CANopen Basic PL7, Premium, Micro, Advantys System Manual
Contents
1. Ads de schneider electric com As standards specifications and design change from time to time please ask for confirmation of the information given in this publication Oct 042. RUN and PWR are set to on CANRUN is blinking Schneider Electric Assemble the Premium Assemble the PLC as shown in the figure below Ensure that the power supply module is powered off Mount all Premium modules in the backplane Insert the TSX CPP 110 card into the PCMCIA slot of the processor 1 Fix the TAP on a DIN rail 2 Wire the power supply module It is mandatory for the PCMCIA card to be installed in the slot located in the processor module As a result only one CANopen bus is available for each PLC CPU Note that when the PCMCIA card is inserted the PLC must be powered off Now the Premium is properly set up and can be powered on and software configured CANopen Basics Oct 04 Schneider Electric Prepare and install the CANopen cable CANopen Basics Oct 04 For CANopen special connectors and cable are available from the market refer to CANopen cabling document For the present configuration you need to prepare a cable with 3 female SUB D 9 connectors Sail ha a Sieg A pil nai a Node 3 Node 2 Example of CANopen cable is available by Selectron under the product ref e DCA 701 article number 44170014 For any additional information consult htip www selectron ch Example of cable from Lapp http www lappcable com products e UNITRONIC BUS CAN 2170261 120 Ohms shielded double twisted pair cable Example of connectors from ERNI http www erni com e 1 x ref 103668 for dais
3. proceed as follows 1 Check that the power is off 2 Set the upper rotary switch TENS to position 4 3 Set the bottom rotary switch ONES to Baud Rate any position after 9 4 Poweron Note that the baud rate will be taken into account after power on and only when the bottom rotary switch is on position Baud Rate The baud rate is selected with the upper rotary switch 0 10 Kbit 1 20 Kbit 2 50 Kbit 3 125 Kbit 4 250 Kbit 5 500 Kbit 6 800 Kbit 7 1 Mbit The node address is set with the same two rotary switches 1 Check that the power is off 2 Select 0 on the upper switch TENS 3 Select 2 on the lower switch ONES for the module with the CANopen address 2 and 3 for the module with the CANopen address 3 4 Power on Note The 2 switches represent the address value For a CANopen address of 16 select 1 on upper switch TENS and 6 on lower switch ONES Note that the node address will be taken into account only after power on When changing the address without a power cycle the module will keep the old address until the next power cycle takes place Use the Auto Configuration feature no SIM card of the NCO module as follows 1 Check that the power is on and remove the SIM card if inserted 2 Press the reset button which is located under the door in the bottom of the NCO module for about 5 seconds Now the Advantys STB is booting The hardware configuration is read from the backplan
4. 250 kBit s Cancel Master stops in case of Node Guard or Heartbeat Error C Enabled Synchronisation Object SYNC COB ID Communication Cycle Period 128 fi 00 msec Heartbeat Function MV Enable Master Producer Heartbeat Time 2o msec M Enable Global Start Node 29 Bit Selection entries Enable 29 Bit Selector Acceptance Mask ZOR MORER Acceptance Code 00 00 00 00 Hex 00 00 00 oo Hex Double click on Node_2 The Node configuration screen opens and is showing two PDOs in the Predefined Process Data grid The first PDO is a Receive PDO RxPDO to configure the output data for Node 2 the second is a Transmit PDO TxPDO to configure the input data from Node 2 The transmission direction is always seen from the node s point of view Double click on the first PDO and validate the transmission type window We use the predefined settings from this screen Now you have configured the first PDO SyCon has got all necessary information from the EDS file you have created with the Advantys tool Do the same for the second PDO and you have finished the PDO mapping for Node 2 Now the screen is looking as follows Node Configuration x Node Node_2 File name NODE_2EDS V Activate node in actual configuration Device Profile 401 Description Island _2 J Automatic COB ID allocation in accordance with Profile 301 Nodequard COB ID f
