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SyConCO - System Configurator CANopen (Operating

1. Figure 63 Online gt I O Monitor DEC HEX converts the display of the input data The output data are always in the decimal form Enter the output value and then press Update Always the first 32 input and output Bytes of the process depiction are shown also when these Bytes have not been occupied by the configuration The display is always in a Byte manner A more comfortable display is offered by the I O Watch Monitor that is described in the next section SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Online Functions 109 200 6 5 2 I O Watch The I O Watch monitor can be used in place of the I O Monitor and offers more functionality Various data formats Hex Unsigned Decimal Signed Decimal Bit The I O Watch monitor works symbol oriented It is not necessary to know the offset addresses The following firmware supports the I O Watch monitor function Fes CS 1 040 Combimaster resp 1 140 DP Master DeviceNet Master 1 058 AS Interface Master 1 010 Table 39 Firmware for VO Watch function The following table lists the typical steps to use the I O Watch monitor Preconditions The project configuration already exists containing a CANopen Master and the CANopen Node s as described in section Getting Started Configuration Steps on page 23 The Configuration
2. Ascii 6 5 4 Write Object SDO Download With this function you can execute the CANopen services read object and write object based on the current configuration As the first you must select the required device by clicking with the left mouse button on the symbol Node Then select the menu Online Read Object or Online gt Write Object Write Object Ea qu en Object Index 1000 hex Li Sub Index fo hex OK Value hex Ero 3 Figure 67 Online gt Write Object Objects in CANopen are addresses in the manner Object Index and corresponding Sub Index Both values must be specified in the selected window Press Read or Write button to start the action SyCon informs about success and failure of the action SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 112 200 6 6 Message Monitor The Message Monitor permits access to the Mailbox of the CIF The usage of the Message Monitor assumes advanced knowledge on the part of the user First the Hilscher device must be chosen with a left mouse click on the symbol of the Hilscher device Then call up the Online gt Message Monitor menu File Edit View MESSAGE OUTPUT Counter 0 MESSAGE INPUT Counter 0 Message Header r Message Header RX D TX 0 RX fo TX LN 0 NA 0 LN fi Auto NR I NR 4 0 0 4 fo 5 B 0 0 B fo E meenam Heade leegam Header Device Edi Dat
3. Connect Device To connect a device to the PC the checkbox of the favored device has to be selected in front of the IP Address field Device is still not assigned and it can be selected Device is assigned The Assignment can be abrogated by deselecting Table 26 Device Assignment Checkboxes of the CIF TCP IP Driver Note A connection can be build up to exactly one device The following picture shows an assigned device Board Selection IP Address Type Serial Number MAC Address Address Switch 192 168 10 57 CIF50 COM 1259 00 08 74 48 DB FE 0 Figure 39 CIF TCP IP Driver Board Selection Assigned Device This selection has to be confirmed by clicking the OK button Now the device is connected with the System Configurator via the CIF TCP IP Driver and the Device Assignment dialog is closed By clicking the Cancel button the Device Assignment is closed without an assignment has been accomplished or respectively changed SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 5 1 4 1 76 200 Filtered Devices Filtered Device s IP Address Type Serial Number MAC Address Address Switch 192 168 10 161 NN40 42 5 00 02 42 04 00 05 0 192 168 10 155 NL MPI 13 00 02 42 0C 00 0D 0 192 168 10 160 NN40 42 11 00 02 42 04 00 0B 0 Figure 40 CIF TCPAP Driver Filtered Devices Devices listed in the table F
4. 0000000000000 Le Error 0 Figure 97 CAN_TASK Timeout Counter Normally PDOs are transferred in CANopen protocol without sending back any kind of acknowledge message But if input PDO data is polled by the master with a remote request telegram each addressed Node has to response If a Node do not response to an outstanding remote request then the Timeout Counter of the corresponding Node is incremented by a value of 1 So if a counter shows a value unequal 0 this can be seen as an indication that the remote request rate is to high for the Node which cannot answer to every request In such case decrease the Node request poll rate in the Node configuration window SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 166 200 10 1 9 CAN_TASK Node Init Counter 0000000000000 el Error 0 Figure 98 CAN_TASK Node Init Counter The Node init counter is always incremented whenever the Node is initialized Normally the counter must show the value 1 for each configured Node but if a Node is detected as inactive during the Node guarding procedure then the master tries to reinitialize the Node again If this happens the Node init counter is incremented by a value of 1 So values larger then 1 are an indication for communication error to the corresponding Node station SyConCO System Configurator CANopen DOC9803010113EN Revision 13
5. 93 All memory locations for license codes already in use Table 64 RCS error numbers answer message 40 93 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Error Numbers 149 200 9 5 Database Access Error Numbers 100 130 The following table lists the error numbers of the database access errors Error Number Description LU No connection to data base Call function DoOpen Invalid character found in a Table or Column Table 65 Database Access Error Numbers 100 130 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Error Numbers 150 200 9 6 SyCon Error Number 235 Error Number Description 235 Project file with the same name already opened Two project files with the same name can t be opended at the same time Table 66 SyCon Error Number 235 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Error Numbers 151 200 9 7 Online Data Manager Error Numbers 9 7 1 Online Data Manager Error Numbers 1000 1018 The following table lists the error numbers of the Online Data Manager Eror Number Desorption SSS Application has requested an unknown function mode operating mode Known function modes operating modes are Reset Download Register Serv
6. By clicking the OK button the Project Information is saved 5 6 Path When the Settings gt Path menu is selected then the search path for EDS files is displayed E Programme HilscherSyCon Fieldbus CAN open EDS E Programme HilscherSpCon Project Figure 48 Settings gt Path If you click the button OK all EDS files are read in SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 89 200 5 7 Language Choose the Settings gt Language menu and the following window opens Select Language x French German Cancel Figure 49 Settings gt Language Here one is in a position of setting the language of the System Configurator Select the desired language and confirm the entry with the OK button A message appears that the System Configurator must be started again in order to activate the selected language Please carry this out After restarting the System Configurator the language will have changed to the one selected Note Up to now not all languages are available for all fieldbuses SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 90 200 5 8 Start Options After activating the Settings gt Start menu point in the network mode the following dialog will appear Here it is possible to set the various st
7. Figure 51 Security question before Download Attention The download overwrites the configuration in the device and the communication with the connected devices is interrupted En o 2 gt 2090900909999990990990990909000000000090090000 Data base 1 co Length of data base 1920 Figure 52 Online gt Download SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 6 2 2 Firmware Copy Download 93 200 Before the Download is executed the configuration is checked by the Configurator The most common cause of error is overlapping of addresses in the process data image This can be checked by calling up the address table with the View gt Address Table menu point If the issue of addresses in the process data image should be carried out automatically then the Auto Addressing button in the Master Configuration window must be activated The configuration is transferred into the selected device and is stored there in FLASH memory in a zero voltage manner so that the configuration is available when the voltage supply is switched off and on again After the download the device carries out an internal restart and begins with the communication if in CANopen Master Settings the Automatic Release of Communication by the Device menu point has been set Firmware Download If a Firmware download is to be carried out proceed as fol
8. Released Public Hilscher 1998 2012 Settings 86 200 5 4 CANopen Node 5 4 1 Node Settings The CANopen Node Settings contain parameters that define the behaviour of the device at its user interface which does not belong to the CANopen Node configuration This menu point is applicable only to Hilscher devices These settings are transferred with the download of the CANopen configuration to the device In order to open the CANopen Node Settings menu first choose the Node and then open the window in the Settings gt Node Settings menu or make a right mouse click at the symbol of the Hilscher Node device and then select Node Settings CANopen Node Settings 1000 Bus sprchianuuls device contallea Figure 46 Settings gt CANopen Node Settings User program monitoring The watchdog time appoints how long the device will wait for a user trigger of the watchdog until it resets all outputs to zero This must be activated from the application SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 5 4 2 87 200 Handshake of the process data With this different modes the handshake of the process data is selected for the master The selection of this mode is important for the correct data exchange between the application and the device Please refer to the tool kit or the device driver manual for the detailed desc
9. Revision 13 English 2012 06 Released Public 194 200 89 90 92 92 93 94 94 95 98 99 100 102 103 105 108 110 110 111 111 112 114 115 116 117 118 119 121 123 125 127 131 132 133 134 135 136 136 137 158 158 159 161 161 162 162 163 163 164 165 166 167 167 168 O Hilscher 1998 2012 Lists 195 200 Figure 102 COS_TASK User Communication 170 Figure 103 COS_TASK Node Management 171 Figure 104 COS_TASK PDO Transfer 172 Figure 105 COS_ TASK SDO Transfer 173 Figure 106 COS_ TASK Object Dictionary 174 Figure 107 COS_ TASK Receive Queue 174 Figure 108 COS_TASK Transmit Queue 175 Figure 109 Device Profile 301 182 Figure 110 Selection of the Device Type in case of Device Profile 301 182 Figure 111 Device Profile 401 183 Figure 112 Selection of the Device Type in case of Device Profile 401 183 Figure 113 Device Profile 402 184 Figure 114 Selection Device Type in case of Device Profile 402 184 Figure 115 Device Profile 405 185 Figure 116 Selection Device Type in case of Device Profile 405 185 Figure 117 Device Profile 406 186 Figure 118 Selection of the Device Type in case of Device Profile 406 186 Figure 119 NMT State Machine 188 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Lists 11 2 Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table
10. This points contain online counters values parameters and statuses Several task states are available 10 1 1 PLC_TASK Common Variables Version compiled CAN Task state 0 Handshake counter 0 Handshake mode 2 Variable Version compiled indicates the hardware version the software is compiled for Task state is always filled up with value 0 Handshake counter number of process data handshakes ever done with the application Handshake mode represent the actual process data handshake mode the card is actual running with The mode can be switched in the menu Settings gt CANopen Master Settings Table 76 PLC_TASK Common Variables SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 159 200 10 1 2 CAN TASK Common Variables Common Yariables Figure 89 CAN_TASK Common Variables SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 160 200 Variable Meaning Number of received CAN Messages Sent messages Number of sent CAN Messages Receive overruns This counter is incrementing when to much incoming CAN messages overload the master An incremented counter will always cause lost CAN message data so it should normally contain the value 0 Bus errors Our used CAN controller has two internal error frame counter for detecte
11. Guarding that means Life Guarding presumes Node Guarding Error Control Protocol Node Id 2 EG Use Node Guarding Protocol Cancel Guara hime msec ema fe Tine Rector Master Consumer Time of Node 320 msec Node Heartbeat Producer Time 200 msec m Node Heartbeat Consumer List Node ID M Master E Node3 Node4 Figure 26 Error Control Protocol Heartbeat Protocol SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 62 200 Heartbeat Protocol Functional Principle A Heartbeat Producer transmits the Heartbeat telegram cyclically with the time interval defined in the field Node Heartbeat Producer Time One or more Heartbeat Consumer may receive the indication The relationship between producer and consumer is configurable via the Object Dictionary entries The Heartbeat Consumer guards the reception of the Heartbeat telegram within the Heartbeat consumer time If the Heartbeat telegram is not received within this time a Heartbeat Event will be generated Requirements In order that the Heartbeat Protocol can be used the following requirements are necessary 1 The Heartbeat Function has to be activated in the bus parameters of the Hilscher Master 2 In the Hilscher Master device the firmware version V1 070 has to be loaded 3 The Node has to support th
12. Reset Communication command Check Node Type If enabled the master will compare the contents of the mandatory and Profile Node Object 1000H is the device type with the values that are configured within SyCon If the values are different the master will report a parameterization error Configuration A CANopen has two specific register responsible for the Node Guarding Protocol guarding protocol If the item is enabled the master will write the Guard Time and Life Time factor of the Node configuration into the corresponding objects of the Node during startup Configuration If the item is enabled the master will write the SYNC COB ID of the SYNC COB ID configuration into the corresponding objects of the Node during startup Configuration If the item is enabled the master will write the EMCY COB ID of EMCY COB ID the configuration into the corresponding objects of the Node during startup Configuration To get a PDO communication to a Node working the master has to download of objects send all relevant configuration objects to the Node For example the mapping table the COB ID a PDO shall be sent through are covered here If enabled all these parameter and also the user specific objects which are added manually in the Node object configuration window are written down to the Node by the master Start Node To reach the operational state in CANopen a Node has to get the CANopen specific Start Node command If enabled the master will
13. gt Master Insert Master 36 Master 1 3 Select Hilscher CANopen Insert gt Node Insert Node 40 Node and set Node address Set Bus Parameter Left mouse click at the Master then Bus Parameter 77 Settings gt Bus Parameter 6 automatic assignment has Settings gt Device Assignment occurred 7 Download Left mouse click at the Node then Downloading the 92 Online gt Download Configuration SDO Diagnostic Left mouse click at the Node then COS_TASK SDO Transfer 173 Online gt Extended Device Diagnostic i Transfer user data Left mouse click at the Node then Message Monitor Set Device Assignment if no Left mouse click at the Node then Device Assignment Read objects Online gt Message Monitor Write objects Table 12 Configuration Hilscher CANopen Node to any CANopen Master SDO Note 1 Insert a Hilscher CANopen Master into the configuration It serves as dummy and it does not have to agree with the connected Master SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Getting Started Configuration Steps 32 200 3 3 3 Configuration Hilscher CANopen Master to a Hilscher CANopen Node The following table describes the steps to configure a Hilscher CANopen Master to a Hilscher CANopen Node for SDO communication as it is typical for many cases Menu in the System Configurator Detail information in Page section 1 Create a new project Fil
14. 10 Table 11 Table 12 Table 13 Table 14 Table 15 Table 16 Table 17 Table 18 Table 19 Table 20 Table 21 Table 22 Table 23 Table 24 Table 25 Table 26 Table 27 Table 28 Table 29 Table 30 Table 31 Table 32 Table 33 Table 34 Table 35 Table 36 Table 37 Table 38 Table 39 Table 40 Table 41 Table 42 Table 43 Table 44 Table 45 Table 46 Table 47 Table 48 Table 49 List of Tables SyCon Main Functions Components of the CANopen Device Model Selection during Installation Overview Communication Types CANopen Overview Communication Types PDO Communication Overview Communication Types SDO Communication Overview Communication Types CAN send receive transparent Configuration Hilscher CANopen Master to any CANopen Node PDO Configuration Hilscher CANopen Node to any CANopen Master PDO Configuration Hilscher CANopen Master to a Hilscher CANopen Node PDO Configuration Hilscher CANopen Master to any CANopen Node SDO Configuration Hilscher CANopen Node to any CANopen Master SDO Configuration Hilscher CANopen Master to a Hilscher CANopen Node 196 200 8 10 18 23 24 24 24 25 27 28 30 31 32 Configuration Hilscher CANopen Master to any CAN Device for Send Receive transparent CAN 33 Configuration Hilscher CANopen Node to any CAN Device for Send Receive transparently CAN EDS files Source of Supply Overview Node Configuration Module Configura
