic Electric Works Schweiz AG Grundstrasse 8 6343 Rotkreuz Tel 41 0 417997050 Fax 41 0 417997055 www panasonic electric works ch gt United Kingdom Panasonic Electric Works UK Ltd Sunrise Parkway Linford Wood Milton Keynes MK14 6 LF Tel 44 0 1908 231555 44 0 1908 231599 www panasonic electric works co uk North amp South America gt USA PEW Corporation of America 629 Central Avenue New Providence N J 07974 Tel 1 908 464 3550 Fax 1 908 464 8513 www pewa panasonic com Asia Pacific China Japan gt China Panasonic Electric Works China Co Ltd 2013 Beijing Fortune Building No 5 Dong San Huan Bei Lu Chaoyang District Beijing Tel 86 10 6590 8646 Fax 86 10 6590 8647 www cmew com cn Hong Kong Panasonic Electric Works RM1205 9 12 F Tower 2 The Gateway 25 Canton Road Tsimshatsui Kowloon Hong Kong Tel 852 2956 3118 Hong Kong Co Ltd Fax 852 2956 0398 www panasonic hk b Japan Matsushita Electric Works Ltd 1048 Ka
14. 2 e Device profile for encode 406 6 ARRAY 2 higher byte node state If the node guarding protocol is active for this node node status register read is written into this variable The following values are defined in the CANopen specification ARRAY 3 lower byte current error In this byte the actual online error of this node station is held down See the table containing Err Event of the global bus status field see page 45 for possible entries ARRAY 3 higher byte number of emergency messages saved This byte contains the number of emergency messages saved in the following data area ARRAY 4 23 emergency messages In this area the emergency messages are saved 59 Programming Information for Control FPWIN Pro FMU Technical Manual 5 4 FMU GetUnitInfo The FMU_GetUnitInfo function block is used to obtain information about the specified unit in the network Class Identifier Type Comment 16 ModuleInfo UnitInfoDUT 4 Modulelnfo PLC types available for FP2 FP2SH Variables of this function block have to be of one of the following data types Pin Data type Input Output Function INT iUnitSlotNumber Installation position of the unit DUT dutUnitInfo The DUT attached consists of several variables of the data type STRING that contain information about the unit specifed Connected to the output pin dut
15. 2 DPV1 M 118g FP2 CAN M 118g FP2 DEV M 118g FPZ DPV1 M 95g 95g FPZ DEV M 95g 16 FMU Technical Manual 3 2 FP PROFIBUS DP Communication Specifications 3 2 FP PROFIBUS DP Communication Specifications The following table lists limits for communication when using the FP PROFIBUS DP FMU No DP slaves 127 address range 0 126 Address 127 broadcast address Address 126 slave with changeable default address Address 0 Master class 2 default address No of process data per slave 244 input and 244 output bytes Max number of process data 3584 bytes input 3584 bytes output Max number of configuration data bytes per slave 244 Max number of parameter data bytes perslave 244 Baud rates supported 9 6kBaud 19 2kBaud 31 25kBaud 45 45kBaud 93 75kBaud 187 5kBaud 500kBaud 1 5MBaud 3MBaud 6MBaud 12MBaud Min DP scan cycle time 350us 17 Specifications FMU Technical Manual 3 3 FP DeviceNet Communication Specifications No of slaves 63 No of bytes for I O data 7168 input 3584 output 3584 Baud rates supported 150kBaud 250kBaud 500kBaud Additional features Polling bit strobe Cyclic COS change of state UCMM via groups 1 2 3 Predefined connection set 18 FMU Technical Manual 3 4 FP CANopen Communication Specifications 3 4 FP CANopen Communication Specifications Technical compliance to specification DS 301 version 4 01 Services supported Se
16. 5 3 7 1 55 5 3 7 2 DiagData for 56 5 3 7 3 DiagData for 58 5 4 60 Outline Dimensions e 61 6 1 Outline Dimensions of the FP2 FMU 62 6 2 Outline Dimensions of the FMU 63 VARI AA 65 vii Chapter 1 Features and Restrictions Features and Restrictions FMU Technical Manual 1 1 Fieldbus Master Units FMU Fieldbus Master Units FMU are used together with the programmable controllers FP2 FP2SH and FP By exchanging the FMU you can connect to various networking systems FMUs are currently available for three bus systems PROFIBUS DeviceNet and CANopen Others are planned for the future Name Specifications Part no FP2 PROFIBUS Master PROFIBUS DP Master FP2 DPV1 M Expansion for FP2 FP2 DeviceNet Master DeviceNet Master FP2 DEV M Expansion for FP2 FP2 CANopen Master CANopen Master FP2 CAN M Expansion for FP2 FPZ PROFIBUS Master PROFIBUS DP Master FPG DPV1 M Expansion for FPX FPX DeviceNet Master DeviceNet Master FPG DEV M Expansion for FPX CANopen Master CANopen Master FPG CAN M Expansion for Software Make sure you use at least version 5 3 of FPWIN Pr
17. FPO flat type mounting plate part no AFP0804 Function earth connector At least one of the 2 pins must be connected to function earth to achieve proper EMC behavior The FP2 FMU is connected to the left side of the control unit via the FP expansion connector Parts and Functions FMU Technical Manual 2 3 FP FMU LEDs and Connectors Various FP Fieldbus Master Units FMUs are available to meet your networking needs LEDs Two dual color LEDs give you a quick overview of the FMU s status at a glance SYS for DeviceNET MNS Defines the general status of the FMU For the hardware yellow means the self test has been passed and the firmware loaded Green is used for application oriented functions such as valid configuration loaded COM Shows communication errors or status and communication activities See subsequent sections for details SYSIMNS LED Color State Indication Off No power Yellow Flashing 1Hz FMU is in bootloader mode and is waiting for ON ON firmware download 0 0 05 1 0115 pam Flashing 5Hz Firmware download in progress ON orr MUU 0 0 1 0 2 0 s Acyclic flashing Hardware or severe runtime error detected FMU or 3 times fast at 5Hz 8 times between 0 5Hz E nm Contact your and 1Hz i For example ON OFF NAGA 0 0 1 0 2 0 3 0 s Green ON FMU has established at least one configured fieldbus connec
18. Lo pem 1 52 Unknown handshake mode was Initialization If you use the function block configured please use the default handshake settings Baud rate out of range Project planning Contact technical support ped Double node address was configured Project planning Contact technical support 63 Invalid parameter for SYNC mode Project planning In Control Configurator FM under bus parameters check the SYNC Master settings No database Project planning Download database again Faulty reading of a database Download database again 46 FMU Technical Manual 5 3 FMU DataExchange Host watchdog error Host program Check user program or watchdog timer The following error numbers are valid for the error event if Error remote address is not equal to 255 Guarding failed Node Check whether node is connected Node has changed its state and is no Node Reset node longer operational No response to a configured remote Node Check whether node can handle frame PDO remote frames No response of the node while being Node Check whether node is configured connected and operational The node profile number configured in Project planning Check the supported profile the master differs from the actual node number of the node I O profile number encoder etc The device type configured in the Project planning Check the supported services of master differs from the actual node the node device type Unknown SDO