5. 3 Node 2 Schneider Electric 10 Software Configuration Introduction The software configuration consists of three major steps 1 Create the Advantys STB configuration and generate an EDS file for each node Advantys software 2 Create the CANopen configuration SyCon software 3 Create the PLC application PL7 software and transfer the project to the PLC Hereafter the whole system is running and you can write outputs to read inputs from the CANopen devices Create the Advantys The main purpose of the Advantys tool is STB configuration e To modify the default parameters of the I O modules i e switching off behavior of outputs e To load the Advantys configuration into the SIM card if any e To generate the EDS files As we work in our example with the modules default settings and we already have loaded a configuration from flash refer to section Hardware configuration we only use this tool to generate an EDS file for each of our nodes These EDS files are providing all information on the nodes needed by SyCon to configure the bus Note that the Advantys tool is not mandatory You can also use the generic EDS file which is available in SyCon This however requires deeper CANopen knowledge and advanced usage of the SyCon software EDS files created from the Advantys software are dedicated to the individual configuration of each node and reduce the configuration work to a minimum Note In case you want to load t
6. Output Block No 2 Add to Configured Objects Digital Input Block No 6 60000608 Number of mapped objects 2 Analog Input Block No 1 64010110 at On T L L Analogue Input Global Interrupt Enable 4 Delete Configured Object Close the window and save the project You have now finished the CANopen configuration with SyCon and created all necessary data PL7 needs to configure the TSX CPP110 module The information is available in a database the default path for our example is SyCon Projects demo_cfg co You are now ready to start with the PL7 application Schneider Electric Create the PL7 Application PL7 tool Step 1 CANopen Basics Oct 04 Configuration r Designation PROCESSOR TS P 97253 Outputs f Maintain tf RA Mo of words heyy 32 Semi Automatic bus alone Mo of words hy 32 0 B Ey program Indes oF 1st ote yt e 4 Indes oF lat hy Watchdog Contiguration load mode Select Database Configuration size 13 words i PLT SyCon cy Activated s Disactived Transmission speed SyCon tool SYNC Message COB ID SYME Message Period Aubo Clear Bus conhigquration r r hilsche Start PL7 create the hardware configuration and double click on the PCMCIA slot of the CPU 1 Select the Channel 1 2 Select the TSX CPP100 110 card 3 Define
7. STBNCO2212 CANopen interface module a STBPDT310 power supply module a STBDDI3410 4 bit input module and a STBDDO3410 4 bit output module Node 3 is like Node 2 but has additionally 2 analog modules the STBAVI1270 two channels analog input module and the STBAVO1250 two channels analog output module For both nodes the outputs are wired to the inputs then e the digital input one goes on when output one is set etc e the analog inputs read back the value set from the analog outputs Hardware e CANopen master TSX CPP 110 PCMCIA card type Ill e DS 301 V4 01 standard e On Premium P572xxx to 574xxx CPU V5 0 e On Premium P571xxx CPU V5 6 On Micro CPU TSX 372x V6 0 2 CANopen STB Network Interface Modules STB NCO 2212 2 STB power supply modules STB PDT 3100 STB I O modules as listed in the description of the configuration example 3 CANopen connectors and cable Programming cable for PLC Software e Advantys to configure the STB island e SyCon V2 8 to configure the CANopen bus e PL7 V4 4 to configure the PLC Schneider Electric Installation Introduction This chapter describes the step necessary to install the hardware and to setup the software to fulfill the following application architecture Layout i Node 2 Node 3 CANopen Basics Oct 04 Schneider Electric Hardware General e Assemble the modules incl wiring and hardware settings baud rate network address e Assemble the P