15. 144 9 3 CIF TCP IP Driver Error Numbers 2244440044444BBnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn anna 146 9 3 1 Standard Win32 Socket API Errors u ns0ersnsunnsnennnnnnnnnnnnnnnnnnnnnnnnnnnn nenn 146 9 3 2 Specific Netldent Errors 2240s4s40unnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 146 9 4 RCS Error Numbers 4 Iii das 147 9 5 Database Access Error Numbers 100 130 oooonniononccocononinnnncanonccnnnnnnnnnnanannnnnnos 149 9 6 Sy Con Error Numberi23S 2 2 ee 150 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Overview SyCon 6 200 9 7 Online Data Manager Error Numbers coooocccccccoccccnononcnononanonononanancnnnonannncnncnnnnnnnnnnnns 151 9 7 1 Online Data Manager Error Numbers 1000 1018 151 9 7 2 Message Handler Error Numbers 2010 2027 ocoonoccccnnoccccnococcnnnnanancnnnananos 151 9 7 3 Driver Functions Error Numbers 2501 2512 uuenseennneennnennnnnn 152 9 7 4 Online Data Manager Subfunctions Error Numbers 8001 8035 152 9 8 Data Base Functions Error Numbers 4000 4098 00ooooocccccccconcconononcnonicnnoncnannnnnnos 153 9 9 Converting Functions Error Numbers 5001 5008 cooooccccccnnoccccccconcccccccnnnncnncnnns 157 10 APRENDO Due taa ata 158 10 1 Extended Device Diagnostic Master cccccssseeeeenceceeeeeeeeeeeseeeceeeeeeeeenseeeneeee
16. 6 6 2 1 Message Monitor for Sending CAN Telegrams transparent In the following the Message Monitor for sending CAN telegrams to the Hilscher Master and or Hilscher Node is described For sending you have to type in the following in the Message Monitor Message for Sending via CAN Layer 2 Message Header Rx 3 fixed Tx 255 Ln is calculated Nr 0 255 CAN Send ID Part 1 CAN Send ID Part 2 Send data 1 if available Send data 2 if available Send data 6 if available 0 255 Send data 7 if available 0 255 Send data 8 if available 0 255 Table 46 Message Monitor for Sending CAN Telegrams transparent Send data 5 if available 0 255 Po Send data 3 if available 0 255 Po Send data 4 if available 0 255 Note If the Hilscher device is used simultaneously as CANopen device then Identifier are already used The user is responsible that it comes to no conflicts here The CAN Send ID consists of two Bytes and is formed as follows The CAN ID in range of value 0 to 2047 is multiplicated with 32 and the data length in range of value O to 8 is added up CAN Send ID Part 1 is then the byte with high order and CAN Send ID Part 2 then is the byte of low order Example If the CAN telegram with CAN ID 2000 with 8 byte user data should be sent the following results 2000 x 32 8 64008 and or FAO8H Then the CAN Send IP Part 1 is 250 and or FAH and CAN Send IP Part 2 is 8 and or 08H SyConCO System Co
17. 70 200 Now the device is connected with the System Configurator via the CIF Device Driver and the Device Assignment dialog is closed By clicking the Cancel button the Device Assignment is closed without an assignment has been completed or respectively changed More Details of the CIF Device Driver Next to the field Board Selection there is a button with the name more gt gt Selecting this button a dialog opens which displays further information about the CIF Device Driver More Details Dual port memory Dual port memory Interrupt number base address size Board 0 0x00000 E KByte o Figure 33 CIF Device Driver More Details In this dialog the used Dual port memory base address the Dual port memory size and the Interrupt number of the selected board are displayed Interrupt number O means polling mode This display is only for information purposes and is not editable by the user SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Settings 71 200 5 1 3 CIF Serial Driver The CIF Serial Driver supports the interfaces COM1 to COM 4 of the PC in order to get the configuration or to do diagnostic serially via the diagnostic interface of the Hilscher device Driver Description m Driver Description Device Driver er Serial Driver Figure 34 CIF Serial Driver Driver Description In the upper part of the CIF
18. 8 LSS LMT Services LSS stands for Layer Setting Services LMT stands for Layer Management and is an older designation LSS LMT supports access to the basic parameter like e Baud Rate Node ID via the CAN network also without mechanical setting possibilities on the Node The communication is based on a Master Slave relationship and uses the COB ID 2020 07E4H Slave to Master and 2021 07E5H Master to Slave The LSS LMT Slave need to be in the NMT state Stop to perform the LSS LMT services The LSS LMT Slave is able to take the following both states Operation Mode Operating mode with valid parameters and Configuration Mode Configuration Mode Note It is permitted to couple only one Node to the Master at a time SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 191 200 10 9 Emergency Telegrams Emergency Telegrams are sent by the Node in case of a Node internal event The Emergency Telegram has the following structure Error Error Error Comm Device Emergency Info 0 Info 1 Code Code Register Error Error Trigger LSB MSB Table 102 Emergency Telegram Structure Error Code Byte 1 and 2 See section Emergency Telegram Error Codes on page 192 Error Register Byte 3 Object 1001H See device description of the Node manufacturer generic error current voltage temperature 4 Jeommunica
19. CAN Receive ID consists of two bytes and is formed as follows The CAN ID in range of value 0 to 2047 is segmented in a low order byte and a high order byte Then the CAN Receive IP Part 1 is the low order byte and the CAN Receive ID Part 2 the high order byte Example If the CAN telegram with CAN ID 2000 should be received it results this 2000 and or 07DOH Then CAN Receive ID Part 1 is equal to 208 and or DOH and CAN Receive ID Part 2 is then 7 and or 07H SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Online Functions 123 200 The following picture shows the setting of the receive filter for CAN ID 2000 Message Monitor s5 pP p p als Eager Wate Aor ete Gy Wate fal Wate lary Wate ecu Water lire Wate eGunt Wate pe ENGIN GHG j Figure 76 Message Monitor for Setting the Receive Filter SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 124 200 In the following the Message Monitor with the Receive of CAN telegrams at the Hilscher Master and or Hilscher Node is described With the receiving the following appears in the Message Monitor om recae Pai fo ON Reeve ID Pate jo ese daat tavatabe 0 258 reseca avaiable 0 258 Receive data 3 if av
20. CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Configuration of CANopen with SyCon 64 200 4 4 2 13 Object Configuration The most important part of a CANopen device is its object directory The object directory is essentially a grouping of objects accessible via the network in an ordered predefined fashion Each object within the directory is addressed using a 16 bit index The Device profiles of CANopen define the name the meaning the value range and data type of the Service Data Objects SDO With so called Service Data Messages the contents of an object and its sub index can be changed This is necessary to set up the behaviour of a CANopen Node in the right manner This is necessary to change the behaviour of the CANopen Node To get access to the SDO configuration press the Object Configuration button The following window below will appear and SyCon shows in the upper table all supported objects read out from the EDS file of the Node If you have already inserted some PDOs you will find existing entries in the lower table too SyCon places some objects in this table automatically when a PDO in the Node Configuration window is inserted to set up the several variables of the PDO objects right so that the wished configuration corresponds to the Node behaviour later in the process data communication These values can not be edited Object Configuration Node CIF50 COS Node ID 1 i
21. Currently activated handshake mode 1 2 or 3 Table 82 PCL_TASK Common Variables SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 168 200 10 2 2 COS TASK Common Variables Common Yariables Figure 101 COS_TASK Common Variables SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 169 200 Number of received CAN messages Sent messages Number of messages handed over to CAN chip for transmission This does not necessarily mean these messages were sent over the bus see below Last received COB ID COB ID of most recently received CAN message Last transmit COB ID COB ID of most recently CAN message handed over to CAN chip Number of overrun situations in the CAN chip internal receive queue Transmit overruns Reserved for future use Hard transmission aborts Number of discarded messages because no acknowledging partner could be found on the bus Bus errors Counter for bus events detected by the CAN chip This includes warnings bus off situations and receive queue overruns The latter two are also counted in separate variables see below above Bus off events Number of bus off events These indicate severe communication problems on the CAN bus When the CAN chip detects such a situation it goes to disabled state and is not involved
22. Released Public 34 35 47 48 49 52 55 59 68 69 72 75 78 82 82 83 83 84 97 101 104 106 106 107 109 114 115 116 117 118 119 120 122 124 129 O Hilscher 1998 2012 Lists 197 200 Table 50 CSV Export Description of the Byte Settings 130 Table 51 CSV Export gt DataType Code 130 Table 52 CSV Export gt DataPosition Code 130 Table 53 Example of a CSV File in Excel 131 Table 54 CIF Device Driver Error Numbers 1 14 140 Table 55 CIF Device Driver Error Numbers 15 19 141 Table 56 CIF Device Driver Error Numbers 20 27 142 Table 57 CIF Device Driver Error Numbers 30 49 143 Table 58 CIF Device Driver Error Numbers 1000 143 Table 59 CIF Serial Driver Error Numbers 20 47 144 Table 60 CIF Serial Driver Error Numbers 20 47 145 Table 61 CIF TCP IP Driver Error Numbers Standard Win32 Socket API errors 146 Table 62 CIF TCP IP Driver Error Numbers Specific Netldent Errors 146 Table 63 RCS error numbers answer message 4 39 147 Table 64 RCS error numbers answer message 40 93 148 Table 65 Database Access Error Numbers 100 130 149 Table 66 SyCon Error Number 235 150 Table 67 Online Data Manager Error numbers 1000 1018 151 Table 68 Error Numbers of the Message Handler of the Online Data Manager 2010 2027 151 Table 69 Error Numbers of the Driver Functions of the Online Data Manager 2501 2512 152 Table 70 Sub function Error Numbers of the Driver Functions of
23. Released Public Hilscher 1998 2012 File Print Edit Export and View 133 200 With the menu Edit gt Paste and clicking at the position where the device should be inserted a window opens where the cut copied device can be selected Insert Node from Clipboard Sar dd gt gt CIF50 COS alza REMOVE KRETYEN Figure 81 Edit gt Paste cut copied device When you click on the OK button the device will be inserted in the configuration SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 File Print Edit Export and View 134 200 7 4 2 Delete To delete the Master or a Slave device you have to have to mark this device and then select the menu Edit gt Delete Before SyCon deletes the Master or a Slave a security question appears Question 2 Do you want to delete this device No Figure 82 Security question delete device Note When you delete a device the settings and the configuration of this device get lost 7 4 3 Replace With the menu Edit gt Replace the Master or a Slave device can be replaced How to replace the Master look in section Replace Master at page 39 If you want to replace a Slave device look in section Replace Node at page 66 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 F
24. System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Appendix 188 200 10 7 NMT State Machine State Diagram NMT stands for Network Management The following diagram shows the possible states of a CANopen Node Note The following figure contains the english terms from the CANopen specification Power ON or Hardware Reset Initialization Pre operational p Figure 119 NMT State Machine At Power on the initialization state is entered autonomously Initialization finished enter PRE_OPERATIONAL automatically Start_Remote_Node indication Enter_PRE OPERATIONAL_ State indication Stop_Remote_Node indication 9 10 11 Reset _Node indication 12 13 14 Reset_Communication indication Table 100 Description NMT State Machine SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 189 200 10 7 1 Communication Characteristics in the different NMT States The following table shows the possible communication in the respective NMT states Initialization Pre Operational Operational Stopped ee E mor I dP xd Sr sw x o SS S EEE wo x x x _ Table 101 Communication in the different NMT States SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 190 200 10
25. a Node already exists in the configuration and should be replaced against the other Node you first have to set the focus on the Node left mouse click and then choose the menu Edit gt Replace or make a right mouse click at the Node and select Replace in the now opened menu In the opened window the question appears if the Node should be replaced Question 2 Cen E Figure 28 Security question Replace Device If you click the button Yes a new window opens where you can replace the Node against the existing Node Replace Node CIF50 COS alza Profile 401 standard EDS Figure 29 Edit gt Replace Node In this window you select the Node you want by clicking on it By clicking the Add button this Node is shown in the first position by Selected devices With OK you confirm the selection and the Node will be replaced SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 67 200 5 Settings 5 1 Device Assignment The Device Assignment setting determines how the System Configurator communicates with the device This is selected in the device arrangement via the menu Settings gt Device Assignment 5 1 1 Driver Selection Calling up the Device Assignment firstly a dialog window opens where a driver has to be selected CIF Device Driver BES CIF Serial Driver CIF TEPAP Driver Canc
26. addresses in the process image including their length 1 CIF50 C0 1400 RxPDO1 parameter 513 OB 0 8 Figure 84 View gt Address Table It is possible to sort the addresses according to Station Addresses or according to Data Addresses 7 5 3 ID Table With the menu item View gt ID Table is sorted listed for each Node which message numbers in the CAN network are occupied by the respective Nodes This are the Emergency ID Nodeguard ID and the IDs of the PDOs CIF50 COS RxPDO1 parameter Figure 85 View gt ID Table SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 File Print Edit Export and View 137 200 7 5 4 SDO Table With the menu item View gt SDO Table you get an overview of the transmitted objects during the Node BootUp phase for each Node Apart from the Node Address for each entry the Object and Sub index is displayed with the pertinent value Thereby if a line contains a cross in the column PDO Dialog then the entry was created automatically when inserting a PDOs by SyCon and can be changed in section Node Configuration see at page 42 If an entry does not contain a cross in the column PDO Dialog then the appropriate object is manually created in the Object Configuration see a
27. between the values it will report the Parameterization Fault The real 1000H containment that is just read out online from the Node is shown similar as value in this window behind the Device profile number Object 1000H and Additional information Object 1000H entry Node guarding active As soon as the master has finished up the configuration phase of the Node it will start the cyclic Node guarding mechanism and set the Node guarding active indication flag Remember the Node guarding will only be activated if neither the Guard time nor the Life time factor in the Node Configuration window is zero Internal fault The internal fault indication serves to report master internal fatal error situations If it is reported the office Hilscher should be called Deactivated This bit is set by the master automatically if the Node state was configured to Deactivate Node in actual configuration in the Node Configuration window Table 34 Meaning of the bits in the Device Diagnostic SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 102 200 6 4 2 3 Emergency Telegrams Emergency telegrams are sent by the Node when an internal event occurs if a Node enters The CANopen Master can buffer maximally 5 Emergency telegrams Interpretation of emergency telegrams Ed Nr Emergency error code _ Error register entry Manufacturer specific Error
28. devices do not support the identification by the Hilscher Netldent Protocol In this case the IP address of the device has to be typed in manually too Add IP Address IP Address Add Figure 37 CIF TCP IP Driver Type in IP Address manually The IP address of the device to be connected need to be typed in the field Add IP Address Clicking the Add button it is tried to build up a CIF TCP IP connection between the PC and the device If a device with the typed in IP address was found it is displayed in the table Board Selection SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 75 200 Board Selection In the table Board Selection the devices are displayed which were found via inserting the IP address or via the Hilscher Netldent Protocol and which can be connected to the PC Board Selection IP Address Type Serial Number MAC Address Address Switch DO 192 168 10 57 CIF50 COM 1259 00 08 74 48 DB FE 0 Figure 38 CIF TCPAP Driver Board Selection Found Device When the device already has an IP address this is shown in the field IP Address If the shown IP address is 0 0 0 0 an IP address has to be assigned to the device with the button Set IP Address Further information for changing the IP address you find in section Change IP Address on page 76 The column Address Switch has no meaning here