19. O Configuration Data types supported configuration detected BOOL BYTE WORD DWORD and STRING only Data type of a defined I O unit in a Configuration The following types and size are connection does not correspond with valid the defined data size BOOLEAN 1 byte Unit 8 1 byte Unit 16 2 bytes Unit 32 4 bytes 50 52 53 54 55 59 61 62 63 64 65 7 Output address configured for one unit Configuration The process data image is exceeds the possible address range of limited to 3584 bytes 3584 bytes 44 FMU Technical Manual 5 3 FMU DataExchange 70 Input address configured for one unit Configuration The process data image is exceeds the possible address range of limited to 3584 bytes 3584 bytes One predefined connection type is Configuration Support of cyclic polled change unknown of state bit strobed only Multiple connections defined in Configuration Supports only one type of parallel connection to one device The value configured for the expected Configuration The value for the expected packet rate value configured is less packet rate must be larger than than the value for production inhibit the production inhibit time time In Control Configurator FM check the settings for the slave s poll connection configuration 5 3 1 3 GlobalBusStateField for CANopen 2 GlobalBusStateField DUT Identifier Type Initial 0 GlobBit Status WORD 0 ErrRemAd
20. Panasonic PROGRAMMABLE LOGIC CONTROLLER FMU Technical Manual AP oc LA E BEFORE BEGINNING Liability and Copyright for the Hardware This manual and everything described in it are copyrighted You may not copy this manual in whole or part without written consent of Panasonic Electric Works Europe AG PEWEU PEWEU pursues a policy of continuous improvement of the design and performance of its products Therefore we reserve the right to change the manual product without notice In no event will PEWEU be liable for direct special incidental or consequential damage resulting from any defect in the product or its documentation even if advised of the possibility of such damages We invite your comments on this manual Please email us at tech doc eu pewg panasonic com Please direct support matters and technical questions to your local Panasonic representative LIMITED WARRANTY If physical defects caused by distribution are found PEWEU will replace repair the product free of charge Exceptions include e When physical defects are due to different usage treatment of the product other than described in the manual e When physical defects are due to defective equipment other than the distributed product e When physical defects are due to modifications repairs by someone other than PEWEU e When physical defects are due to natural disasters MS DOS and Windows are registered trademarks of Microsoft Corporation
21. S 55 dutNetworkStatus Output 37 E Expansion Restrictions and Current Limitations 3 Expansion Restrictions for the FP2 FMU 3 Expansion Restrictions for the FP2 FMU F Features and Restrictions 1 Fieldbus Master Units FMU 2 FMU General Specifications 16 FMU DataExchange 36 GetUnitlnfo 60 FP2 FMU 6 FP CANopen 13 FP CANopen Communication Specifications 19 FP DeviceNet 12 FP DeviceNet Communication Specifications 8 FP FMU LEDs and Connectors 0 FP PROFIBUS DP 11 FP PROFIBUS DP Communication Specifications 17 8 6 General Information 4 GetPointer 35 GetPointer Function 35 GlobalBusStateField for CANopen 45 GlobalBusStateField for DeviceNet 41 GlobalBusStateField for PROFIBUS 38 Important Symbols iii Installation and Wiring 1 Installation of the 2 Unit 22 L Limitations on Current Consumption 3 Mounting Methods 26 0 Outline Dimensions 1 Outline Dimensions of the FP2 FMU 62 Outline Dimensions of the FP2 FMU 63 Parts and Functions 5 PROFIBUS DP Wiring 28 Programming Information for Control FPWIN Pro 33 65 Index FMU Technical Manual R Record of Changes 67 5 SI for CANopen 9 51 for DeviceNet 48 SI for PROFIBUS 48 SI diag for CANopen 52 SI diag for DeviceNet 52 SI diag for PROFIBUS 51 51 state for CANopen 50
22. UnitInfo is the variable Modulelnfo which in turn is part of the DUT UnitInfo included in the FMU library for Control FPWIN Pro 2 UnitInfoDUT DUT Identifier Type Initial Comment STRING 8 sDeviceNumber STRING 8 B 2 sSerialNumber STRING 8 k sFimwareName STRING 16 4 sFirmwareversion STRING 16 This DUT is used for all network types 60 Chapter 6 Outline Dimensions Qutline Dimensions FMU Technical Manual 6 1 Outline Dimensions of the FP2 FMU Front 27 7mm DPV1 M DEV M CAN M sys MNS sys PROFIBUS DeviceNet CANopen dHHHB FAN 0000 FI 5 of X EYO aa SS Side 93 0mm J 80 4mm D 7 K 1 IN 62 FMU Technical Manual 6 2 Outline Dimensions of the 6 2 Outline Dimensions of the FPZ FMU Front 30 0mm PROFIBUS Master CANopen Master DeviceNet Master 00000000 00000000 00000000 00000000 00000000 00000000 COM SYS 6 6 COM sys FPG DPV1 M FPG DEV M FPG CAN M 90 0mm 4 5mm 63 Index B BEFORE BEGINNING i 6 Cable Selection 7 CANopen Wiring 0 Control Configurator FM 2 D DeviceNet Wiring 28 DiagData for CANopen 58 DiagData for DeviceNet 56 DiagData for PROFIBU
23. ange of 0 C to 55 C 32 F to 131 F Ambient humidity outside the range of 30 to 85 RH at 25 C non condensing Sudden temperature changes causing condensation Inflammable or corrosive gases Excessive airborne dust metal particles or salts Benzine paint thinner alcohol or other organic solvents or strong alkaline solutions such as ammonia or caustic soda Excessive vibration or shock Direct sunlight Water or oil in any form including spray or mist Static electricity Before touching the unit or equiprment always touch some grounded metal to discharge any static electricity you may have generated especially in dry locations The discharge of static electricity can damage parts and equipment Avoid noise interference from the following sources Influence from power transmission lines high voltage equipment power cables power equipment radio transmitters or any other equipment that would generate high switching surges If noise occurs in the power supply line even after the above countermeasures are taken it is recommended to supply power through an insulation transformer noise filter or the like Cleaning Do not use thinner based cleaners because they deform the unit case and fade the 22 FMU Technical Manual 4 1 Installation of the FP2 FP2 Unit colors Measures regarding heat discharge e Always install the CPU orientated with the TOOL port facing outward on the bottom in order to prevent the gen