8. 794 Object Digital Output Digital Input esd ale Node ID address m Cancel Node BootUp OPE Objects Configuration Error Control Protocol Emergency COB ID f 30 Actual node r Predefined Process Data Objects PDOs from EDS file oee PO apne a 1400 RxPDO1 Communication Parameter 1800 TxPDO1 Communication Parameter 2 7 Node_2 PDO mapping method Ds301 V4 7 Add to configured PDOs r Configured PDOs PDO_1400 514 PDO_1800 386 PDO name Symbolic Name COBD I Type I Addr _ I Len O Type O Addr O Len a PDO Contents Mapping QB PDO Characteristics Define new Receive PDO Define new Transmit PDO Delete configured PDO Symbolic Names Click on OK to valid and close the node configuration window Schneider Electric 16 SyCon tool Step 7 Configure the PDOs for Node 3 SyCon tool Step 8 Enable analog input transmission for Node 3 CANopen Basics Oct 04 Do the same with Node 3 For Node 3 SyCon is offering four predefined PDOs two Receive PDOs and two Transmit PDOs RxPDO1 is defining the PLC digital output data RxPDO2 is defining the PLC analog output data TxPDO1 is defining the PLC digital input data TxPDO2 is defining the PLC analog input data Configure all 4 PDOs in the same way as you did it with Node 2 Warning You have to map all offered PDOs and perform no changes on these PDOs otherwis
9. CANopen Basic PL7 Premium Micro Advantys System Manual Document Schneider Electric Building a New Electric World Table of Content OV SLO Niece sete sess seco cease Soe se es sce aera as ace anen ne atwenaee neuant cee teectueneanet a neuaetsensmetiunenecstwcneueaosstece seus 3 VAN Ke ECU O eeeeeemee errr ence te eee eee nae ane nae Mae AOE Ane res ee are ae arene TeT Ree ee Rone cen rene De omer tat ee eee eee 3 MUS TAN AU OW seit siete ate ated see tece ert EE E EE EE 4 POWI Enaren ote vesaia vaca css avan N awa acetate ree E Goan Aoi eerie se 5 FFIEC IN AO Gl ee canta scnanceatvencuane wad cua cwananan cua cuanc wun causceuacnai wancnudcnaaehanc wan cminenaamae fadiaisadneh 10 DOMWareGOMMOUN al OM eacctsecdaceas nect ose ccanntecensn seam E 11 DepuUdggiNG Renee meen erator Nee etre Manresa Ste em eon ee ne r Oe a ee eee 20 pte le 1n e 81 eeerctet Cheer e mere rere ere rrr er tert rere re rrr ert ett rrrre err rtcrMerr error rer rer rrr rer rere r errr ertr ener err errr tre 22 More than 4 PDOs required Tora Node aa 22 BasiCS OF GANG DCs seca scse cede vata a e deen ct a a E e a Soha deca ease N 24 Introduction The System Manual Document is intended to be a Quickstart Manual for a System for setting up a CANopen network on a Premium or Micro PLC It s intention is not to replace any product documentation Instead it will deliver all the information needed on top of the product documentation to install parameterize and s
10. Node_2 from the list of available devices Keep the node address 2 SyCon is offering as default value then click on Add gt gt button and valid the screen by OK Do the same for Node 3 Node filter Yendo All Profile All Selected devices Add gt gt node 2 Available devices Icl4 D065 Icl4 IFS CANopen LEIO M17 node z PE S0 COS lt lt Remove PMC COS Profile 401 standard EDS R All Twinline CaN oner x Ae Vendor name Telemecanique Node ID Product number 033001546 Product version Mo entry Description Nodes Product revision Mo entry EDS file name NODE 3 EDS EDS Revision 0 Now SyCon is showing the following CANopen configuration screen SyCon has taken the names Node_2 and Node_3 from the names of the EDS files si SyCon M Projekte COPAM Quick Start Demo_cnf co is File Edit View Insert Online Settings Window Help olea 2 Master Node iD Master Ts CPP 110 Island 2 Mage I 2 Mode Mode 2 Island 3 Node I0 a Nowe Mode 3 Schneider Electric SyCon tool Step 5 Set the Baud rate to 250 kBit SyCon tool Step 6 Configure the PDOs for Node 2 CANopen Basics Oct 04 Simple click on the TSX CPP 110 and then select Settings gt Bus Parameter in the menu Adapt the Baud rate to 250 kBit s value previously set on the Advantys STB hardware Master Node ID Baudrate Disabled x a OK