29. has been downloaded into the CANopen Master using Online gt Download Running bus system Open the existing project using File gt Open mo Open the Windows dropdown menu and select Window gt Logical Network View to change the window A window with three sections opens Left Window Center Window Right Window Logical network view Tag list O Watch w Open the tree structure in the left window to reach the I O module of the device desired Project gt Master gt Node gt Module gt possible Submodul SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 110 200 Fa SyCon Network View OF ES File View Online Settings Window Help olea Logical Network View Tag List 10 Watch Master Diagnostics a Nodel El Q Diagnostics esil Unconnected OPCS available Connected OPC Clients 00 Figure 64 Logical Network View and I O Watch 4 Left click on the module desired and the tags I Os will be displayed in the center window of the Logical Network View 5 Select with the left mouse button the tag symbol desired and drag and drop them in the right window of the Logical Network View 6 In the right window select the desired tag with the left mouse click to highlight it then right mouse click to open a menu Select Start A new window called I O Watch appears 7 A table shows the Device Symbo
30. in bus operations anymore To resume to work it must be re initialized which is done by the firmware automatically Baud rate Current baud rate the CAN chip is operating at on the bus 0 1 Mbit s 1 800 Kbit s 2 500 Kbit s 3 250 Kbit s 4 125 Kbit s 5 100 Kbit s 6 50 Kbit s 7 20 Kbit s 8 10 Kbit s Activated bus parameters 0 valid configuration data received 255 current configuration data is invalid Wrong parameters Reserved for future use Table 83 COS_TASK Common Variables SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 170 200 10 2 3 COS TASK User Communication Bus comm enabled 1 User emergency messages 0 User NMT commands 0 Last user NMT command O 0h Error 0 Figure 102 COS_TASK User Communication Variable Bus comm enabled 0 bus communication is disabled because of Not Ready bit set in DPM or HOST watchdog error 1 bus communication is enabled User emergency Number of user generated emergency messages sent messages User NMT commands Number of NMT commands received from user Last user NMT command NMT command received most recently from user Table 84 COS_TASK User Communication SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 171 200 10 2 4 COS TASK Node Management State 3 F
31. included in future manuals and do not constitute any obligations There is no entitlement to revisions of delivered documents The manual delivered with the product applies Hilscher Gesellschaft fur Systemautomation mbH is not liable under any circumstances for direct indirect incidental or follow on damage or loss of earnings resulting from the use of the information contained in this publication SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Overview SyCon 12 200 1 4 3 Exclusion of Liability The software was produced and tested with utmost care by Hilscher Gesellschaft fur Systemautomation mbH and is made available as is No warranty can be assumed for the performance and flawlessness of the software for all usage conditions and cases and for the results produced when utilized by the user Liability for any damages that may result from the use of the hardware or software or related documents is limited to cases of intent or grossly negligent violation of significant contractual obligations Indemnity claims for the violation of significant contractual obligations are limited to damages that are foreseeable and typical for this type of contract It is strictly prohibited to use the software in the following areas for military purposes or in weapon systems for the design construction maintenance or operation of nuclear facilities in ai
32. incompatible old driver DLL is used User Parameter DeviceNumber invalid User Parameter InfoArea unknown Table 57 CIF Device Driver Error Numbers 30 49 Error Number Description 1000 If the operating system of the device reports an initialization error then a value of 1000 will be add to the error number and shown to the user Table 58 CIF Device Driver Error Numbers 1000 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Error Numbers 144 200 9 2 CIF Serial Driver Error Numbers 20 71 This is the list of error numbers using the serial driver Error Number Description LU O 22 Driver Function cal mo arver hastea So eae OOO Driver Could not create read thread Ce Tr a Driver Could not ora write event Table 59 CIF Serial Driver Error Numbers 20 47 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Error Numbers 145 200 Error Number Description LI 50 User Send message timeout error 51 User Could not send a message Cable not connected Wrong cable Device does not respond 33 Usen Eror by send message message receling 50 sen Telegram unknown enor Table 60 CIF Serial Driver Error Numbers 20 47 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 0
33. info hilscher fr Support Phone 33 0 4 72 37 98 40 E Mail fr support hilscher com India Hilscher India Pvt Ltd New Delhi 110 065 Phone 91 11 43055431 E Mail info hilscher in Italy Hilscher Italia S r l 20090 Vimodrone MI Phone 39 02 25007068 E Mail info hilscher it Support Phone 39 02 25007068 E Mail it support hilscher com SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public 200 200 Japan Hilscher Japan KK Tokyo 160 0022 Phone 81 0 3 5362 0521 E Mail info hilscher jp Support Phone 81 0 3 5362 0521 E Mail jp support hilscher com Korea Hilscher Korea Inc Suwon Gyeonggi 443 734 Phone 82 0 31 695 5515 E Mail info hilscher kr Switzerland Hilscher Swiss GmbH 4500 Solothurn Phone 41 0 32 623 6633 E Mail info hilscher ch Support Phone 49 0 6190 9907 99 E Mail ch support hilscher com USA Hilscher North America Inc Lisle IL 60532 Phone 1 630 505 5301 E Mail info hilscher us Support Phone 1 630 505 5301 E Mail us support hilscher com Hilscher 1998 2012
34. le Is 0 1252 161 23 40 50 60 T Put cyclic Figure 73 Message Monitor LSS LMT 4 gt Save Configuration SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 119 200 5 Switch in Operating Mode 0 DO SAN Seng Pant fa Joa senso rane ites SCS end ata Save Configuration 23 Table 45 Message Monitor LSS LMT 5 gt Switch in Operating Mode File Edit View MESSAGE OUTPUT Counter 1 MESSAGE INPUT Counter 5 iit m Message Header Message Header RX 16 TX 3 Ax 3 x 5 IN 3 NR 0 IN fi ALO NAT NR fo A 0 F 0 A fo F fo B 8 E 0 Bo fe eE po leleorean eager elegan Header Device Adi Date Ares Device Ad a3 Date Area I Data Adi Data Ide Data alar ean Wate touni Date pe ate lsourt haz Date pe la FURCHGn FT enable FUNCHGn EN T enable Receive data Send data lo h f2 ee le f s 9 0 1252 129 23 40 50 60 fo h 2 s ls 5 le f le Is 0 T Put cyclic Figure 74 Message Monitor LSS LMT 5 gt Switch in Operating Mode SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 120 200 6 6 2 Message Monitor for Sending or Receiving Transparent CAN Telegrams Sending and receiving of CAN telegrams Layer 2 is possible on basis of Messages
35. not available yet 3 Select Hilscher CANopen Insert gt Master Insert Master 36 Master 4 Select CANopen Node and Insert gt Node Insert Node 40 set Node address Set Bus Parameter Left mouse click at the Master then Bus Parameter 77 Settings gt Bus Parameter 6 Settings gt Device Assignment occurred 7 Download Left mouse click at the Master then Downloading the 92 a O E Live List Left mouse click at the Master then Live List E Online gt Live List P 10 Transfer user data Left mouse click at the Node then Read Objects SDO Upload 111 Read objects Online gt Read Objects Write Object SDO 111 Set Device Assignment if no Left mouse click at the Master then Device Assignment 67 automatic assignment has Write objects Online gt Write Objects Download Table 11 Configuration Hilscher CANopen Master to any CANopen Node SDO SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Getting Started Configuration Steps 31 200 3 3 2 Configuration Hilscher CANopen Node to any CANopen Master SDO The following table describes the steps to configure a Hilscher CANopen Node to any CANopen Master for SDO communication as it is typical for many cases Menu in the System Configurator Detail information in Page section 1 Create a new project File gt New gt CANopen Setting up the CANopen 35 Configuration 2 Select Hilscher CANopen Insert
36. of data e g executable program 2 code DEFTYPE Denotes a type definition such as a Boolean UNSIGED 16 float and so on DEFSTRUCT complex Data type definition e g PDO Mapping Structure VAR A single value such as Unsigned 8 Boolean visible 7 string etc ARRAY A multiple data field object where each data field is a simple variable of the same basic data type e g array of Unsigned 16 Sub index 0 is of Unsigned 8 and therefore not part of the array data RECORD A multiple data field object where the data fields may be any combination of simple variables Sub index 0 is of Unsigned 8 and therefore not part of the record data Table 93 Object Codes Note The list of the Object Names and Object Codes is no information that the Master or the Node support the respective data type SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 178 200 10 4 2 Object Dictionary Data Types The following table is a survey of the data types and an extract of the CANopen specification Note The list of the data types is no information that the Master or the Node support the respective data type Range Index Hex Object Hex Object Name 0003 DEFTYPE INTERGER 16 Continuation see next page SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Ap
37. of the Master are serviced for the application with the configuration of the PDOs The configuration window contains two tables The upper table Predefined Process Data Objects PDOs from EDS file shows all configurable PDOs which are predefined in the EDS file of the device By making a double click on a table entry or via the Add to configured PDOs button the entry is taken over in the table Configured PDOs The columns of the table Configured PDOs have the following meaning PDO name Here the RxPDO parameter and TxPDO parameter are shown Symbolic Name Here the symbolic name which is used in case of OPC communication is given PDO_1400 and PDO_1800 and continuous names are used as pre set value This can be overwritten by the user COB ID In this column the CAN telegram identifier is shown In case of automatic award of COB ID the routine described in section COB ID Predefined Connection Set on page 176 is used In case of manual award the telegram identifier of the CAN telegram which is transmitted with the PDO can be edit in the range from 0 to 2047 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 50 200 I Type and O Type The specification IB stands for Input Byte and the specification QB stands for Output Byte Addr and O Addr The I Addr Input Address and the O Addr Output Addre
38. the Online Data Manager 8001 8035 152 Table 71 Error numbers of converting functions 4000 4029 153 Table 72 Error numbers of converting functions 4030 4060 154 Table 73 Error numbers of converting functions 4061 4075 155 Table 74 Error numbers of converting functions 4082 4199 156 Table 75 Error Numbers of data base functions 5000 5012 157 Table 76 PLC_TASK Common Variables 158 Table 77 CAN_TASK Common Variables 160 Table 78 CAN_TASK Nodeguard Inputqueue 162 Table 79 CAN_TASK Management Inputqueue 162 Table 80 CAN_TASK Emergency Inputqueue 163 Table 81 CAN_TASK Transmit Queue 163 Table 82 PCL_TASK Common Variables 167 Table 83 COS_ TASK Common Variables 169 Table 84 COS_ TASK User Communication 170 Table 85 COS_ TASK Node Management 171 Table 86 COS_ TASK PDO Transfer 172 Table 87 COS_ TASK SDO Transfer 173 Table 88 COS_TASK Object Dictionary 174 Table 89 COS_TASK Receive Queue 174 Table 90 COS_TASK Transmit Queue 175 Table 91 COB ID Broadcast Objects 176 Table 92 COB ID Peer to Peer Objects 176 Table 93 Object Codes 177 Table 94 Object Dictionary Data Types 179 Table 95 Object Dictionary Profile 181 Table 96 Device Profile and Device Type 182 Table 97 Device Profile for l O Modules 183 Table 98 Device Profile for Drives 184 Table 99 Device Profile for Encoder 186 Table 100 Description NMT State Machine 188 Table 101 Communication in the different NMT States 189 Table 102 Emergency Telegr
39. the license code for the selected fieldbus systems select the menu Help gt Licensing The licensing window will be opened Fill in your name the company name and the address for license information into the fields Select one more fieldbus modules There are three tables to do this The first table list the modules that are not licensed Doubleclick or select and click the Add button to move the desired modules into the table in the middle that are printed on the order form later The modules which are already licensed are shown in the last table SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Installation and Licensing 20 200 Licensee Information Name Enter your name Cancel Company Enter your company name Add E ter add z ie hl Enter License Code City State Zip Enter city state zip Country Enter your country Print Order Form Licensing of the fieldbus systems Not licensed Module Version Date ASi 2 6 4 0 15 05 2001 DEVNet 2 6 7 0 1570572001 License ordered Module Mersin Date Canopen 2 6 8 2 26 07 2001 y Delete License presented Module Mersin Date Figure 4 Example for Selection of the Fieldbus Module CANopen After selecting the modules select the button Print Order Form and send us this paper by fax or by mail 2 4 2 Enter the License Code Thi
40. the user has the possibility to activate or deactivate the Toolbars Standard and Fieldbus If this function is deactivated the toolbars are not shown 7 6 3 Status Bar In the menu View gt Status Bar this bar can be activated with hook or deactivated without hook SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Tools 139 200 8 Tools 8 1 PKV40 PKV50 Gateway The Tools menu for the PKV40 and respectively PKV50 is described in an own operating manual SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Error Numbers 140 200 9 Error Numbers 9 1 CIF Device Driver Dual port memory Error Numbers 1 49 This is the list of error numbers of dual port memory access using the CIF Device Driver Error Number Description TI Driver Board not initialized The communication board is not initialized by the driver No or wrong configuration found for the given board check the driver configuration Driver function used without calling DevOpenDriver first Driver Version is incompatible The device driver version does not correspond to the driver DLL version From version V1 200 the internal command structure between DLL and driver has changed Make sure to use the same version of the device driver and the driver DLL Device Not ready RDY flag Re
41. turn count Incremental rotary encoder Incremental rotary encoder with electronic counting Incremental linear encoder Incremental linear encoder with electronic counting Absolute linear encoder Absolute linear encoder with cyclic coding Table 99 Device Profile for Encoder SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 187 200 10 6 PDO Mapping Method The PDO Mapping with degree of freedom was fixed in the specification DS301 V3 The System Configurator produces the following PDO Mapping Sub index 0 the number of objects value N is entered in object 16xx and object 1Axx respectively Sub index 1 to N are entered in the objects which are to be mapped in object 16xx and object 1Axx respectively The PDO Mapping was laid down more exactly in the specification DS301 V4 Thereby particular the fist mapped information in the Node is deleted then it is described new and after this it is set to valid To delete the information of the PDO Mapping in the Node and to set it back to the default mapping respectively in object 16xx and object 1Axx respectively Sub index 0 the value 0 is written down The objects which are to be mapped are entered in object 16xx and respectively object 1Axx Sub index 1 to N The number of objects is entered value N in object 16xx and respectively object 1Axx SyConCO
42. you insert the correct Node in the SyCon it detects this hardware SyCon displays at which board and which driver was detected and ask if the hardware should be assigned Question 2 SyCon has detected a suitable hardware on your system Driver name CIF Device Driver Board ID in Do you want to assign the hardware Figure 17 Hardware Assignment Node If you answer with Yes the Hardware is assigned If you answer with No you have to assign this hardware with Settings gt Device Assignment in section Device Assignment at page 67 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 42 200 4 4 2 Node Configuration At first you have to make a left mouse click on the symbol of the Node and select the menu Settings gt Node Configuration or Make a double click on the CANopen Node to open the Node Configuration window The Node specific configuration is carried out in this window Here the PDO Process data objects and their addresses in the process data image are assigned in the Hilscher Master Please note that the addresses have to agree with the addresses in the PC application program Note 1 Hilscher Master The information about the Offset addresses relate to the addressing of the data in the Master The addresses don t relate to the addressing of the data in the Node The Node organize