24. ber of transmit PDOs requested via RTR per node node sends PDO to master Max SDO configuration per node 9000 bytes area size for CANopen network for each direction 3584 bytes Baud rates supported 10kBaud 20kBaud 50kBaud 100kBaud 125kBaud 250kBaud 500kBaud 800kBaud 1MBaud The following limitations apply to the CANopen specification Item EC1 based product Max number of devices in CANopen network 127 Max data count per PDO 8 bytes 19 Specifications FMU Technical Manual PDO data sent from a node will not be cleared in the receive process data interface of the CANopen master if the node disappears from the network Additional features for the CANopen master 127 nodes 7168 bytes I O data Min boot up COB ID distribution default via SDO Emergency message Nodellife guarding heartbeat Event trigger PDO cyclic acyclic asynchronous Remote request 20 Chapter 4 Installation and Wiring Installation and Wiring FMU Technical Manual 4 1 Installation of the FP2 FPZ Unit Warning Read the following notes carefully before installing the unit Failure to follow these instructions could lead to fire or damage the equipment Installation environment Be sure to install the unit in locations designed for electrical equipment e g in a closed metal cabinet such as a switch cabinet Avoid installing the unit in the following locations Ambient temperatures outside the r
25. doma Kadoma shi Osaka 571 8686 Japan Tel 81 6 6908 1050 Fax 81 6 6908 5781 www mew co jp e acg gt Singapore Panasonic Electric Works Asia Pacific Pte Ltd 101 Thomson Road 25 03 05 United Square Singapore 307591 Tel 65 6255 5473 Fax 65 6253 5689 Copyright 2008 All rights reserved Specifications are subject to change without notice Printed in Europe ACGM0161V1 0EN 07 2008
26. dr ErrEvent WORD 0 BusErrorCnt INT 0 TimeQutCount INT 0 4 MoreInformation ARRAY 0 3 OF Ww 4 0 Identifier part Identifier Explanation Global bits GlobBit_Status Lower byte of the WORD Details follow the table Status GlobBit_Status Higher byte of the WORD The master system can be in one of the following states 16 00 OFFLINE 16 40 STOP 16 80 CLEAR 16 0 OPERATE Error remote address ErrRemAddr_ErrEvent Lower byte of the WORD If the global bits control error auto clear error or non exchange error are set indicates the address of the node If the error occurs in the FMU the value is 255 Otherwise the faulty node address is stored Error event ErrRemAddr_ErrEvent Higher byte of the WORD Each error is assigned a number which are explained following the table BusErrorCnt Counts how many times bus error limits are exceeded TimeOutCount Counts the number of CAN chip reinitializations Message Time Out Morelnformation ARRAY 0 of WORD Number of cancelled CAN messages because partner did not acknowledge 45 Programming Information for Control FPWIN Pro FMU Technical Manual Identifier part Identifier Explanation Receive message Morelnformation ARRAY 1 of WORD overflow Number of receive message overflows indicated from the CAN chip Global bits The bit field serves as collective display of global notifications Errors can either occur at the FMU itself or at the nodes To dis
27. e is present on the network device exchange between FMU and device guarding active Device is not configured Process data exchange between FMU and device happening as configured Device is not operating device guarding Device is present on the bus device failed or configuration fault detected guarging is active process data exchange New diagnostic data provided by the FMU in the internal diagnostic buffer to be read New diagnostic data provided by the by host FMU in the internal diagnostic buffer to be read by host 5 3 4 3 SI diag for CANopen This variable is an ARRAY 0 127 of BOOL i e a field of 8 words and contains the diagnostic bit of each node The bit of the corresponding node is logical e 1 newly received emergency message are available in the internal diagnostic buffer or one of the diagnostics bit of the node has changed If the bit is set to 1 you can enter the corresponding node number at the input Slave Diagnostic iNumber and FPWIN Pro 52 FMU Technical Manual 5 3 FMU DataExchange will tell you what the error is e 0 since the last diagnostic buffer read access of the host no values have changed in this buffer The values in the variable SI state are only valid if the master is in the OPERATE state The following table shows the relationship between the SI state bit and the SI diag bit e Node not in operation no data I O Node is present on the bus node exchange between mast
28. er and node guarding is active is sl i t confi Ramapa this slave le net configured PDO exchange between master and node is happening as configured Node is not operating node guarding Node is present on the bus node failed guarding is active PDO exchange The master holds newly received The master holds newly received diagnostic data in the internal diagnostic diagnostic data in the internal diagnostic buffer buffer 5 3 5 SlaveDiagnostic blsDone Output The inputs and outputs found on the lower half of the function block help you diagnose problems Connected to the output pin SlavesDiagnostic_blsDone is a variable of the type BOOL e 1 diagnosis of the slave node complete e 0 diagnosis of the slave node not complete DataExchangeNew As long as the bit is set to 0 check at SlaveDiagnostic iHasError see SlaveDiagnostic iHasError Output on page 53 to find out where the error is 5 3 6 SlaveDiagnostic iHasError Output The inputs and outputs found on the lower half of the function block help you diagnose problems 53 Programming Information for Control FPWIN Pro FMU Technical Manual Connected to the output pin SlavesDiagnostic iHasError is a variable of the type INTEGER DataExchangeNew The integer stores the error code Indication Network Source Recommendation eo ha No response from slave d Slave Check network wiring Check bus address of slave Check baud rate settin