11. Slaves Klose Ww inputs Mo etw outputs E 1 The node list provides an overview over all configured nodes Node 2 is shown in red because it is not connected to the bus Node 3 is working properly and therefore is black If one or more nodes are red the DIAG button and the CPP error led is red too The Premium resets error led and DIAG button automatically when the faulty condition has gone For the TSX Micro it must be reset by a positive edge on bit QW0 1 X2 2 Node diagnostic To get more details click on the red listed node The diagnostic field is showing the string Node 2 Status 01h Add nfo 0000h Profile 0 NodeState 127 Error 34 EmcyEntries 0 Status 01 indicates that Node 2 does not answer The diagnostic string of Node 3 is showing Node 3 Status 08h Add info 0015h Profile 401 NodeState 5 Error 0 EmcyEntries 0 Status 8 indicates that the node is controlled by the TSX CPP 110 For more details refer to the TSX CPP 100 110 user manual Schneider Electric 20 PL7 Debug Step 3 Set I O points CANopen Basics Oct 04 3 Set output word MW51 to 16 000F all four outputs will go on You can see the echo of the outputs in the MSB Most Significant Byte of MW1 As the outputs are wired to the inputs you also see the inputs in the LSB Less Significant Byte of MW1 too Set output word MW52 and MW53 to 16000 16 3E80 The output channels put out 5 VDC and feed them back to the a
12. e and stored into a flash memory Note that an Advantys STB is always trying to load the configuration from the SIM card When no SIM card is inserted the configuration is taken from the flash When the current configuration is different from the one in the flash push the reset button to update the flash Always push the reset button after a configuration change or when the flash configuration is unknown Schneider Electric Step 6 Last check Possible Errors Configuration mismatch Module Error CANopen Basics Oct 04 Now the Advantys STB is properly set up and the devices are ready to communicate with the CPP110 CANopen master The LEDs must show the following status e NCO module RUN and PWR are set to on CANRUN is blinking e PDT module IN and OUT are set to on e l O modules RDY is set to on on every I O module When the configuration in the flash is different from the actual configuration the LED status Is as follows e NCO module RUN and PWR are set to on CANRUN is blinking green ERR and CANERR are blinking red e PDT module IN and OUT are set to on e 1 O modules RDY is blinking on every module which does not match with the configuration from flash RDY is on for every other I O module Some modules can display an error condition e g DDO3230 when output voltage supply is missing In this case RDY is on and ERR is blinking on the module while the NCO module is healthy
13. e the project You have now finished the PLC application with PL7 and created all necessary data the PLC needs to start the communication with the CANopen nodes You have now reserved 32 words as well as for inputs than for outputs The input words start at MWO the output words at MW50 As Node 2 is using one input word and one output word and Node 3 five input words and three output words we have the following address assignment e Inputs Node 2 MWO e Outputs Node 2 MW50 e Inputs Node 3 MW1 to MW5 e Outputs Node 3 MW51 to MW53 Refer to Advantys tool Step 3 Transfer the application to the PLC and start the program Schneider Electric 19 PL7 Debug Screen PL7 Debug Step 1 Node overview PL7 Debug Step 2 Node diagnostic CANopen Basics Oct 04 Debugging For debugging open the CPP110 debug screen mm TSX 97303 RACK 0 POSITION 0J Debug Designation PROCESSOR TS P 5ra03 wersion 5 0 jos CHANNEL 1 CHANNEL 1 Tsx CPP 100 CAN OPEN PCMCIA CARO CAMopen rast aj DIAG CANopen Slaves state Data of CANopen slave Value 16 0F0F 1B O000 16 0000 Y Base ls Bin Hex T Des ae Sgmbol Value 16 000F 1E 3E80 1E 3E30 Slawe information A N Mode 3 Status 08h Addinto 0015h Profile 401 ModeState gt Request to send Response received Enter request fai H Total Mo
14. e your I O mapping in PL7 doesn t correspond to the address table from Advantys tool By default the transmission of analog input values is disabled on the modules Perform the following steps to enable analog input transmission 1 Open the Node configuration window for Node 3 2 Press on the Object Configuration button 3 Double click on the object 6423 Analog Input Global Enable in the list of Predefined supported Objects 4 Enter 7 in the Chosen Value to validate the analog input Node Configuration Ed Node Node_3 Node ID address 3 OK Description fisland_3 Configuration Error Ena Control Protocol Node BootUp File name NODE_3 EDS F E ma E EGIS Object Ea V