43. 0113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Error Numbers 155 200 4062 Set 0 contains no structure definition Error in function parameter Error from ODBC table Download window can t be created Table 73 Error numbers of converting functions 4061 4075 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Error Numbers 156 200 Error Number Description sd 4082 More than 32 tables should be created 4083 No entry in element szSourceFile ODBC connection initialization not possible This could happen when in file ODBCINST INI in section Microsoft Access Driver mdb is no valid path to ODBCJT16 32 DLL Error in structure in the ACCESS data base that is in DBM format No entry in element szSourceTable Table 74 Error numbers of converting functions 4082 4199 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Error Numbers 157 200 9 9 Converting Functions Error Numbers 5001 5008 The m table lists the error numbers of converting functions Eror Nameer Function PackLongToByteShort Not enough space in pvD Number of elements greater than reserved memory 5001 Function PackLongToByteShort Not enough space in pvD Detected aus converting of pvS 5007 Function PackStringBumpToByteArray A character wa
44. 012 Settings 83 200 The following table is meant to clarify the method of addressing jayeo Jeo Two Wado Bo wo eed we Ww aye 4 wa Word we Table 30 Image of the method of addressing for input Byte addressing Word addressing QB 0 Qwo Word 0 QB 0 awo E awe wa asi aw Cocos A oa il awa waa ose aw eel ie Table 31 Image of the method of addressing for output SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 84 200 5 3 3 Master Configuration The Master configuration is described further above in section Master Configuration on page 38 5 3 4 Global Settings First you have to set the focus on the Master left mouse click and select the menu Settings gt Global Settings or click with the right mouse key on the symbol of the Master device to select the menu Master Configuration and then click the button Global Settings Global Settings Ed Process Data Auto Addressing ba as IV Enabled Cancel COB ID Allocation during PDO insertion Automatic Allocation in accordance with Profile 301 Manual Allocation in range O 2047 Figure 45 Settings gt Global Settings Process Data Auto Addressing In this window it is adjusted whether the process data addressing is executed automatically by SyCon active selected or manually by the user active not selected Auto Addre
45. 012 06 Released Public O Hilscher 1998 2012 Overview SyCon 9 200 1 2 Properties SyCon is an universal Fieldbus Configurator This means you can configure the most important fieldbus systems like PROFIBUS InterBus CANopen DeviceNet AS Interface etc with the same tool SyCon is a global Fieldbus Configurator You configure all devices with one tool SyCon checks the dependencies between the devices SyCon only allows configurations that make sense In case of doubt SyCon will give you a warning To Hilscher devices you can make downloads of the configuration data For other devices export functions or documentation possibilities are available SyCon documents your Fieldbus system After the configuration you can print out a detailed documentation of your fieldbus network The details can be switched on off You can print a documentation with details between the bus topology and the detail of one device SyCon uses standardized configuration files Some protocols support standardized files containing information about all features and limitations of the Slave device SyCon uses these files for the configuration SyCon is a diagnostic tool After the configuration you can switch SyCon into the diagnostic mode You can watch all status information of Hilscher devices see protocol dependent diagnostic information e g live list or Slave diagnostic information on PROFIBUS In this case a Slave not operating correctly will
46. 113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 69 200 5 1 2 CIF Device Driver The CIF Device Driver supports up to four Hilscher devices in one PC and they are accessed via the Dual port memory Driver Description Driver Description Device Driver CIFDriver 43 113 Figure 31 CIF Device Driver Driver Description In the upper part of the CIF Device Driver dialog the actual used CIF Device Driver and its version number are displayed This display is only for information purposes and is not editable by the user Board Selection Board Selection Name Type Wersion Date Error M Board CANopen fersocan vor or fosi003 fo M Board A a Brei BR 7 BoadZ ly aE ee pp gt Board ae I NE 1 Figure 32 CIF Device Driver Board Selection If an assignable device is found by the CIF Device Driver the checkbox next to the board number is selectable To select the device you have to enable it by clicking in the checkbox located left of the desired board and confirm this selection with OK Device is still not assigned and it can be selected Device is assigned The Assignment can be abrogated by deselecting selected here Table 24 Device Assignment Checkboxes of the CIF Device Driver SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings
47. 13 200 1 4 5 Export Regulations The delivered product including the technical data is subject to export or import laws as well as the associated regulations of different counters in particular those of Germany and the USA The software may not be exported to countries where this is prohibited by the United States Export Administration Act and its additional provisions You are obligated to comply with the regulations at your personal responsibility We wish to inform you that you may require permission from state authorities to export re export or import the product SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Installation and Licensing 14 200 2 Installation and Licensing 2 1 System Requirements PC with Pentium processor or higher e Windows XP SP3 Windows Vista SP2 32 bit Windows 7 SP1 32 64 bit Free disk space 30 80 MByte e DVD ROM drive e RAM min 256 MByte Graphic resolution min 800 x 600 pixel recommended 1024 x 768 Keyboard and Mouse SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Installation and Licensing 15 200 2 2 Software Installation Close all application programs on the system Insert the DVD in the local DVD ROM drive The installation program will start by itself Autostart enabled Otherwise change
48. 1998 2012 Appendix 162 200 10 1 6 Queues The different incoming CAN specific identifier with their message containment are assigned to different input message queues A received message is interpreted directly after it was received by the CAN controller and stored into its corresponding queue as well as the messages that shall be sent are stored in a queue while the CAN controller is busy in sending a message A main loop then interpret these messages and dequeue them or the interrupt handler send the next message The message queue handler has three parameters and their containments are shown by SyCon binner is the number of actual stored messages bFront is the pointer where the next message will be store and bRear is the pointer where the next message will be dequeue from the queue body area In a running system the value bInner should normally decrease automatically to 0 and bFront and bRear should be equal 10 1 6 1 CAN_TASK Nodeguard Inputqueue Nodeguard Inputqueue x bRear 137 bFront 137 blnner 0 Eror 0 Figure 92 CAN_TASK Nodeguard Inputqueue Variable bRear Position of the next read access to the puffer of received CAN telegrams Position of the next write access Number of CAN telegrams which are actual included in the puffer Table 78 CAN_TASK Nodeguard Inputqueue 10 1 6 2 CAN_TASK Management Inputqueue Management Inputqueue x bRear 61 bFront 61 blnner 0 Error 0 Figure 93 CAN_TASK M
49. 6 Released Public Hilscher 1998 2012 Error Numbers 146 200 9 3 CIF TCP IP Driver Error Numbers This is the list of error numbers using the CIF TCP IP Driver 9 3 1 Standard Win32 Socket API Errors Permission denied Software caused connection abort An established connection was aborted by the software in your host machine possibly due to a data transmission time out or protocol error Table 61 CIF TCP IP Driver Error Numbers Standard Win32 Socket API errors 9 3 2 Specific Netldent Errors Eror Number Desorption SSS Table 62 CIF TCP IP Driver Error Numbers Specific Netldent Errors 0x8004c704 IP address invalid SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Error Numbers 147 200 9 4 RCS Error Numbers 4 93 This is the list of error numbers returned by the RCS Realtime Communication System that is the operating system of Hilscher devices The error number is returned in an answer message Command messages and answer messages are used to communicate between the application e g the System Configurator and the Hilscher device An example of this communication is the download of a configuration Emor Number Description SCS CO ATTE 7 oe asen coman ense laneror The user will download a database into the device that is not valid for this device type Data base segment not configured or not existent Number
50. 7 COS TASK Object Dictionary Object Dictionary Last index 1600h Last sub index Oh Last access type 2 Last data lenath 1 Error 0 Figure 106 COS_TASK Object Dictionary Variable Index of most recent access to object dictionary Last sub index Sub index of most recent access to object dictionary Last access type Operation type of most recent access to object dictionary 1 read operation 2 write operation Table 88 COS_TASK Object Dictionary 10 2 8 COS TASK Receive Queue Rx bRear 54 bFront 54 blnner 0 Error 0 Figure 107 COS_TASK Receive Queue Variable Meaning S Rx bRear Position of the next message to be read from the queue of incoming CAN messages bFront Position of the next incoming CAN message to be inserted into the queue Number of messages currently in the queue Table 89 COS_TASK Receive Queue SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 175 200 10 2 9 COS TASK Transmit Queue Tx bRear 6 bFront 6 blnner 0 Error 0 Figure 108 COS_TASK Transmit Queue Tx bRear Position of the next message to be read from the queue of CAN messages to be sent Position of the next CAN message to be inserted into the queue messages to be sent are queued only if the CAN chip is not able to immediately send the message because the preceding message transfer is pending Number of messages curre
51. Bi Description Nodel Cancel r Predefined supported Objects in the EDS file Access Filter Objldx Sub ldk Parameter Default Value an 0 E Device Type read only Error Register 0 read only Node ID no default value read only Guard Time 0 read write Decimal Life Time Factor 0 read write z COB ID Guarding Protocol no default value read write Add to Configured Objects COB ID Transmission type Inhibit time COB ID Transmission type Inhibit time Delete Configured Object Figure 27 Online gt Node Configuration gt Object Configuration SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 65 200 4 4 2 14 OPC Objects With the information in this window symbols for the OPC communication are entered over SDO For this the objects are selected from the indicated list Further information you find in the manual for the OPC Server 4 4 2 15 OPC User Defined Objects With the information in this window symbols for the OPC communication are entered over SDO For this the objects can be entered by the user Further information you find in the manual for the OPC Server SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 66 200 44 3 Replace Node If
52. CIF104 COS A CIF30 COS CIF50 COS Figure 16 Insert gt Node The left list all available Node devices are shown which are present in the EDS directory A filter can be used to limit the selection list via the Vendor and the Profile If one Node is selected there you can see some additional information about that Node below the list box SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 41 200 With a double click or with the button Add the Node appears in the list Selected devices When a new Node is chosen SyCon always looks for the next free Node ID value and propose it If you select each Node by each you can change its Node ID and give it a short description in the field Description The Description field will accept up to 32 characters of text It is possible to configured an available Node multiple times with different Node IDs In CANopen the Node address is called Node ID The Node ID distinguishes the different Nodes from each other in the network It s a unique number that can t be forgiven twice Therefore your made entry in the field Node ID must be equivalent to the real Node ID itself else the master will get no contact later to the Node when it wants to establish the communication 4 4 1 1 Hardware Assignment If you have configured the CIF Device Driver Setup for your hardware and
53. Create a new project File gt New gt CANopen Setting up the CANopen 35 Configuration Copy EDS file of CANopen File gt Copy EDS EDS files 35 Node if Node is not available yet 3 Select Hilscher CANopen Insert gt Master Insert Master 36 Master 4 Select CANopen Node and Insert gt Node Insert Node 40 set Node address Left mouse click at the Node then Node Configuration 42 a O A 7 Set Bus Parameter Left mouse click at the Master then Bus Parameter 77 Set Device Assignment if no Left mouse click at the Master then Device Assignment 67 on assignment has Settings gt Device Assignment ia 9 Save project File gt Save Save and Save As 126 2 10 Download Left mouse click at the Master then Downloading the 9 PA me 11 Live List Left mouse click at the Master then Live List cs ES O 12 Start Debugger Left mouse click at the Master then Debugmode CANopen AAA A 13 Device Diagnostic Left mouse click at the Node then CANopen Node specific 100 bat AA en 1m 14 Stop Debugger Online gt Stop Debug Mode Debugmode CANopen 9 15 Global Diagnostic Left mouse click at the Master then Global State Field 103 Online gt Global State Field Transfer user data Left mouse click at the Master then 1 O Monitor or 2 Send data Online gt I O Monitor alternatively O Watch 109 Receive data Table 8 Configuration Hilscher CANopen Master to any CANopen Node PDO Notes see next page SyConCO System Configurator CANop
54. English 2012 06 Released Public Hilscher 1998 2012 Appendix 167 200 10 2 Extended Device Diagnostic Node The menu item Online gt Extended Device Diagnostic helps to find possible bus and configuration faults while trying to get the bus fully operative when the normal debugger does not rudicate any helpful information any more to get the fault localization This menu activates a list of available structures The listed structures can be displayed to show the values To activate the extended device diagnostic for Hilscher Nodes click with the right mouse button to the Node and select the menu Select as actual master Then select the menu Online gt Extended Device Diagnostic This menu activates the following list Select Task State x PLC TASK Common Variables COS_T45K Common Variables COS_TASK User Communication COS_TASK Node Management COS_TASK SDO Transfer COS_T45K Object Dictionary COS_TASK Receive Queue COS TASK Transmit Queue zi COS_TASK PDO Transfer Figure 99 Extended Device Diagnostic Node 10 2 1 PCL TASK Common Variables Version compiled cos Task state 0 Handshake counter 0 Handshake mode 2 Error 0 Figure 100 PCL_ TASK Common Variables Variable Version compiled Holds a static text COS indicating the hardware the PLC task was compiled for Task state Internal state of the PLC task Handshake counter Number handshake cycles executed Handshake mode
55. FA hilsciher COMPETENCE IN COMMUNICATION Operating Instruction Manual SyConCO System Configurator CANopen Hilscher Gesellschaft fur Systemautomation mbH www hilscher com DOC9803010113EN Revision 13 English 2012 06 Released Public Overview SyCon 2 200 List of Revisions index Date Version Chapter Revision gt 7 06 05 03 2 706 CANopen dll 3 Node ID Master 2 651 SyCon exe 3 Node ID Master 4 Node Configuration now also possible with Heartbeat 4 2 Receive PDO now also with Transmission Type 255 4 2 Heartbeat added in Configuration Error Control Protocol E Bus Parameter Node ID for Master Heartbeat 5 Device Table Supervision times added Table Error Register 15 01 04 2 706 CANopen dll revised 2 651 SyCon exe 3 Section Device Assignment completely revised Section CIF TCP IP Error Numbers added 25 02 05 2 709 CANopen dll Section Node Configuration revised 2 653 SyCon exe Section Device Profile 405 created Length of the EDS file name changed from 13 characters to 32 caracters 12 12 08 2 808 CANopen dll 4 4 2 Node configuration with new function Module configuration 2 705 SyCon exe 4 4 2 3 Section Module configuration added 19 11 09 2 81x CANopen dll 2 1 System Requirements Windows 2000 Windows XP 2 71x SyCon exe Windows Vista Windows 7 10 01 11 2 81x CANopen dll Error number 235 added 2 71x SyCon exe 13 06 12 2 81x CANopen dll 2 1 System Requirements Windo
56. Number of RxPDOs with wrong length unequal internally configured length of this PDO Wrong length RTRs Number of RTRs on TxPDOs with wrong length unequal 0 RTRs on RxPDOs Number of RTRs on RxPDOs Received TxPDOs Number TxPDOs received and ignored Table 86 COS_TASK PDO Transfer SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 173 200 10 2 6 COS TASK SDO Transfer Upload init indications 7 Upload segment indi 0 Upload aborts 0 Download init indi 87 Download segment indi 0 Download aborts 0 Abort transfer indi 2 Unknown commands 0 Abort transfer requests 15 Default SDO flags Oh Default SDO data length 1 Default SDO data sent 0 Error 0 Figure 105 COS_TASK SDO Transfer Variable Number of upload initial segment indications received Abort transfer requests Number of abort requests sent Default SDO flags Flags indicating the current state of the default SDO Bit 0 upload operation running Bit 1 download operation running Bit 7 SDO transfer toggle bit Default SDO data length Download number of bytes received during last download EN A Default SDO data sent Download 0 oe Upload number of bytes already uploaded Table 87 COS_TASK SDO Transfer SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 174 200 10 2