29. eration of heat Input and output Input and output connectors face down connectors on top Horizontal installation of the unit e Donot install the unit above devices which generate heat such as heaters transformers 23 Installation and Wiring FMU Technical Manual or large scale resistors Installation space e Leave at least 50mm 1 97in of space between the wiring ducts of the unit and other devices to allow heat radiation and unit replacement 50 mm 1 97 in or more 50 mm 1 97 in or more e Maintain a minimum of 100mm 3 937in between devices to avoid adverse affects from noise and heat when installing a device or panel door to the front of the unit 100 mm 3 937 in Or more Panel door PLC unit Other device 24 FMU Technical Manual 4 1 Installation of the FP2 FP2 Unit e Forthe FP2 FP2SH keep the first 170mm from the PLC front surface clear of objects to allow the connecting of programming tools For the the distance should be at least 130mm Approx 110mm FP PC cable 170mm or more 25 Installation and Wiring FMU Technical Manual 4 2 Mounting Methods FPY FMU You can attach up to 4 expansion units including the FPX FMU max FMUs 2 to the left side of the FPX CPU You can mount all units on a DIN REFERENCE For more information please refer to the FPY User s
30. erved by system The slave has more doagnostic data available than it can send 8 15 The higher byte contains the master address for the master that parameterized the slave If a slave is not parameterized the value is 255 55 Programming Information for Control FPWIN Pro FMU Technical Manual ARRAY 2 slave ID number In ARRAY 2 the slave reports its ID number ARRAY 3 extended diagnostic buffer ARRAY 3 is an extended diagnostic buffer The values therein are fixed in the manual of the slave station or can be found in the PROFIBUS specifications 5 3 7 2 DiagData for DeviceNet The ARRAYs of WORD contain the following diagnostic information ARRAY 0 lower byte device status For ARRAY 0 the lower byte stores device status as logical bits Word Higher byte Lower byte ee Bit 15 14 13 12 1 9 8 1 2 3 4 5 6 Ca Difference between device produced and consumed connection size to the resulting configured ones Reserved by system Device is deactivated in current configuration and not handled ARRAY 0 higher byte state of device For each device the FMU has a state machine handler For ARRAY 0 the higher byte stores values that correspond to a state in the device seemne 6 Release predefined master save conneoton nita NO 9 configured 10 connection request
31. estrictions for the FP2 FMU 3 1 2 2 Expansion Restrictions for FP2 FMU 3 1 2 3 Limitations on Current Consumption sss 3 2 Parts and Functions 111 a eene ene nnn nnns 5 21 6 22 uini e RE rp Ann nag ea Rex e Ee Est 8 2 3 FP FMU LEDs and Connectors ul 10 2 9 4 FP PROFIBUS 5 de qui 11 2 3 2 FP DeviceNet in e d e tie te 12 2 9 9 iei dir nitate e rie mie 13 CNET Ie 15 3 1 General Specifications 16 3 2 FP PROFIBUS DP Communication Specifications 17 3 3 FP DeviceNet Communication Specifications 18 3 4 FP CANopen Communication Specifications 19 Table of Contents FMU Technical Manual 4 Installation and Wiring eese sese 21 4 1 Installation of the FP2 FP2 22 42 26 4 3 Cable Selection aa 27 4 4 Wiring of the FP FMU Connectors 28 4 4 1 PROFIBUS DP 28 28 DeviceNet 4 4 2 44 3 CANopen ariaa ae ee nel eden 30 4 5 Wiring of the FPZ 31 Programming Information for Contr
32. g Master not in logical pues Network in Check master DP address or token ring general highest station address of other masters Examine bus wiring for short circuits 5 3 7 SlaveDiagnostic awData Output The inputs and outputs found on the lower half of the function block help you diagnose problems Connected to the output pin SlaveDiagnostic awData is a variable of the type ARRAY 0 3 of WORD DataExchangeMew In this example the identifier is DiagData This variable is used for all network types but the information stored in the variable is nevertheless network specific 54 FMU Technical Manual 5 3 FMU DataExchange DiagData for PROFIBUS see page 55 DiagData for DeviceNET see page 56 e DiagData for CANopen see page 58 5 3 7 1 DiagData for PROFIBUS The ARRAYs of WORD contain the following diagnostic information ARRAY 0 slave status For ARRAY 0 slave status is stored as logical bits Word Higher byte Lower byte SS c mm Se Bit 15 14 13 12 11 10 9 8 1 2 3 4 5 6 mt tae trepar SSCS 5 st parameter Steve musi be paramatrea 9 Get diagnosti rom siave unti the bitis setto OFF ARRAY 1 addtional slave status For ARRAY 1 the lower byte contains additional slave status information The higher byte contains the master address for the master that parameterized the slave CI O 06 Res
33. he FMU Server status Morelnformation Lower byte of ARRAY 0 of WORD The FMU is able to be a I O server and master simultaneously The status of the server poll I O connection and the explicit connection can be read from this variable e 0 current status of the server explicit connection e Bit 1 current status of the server poll I O connection e Bits 2 7 are reserved 41 Programming Information for Control FPWIN Pro FMU Technical Manual Global bits The bit field serves as collective display of global notifications Errors can either occur at the FMU itself or at the slaves To distinguish between the different errors the variable part ErrRemAddr contains the error location address MAC ID while the variable part Er Event lists the corresponding error number If more than one error is detected the error location will always show the device with the lowest MAC ID 7 e 5 4 2 Control error Parameterization error Auto clear error FMU stopped communication to all slaves and reached the auto clear end state 2 Non exchange error At least one slave has not reached the data exchange state hence no process data can be exchanged Fatal error Due to severe bus error no further bus communication is possible 5 4 Event error The FMU has detected bus short circuits The number of detected events are fixed in the BusErrorCnt variable The bit is set when the first event i
34. ip between the SI state bit and the SI diag bit No data I O exchange between master Slave is present on the bus and slave Perhaps this slave is not configured or not responsive Data I O exchange between master and slave The master and the corresponding slave Slave is present on the bus are nekoxcianging H0 dala The master and the corresponding slave The master holds newly received are exchanging l O data diagnostic data in the internal diagnostic buffer The master holds newly received diagnostic data in the internal diagnostic buffer 5 3 4 2 SI diag for DeviceNet This variable is an ARRAY 0 127 of BOOL i e a field of 8 words and contains the diagnostic bit of each device For DeviceNet bits 0 to 63 are available The of the corresponding device is logical e 1 newly received diagnostic values are available the internal diagnostic buffer or one of the diagnostics bit of the device has changed If the bit is set to 1 you can enter the corresponding slave station number at the input Slave_Diagnostic_iNumber and FPWIN Pro will tell you what the error is e Ocsince the last diagnostic buffer read access of the host no values have changed in the internal diagnostic buffer The values in the variable SI state are only valid if the master is in the OPERATE state The following table shows the relationship between the SI state bit and the SI diag bit Device not operative no process data Devic