Activate node in actual configuration MV Automatic COB ID allocation in accordance with Profile 301 Device Profile 401 Emergency COB ID fi 31 Nodeguard COB ID fi 795 Analog Output Analog Input Digital Output Digital Input Object Configuration x m Predefi a Node Node_3 Node ID 3 Description Island_3 Cancel Predefined supported Objects in the EDS file Access Filter Obi ldx Sub ldx Parameter Default Value fall 1 Analog Input Block No 1 no default value read only 2 Analog Input Block No 2 no default value read only Decimal analog 16 bit output blocks number of out blocks 2 no default value no default value read only write only write only Analog Output Block No 1 Analog
15. files will be exported on the following directory D Advantys_Projects Quick Start eds Now the Advantys STB configuration is complete You have generated the EDS files as output and you are now ready to start the CANopen configuration with SyCon With the CANopen configuration we generate an electronical description of the CANopen fieldbus This description contains all information that PL7 needs to configure the CPP110 CANopen master Perform the following steps Start the SyCon tool it can be opened from the PL7 configuration screen see PL7 tool Step 1 and open a new CANopen project Save the empty project as Demo_cfg co The default path is SyCon Project You will have to know the path and the filename as PL7 needs it during the PLC configuration From Menu File then Copy EDS Copy the EDS files node_2 eds and node_3 eds you have generated with the Advantys tool Refuse the import of the bitmap file those files don t exist Files to be imported are localized in this example into the following directory refer to Advantys tool Step 4 D Advantys_Projects Quick Start eds Insert the CANopen master TSX CPP 110 Insert gt Master Keep the node address 1 SyCon is offering as a default value Schneider Electric SyCon tool Step 4 Insert the nodes Node 2 and Node_3 Configuration screen in SyCon CANopen Basics Oct 04 Insert Node 2 Insert gt Node and choose
16. he configuration through the Advantys tool use the menu Online Connect then Online Download into the island in this case specific cable is required Steps to create the Advantys configuration Advantys tool Step 1 Start the Advantys tool create a new workspace and enter name and path Create a new workspace 2x Workspace File Island File Mame Node_2 Mame Quick Start Location D Advantys Projects E Name with path ips Projects Quick StarQuick Start any 4 Mame with path dyantys Projects Quick Start Node_ 2 tal 4 Cancel _ In our example we have chosen the path D Advantys_Projects Quick Start The name of the project file is Quick Start aiw and the name of the Advantys STB is Node_2 referring to its CANopen node address All the Advantys STB on the same bus must be declared in the same workspace Default workspace path is C program Files Schneider Electric Advantys Project CANopen Basics Oct 04 Schneider Electric 11 Advantys tool Step 2 Configure the STB nodes CANopen Basics Oct 04 After that a workspace with a DIN rail for Node 2 is opened Now configure Node 2 according to its hardware configuration by drag and drop the modules from the hardware catalog on the right side of the screen Do not forget the Termination plate Ref STB XMP 1100 Then create a new node Add new Island from the File menu name it Node_3 and configure it acco
17. ion principals in a CANopen network EDS Electronic Data Sheet An EDS file is describing the communication properties of a device baudrates transmission types I O offer It is used in the configuration tool to configure a node like a driver in a Windows operating system CO files are configuration files generated by the SyCon tool They are imported into PL7 and contain all necessary information the TSXCPP110 needs to configure the CANopen nodes and to exchange I O data PDO Process Data Object CANopen frame containing I O data We distinguish between e Transmit PDOs TxPDOs with data provided by a node and e Receive PDOs RxPDOs with data to be consumed by a node The transmission direction is always seen from a node s point of view A PDO does not necessarily contain the whole data image of a node for both TxPDO and RxPDO Normally analog input data and discrete input data are divided onto different TxPDOs The same is true for outputs SDO Service Data Object CANopen frames containing parameters As the data of PDOs is automatically handled by the CANopen nodes according to the configuration in SyCon SDOs must be launched by function blocks through the application As we can set up our example configuration without using SDOs for further explanation refer to the TSX CPP100 CPP110 user manual reference TSX DM CPP100 110 CAN open available on PL7 documentation CD SDOs are typically used to read parameter