57. PDO Some CANopen Nodes support the PDO data mapping and dynamic distribution That means a user defined containment mapping of objects into a PDO The mapping itself is always done by the Node internally after is has received new RX PDO or has to send new TX PDO so that the master can handle the input and output PDOs coming from and going to the Node completely transparent This guarantees high speed data transfer and execution in the view of the master His job is it only to configure the Node s mapping dictionary during its configuration phase once A PDO can contain always up to 8 byte process data The combination of these individual process data elements can be changed when the button Append Object is used When a PDO was transferred from the upper table to the Configured PDOs table SyCon maps automatically all found map able process data from the Node EDS file into this PDO PDO Contents Mapping Object Index 1600 Ed Mapable Objects from EDS file Obilde Sub ldx Parameter Access a Input Byte 0 ha Cancel Input Byte 1 Input Byte 2 Input Byte 3 Input Byte 4 Append Object Input Byte 5 Input Byte 6 aD Se 0 00 Output Byte 0 Output Byte 1 Output Byte 2 Output Byte 3 Output Byte 4 Output Byte 5 Output Byte 6 Output Byte 7 Object62001dx0 Object62001dx1 Object6200ldx2 Object62001dx3 Object62001dx4 Object62001dx5 Object6200Idx6 Object6200Idx7 Delete mapped Object Figure 23
58. PDO Contents Mapping The picture above is an example for a TX PDO mapping The upper table shows all available objects with their access right which are declared as supported in the node s EDS file A double click onto one of these transfer it into the lower table This table contains the real mapped objects that shall be a content of the PDO later in the process data exchange phase Note Not all CANopen Nodes supports the PDO mapping feature SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 58 200 4 4 2 11 Node BootUp The Node BootUp defines the network startup behaviour of the Master for the particular Node to get it operative There are different states a Master is running through per Node till the BootUp sequence is finished for the Node Each state now is configurable and can be enabled activated or disabled deactivated here In the basic setting all states are activated Node BootUp Er pa nd tae Lang me stereos coma tomas E is Figure 24 Online gt Node Configuration gt Node BootUp SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Configuration of CANopen with SyCon 59 200 Node BootUp Description parameter Node Reset If enabled the master sends as first the CANopen specific Node
59. Reset or No Error 00 Figure 60 Online gt Device Diagnostic gt Interpretation of emergency telegrams A table with the Error Codes is described in section Emergency Telegram Error Codes at page 192 Note The table Emergency Error Codes is a general list For the exact meaning it is referred to the manual of the Node manufacturer SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 103 200 6 4 3 Global State Field With the menu option Online gt Global State Field opens a window in that cyclically statistic about the bus status and connected devices are shown Global State Field x TOUT NADY EVE FAT NEXC ACLA CTRL Figure 61 Online gt Global State Field The first row displays the main status of the Master It can take the status OPERATE or STOP or OFFLINE The next row displays individual bus errors A pending error is displayed with a red field The meaning of the individual abbreviations is described in the following SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 104 200 NRDY HOST NOT READY NOTIFICATION shows if the application program is ready or not If this bit is set the application program is not ready to communicate EVENT ERROR the CAN chip has detected transmission errors The numb
60. Serial Driver dialog the actual used driver is displayed This display is only for information purposes and is not editable by the user Board Selection Board Selection Name Type Version Date Error cond A MA P a po Connect COM 1 MGM CANopen E rsocan voror 091003 fO Comescoma eas nn a O re M cond Dar TEE pao Connect COM 4 Figure 35 CIF Serial Driver Board Selection First the connection must be established by clicking on the button Connect COM1 or Connect COM2 or Connect COM3 or Connect COM4 They can be used depending on which COM interfaces are installed and free on the PC The System Configurator sends a request to the corresponding COM Port and polls the Firmware of the device If the device is connected the Firmware of the device is displayed and the checkbox of the corresponding COM interface is selectable SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 72 200 io Device is still not assigned and it can be selected T Iv Device is assigned The Assignment can be abrogated by deselecting The assignment of the device is not possible Iv The device is still assigned in another open configuration and can not be selected here Table 25 Device Assignment Checkboxes of the CIF Serial Driver This selection has to be confirmed by clicking the OK butt
61. a PDO_1800 181 IB TransmitPdoPara PDO_1801 281 IB TransmitPdoPara PDO_1802 TransmitPdoPara PDO 1803 oo SG co co 00 59 515 co co co 00 Figure 18 Settings gt Node Configuration The following table shows the fields and elements of the Node Configuration window e Node The name of the device coming from the EDS file is shown in the field Node Description The field Description contains a symbolic name for the Node e File name File name of the EDS file SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 44 200 Activate Node in actual configuration If Activate Node in actual configuration is selected process memory in the Master is reserved for this Node and the Master makes a data exchange at the bus to this Node If this setting is deactivated the Master reserves memory in the process data image for this Node but no data exchange to this Node is made at the bus Automatic COB ID allocation in accordance with Profile 301 In the basic setting Automatic COB ID allocation in accordance with Profile 301 is activated Then the COB ID is presetted for a PDO depending on the Node address and depending on the used PDO If this field is deactivated a manual assignment can be done In order to reduce configuration effort for simple networks a mandatory default identifier allocatio
62. ace 1 Boolean 2 Integer 8 3 Integer 16 4 Integer 32 5 Unsigned Integer 8 6 Unsigned Integer 16 7 Unsigned Integer 32 8 Float 9 ASCII 10 String 14 Bit 0 empty space 1 input 2 output 0 start of a module 1 sub module Table 51 CSV Export gt DataType Code 7 3 2 3 Description of the Parameter DataPosition z jos jos jos jos fo jo mo Bit Position Bit Position of the Offset Address reserved Table 52 CSV Export gt DataPosition Code SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 File Print Edit Export and View 131 200 7 3 2 4 Example of a CSV file Example of a CSV file which was exported in Excel Ed Microsoft Excel canopen1 Eile Edit View Insert Format Tools Data Window Help Acrobat Figure 79 Example of a CSV File in Excel cr lseniNumber o__ dentNumber ofthe Node SSCS Gi Description Node1 Description of the device which is also shown in SyCon as the name of the device MasterAddress Address of the related Master 1 Settings The addressing mode byte or word addressing and the data format of the process data are shown The description you see in section Description of the Parameter Settings reserved reserved reserved K1 ModulCount 1 Number of the modules of the device For each module the information with datatype data size data position and the offset address follow The information for m
63. ady flag failed Board is not ready This could be a hardware malfunction or another 1 10 11 program writes inadmissible to the dual port memory 12 Device Not running RUN flag Running flag failed The board is ready but not all tasks are running because of an initialization error No data base is loaded into the device or a wrong parameter can causes that a task can t initialize Device Watch dog test failed 14 Device Signals wrong Operating System version No license code found on the communication board Device has no license for the used operating system or customer software No firmware or no data base to the device is loaded Table 54 CIF Device Driver Error Numbers 1 14 Device Dual port memory RAM not accessible board not found Dual ported RAM DPM not accessible no hardware found This error occurs when the driver is not able to read or write to the Dual port memory Check the BIOS setting of the PC Memory address conflict with other PC components Try another memory address check the driver configuration for this board check the jumper setting of the board SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Error Numbers 141 200 Error Number Description TU Device Error in dual port memory flags 16 Device Send mailbox is full 17 Device Function PutMessage timeout No message could be send dur
64. ailable es pF receive datas avale 0 285 DD Repeive data5 available 0 255 DD Repeive data6 iravallable 0 258 pI eccive data avaiable 0 258 Receive data itavatabe 0 258 Table 48 Message Monitor for Receiving of CAN telegrams transparent Note This is only possible via the dual port memory CIF Device Driver It is not possible via a serial connection CIF Serial Driver The CAN Receive ID consists of two bytes and contains the CAN telegram ID and the data length It is evaluated like follows CAN Receive ID Part 1 is the byte with high order of receipt ID part of 2 is the low order byte The result is CAN Receive ID part 1 256 CAN Receive ID part 2 This result divided by 32 is the CAN telegram identifier The length is included in the 4 below bits of the CAN Receive ID part 2 Example CAN Receive ID part 1 is received with 250 respectively FAH and CAN Receive ID part 2 is received with 8 respectively with 08H Then results 250 256 8 64008 64008 32 2000 25 Hence the telegram identifier is 2000 The CAN Receive ID part 2 is 8 respectively 08H With this the 4 bellower bit have the value 8 The CAN Receive Telegram includes 8 byte user data SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 125 200 The following figure shows the receiving of the CNA ID 2000 with 8 bytes user data The use
65. alled and it must have access to the Hilscher device Additionally the TCP IP Server has to be started on the Remote PC 2 The Hilscher device has an own Ethernet connection and the TCP IP connection is built up to the Hilscher device that means the IP address of the Hilscher device is used as IP address Driver Description Driver ODMTcplp 2 021 Driver Description Figure 36 CIF TCP IP Driver Driver Description In the upper part of the CIF TCP IP Driver dialog the actual used driver and its version number are displayed This display is only for information purposes and is not editable by the user SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 74 200 Build up TCP IP Connection There are two possibilities to enter the IP address to build up a TCP IP connection between the Hilscher device and the PC Scan network for devices Clicking on the Netldent Rescan button the local Ethernet network is scanned for Hilscher devices This devices need to support the identification by the Hilscher Netldent Protocol Devices found during the network scan and which are connectable to the PC are displayed in the table Board Selection Type in IP Address manually If the device to be connected is not located in the local Ethernet network it is necessary to type in the IP address of the device manually Also some
66. am Structure 191 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Lists 198 200 Table 103 Structure of the Error Register 191 Table 104 Emergency Error Codes 192 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Glossary 199 200 12 Glossary COB ID Communication object identifier Table in section COB ID on page 176 LMT Layer Management LSS Layer Setting Services NMT Network Management This contains the functions configuration initialization and supervision of the network devices SyCon System Configurator Configuration and Diagnostic Tool SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Contacts 13 Contacts Headquarters Germany Hilscher Gesellschaft f r Systemautomation mbH Rheinstrasse 15 65795 Hattersheim Phone 49 0 6190 9907 0 Fax 49 0 6190 9907 50 E Mail info hilscher com Support Phone 49 0 6190 9907 99 E Mail de support hilscher com Subsidiaries China Hilscher Systemautomation Shanghai Co Ltd 200010 Shanghai Phone 86 0 21 6355 5161 E Mail info hilscher cn Support Phone 86 0 21 6355 5161 E Mail cn support hilscher com France Hilscher France S a r l 69500 Bron Phone 33 0 4 72 37 98 40 E Mail
67. anagement Inputqueue Variable bRear Position of the next read access to the puffer of received CAN telegrams Position of the next write access Number of CAN telegrams which are actual included in the puffer Table 79 CAN_TASK Management Inputqueue SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 163 200 10 1 6 3 CAN_TASK Emergency Inputqueue bRear 0 bFront O binner 0 Eror 0 Figure 94 CAN_TASK Emergency Inputqueue Variable bRear Position of the next read access to the puffer of received CAN telegrams Position of the next write access binner Number of CAN telegrams which are actual included in the puffer Table 80 CAN_TASK Emergency Inputqueue 10 1 6 4 CAN_TASK Transmit Queue bRear 45 bFront 45 binner 0 Eror 0 Figure 95 CAN_TASK Transmit Queue Variable bRear Position of the next read access to the puffer of received CAN telegrams Position of the next write access Number of CAN telegrams which are actual included in the puffer Table 81 CAN_TASK Transmit Queue SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 164 200 10 1 7 CAN _TASK CMS Domain Services CMS Domain Services x Start node request 3 Stop node request 0 Init upload request 258 Init upload response 4 Segment upl
68. and append it to the end of the Connected Modules list with a click on the button Append Module A module from the upper list can be inserted at the top or in the middle of the Connected Modules list Therefore mark the module in the Connected Modules list where the the module from the upper list should be inserted before then mark the module to be inserted in the upper list and then click the button Insert Module to insert the module to the Connected Modules list The modules in the Connected Modules list add mappable objects for the PDO mapping for the configuration of the node These mappable objects can be used to configure the node and is described in section PDO Contents Mapping Arrange a PDO at page 57 The column Slot shows a counter for for the number of used modules SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 49 200 4 4 2 4 Process Data Configuration Selection of PDO The process data are transmitted via process data objects short PDOs and assigned to the process data image CANopen distinguishes between receive and send PDOs Receive PDOs Send PDOs Data from the Master to the Node Data from the Node Slave to the Master Output data Input data are processed by the Node are generated by the Node Slave Table 19 PDO Send PDO and Receive PDO The data of the Node in the process data image
69. and obtain an overview over all active devices at the CANopen network Live List Figure 57 Online gt Live List Generally all devices are displayed grey At the bus detected Nodes are represented black on the basis their appropriate Node address SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 99 200 6 4 2 Debugmode CANopen Click the menu item Online gt Start Debug Mode Then the System Configurator cyclically interrogates the status of the network communication from the CIF COM or PKV and the individual conditions of the Nodes To end the Debug Mode select the menu Online gt Stop Debug Mode 6 4 2 1 The Debugwindow When the debug session is started the configuration window changes into the debug window The devices and the line between them are displayed in green or red colour depending on the established network communication Fa SyCon co co Al E File Edit View Insert Online Settings Window Help lej x oela 2 Master Master CIF 50 COM a Node CAMA Node ID 1 Node CIF50 COS yl Status Ok CANopen Debug Mode RDY RUN Figure 58 The Debugwindow If a diagnostic information is available for a specific device next to the device Icon the text Diag appears in red To get further device specific diagnostic information then double click on the device itself or set the focus to the
70. arting options or modes Some are of importance only for the OPC Server operation Note The point of menu start options appears only in the selection settings if the network view is opened Start Options Pe Simulation mode WHIORE Jo Stare Sptior bidder it sterted vie Pe IM Send Message only when changed Cancel a FEN St SUE OS _ o SJ oof f SI Tae EB a _ _ Meta Tecra Wii Vis CAProgramme HilscherSyCon Projecticanopen co E Figure 50 Settings gt Start Options e Simulation mode ON OFF Only valid for the OPC Server e Start SyCon hidden if started via OPC Only valid for the OPC Server SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 91 200 Start SyCon next time with last Configuration When this is marked the last saved configuration in the SyCon is automatically loaded when the SyCon is started again Logic Network View visible When this is marked there is the possibility of diverting to the network mode without having to install the SyCon with OPC It is also possible to use the Watch List from the network mode Fast start ON OFF Only valid for the OPC Server e MSG tracing ON OFF Only valid for the OPC Server Auto connect ON OFF If this is marked when opening a configuration automatically a connection to that Hilscher devices is manufactured without the