35. ke sure stress is not applied to the wire 31 Installation and Wiring FMU Technical Manual Ac Procedure 3 7 1 Remove a portion of the wire s insulation 7 2 Insert the wire into the screw terminal 3 Clamp the wire in place by turning the tightening screw clockwise 32 Chapter 5 Programming Information for Control FPWIN Pro Programming Information for Control FPWIN Pro FMU Technical Manual 5 1 General Information Make sure you use at least version 5 3 of FPWIN Pro which includes the functions necessary for programming the FP FMUs The function blocks described in this section are used to configure the various FMUs and to start communication with the specific network The functions and function blocks can be used for either the FP2 FMU or FPX FMU unit You can download the function blocks free of charge from the Panasonic Electric Works Europe AG Web site 34 FMU Technical Manual 5 2 GetPointer Function 5 2 GetPointer Function Inputs InputsPointer The GetPointer function outputs the size area and offset the input variable and writes it to the output variable of the type POINTER Connect the output of this function directly to the respective input of the function block REFERENCE For more information about the GetPointer function please refer to the FPWIN Pro online help 35
36. lid if the master is in the OPERATE state 49 Programming Information for Control FPWIN Pro FMU Technical Manual 5 3 3 2 SI state for DeviceNet This variable is an ARRAY 0 127 of BOOL i e a field of 8 words and contains the parametrization state of each FMU slave The lower 4 words ARRAY 0 63 of BOOL store the state for the device s explicit connection The bit of the corresponding device is logical e 1 the device s explicit connection is in the established state e O the device s explicit connection is not in the established state The values in the variable SI state are only valid if the master is in the OPERATE state The higher 4 words ARRAY 64 127 of BOOL store the state for the device s I O connection The bit of the corresponding device is logical e 1 device s I O connection is in the established state e O the device s I O connection is not in the established state 5 3 3 3 SI state for CANopen This variable is an ARRAY 0 127 of BOOL i e a field of 8 words and contains the parametrization state of each FMU node The bit of the corresponding node is logical e 1 node is operating node guarding reports no error e 0 node is not operating because it is not configured or an error has occurred The values in the variable SI state are only valid if the master is in the OPERATE state 5 3 4 Slaves abHasDiagnostic Output The inputs and outputs found on the lower half of the functio
37. n block help you diagnose problems 50 FMU Technical Manual 5 3 FMU DataExchange Connected to the output pin Slaves_abHasDiagnostic is a variable of the type ARRAY 0 127 of BOOL Class Identifier Type 4 WAR Slcfg ARRAY 0 127 0F BOOL 128 FALSE AR are ARR A OF ROC Sl diag ARRAY 0 127 OF BOOL 128 FALSE DataExchang In this example the identifier is SI diag This variable is used for all network types but the information stored in the variable is nevertheless network specific e SI diag for PROFIBUS see page 51 e SI diag for DeviceNET see page 52 e SI diag for CANopen see page 51 5 3 4 1 SI diag for PROFIBUS This variable is an ARRAY 0 127 of BOOL i e a field of 8 words and contains the diagnostic bit for each FMU slave The bit of the corresponding slave station is logical e 1 latest received slave diagnostic data is available the internal diagnostic buffer If the bit is set to 1 you can enter the corresponding slave station number at the input Slave Diagnostic iNumber and FPWIN Pro will tell you what the error is e 0 the last diagnostic buffer read access of the host no values have changed in this buffer The values in the variable SI state are only valid if the master is in the OPERATE state 51 Programming Information for Control FPWIN Pro FMU Technical Manual The following table shows the relationsh
38. nasonic electric works cz gt France Panasonic Electric Works French Branch Office B P 44 91371 Verri res le Buisson CEDEX T l 33 0 16013 5757 Fax 33 0 1 6013 5758 Sales Western Europe B V www panasonic electric works fr b Germany Panasonic Electric Works Deutschland GmbH Rudolf Diesel Ring 2 83607 Holzkirchen Tel 49 0 8024648 0 Fax 49 0 8024648 555 www panasonic electric works de b Hungary Panasonic Electric Works Europe AG Magyarorsz gi K zvetlen Kereskedelmi K pviselet 1117 Budapest Neumann Janos 1 Tel 36 0 14829258 Fax 36 0 14829259 www panasonic electric works hu gt Ireland Panasonic Electric Works UK Ltd Dublin Tel 353 0 14600969 Fax 353 0 14601131 www panasonic electric works co uk gt Italy Panasonic Electric Works Italia s r l Via del Commercio 3 5 7 1 Ferlina 37012 Bussolengo VR Tel 390456752711 Fax 390456700444 www panasonic electric works it PEW Building Materials Europe 5 Piazza della Repubblica 24 20154 Milano MI Tel 39022900 5391 Fax 39022900 3466 www panasonic building materials com gt Nordic Countries Panasonic Electric Works Nordic AB Sj ngsv gen 10 19272 Sollentuna Sweden Tel 4659476680 Fax 46859476690 www panasonic electric works se PEW Fire amp Security Technology Europe AB Citadellsvagen 23 21118 Malm Tel 46406977000 Fax 46406977099 www panasonic fire security com Poland Panasonic Electric Works Polska Sp Z 0 0 Przedstawicielstwo
39. nical support No segment for treatment free Contact technical support Faulty reading of database Download database again i FMU 20 21 22 25 U 213 Structure surrender to operating system Contact technical support faulty Software watchdog error Check host program 2 No data acknowledgement in process Host Host program did not data handshake mode 0 acknowledge the last handshake in time Master in auto clear mode Slave Auto clear mode was activated because one slave was missing during runtime No further segments Contact technical support The following error numbers are valid for the error event if Error remote address is not equal to 255 Explanation Source of error Recommendation Station reports overflow Master telegram Check length of configured slave configuration or parameter data Request function of master not Master telegram Check slave if PROFIBUS DP activated in the station norm compatible No answer even though slave must Slave Check configuration data of the respond station and compare it with the physical I O data length No response from station Slave Check bus cable Check bus address of slave Master not in the logical token ring FMU Check master s fieldbus data link address or the highest station address of other master systems Check bus cable for short circuits Faulty parameter in request Master telegram Contact technical support 2 3 17 18 1 40 FMU Technical Ma