18. iority of a frame the lower the ID is the higher the priority will be this has the following consequence The first PDO of a node is more prior than the second or the third Transmit PDO1 is more prior than Receive PDO1 Transmit PDO2 is more prior than Receive PDO2 The lower the node ID is the more prior PDOs will be CANopen Basics Oct 04 Schneider Electric Steps to configure PDO5 Note that the range for COB IDs allows each node to have 4 Transmit CANopen Basics Oct 04 PDOs and 4 Receive PDOs A 5 PDO cannot get its COB ID automatically as there are no more free numbers left Configure PDO5 in the Node configuration screen of Sycon The following window opens xl 1 Wo default COB ID is available Please switch off the automatic COB ID allocation and enter the required COB ID manually Disable the automatic COB ID allocation node configuration screen Now you can manually overwrite the COB ID for PDO5 PDO6 Use the following COB IDs e Transmit PDO 5 6 inthe range of 1664 1759 Hex 680 6DF e Receive PDO 5 6 inthe range of 1761 1792 Hex 6E1 700 Now you can close the node configuration screen and save your project Schneider Electric 23 CANopen specific terms EDS files CO files PDO SDO Transmission Types COB ID CANopen Basics Oct 04 Basics of CANopen The following terms and abbreviations are helpful for understanding the communicat
19. nalog input channels You can read this value back in the input words MW4 and MW5 by using the scroll bar Input word MW2 is containing one Status byte for each of the two analog input channels Input word MWS the Status bytes for the two analog output channels Refer Advantys tool Step 4 where I O mapping is described Schneider Electric 21 Addendum More than 4 PDOs required for a node More than 4 PDOs You can simply configure up to 4 PDOs per direction per node When you required for a node want to have more some additional steps are required This due to the following How COB lds are COB Ids for PDOs are in the range of 385 1407 hex 180 57F In assigned general the user is free in the choice of the COB ID for a given PDO But he has to take care to stay in this range and he should not use a COB ID twice CANopen configuration tools normally provide an automatic COB ID allocation which is taking care of this Sycon is using the following algorithm which is in accordance with profile 301 Node 1 Node 2 Node 127 decimal decimal decimal 1 TxPDO 16 180 Node ID 385 386 aa 511 1 RxPDO 16 200 Node ID 513 514 a 639 2 TxPDO 16 280 Node ID 641 642 n 511 2 RxPDO 16 300 Node ID 769 TIO au 895 3 TxPDO 16 380 Node ID 897 898 la 1023 3 RxPDO 16 400 Node ID 1025 1026 aaa 1151 4 TxPDO 16 480 Node ID 11538 11540 1279 4 RxPDO 16 500 Node ID 1281 12820 1407 As the COB ID is determining the pr
20. rding to the hardware configuration of Node 3 The following figure is showing the Node 8 properly configured PDT 3100 1 m m om Note You can also read out the configuration when you are in online mode In this case the power supply module and the termination plate are missing as they cannot be detected on the island s backplane You must add them manually Schneider Electric Advantys tool Step 3 Display the Fieldbus I O image General mapping rules are Detailed mapping interpretation of Node 3 CANopen Basics Oct 04 Open the fieldbus I O image from the menu I O image overview Select Node 3 click on the TAB Fieldbus image and select PDO alignment as shown in the screen below Fe41 0 Image Overview E 2 x Fieldbus Image odbus Image Input Data Slot 1 Word 15 ee tt 2 3 3al 3 H oT 4 3 al al a N 4 Aj 4 4 4 af aj al 3 4 3 3 4 el p 4 4 4 3 3 3 3I 3 3 3 3 3 3 3 3 3 3l 5 3l 3 3l 3al al 3al W 3 3al al al al 3al 3al aE Image Location Family Slot 2 Hodule ltem Output Data N word 15 14 13 12 11 10 sf af 7 el 5 4 ab Cay 2 a aj aj ajl af af af 4 4 a ajl 4 a 3 a Aaj aj aj 4 4 4 4 4 4 Aj 4 4 4 Do the same for Node 2 Make a print screen from both screens as it helps to understand the IO mapping Ji fi In the PLC memory Node 3 assigns 3 words of output data and 5 word