71. ation for SDO Communication CANopen Communication Device Device escribedin section SDO CANopen Hilscher Any Configuration Hilscher CANopen Master to any CANopen CANopen CANopen Node Master Node Hilscher Configuration Hilscher CANopen Node to any CANopen CANopen Master Node Hilscher Hilscher Configuration Hilscher CANopen Master to a Hilscher CANopen CANopen CANopen Node Master Node Table 6 Overview Communication Types SDO Communication 3 1 3 Configuration for Send Receive transparent CAN Communication Device Device Described in section Send Receive Hilscher Any CAN Configuration Hilscher CANopen Master to any CAN transparently CANopen device Device for Send Receive transparent CAN CAN Master Hilscher Any CAN Configuration Hilscher CANopen Node to any CAN Device CANopen device for Send Receive transparently CAN Node Table 7 Overview Communication Types CAN send receive transparent SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Getting Started Configuration Steps 25 200 3 2 Configuration for PDO Communication 3 2 1 Configuration Hilscher CANopen Master to any CANopen Node PDO The following table describes the steps to configure a Hilscher CANopen Master to any CANopen Node for PDO communication as it is typical for many cases Menu in the System Configurator Detail information in Page section 1
72. be displayed in a different colour SyCon can be extended SyCon consists of a universal EXE file and several protocol specific DLLs Most customers demand SyCon only for one bus system SyCon can be enlarged later by adding one or more DLLs for any other available protocol The configuration of the different protocols will be as similar as possible SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Overview SyCon 10 200 1 3 CAN and CANopen 1 3 1 CAN CAN means Controller Area Network The CAN specification describes the physical interface the telegram structure and the secure transmission of a CAN telegram It describes the send and the receive of a telegram The CAN telegram consists simplified of a telegram identifier and O to 8 bytes of data The meaning of the telegram identifier and of the max 8 bytes user data is not described e g it does not say anything about the application layer 1 3 2 CANopen CANopen is an open standard and based on CAN The meaning of the telegram identifier and of the O to 8 bytes of user data is described specified CANopen is a standard application layer defined by the CIA CAN in automation specifications DS 301 CANopen is network concept and determines what data and what services are to be transmitted and what is the meaning of the data for the individual device classes CANopen provides functions f
73. ble Kurekiar Es T enable Receive data Send data T Put cyclic PutMessage Figure 70 Message Monitor LSS LMT 1 gt Switch Configuration Mode on SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 116 200 2 Set Node Address 0 DO AN Receive Pa SB E pon Receive D Par 2088 ee Fen data rende 7 send ata 2 Node Address 1127 Table 42 Message Monitor LSS LMT 2 gt Set Node Address File Edit View MESSAGE OUTPUT Counter 1 MESSAGE INPUT Counter 2 i Message Header Message Header RX 16 TX 3 ao a TX 255 IN 5 NR 0 LIN fi ALO NAT NA fo 0 F 0 A fo F fo B 8 E 0 Bo fe Eo alegran Header jelEgram Header Device Adi Data Ares Device Adi Date Ares Wate Adi Dataldy Date dr Wate ld Data lout Date pe Data Bount Date pe FURCHOn enable FUNCUGn T enable Receive data Send data T Put cyclic Figure 71 Message Monitor LSS LMT 2 gt Set Node Address SyConCO System Configurator CANopen DOC9803010I13EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 117 200 3 Set Baud Rate Send data 2 Table 0 Standard Table 128 255 Send data 3 Baud Rate In case of table 0 0 1 Mbit s 1 800 kbit s 2 500 kbit s 3 250 kbit s 4 125 kbit s 5 50 kbit s 6 20 kbit s Table 43 Message Monit
74. ccecceecceeeceeeeeeeeeeeeeseeeseaeecaeeseesaesaaeseaeeeeeeeee 172 10 2 6 COS_TASK SDO Transfer occccccconcnncoooncnnnnnninonoconnnnnnnonononnnonononnnnnnnnnnrnnnnnnnnnnnns 173 10 2 7 COS_TASK Object Dictionary 200ernnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 174 10 2 8 COS_TASK Receive Queue occccccconenocococoncnnnnnnnoncnnnononnnnnnnnononnnonnnnnnnnnnrnonnnnnnnnnns 174 10 2 9 COS_TASK Transmit Queue occccnnnenccococnncnnnonenonononononnnnnnnnnnonnnnnnnnnnnnnnononnnnnnnnnns 175 10 3 COB ID Predefined Connection Set ooooccconoccccnnnoocccccnnancccncnnncnnnnnnnancncnnnnnnnnnnnnnnns 176 10 4 Obleet Dielonany cs 177 10 4 1 Object Name and Object Code cocococococccccccconiconocananoccnancnnan nn cnn cnn nn cnn nnnnnn cnn 177 10 4 2 Object Dictionary Data Typ8S ooomcinncccnccnnnonononcccnanccnnnrnnn nn nan conri 178 10 4 3 Object Dictionary Profile sss esine isetare an eaa araa aaa aaa aea a aanas 180 10 5 Communication Profile Device Profile and Device Typ cceceeteeeeeeeeeeeeeeee 182 10 5 1 Communication Profile 301 220u4220044440nnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnn nenn 182 10 5 2 Device Profile 401 Device Profile for I O Modules nn 183 10 5 3 Device Profile 402 Device Profile for Drives sneenennnennnnnnnn 184 10 5 4 Device Profile 405 Device Profile for IEC 61131 3 Programmable Devices 185 10 5 5 Device Profile 406 Device Profile for Enco
75. compares the entries which are made in the two available fields Device Profile and Device Type If the Device Profile and the Device Type do not agree the Master reports a parameterization error and does not establish a process data transfer to the Node To get the real values of the Node use the online function Online gt Read Object or click on the Node in Debug mode SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 48 200 4 4 2 3 Module Configuration Some CANopen Nodes support the configuration by modules That means a user can define which modules are used for the node Module Configuration x Available Module Types from EDS file Module Version Revision Order Code a DDC712 Base Module 44120210 F Lancel 44120250 44120251 44120260 44120262 44120261 44120253 44120252 Description DDC712 Base Module Code D1h 8 In Digital 8 Out Digital a m Connected Modules Slot Module versim Revision Order Code 5 1 AIT7OIT 44120260 AOT O1T 1 44120261 Append Module Remove Module Insert Module Table 18 Module Configuration The available modules are listed below Available Module Types from EDS file A description of a module is shown at Description when a module is marked Mark the module to be used in the configuration in the upper list
76. d has its own address Table 28 Addressing Mode This has nothing to do with the physical size of the Dual port memory this is always Byte oriented When the application makes a Word access it is automatically divided by the PC into two sequential Byte accesses The following table shows the different storing of the various data types in the Byte or Word oriented process image IEC IEC Data in Output to an I O Module addresse addresses the sin Byte in word i process mode mode image o jo CT DT mm o S E QB 2 1110 0010 Output of QB2 QB1 to a single Byte module D7 D6 D5 D4 D3 D2 D1 DO 11100010 CN C C _ __ __ _ ______ _ 1111 1000 Output of two Bytes beginning from QB4 QB2 to a module that is defined as a Byte module with the data count 2 no differentiation 0000 0111 between the two memory formats as the data are of Byte type D7 D6 D5 D4 D3 D2 D1 DO D7 D6 D5 D4 D3 D2 D1 DO 1 111 100000000 1 1 1 1111 1111 Output of QW6 QW3 in the data format lower higher value Byte T 0100 0100 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 1 0 0 0 1 00 111111 1441 Output of QW6 QW3 in the data format higher lower value Byte D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 1 1 1 1 1 1 1 1 010001 00 Table 29 Example for place to keep data in the process image SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2
77. d transmission errors one for receive and one for transmit messages If one of these error counter oversteps a defined value the bus error counter is incremented by a value of 1 Controller reinits If the internal CAN controller error frame counter overstep a defined limit the controller goes into the bus off state If this occurs we reinitialize the controller again to be preoperative and increment this counter value A value unequal 0 is an indication for bad transmission quality for unsatisfied bus wiring or for low power in the CAN controller interface driver Synctimer reload This value represent the value that was configured via the menu Settings gt Bus parameter in SyCon and shows the actual configured and handled value Baudrate This value shows numeric the actual baudrate the master is working with 0 1Mbaud 1 800Kbaud 2 500kBaud 3 250Kbaud 4 125kBaud 5 100Kbaud 6 50kBaud 7 20kBaud 8 10kBaud Activated bus parameter Value 0 the master device has found a configuration data base coming from SyCon value 1 the master device isn t configured and need to be configured via SyCon Announced Nodes This value represents the number of found Node data sets in the download database Wrong parameters This value indicates if the master has detected any error ina Node data set which was a containment of the actual downloaded data base For each Node which has a wrong entry in there the counter is increm
78. der nennen 186 10 6 PDO M pping Meth sen een 187 10 7 NMT State Machine State DiagraM oooocccnnncccccnnonoccccnonancconnnnancccnnnnnoncnnnnannncnncnnns 188 10 7 1 Communication Characteristics in the different NMT States 189 10 8 LSS LMT SENICE S ee 190 10 9 Emergency FelsuraMs a an rennen 191 10 9 1 Emergency Telegram Error COd S cccccccceceeneeceeeeeeeeeseeneeceeeeseaeeesaeeeenees 192 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Overview SyCon 7 200 WH SS a aa oa aaa 193 11 1 A ceaiees ge 193 11 2 A ATA 196 2 YGEOSSARY taa dd 199 13 GONTAC TS as A ada 200 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Overview SyCon 8 200 1 Overview SyCon 1 1 Main Functions The main functions of the CANopen System Configurator are Configuration Overview Communication Types Overview communication types and description of the configuration steps Diagnostic Diagnostic Functions Diagnostic functions e g Life List Debugger Global State Field etc User Data Transfer 1 O Monitor l O Watch Read and Write Objects Message Monitor Live List Documentation Project Information Set the project information Table 1 SyCon Main Functions SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2
79. device allocation additionally have to be executed Send Message only when changed Only valid for the OPC Server Message transfer synchronous Only valid for the OPC Server Start with multiple configurations If this option is selected you have the possibility to start SyCon with up to four configurations simultaneously The paths are shown in the window and they are changeable there SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 92 200 6 Online Functions 6 1 Introduction In this section all the functions that directly influence Hilscher CANopen devices e g CIF 50 COM CIF 50 COS are presented Note Please note that this also permits an interruption of the running communication or that input and output can be switched ON or OFF 6 2 Online to the CIF 6 2 1 Downloading the Configuration First the desired device must be chosen for downloading by a left mouse click on the symbol of the device In order to release the configuration and network access a transfer Download to the CIF COM PKV devices must be carried out on the Online gt Download menu A warning will appear that the communication on the CANopen will be interrupted This warning must be confirmed Question the devices is stopped Q If the download is done during the bus operation the communication between Do you really want to download
80. device and select Online gt Device Diagnostic Note Only if the CANopen Node supports the Nodeguarding the CANopen Master NMT Master can recognize that the Node has failed SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 100 200 6 4 2 2 CANopen Node specific Diagnostic After the debug started from this time SyCon requests the status of all devices from the master If there is an error on a device the bus line to this Slave is displayed in red colour otherwise it is green SyCon also displays the letters Diag if the device signals a diagnostic information This information is displayed closer if you click with the mouse onto the corresponding device in debug mode To activate the debug mode you have to mark the Master with a left mouse click and select the menu Online gt Start Debug Mode Now set the focus at the Node left mouse click and select the menu Online gt Device Diagnostic to show the CANopen Device Diagnostic To end the Debug Mode you have to mark the Master again and select the menu Online gt Stop Debug Mode Diagnostic Node ID 1 Figure 59 Online gt Device Diagnostic CANopen Standard Diagnostic Description see next page SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 101 200 The individ
81. e gt New gt CANopen Setting up the CANopen 35 Configuration 2 Select Hilscher CANopen Insert gt Master Insert Master 36 Master 3 Select CANopen Node and Insert gt Node Insert Node 40 set Node address 4 Set Bus Parameter Left mouse click at the Master then Bus Parameter 77 Settings gt Bus Parameter Set Device Assignment for Left mouse click at the Master then Device Assignment 67 the Master if no automatic Settings gt Device Assignment assignment has occurred Set Device Assignment for Left mouse click at the Node then the Node if no automatic Settings gt Device Assignment assignment has occurred 92 Download on the Master Left mouse click at the Master then Downloading the Download on the Node Left mouse click at the Node then dl 10 Live List Left mouse click at the Master then Live List 2 cd ae 11 Transfer user data Left mouse click at the Node then Read Objects SDO Upload 111 Read objects Online gt Read Objects Write Object SDO 111 Write objects Online gt Write Objects Download i Message Monitor Left mouse click at the Node then Online gt Message Monitor Table 13 Configuration Hilscher CANopen Master to a Hilscher CANopen Node SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Getting Started Configuration Steps 33 200 3 4 Configuration for Send Receive transparently CAN 3 4 1 Configuration H
82. e Ares Device Adf Date Ares Date Adr Wate dr Wate ar Wate dy Data Count Data pre Data ount Wate pe Function enable Rimena I enable Receive data Send data AE BB 40 50 60 PutMessage Figure 68 Online gt Message Monitor A Message can be saved and retrieved and has the file suffix MSG File gt New closes the window File gt Open opens a Message Message can be retrieved File gt Save or File gt Save As saves a Message File gt Exit ends the Message Monitor and returns to the SyCon SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 113 200 6 6 1 Message Monitor for Using LSS LMT For setting the baud rate and the Node address LSS LMT services can be used for some Nodes The LSS LMT Master sends telegrams to the LSS LMT Slave with CAN telegram identifier 2021 07E5H The LSS LMT Slave replies to the LSS LMT Master with the CAN telegram identifier 2020 07E4H Note It may be coupled only one Node to the Master at a time First the baud rate of the Hilscher CANopen Master have to be set equal to the baud rate of the Node SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 114 200 Then the CAN telegram identifier 2020 has to be set with the receive filter Message fo
83. e Code Note The license code showed above is an invalid license code and is only used for explanation After you have entered the license code select the button OK The code is verified If the license code is valid SyCon will ask you to exit and restart the System Configurator to activate the license If the license code is invalid the following window appears G License code is invalid Figure 6 Note License code is invalid In this case check the license code with the information on the fax the right spelling of the name and the company name with the information on the fax Check especially for small and capital letters SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Installation and Licensing 22 200 2 5 Scope of functions of the basic version and unlicensed Fieldbus Modules The basic mode and unlicensed fieldbus modules have the following functionality Full functionality for configuring up to two devices For the configuration of a Hilscher Slave device this is enough o All diagnostic functions Open and download of an existing configuration file If the configuration file has more than two devices a modification of this configuration is not possible SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Getting Started Configuration S