40. nual 5 3 FMU DataExchange 5 3 1 2 GlobalBusStateField for DeviceNet 2 GlobalBusStateField DUT Identifier Type Initial 8 GlobBit Status WORD 0 1 ErRemAddr ErrEvent WORD 0 2 A BusErrorCnt INT 0 8 TimeOutCount INT 0 4 Morelnformation ARRAY 0 3 W 4 0 Identifier part Identifier Explanation Global bits GlobBit_Status Lower byte of the WORD Details follow the table Status GlobBit_Status Higher byte of the WORD The master system can be in one of the following states 16 00 OFFLINE 16 40 STOP 16 80 CLEAR 16 C0 OPERATE Error remote address ErrRemAddr_ErrEvent Lower byte of the WORD If the global bits control error auto clear error or non exchange error are set this variable indicates the address of the device If the error occurs in the FMU the value is 255 Otherwise the faulty device address MAC ID is stored Error event ErrRemAddr_ErrEvent Higher byte of the WORD Each error is assigned a number The errors are explained following the table Bus error count BusErrorCnt This variable is incremented whenever the error frame counter of the Philips CAN chip used has reached the warning limit due to disturbed bus communication Timeout count TimeOutCount This variable is incremented when the CAN chip reports that it is no longer involved in bus activities because the bus error frame counter has been exceeded The chip must be reinitialized which is done automatically by t
41. o into which the functions necessary for programming the FP FMU blocks are integrated You will require the add on software Control Configurator FM part no AFPS35510 for Control FPWIN Pro in order to configure the fieldbus master units You can download convenient function blocks for Control FPWIN Pro to help you program the FMUs free of charge from the Panasonic Electric Works Europe AG Web site http www panasonic electric works com FMU Technical Manual 1 2 Expansion Restrictions and Current Limitations 1 2 Expansion Restrictions and Current Limitations 1 2 1 Expansion Restrictions for the 2 FMU The number of FP2 FMUs is restricted by the size of the FP2 backplane 1 2 2 Expansion Restrictions for the FMU The FMUs are connected to the left side of the control unit via the FP expansion connector Up to 2 expansion units can be connected to the left side of the control unit 1 2 3 Limitations on Current Consumption The 5V DC power used to drive the internal circuit of each unit is supplied from the power supply unit of the FP2 through the internal bus of the backplane or from the FP control unit through the expansion connector Pay attention to the combination of units so that the rated capacity of the power supply is not exceeded oO Chapter 2 Parts and Functions Parts and Functions FMU Technical Manual FP2 PROFIBUS DP Master Unit FP2 DeviceNet Master Unit FP2 CANopen Master Unit
42. ol FPWIN Pro 33 5 1 General Information Aa 34 5 2 GetPointer 35 5 3 Data xchange ida di 36 5 3 1 dutNetworkStatus Output 37 5 3 1 1 GlobalBusStateField for 38 5 3 1 2 GlobalBusStateField for 41 5 3 1 3 GlobalBusStateField for 45 5 3 2 Slaves ablsConfigured Output 48 5321 Si for 48 5 3 2 22 SE efgifor 48 5 3 2 3 SI cfg for 49 5 3 3 Slaves ablsConnected nananana 49 5 3 3 1 SI state for 49 5 3 3 2 SI state for 50 5 3 3 3 SI state for 50 5 3 4 Slaves abHasDiagnostic 50 5 3 4 1 SI diag for sss 51 5 3 4 2 SI diag for 52 vi FMU Technical Manual Table of Contents 5 3 4 3 SI diag for 52 5 3 5 SlaveDiagnostic blsDone Output 53 5 3 6 SlaveDiagnostic iHasError 53 5 3 7 SlaveDiagnostic awData 54
43. on the network see dutNetworkStatus Output on page 37 BOOL 128 Slaves ablsConfigured Depends on the network see Slaves ablsConfigured Output on page 48 BOOL 128 Slaves ablsConnected Depends on the network see Slaves ablsConnected Output on page 49 BOOL 128 Slaves abHasDiagnostic Depends on the network see Slaves abHasDiagnostic Output on page 50 36 FMU Technical Manual 5 3 FMU DataExchange Data type Output Function BOOL SlaveDiagnostic_blsDone ON if done INT SlaveDiagnostic_iHasError Depends on the network see SlaveDiagnostic_iHasError Output on page 53 WORDI4 SlaveDiagnostic_awData Depends on the network see SlaveDiagnostic_awData Output on page 54 List of error codes for the function block FMU_DataExchange Error code Indication 160000 No error 1680001 Input data variable is too big 16 0002 Output data variable is too big 16 0003 Unit not available 5 3 1 dutNetworkStatus Output Connected to the output pin dutNetworkStatus is the variable GlobalBusState which in turn is part of the DUT GlobalBusStateField included in the FMU library for Control FPWIN Pro Identifier Type Initial GlobalBusState GlobalBusStateField Class DataExchangeNew Identifier GlobBit Status ErrRemAddr ErrEvent 2 BusErrorCnt INT 0 3 TimeOutCount INT 0 4 Morelnformation ARRAY 0 3 OF w 4 0
44. r DeviceNet For a suitable wire please refer to cable selection see page 27 Wiring method Attach a plug in open style connector to a cable Ac P Procedure 3 1 Strip 65mm 2 6in to 75mm 3in of the outer jacket from the end of the cable leaving no more than 6 4mm 0 25in of the braided shield exposed Braided shield 6 4mm Jacket 65 0mm FMU Technical Manual 4 4 Wiring of the FP FMU Connectors 2 Wrap the end of the cable with 38mm 1 5in of shrink wrap covering part of the exposed conductors and part of the trunk line insulation N 3 Strip 8 1mm 0 32in of the insulation from the end of each of the insulated conductors Shrink wrap 38mm Jacket Jacket Shrink wrap N MM 8 1mm 4 Insert each conductor into the appropriate clamping cavity of the open style connector or the screw terminal on the device according to the color of the cable insulation Wire color Wire identity Usage White CAN H Signal Blue CAN L Signal Bare Drain Shield Black V Power Red V Power 5 Tighten the clamping screws to secure each conductor The male contacts of the device connector must match the female contacts of the connector NOTES e When removing the wire s insulation be careful not to scratch the core wire gt Do not twist the