21. remium PLC incl TSX CPP 110 for this example e Prepare and install the CANopen cable Assemble the STB Connect the STB hot swap bases and mount the modules in the sequence devices listed below Changing the sequence of the I O modules has an impact of the I O addresses in the state RAM of the PLC Step 1 Node 2 Node 3 Assemble the modules Network interface STBNCO2212 Network interface STBNCO2212 Power supply STBPDT3100 Power supply STBPDT3100 Digital input module STBDDI3420 Digital input module STBDDI3420 Digital output module STBDDO3410 Digital output module STBDDO3410 Termination plate STBXMP1100 Analog input module STBAV 1270 Analog output module STBAVO1250 Termination plate STBXMP1100 Step 2 Wire the Advantys STB The following illustration is showing the wiring of Field wire the devices Node 3 The wiring of Node 2 is similar only the last two modules are missing Note that we recommend to have a separate power supply for the outputs For testing purpose however you can have one common power supply for inputs outputs and logic supply as shown in the figure above CANopen Basics Oct 04 Schneider Electric Step 3 Set up the CANopen baud rate to 250 Kbit Step 4 Set up the CANopen node address Step 5 Load the Advantys STB configuration CANopen Basics Oct 04 Both baud rate and node address are set with the two rotary switches in the middle of the NCO module To set the baud rate
22. s from write parameters to drives while the application is running CAN open frames can be either sent cyclically on change of state or on remote request For each PDO you can define a transmission type in SyCon This reduces the network load In this guide we use the default settings and do not go deeper into this subject For more information refer to the TSX CPP100 CPP110 user manual COB ID Communication Object Identifier Each CANopen frame starts with a COB ID and plays herewith the role of the Identifier in a CAN frame During the configuration phase each node is receiving the COB ID s for the frame s he is providing and for the frames he has to consume In a CANopen PDO you won t find the node ID of a provider or consumer as it is common for other networks This role is taken over by the COB ID and this enables to spread the I O image of a node over more than one PDO Each of this PDO can be sent with a different transmission type and different priority This also enables to have more than one consumer for a PDO they only have to be sensitive to the same COB ID For more details about COB IDs assignment refer to Appendix at the end of this document Schneider Electric 24 Schneider Electric GmbH Steinheimer Strasse 117 D 63500 Seligenstadt Germany CANopen Basics Schneider Electric GmbH Customer amp Market System amp Architecture Architecture Definition Support Contact Telephone 49 6182 81 0
23. s of input data The table is read as follows You can find the input of slot 1 DDI module in the input word 1 low byte the I O of slot 2 DDO module in input word 1 and output word 1 First a block with discrete I O then the block with analog I O e Within the blocks the I O points are sorted by the physical sequence of the I O modules e Discrete I O points are mapped into the discrete block sorted by number First the I O points after the echo outputs only and then the status Analog channels are sorted by number The input output values are mapped into the analog input output block the status bytes are mapped into the discrete input block Input Data Word 15 12 7 4 3 0 Status bits slot 2 Status bits slot 1 Input bits slot 1 Status bytes slot 3 Status bytes slot 3 Status bytes slot 4 Status bytes slot 4 Input channel slot 3 Input channel slot 3 Output Data Word 15 12 3 0 ee es ee Output bits slot 2 Output channel slot 4 3 Output channel slot 4 Schneider Electric 13 Advantys tool Step 4 Create the EDS files Create the CANopen configuration SyCon tool Step 1 Create a new SyCon project SyCon tool Step 2 Import the EDS files SyCon tool Step 3 Insert the TSX CPP 110 CANopen Basics Oct 04 Select node 2 and create the EDS file by File gt Export Select Node_2 as name for the EDS file Do the same for node 3 In our example the