84. e Heartbeat Protocol The SyCon System Configurator reads out this information from the EDS file of the corresponding device Settings The Master Consumer Time is the setting for supervising the Node from view of the Master Master controls Node If the communication is running the Node sends telegrams in the time interval Producer Heartbeat Time which are received and controlled by the Master With this the value of the Master Consumer Time must have at least the value of the Producer Heartbeat Time or must be higher If the value of the Master Consumer Time is 0 the Master does not control this Node Devices which have to be supervised by this Node can be selected in the Consumer Heartbeat list If the Node should control the Master the Consumer Heartbeat Node List has to be activated by clicking on it in the line to the Master default setting The Consumer Time can be changed in this line by overwriting in this line double click The Producer Time is displayed informatively Thereby the value of the Consumer Time must have the value of the Producer Time or must be higher If the value of the Consumer Time is 0 the Node does not control the Master If this Node should control another Node the Consumer Heartbeat Node List has to be activated in the line to the Node by enabling the check box The Consumer Time can be changed by overwriting in this line double click The Producer Time is displayed informatively Thereby the valu
85. e a new project File gt New gt CANopen Setting up the CANopen 35 Configuration 2 Select Hilscher CANopen Insert gt Master Insert Master 36 Master 3 Select Hilscher CANopen Insert gt Node Insert Node 40 Node and set Node address Set PDO Left mouse click at the Node then Node Configuration 42 Set Offset address 1 Settings gt Node Configuration Set Bus Parameter Left mouse click at the Master then Bus Parameter Settings gt Bus Parameter 77 Set Device Assignment for Left mouse click at the Master then Device Assignment 67 the Master if no automatic Settings gt Device Assignment assignment has occurred Set Device Assignment for Left mouse click at the Node then the Node if no automatic Settings gt Device Assignment assignment has occurred 92 0 Download on the Master Left mouse click at the Master then Downloading the Online gt Download Configuration Download on the Node Left mouse click at the Node then O ee a Live List Left mouse click at the Master then Live List Online gt Live List wi Start Debugger Left mouse click at the Master then Debugmode CANopen Online gt Start Debug Mode Device Diagnostic Left mouse click at the Node then CANopen Node specific 100 nines Denn Due oom Stop Debugger Online gt Stop Debug Mode Debugmode CANopen 99 Global Diagnostic Left mouse click at the Master then Global State Field 103 Online gt Global State Field Transfer user data Left mouse c
86. e at the Bus after the initializing has been finished If Controlled release of communication by the application program has been set the application program must activate the data exchange at the Bus User program monitoring The Watchdog time determines how long the device waits for a triggering of the software watchdog by the application program until it sets the outputs of the Slave devices to 0 This behaviour must be activated by the user program and does not start automatically Note The Watchdog is not a special CANopen function but an often needed feature in interaction with a SoftPLC SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Settings 81 200 Addressing mode The addressing mode of the process data image determines how the addresses Offsets of the process data are interpreted Either of the addressing modes Byte addresses or Word addresses are possible See also details on the next page Storage format word module The storage format determines how the data are interpreted and laid down in the process image For the Word data type it is possible to select higher lower value and for Byte data type lower higher value Byte Handshake of the process data These various types are used for setting the transfer process of the process data for the CANopen Master The choice of which type is used is important for the correct data
87. e of the Consumer Time must have the value of the Producer Time or must be higher The picture for example shows that Node 2 controls Node 5 with 220ms as well as Node 1 the Master Note The number of devices which can be controlled by this Node depends on the scope of performance of this device SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 63 200 Further Notes to the Node Guarding Protocol and Heartbeat Protocol Note Heartbeat can displace Node Guarding Protocol and the Life Guarding Note SyCon reads out the EDS file with regard to the support of the Nodeguarding as well as the Heartbeat Protocol and gives out the following in the Error Control Protocol window If only Nodeguarding is supported Nodeguarding is preset If only Heartbeat is supported Heartbeat is preset If Nodeguarding and Heartbeat is supported Nodeguarding is preset If there is no declaration about Nodeguarding or about Heartbeat Nodeguarding is preset In this case it must be checked if the Node supports the Nodeguarding effectively of not Note lf the Node does not support Node Guarding Protocol or the Heartbeat Protocol the Master cannot detect if the Node has failed If the Node does not support the Node Guarding or the Heartbeat the Guard Time and the Life Time Factor have to be set to 0 SyConCO System Configurator
88. ed 32 1200 3 NodelD Unsigned 8 1201 1277 RECORD Server 2 to 127 SDO Parameter SDO_ Parameter rw 1280 12FF RECORD Client SDO Parameter SDO Parameter rw 1400 15FF RECORD Receive PDO Parameter PDO_Com_Para rw 0070 numeroaren Usada mon eoo o moo ____ Transmission Type Unsoed oors ____ TransmitProtibted Time Unsigned 6 Foo re Resen used moors eventim Suee 1600 17FF ARRAY Receive PDO Mapping PDO_Mapping rw 0079 ____ Numberafenvies j ndonsde eon oea TER soo 2 E a CESTA IN noe Soa eor erone useaa 1800 19FF RECORD Transmit PDO Parameter PDO_Com_Para rw 1A00 1BFF ARRAY Transmit PDO Mapping PDO_Mapping rw Manufacturer Specific 2000 5FFF Profile moore oeiee zoor oeiee OOOO jeoonereF oevers O Era ____ DeveeProfies ECC CET A Era CET TT CET 77 esea O OOOO Table 95 Object Dictionary Profile SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Appendix 182 200 10 5 Communication Profile Device Profile and Device Type The Communication Profile DS 301 specifies how to communicate The Device Profiles DS 401 ff specify what is communicated Device Profile for IEC 61131 3 Programmable Devices Device profile for encoder Table 96 Device Profile and Device Type 10 5 1 Communication Profile 301 The communication profile DS 301 is a com
89. ed device must be chosen with a left mouse click on the symbol of the device Then select the Online gt Communication start or Online gt Communication stop menu SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 97 200 6 4 Diagnostic Functions The following table shows diagnostic functions and their using in case of Hilscher CANopen Master devices e Hilscher CANopen Nodes Slaves Diagnostic Function Usable for Hilscher Usable for Hilscher CANopen Master CANopen Nodes devices Live List Determine which devices are No only for Hilscher connected to the Hilscher CANopen CANopen Master Master device devices Debugmode CANopen Determine to which CANopen Nodes No only for Hilscher the Hilscher CANopen Master has CANopen Master communication devices Global State Field Status information of the Hilscher No only for Hilscher CANopen Master CANopen Master devices Extended Device Diagnostic Statistic information and status information from the Hilscher CANopen device Table 33 Overview Diagnostic Functions SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 98 200 6 4 1 Live List First the desired device must be chosen with a left mouse click on the symbol of the device Then select the Online gt Live List menu
90. el Figure 30 Driver Selection With the selection of the driver it is determined how the System Configurator communicates with the device The following drivers are available CIF Device Driver The System Configurator communicates with the Hilscher device via the Dual port memory of the device This communication is utilized when the System Configurator is used on the same PC on which the Hilscher device is installed Note The CIF Device Driver has to be installed and it must have access to the Hilscher device CIF Serial Driver The System Configurator communicates with the Hilscher device via a serial connection In this case a COM port of the PC must be connected with the diagnostic interface of the Hilscher device via a diagnostic cable Note The pin assignment of the diagnostic cable is described in the hardware documentation of the device manufacturer This communication is utilized when the System Configurator has to access the device via the diagnostic interface of the Hilscher device The following two application cases are possible Application case 1 The System Configurator is installed on another PC e g a notebook than the Hilscher device Application case 2 The System Configurator is installed on the same PC on which the Hilscher device is situated Then the application can use the Dual port memory to access the Hilscher device and the diagnostic interface can be used at the same time to communicate
91. en DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Getting Started Configuration Steps 26 200 Note 1 The Offset addresses assigned in the Node configuration are always related to the Hilscher DP Master Note 2 Alternatively the CIF Device Driver Test program can be used for the test After Board Select Data Transfer gt I O Data gt DevExchangelO SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Getting Started Configuration Steps 27 200 3 2 2 Configuration Hilscher CANopen Node to any CANopen Master PDO The following table describes the steps to configure a Hilscher CANopen Node to any CANopen Master for PDO communication as it is typical for many cases Menu in the System Configurator Detail information in Page section 1 Create a new project File gt New gt CANopen Setting up the CANopen 35 Configuration 2 Select Hilscher CANopen Insert gt Master Insert Master 36 Master 1 3 Select Hilscher CANopen Insert gt Node Insert Node 40 Node and set Node address 4 Set Bus Parameter Left mouse click at the Master then Bus Parameter 7 Settings gt Bus Parameter Set Device Assignment if no Left mouse click at the Node then Device Assignment automatic assignment has Settings gt Device Assignment occurred 7 Download Left mouse click at the Node then Downloading the 92 Online g
92. ented by 1 Table 77 CAN_TASK Common Variables SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 161 200 10 13 CAN_TASK Node Running State node enter state handle output node enter state node enter state node enter state node enter state node enter state node enter state node enter state node enter state node enter state node enter state node enter state x Eror 0 Figure 90 CAN_TASK Node Running State To handle the Nodes in their different states and requirements the master device has a so called Node handler running where each Node has its own actual state SyCon interpret now the actual state of each Node and print it on the screen in textual form 10 1 4 CAN_TASK Global State Field See section Global State Field at page 103 10 1 5 CAN TASK Communication Error No actual error No actual error No actual error No actual error No actual error No actual error No actual error No actual error No actual error No actual error No actual error No actual error No actual error hd Error 0 Figure 91 CAN_TASK Communication Error For each Node the master has an internal online error buffer SyCon interprets now the actual error condition and print it on the screen in textual form SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher
93. er Unregister Server Table 67 Online Data Manager Error numbers 1000 1018 9 7 2 Message Handler Error Numbers 2010 2027 The following table lists the error numbers of the Message handler of the Online Data Manager Err Number besen SSS Table 68 Error Numbers of the Message Handler of the Online Data Manager 2010 2027 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Error Numbers 152 200 9 7 3 Driver Functions Error Numbers 2501 2512 The following table lists the error numbers of the Driver Functions of the Online Data Manager Eror Number Description SCS Assign reports error Return neither OK or cancel Table 69 Error Numbers of the Driver Functions of the Online Data Manager 2501 2512 9 7 4 Online Data Manager Subfunctions Error Numbers 8001 8035 The following table lists the error numbers of the Subfunctions of the Online Data Manager Eror Number Description SSS 8031 Send error PutMessage returns error 8033 Receive error GetMessage returns error 8034 Receive active GetMessage active 8035 IO Error ExchangelO returns error Table 70 Sub function Error Numbers of the Driver Functions of the Online Data Manager 8001 8035 8032 Send active PutMessage active SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public H
94. er of detected events are counted in the bus off reports and the error warning limit counter The bit will be set when the first event was detected and will not be deleted any more FATAL ERROR because of heavy bus error no further bus communication is possible NON EXCHANGE ERROR At least one Node has not reached the data exchange state and no process data are exchange with it AUTO CLEAR ERROR device stopped the communication to all Nodes and reached the auto clear end state CTRL CONTROL ERROR a parameterization error has occurred Table 35 Meaning of collective status bits in the Global State Field Further contents are given Collective online error location and corresponding error gives the address of the incorrect station and the lining up error in plain text Statistic bus information gives the number of detected bus short circuits and rejected telegrams Device specific status bits Parameterized Devices Activated Devices and Devices with Diagnostic are shown if you click at that button The activated addresses are colored numbers You can see the diagnostic by double clicking at a highlighted station address of a device This displaying is cyclically updated SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 105 200 6 44 Extended Device Diagnostic The Extended Device Diagnostic helps to find Bus and conf
95. er of the modules of the device For each module the parameters data type data size data position and offset address are given It can be follow max 60 modules The parameters for module 1 are marked with _0 and of the module 60 are marked with _59 DataSize_0 Number of bytes which were used by the module DataType_0 The DataType which is used in the configuration The code for this you find below this table in section Description of the Parameter DataType DataPosition_0 The byte DataPosition which is used in the configuration The code for this you find below this table in section Description of the Parameter DataPosition Address_0 Offset Address in the Dual port memory DataSize_59 if used see at the top DataType_59 if used see at the top DataPosition_59 if used see at the top Address_59 if used see at the top Table 49 CSV Export Meaning of the values SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 File Print Edit Export and View 130 200 7 3 2 1 Description of the Parameter Settings oz jos sa jos jo tf 0 byte Address 1 word Address 1 little Endian LSB MSB 0 big Endian MSB LSB reserved Table 50 CSV Export Description of the Byte Settings 7 3 2 2 Description of the Parameter DataType z pps jos jos jos fo fo mo Data Format o SubFlag Data Direction Data Format according EN standard 0 blank sp
96. erter Device profile for drives Servo Drive Stepper Motor 1 O Module Multi device module Table 98 Device Profile for Drives SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 185 200 10 5 4 Device Profile 405 Device Profile for IEC 61131 3 Programmable Devices The device profile DPS 405 is a profile for IEC 61161 3 programmable devices like PLCs Eu Da Cancel Figure 115 Device Profile 405 Device Type x Deyice Type Figure 116 Selection Device Type in case of Device Profile 405 The meaning of the device type is manufacturer specific and not universally applicable in the specification For further information see the device description of the manufacturer SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 186 200 10 5 5 Device Profile 406 Device Profile for Encoder The device profile DS 406 is a profile for encoder Profile x Profile 406 x al Figure 117 Device Profile 406 Device Type x Single Turn absolute rotary encoder y Cancel Figure 118 Selection of the Device Type in case of Device Profile 406 Device Profile Device Type Single Turn absolute rotary encoder Device profile for encoder Multi Turn absolute rotary encoder Single Turn absolute rotary encoder with electronic
97. evice Then select the Online gt Device Info menu in order to obtain further information on the selected device The manufacturer date the device number and the serial number of the device is retrieved and shown Device Info Ed Generals OK Manufacturer date 01 11 2000 x Device number 10505000 Serial number 00000459 Drivers Driver 1 OPCS Driver 2 Driver 3 SError O Driver 4 Aeron 0 Figure 55 Online gt Device Info SyConCO System Configurator CANopen DOC9803010I13EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 95 200 6 2 5 Activate Driver The driver has to be licensed if the software PLC or SyCon OEM is used If the driver was ordered by buying the SyCon you don t need to license it because this was done before First the desired device must be chosen with a left mouse click on the symbol of the device Then select the Online gt Activate Driver menu Code 12345678904BCDEF Exit SError 0 RError 0 Figure 56 Online gt Activate Driver Note The code 01234567890ABCDEF is not a valid code and is only shown as an example SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Online Functions 96 200 6 3 Start Stop Communication The communication between CANopen Master and CANopen Node can be manually started or stopped First the desir