45. response received Node Node not compatible with CiA protocol specification Length indicator of received SDO Node Node not compatible with CiA message does not equal 8 protocol specification 3 Node not handled Node stopped Device Activated auto clear mode or host is not ready 30 31 32 33 34 35 36 37 38 9 47 Programming Information for Control FPWIN Pro FMU Technical Manual 5 3 2 Slaves ablsConfigured Output Connected to the output pin Slaves ablsConfigured is a variable of the type ARRAY 0 127 of BOOL VAR 6 YAR diag DataExchangeNew ARRAY ay 10 127 BOOL 128 FALSE Ready UnitError GlobalBusState In this example the identifier is SI cfg This variable is used for all network types but the information stored in the variable is nevertheless network specific e SI for PROFIBUS see page 48 e SI cfg for DeviceNet see page 48 e SI for CANopen see page 49 5 3 2 1 SI cfg for PROFIBUS This variable is an ARRAY 0 127 of BOOL i e a field of 8 words and contains the parametrization state of each FMU slave The bit for the corresponding slave is logical e 1 the slave is configured in the FMU e O the slave is not configured in the FMU 5 3 2 2 SI cfg for DeviceNet This variable is an ARRAY 0 127 of BOOL i e a field of 8 words and contains the parametrization state of each FMU slave For DeviceNet bits O to 63 are available
46. rvices not supported Physical layer Bootup protocol no reaction to bootup events of a node CAN frame types 11 bits Optional high resolution synchronization protocol Read Write PDO protocol Optional SDO block up download protocol Trigger for PDO transmission event driven and Timer triggered PDO transmission remotly requested transmission modes synchronous and asynchronous PDO mapping in accordance with DS 301 V3 0 and Dynamic SDO establishment V4 01 Emergency message collection Multiplexed PDOs MPDO protocol NMT functionality supporting Reading identity object of a node for identification Reset Communication Start Remote Node Stop Remote Node and Enter Preoperational SYNC protocol TIME protocol Node guarding protocol Verify configuration boot up process Optional heartbeat protocol Boot up process in accordance with DS 302 NMT master SDO up download protocol Coexistence of a second NMT master Simple boot up process reading object 1000H for Modular devices identifying Synchronous counter for SYNC protocol Limits of the implementation The following device specific limitations apply to the CANopen implementation Item EC1 based product Max size for complete dynamic configuration via 59000 bytes message interface Max size for node parameter data set via message 9600 bytes interface Max number of PDOs per node send and receive Max number of receive PDOs per node master sends PDO to node Max num
47. rview of how good the transmission quality to this device is and how often a timeout has happened After a device times out the FMU always tries to reestablish the connection immediately 5 3 7 3 DiagData for CANopen The ARRAYs of WORD contain the following diagnostic information ARRAY 0 lower byte node status For ARRAY 0 the lower byte stores node status as logical bits Word Higher byte Lower byte See eee 15 14 9 7 5432 CI Node responding Emergency buffer overflow Difference between master and node configuration data 58 FMU Technical Manual 5 3 FMU DataExchange egos 0 Node guarding protocol for this node is active Reserved by system Node is deactivated and not handled by the master ARRAY 0 higher byte and ARRAY 1 lower byte extended information These two bytes are read out from the node during startup In the draft CiA specification this word is declared as extended information of the node type For example whether the node supports digital input or outputs etc is fixed in this word ARRAY 1 higher byte and ARRAY 2 lower byte profile number These two bytes are read out from the node during startup Several predefined profile numbers exist each described in its own specification manual Here is an extract e Device profile for I O modules 401 1 e Device profile for drives and motion control 402 164019
48. s detected 5 Host not ready notification If the bit is set the host program ist NOT ready to communicate 222 Duplicate MAC ID detected The FMU has detected another device in the network with the same MAC ID Duplicate MAC ID check in progress As long this bit is set the FMU is checking for duplicate MAC IDs Errors The following error numbers are valid for the error event if Error remote address is 255 Unknown process data handshake Configuration mode configured FMU MAC ID address out of range Configuration Duplicate FMU MAC ID address Configuration or detected in the network network 58 No device entry found in the current Download error in Contact technical support configuration database the current database FM Failure reading the database cl Contact technical support User watchdog failed Application No data acknowledgement from user Application Master has stopped bus Network error communication due to CAN based bus off error In the Control Configurator FM for the bus parameters under Error handling Auto Clear is activated 2 Master firmware downloaded to slave User error EC1 device 42 2 2 2 52 53 54 57 210 No database found in the system Configuration not downloaded FMU is not configured by Control Configurator 20 21 23 26 FMU Technical Manual 5 3 FMU DataExchange The following error numbers are valid for the error event if
49. s short circuits Timeout count TimeOutCount Counts the number of rejected PROFIBUS telegrams due to severe bus errors Current master address Morelnformation Lower byte of ARRAY 0 of WORD Contains the current active master address Master protocol chip Morelnformation Higher byte of ARRAY 0 of WORD online This variable reflects the current status of the master protocol chip If the value is O the chip is in the offline state if the value is 1 the chip is on the online state The variable is updated cyclically 38 FMU Technical Manual 5 3 FMU DataExchange Global bits The bit field serves as collective display of global notifications Errors can either occur at the FMU itself or at the slaves To distinguish between the different errors the variable part ErrRemAddr contains the error location bus address while the variable part ErrEvent lists the corresponding error number If more than one error is determined the error location will always show the lowest faulty bus address Bir 7 e s 4 2 t fo Bit Explanation 0 Control error Parameterization error Auto clear error FMU stopped communication to all slaves and reached the auto clear end state 2 Non exchange error At least one slave has not reached the data exchange state hence no process data can be exchanged Fatal error Due to severe bus error no further bus communication is possible 4 Event error The FMU has de