24. tart up the outlined system The functional description or specification of a specific user application is not part of this manual It is intended to support customers being not familiar with CANopen on their first steps to set up CANopen devices on a Premium or Micro PLC It will explain how to set up the hardware and which software tools must be used for which purpose during the process of software configuration Default settings are kept wherever it is possible to facilitate the way through the configuration process and to prevent the user from loosing his orientation inside this guide CANopen Basics Oct 04 Schneider Electric 1 CANopen Basics Oct 04 Abbreviations fHMI Human Machine Interface pps Power supaiy ne Breaker Premium The generic range name fora Schneider midrange PLG Micro The generic range name fora Schneider midrange PLC Magelis The generic range name for all the Schneider HMI devices Schneider Electric 2 Introduction Overview Layout Components CANopen Basics Oct 04 System The system chapter describes the architecture the components the dimension and the amount of components used within this system Architecture We set up the following CANopen network with two Advantys STB on a Premium PLC Note Premium is chosen for this example but all that is described in this guide also apply to Micro Pe ee ee a ee i T EEEE Node 2 Node 2 consists of a
25. the output behavior in case of PLC stop Maintain or Reset By default 4 Mast task is selected as rate of update of the storage area associated with the I O 5 Automatic bus start up mode is selected Note that SyCon tool could be launched from this screen Schneider Electric PL7 tool Step 2 CANopen Basics Oct 04 MU TSX 57353 RACKO POSITION 0 E O x Configuration Designation PROCESSOR TS P 57393 m CHANNEL 1 Outputs Maintain f RAZ Bus stark up ir Automati Semi Automatic bus alone c By program Index of lat tte i CaProgram FilestSchneiderntSyContFProjects 4 NConfiguration size 1256 words Transmission speed fi MEitis SHC Message COB ID Watchdog ir Activated Disactived f SyCon SyCon tool SYNC Message Period Auto Clear fo Bus a gt F hilsche 1 Click on Select Database to import the co file into PL7 example Demo_cfg co 2 Define the addresses of the Inputs and Outputs Example e 2a Inputs Array of 32 words from MWO to MW31 We keep default values e 2b Outputs Array of 32 words from MW50 to MW81 3 Press on Bus configuration to see the list of nodes configured on the bus By default 4 PL7 mode is selected to have the CANopen configuration loaded together with the PL7 application into the PLC Close the window confirm all changes and sav
26. y chain plugged on Node 2 e 2 xref 103643 for the end of the bus includes the line termination plugged on the TSXCPP110 tap and on Node 3 CANopen connectors normally have screw type terminals and must be assembled manually according to the following pin out Male pins Female sockets CAN_L CAN_L bus Line Sea CAN_GND CAN ground PS bOO Can co pin CAN_H CANH bus Line POO Not connected Pin 2 3 and 7 must be connected Schneider Electric Introduction Function CANopen Basics Oct 04 Implementation The implementation chapter describes all steps necessary to initialize parameterize program and to Start Up the system Functional description We set up the following CANopen network with two Advantys STB on a Premium PLC Note Premium is chosen for this example but all that is described in this guide also apply to Micro Node 2 consists of a STBNCO2212 CANopen interface module a STBPDT310 power supply module a STBDDI3410 4 bit input module and a STBDDO3410 4 bit output module Node 3 is like Node 2 but has additionally 2 analog modules the STBAVI1270 two channels analog input module and the STBAVO1250 two channels analog output module For both nodes the outputs are wired to the inputs then e the digital input one goes on when output one is set etc e the analog inputs read back the value set from the analog outputs pl a ki ts tt appa tutte a w Node
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