50. tected bus short circuits The number of detected events are fixed in the BusErrorCnt variable The bit is set when the first event is detected Host not ready notification If the bit is set the host program ist NOT ready to communicate Timeout error The FMU has detected an overstepped timout supervision time due to rejected PROFIBUS telegramms It indicates bus short circuits while the master interrupts the communication The number of detected timeouts are fixed in the TimeOutCount variable The bit is set when the first timeout is detected Errors The following error numbers are valid for the error event if Error remote address is 255 Double slave address Project planning Check projected addresses Projected receive process data offsetof Project planning Check projected addresses participant s address outside allowable range of 0 255 Slaves data areas overlapping for send Project planning Check projected addresses process data 59 Projected send process data offset of Project planning Check projected addresses participant s address outside allowable range of 0 255 Slaves data areas overlapping for Project planning Check projected addresses 39 Programming Information for Control FPWIN Pro FMU Technical Manual CA an Unknown process data handshake Check warm start parameters Free RAM exceeded Contact technical support Faulty slave parameter data sets Project planning Contact tech
51. th device s product code Device keying failed revision Device configuration Check revision configured with mismatch device s revision Double device address configured in Configuration Each device in DeviceNet must current configuration have its own MAC ID Whole size indicator of one device Configuration Download error in the current data set is corrupt database Contact technical support Size of the additional table for Configuration Download error in the current predefined master slave connections database Contact technical is corrupt support Bd Size of predefined master slave I O Configuration Download error in the current configuration table is corrupt database Contact technical support Predefined master slave I O Configuration Number of I O units and the configuration does not correspond to number of configured offset the additional table addresses are different Size indicator of parameter data table Configuration Value of size indicator too small is corrupt Number of inputs declared in the Configuration Each entry in the I O additional table does not correspond configuration must have only one to the number in the I O configuration entry in the additional table table Number of outputs declared in the Configuration Each entry in the I O additional table does not correspond configuration must have only one to the number in the I O configuration entry in the additional table table 6 Unknown data type in I
52. tinguish between the different errors the variable part ErrRemAddr contains the error location address while the variable part ErrEvent lists the corresponding error number If more than one error is determined the error location will always show the lowest faulty bus address T qos ow pose qug EA Bit Explanation Control error Parameterization error Auto clear error FMU stopped communication to all nodes and reached the auto clear end state Non exchange error At least one node has not reached the data exchange state hence no process data can be exchanged Fatal error Due to severe internal error no further bus communication is possible 4 Event error The FMU has detected transmission errors The number of detected events are fixed in the BusErrorCnt variable The bit is set when the first event is detected Host not ready notification If the bit is set the host program ist NOT ready to communicate Timeout error The FMU has detected an overstepped timeout supervision time of at least one CAN message to be sent The transmission of this message was aborted The data is lost It indicated that no other CAN device was connected or could not acknowledge the message sent The number of timeouts detected are stored in the message timeout variable The bit is set when the first timeout is detected Errors The following error numbers are valid for the error event if Error remote address is 255
53. tion Flashing 5Hz ON OFF 0 0 1 0 jl 2 0 No error configuration found The is online and ready for fieldbus communication but connection to a fieldbus device has not been established Acyclic flashing 3 times fast at 5Hz 8 times between 0 5Hz and 1Hz For example ON 8 OFF fosos 0 0 1 0 2 0 3 0 s e Power up Configuration missing and FMU needs commissioning e Runtime Firmware has found a critical link problem e g host watchdog timeout 10 FMU Technical Manual 2 3 FP FMU LEDs and Connectors 2 3 1 FP PROFIBUS SYS LED see page 10 COM LED Color State Indication Yellow ON FMU is holding the PROFIBUS token and is able to transmit PROFIBUS telegrams Acyclic flashing FMU is sharing the PROFIBUS token with other master Between 0 5Hz and 100Hz devices in the PROFIBUS network OFF FMU is not configured or has not received permission to hold the token in the PROFIBUS network Red ON FMU has detected a communication problem with at least one PROFIBUS slave device Connection timeout PROFIBUS connector DB9F 9 pin Sub D female Connector Pin Signal Description 1 3 z 2 E 3 B Line Positive RXD TxD RS485 level 4 RTS Request to send 5 GND Bus ground isolated 6 5V bus output
54. wires to connect them e Do not solder the wires to connect them The solder may break due to vibration 29 Installation and Wiring FMU Technical Manual e After wiring make sure stress is not applied to the wire e Inthe terminal block socket make sure to clamp the wire in place by turning the tightening screw clockwise 4 4 3 CANopen Wiring Use a standard CANopen cable and standard 9 pin Sub D female CANopen connectors 30 FMU Technical Manual 4 5 Wiring of the FP2 FMU 4 5 Wiring of the FP2 FMU The FPX FMU has a screw terminal on its lower side to connect to function earth Use the following items for wiring Accessory terminal block If additional connectors are needed use the connector manufactured by Phoenix Contact No of contacts Phoenix Contact product ID 2 Model no Product no MC 1 5 2 ST 3 5 18 40 36 6 Suitable wire No of wires Size Cross sectional area 1 AWG 28 16 0 14 1 5 mm NOTE Either fixed or flexible wires can be used to connect the function earth Fixed wires with a diameter50 14mm and flexible wires with a wire end ferrule can be used Wiring method LY CAUTION e When removing the wire s insulation be careful not to scratch the core wire e Do not twist the wires to connect them e Do not solder the wires to connect them The solder may break from vibrations e After wiring ma

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