98. exchange between the application program and the device The set handshake of the process data must be supported by the application program The handshake buffered host controlled is mostly supported The handshake no consistence uncontrolled works without handshake and both processes run free A detailed description is provided in the manual for the Toolkit or the manual for the device driver If you run a soft PLC or a visualization software on your PC please check in their documentation which handshake mode this program expects e Hardware parameter With this parameter you the size of the dual port memory of the hardware is selected The parameter will enlarge or reduce the possible value ranges for the I O offsets In case of CANopen Master cards the dual port memory size is 8K whereby 7K are process data Note For CIF 30 COM CIF 104 COM and COM COM 8 KByte are prescribed SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 82 200 5 3 2 Addressing Mode The addresses in the configuration of the Nodes define the starting point of the data in the process image This can work in a Word or Byte oriented method by means of the Addressing mode parameter Addresses Meaning Byte addresses The process image has a Byte structure and each Byte has its own address Word addresses The process image has a Word structure and each Wor
99. figuration Mode on Figure 71 Message Monitor LSS LMT 2 gt Set Node Address Figure 72 Message Monitor LSS LMT 3 gt Set Baud Rate Figure 73 Message Monitor LSS LMT 4 gt Save Configuration Figure 74 Message Monitor LSS LMT 5 gt Switch in Operating Mode Figure 75 Message Monitor for Sending CAN telegrams transparent Figure 76 Message Monitor for Setting the Receive Filter Figure 77 Message Monitor for Receiving CAN Telegrams transparent Figure 78 File gt Print Figure 79 Example of a CSV File in Excel Figure 80 Security question cut device Figure 81 Edit gt Paste cut copied device Figure 82 Security question delete device Figure 83 View gt Device Table Figure 84 View gt Address Table Figure 85 View gt ID Table Figure 86 View gt SDO Table Figure 87 Online gt Extended Device Diagnostic Figure 88 PLC_TASK Common Variables Figure 89 CAN_TASK Common Variables Figure 90 CAN_TASK Node Running State Figure 91 CAN_TASK Communication Error Figure 92 CAN_TASK Nodeguard Inputqueue Figure 93 CAN_TASK Management Inputqueue Figure 94 CAN_TASK Emergency Inputqueue Figure 95 CAN_TASK Transmit Queue Figure 96 CAN_TASK CMS Domain Services Figure 97 CAN_TASK Timeout Counter Figure 98 CAN_TASK Node Init Counter Figure 99 Extended Device Diagnostic Node Figure 100 PCL_TASK Common Variables Figure 101 COS_TASK Common Variables SyConCO System Configurator CANopen DOC9803010113EN
100. figuration was saved before the export is executed The exported file has the ending csv comma separated value and is taken off in the same directory as the configuration but with the ending csv The CSV file can be read with a table program like for example Excel The CSV Export saves only the text and the values of the configured Slaves The meaning of the individual values can be shown in the table SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 File Print Edit Export and View 129 200 Here is the description of the parameters Stationaddress The Station address is the unique device address of the Slave on the bus RecordType The RecordType defines the version of the following structure and is always 2 IdentNumber This number is the unique device number of the Slave VendorNumber The VendorNumber is the clear number of the vendor if available VendorName Here the name of the vendor is shown max 32 characters Device Name of the device max 32 characters This is the description of the device which is set by the user max 32 characters MasterAddress This is the number of the Master Address where the devices are related to Contains information about the addressing mode and the storage format of the process data words double words and floats see section Description of the Parameter Settings ModulCount Numb
101. for message wrong during download 23 Received number of data during download does not match to that in the command message Sequence identifier wrong during download Checksum after download and checksum in command message do not a TRAS Write Read access of data base Write Read access of data base segment Download Upload or erase of configured data base type is not allowed 28 The state of the data base segment indicated an error Upload not possible 29 The access to the data base segment needs the bootstraploader The bootstraploader is not present 30 Trace buffer overflow ES Entry into trace buffer too long No or wrong license The OEM license of the System Configurator allows only communication to devices that have the same license inside The data base created by the System Configurator and the data base expected by the firmware is not compatible DBM module missing Table 63 RCS error numbers answer message 4 39 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Error Numbers 148 200 41 Command unknown Error writing the FLASH o Wongstucweyee so Wrong handle forthe table able does notexis CHE es ee es 84 Table full No more entries allowed 85 Other error from DBM The device info serial number device number and date does already exist 9 License code invalid 92 License code does already exist
102. g prints information on one sheet only for one device Topology prints the topology of the bus system Bus Parameter prints the bus parameters of the bus system Address table prints the address table of the Master Device table prints the device table ID Table prints the ID table PDO Configuration prints the PDO configuration SDO Table prints the SDO table The scope can be given with the Device Selection menu point The following can be chosen All From Station address to Station address Selection of a device by means of its description If no option is selected and the OK button is pressed nothing will be printed out It is like clicking the Cancel button SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 File Print Edit Export and View 128 200 7 3 Export Functions 7 3 1 DBM Export Select the File gt Export gt DBM menu in order to save the previously saved project file CO Microsoft Access Format in a DBM file Hilscher binary format This DBM file can be retrieved in the DOS Compro program The configuration is stored in the Project directory in the path of the SyCon Installation with the extension dpm Attention The file name can have max 8 characters 7 3 2 CSV Export With the menu File gt Export gt CSV the configuration data of the connected Slaves can be exported into a table Requirement is that the con
103. he bus and has to be unique Therefore it is not allowed to use this number two times in the same network And it has to agree with the set Node address of the device Otherwise it is not possible for the Master to build up a communication to this device The NodelD address also fixes the used COB ID Configuration Error Control Protocol The Configuration Error Control Protocol makes for setting the device control via the Node Guarding Live Guarding and respectively Heartbeat The Guard Time and the Live Time Factor for the Node Guarding are set in the Configuration Error Control Protocol window Further information is described in section Configuration Error Control Protocol on page 60 The Node Heartbeat Producer Time and the Master Guarding Time of Node are set in the Configuration Error Control Protocol window Further information is described in section Configuration Error Control Protocol on page 60 Emergency COB ID Is an information of the COB ID of the Emergency telegram Nodeguard COB ID Is an information of the COB ID of the Nodeguard telegram OK To close the Node Configuration window and to take over the settings Cancel To close the Node Configuration window and to reject the settings Node BootUp The Node BootUp defines the start up behaviour of the Master with regard to each individual Node and is described in section Node BootUp at page 58 OPC Objects The information in the OPC Objects field relate to t
104. he label of the DVD it must also be entered now Otherwise the System Configurator will work as a basic version In this case all functions are available but the configuration is limited to two devices on the network which is sufficient for Slave devices A license can be ordered by filling out the order form under the menu item Help gt Licensing and fax this order form either to the distributor or directly to us Follow the instructions of the installation program by selecting the fieldbus system to be installed and answer all the questions with OK or NEXT System Installation Program Registration x ATTENTION Please enter the license code from your CD Name Enter your name here Company Enter your company name here 0000 Address y City State Zip Po Country FO License code 012345678948 CDEH its sr Figure 3 Enter the Name the Company Name and the License code Note The License code 0123456789ABCDEF is no valid code and is only used for explanation It is necessary to fill in the Name and the Company Name It is optional to fill in the Address the City State Zip and Country SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Installation and Licensing 18 200 The installation program offers the following selections Directory C Programs Hilscher SyCon Directory for Installation of the Syste
105. he symbols of the OPC server and the SDO communication Further information you find in the manual for the OPC server Object Configuration Via the button Object Configuration the object directory can be read out from the EDS file and if necessary added to the Node configuration Further information you find in section Object Configuration at page 64 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 46 200 Module Configuration Via the button module configuration the modules of modular nodes can be displayed read from the EDS file and mappable objects can be added for the configuration of the node Further information you find in section Module Configuration at page 48 Actual Node Changes to the Node configuration of another Node without leaving the window PDO mapping method Lays down the procedure of the PDO mapping You can select between the methods DS301 V4 and DS301 V3 The difference between this methods are described in section PDO Mapping Method at page 187 Predefined Process Data Objects PDOs from the EDS file Shows the list of the PDOs which are given in the EDS file and which can be used for the configuration Further information you find in section Process Data Configuration Selection of PDO at page 49 Enable The checkbox Enable indicates which PDOs of the predefined PDOs are config
106. ice needs longer than the timeout period given in the DevGetMessage function Device No message available Table 55 CIF Device Driver Error Numbers 15 19 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Error Numbers 142 200 Error Number Description TU 5 Device Reset command timeout The board is ready but not all tasks are running because of an initialization error No data base is loaded into the device or a wrong parameter can causes that a task can t initialize The device needs longer than the timeout period given in the DevReset function Using device interrupts The timeout period can differ between fieldbus protocols If you use an interrupt then check the interrupt on the device and in driver setup These settings have to be the same Is an interrupt on the board set Is the right interrupt set The interrupt could already be used by an other PC component also if the operating system reports it as unused If you use polling mode then make sure that no interrupt is set on the board and that polling is set in the driver setup These settings have to be the same Device COM flag not set The device can not reach communication state Device not connected to the fieldbus No station found on the fieldbus Wrong configuration on the device Device lO data exchange timeout The device needs longer than the timeout
107. iguration directly from the EDS file If a CANopen Node Slave is needed which does not appear yet in the selection list then the appropriate EDS file can be copied in the EDS directory with the menu File gt Copy EDS Another possibility is to copy the EDS file with the Windows Explore into the SyCon EDS directory and then read in the EDS files in the EDS directory again with the menu Settings gt Path 2 29 SyCon a Fieldbus 2 3 CANopen C Bmp 3 Eds Figure 7 EDS files and bitmaps directory The EDS path is changeable The standard setting can be changed with the menu Settings gt Path SyConCO System Configurator CANopen DOC9803010I13EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 36 200 4 3 Master 4 3 1 Insert Master In order to insert a Hilscher Master into the configuration choose the Insert gt Master menu in order to open the selection window or click on the symbol Insert gt Master Figure 8 Insert gt Master Symbol A window appears where you can select one master device Insert Master x Available devices Selected devices CIF100 COM za Cancel 5 AS AS CIF50 COM CIF60 COM _ lt lt Bemove _ lt lt Bemove CIF80 COM COM C COM gt SC Rencye Al rok coh Node ID address Description Master Figure 9 Insert gt Master In this window you select the Master you want by clicking on it
108. iguration errors when the SyCon menu functions are of no further help First the required device must be chosen with a left mouse click on the symbol of the device Then select the Online gt Extended Device Diagnostic menu This menu opens a list of diagnostic structures These contain online counters statuses and parameters Select Task State Ed PLC_TASK Common Variables CAN_TASK Common Variables CAN_TASK Node Running States CAN_TASK Global State Field CAN_TASK Communication Error CAN_TASK Nodeguard Inputqueue CAN_TASK Management Inputqueue CAN_TASK Emergency Inputqueue ICAN TASK Transmit Queue Figure 62 Online gt Extended Device Diagnostic First the specification for the CANopen Master and far down for the CANopen Slave follows SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 106 200 6 4 4 1 Extended Device Diagnostic CANopen Master Task Taskstate PLC_TASK Common Variables CAN_TASK Common Variables CAN_TASK Node Running State CAN_TASK Global State Field CAN_TASK Communication Error CAN_TASK Nodeguard Inputqueue CAN_TASK Management Inputqueue CAN_TASK Emergency Inputqueue CAN_TASK Transmit Queue CAN_TASK CMS Domain Services CAN_TASK Timeout Counter CAN_TASK Node Init Counter Table 36 CANopen Master Taskstate 6 4 4 2 Extended Device Diagnostic CANopen Node Ta
109. ile Print Edit Export and View 135 200 7 5 View of the Configuration The configuration can be displayed in a table The following tables are available e Device Table Address Table ID Table SDO Table 7 5 1 Device Table The list of all added devices is displayed with the menu item View gt Device Table Apart from the Node address the name of the device displayed with the pertinent alterable description Look at section Node Configuration at page 42 Device Table x Node ID Device Guard Time msec Live Time Factor Master Consumer Time msec Heartbeat Producer Time msec 4 CIF50 COM CIF50 COS CIF50 COS CIF50 COS CIF50 COS Figure 83 View gt Device Table Node ID Shows the Node ID of the device e Device Name of the device Guard Time msec Information about the Guard Time for the Node Guarding Protocol in ms Live Time Factor Displays the Life Time Factor for the Life Guarding Master Consumer Time msec Displays the Master Consumer Time for the Heartbeat Protocol in ms Heartbeat Producer Time msec Displays the Heartbeat Producer Time for the Heartbeat Protocol in ms SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 File Print Edit Export and View 136 200 152 Address Table With the menu item View gt Address Table you get an overview of all configured PDOs and the booked start
110. ilscher 1998 2012 Error Numbers 153 200 9 8 Data Base Functions Error Numbers 4000 4098 The following table lists the error numbers of the converting functions Error Number Description LU O Not enough memory 4007 No writing to this table possible because the table is located in the FLASH Table 71 Error numbers of converting functions 4000 4029 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Error Numbers 154 200 4031 Directory changed 4039 The function Dbmlnit has assigned a Zero pointer during RCS initialization 4049 Check failed 4050 Checksum check failed 4051 More segments are existing in file than in the structure FILE_INFO_T in wMaxEintraege 4052 SegLen in structure FILE_INFO_T is smaller then the length in the file Return of function dobm_restore_data 4053 The header file holds an other information for a length than in the segment itself 4054 Not enough memory for allocation on the PC 4055 No index for file handle in structure FLASH_DIR of RCS found 4057 File type 2 can not be printed because of too many definitions 4058 The definitions need too many lines to display them than in the program available 4059 An unknown format for the parameter Valid is U H or S 4060 Unknown parameter type Table 72 Error numbers of converting functions 4030 4060 SyConCO System Configurator CANopen DOC980301
111. ilscher CANopen Master to any CAN Device for Send Receive transparent CAN The following table describes the steps to configure a Hilscher CANopen Master for send receive CAN telegrams Layer 2 transparently as it is typical for many cases Menu in the System Configurator Detail information in Page section 1 Create a new project File gt New gt CANopen Setting up the CANopen 35 Configuration 2 Select Hilscher CANopen Insert gt Master Insert Master 36 Master 3 Set Bus Parameter Left mouse click at the Master then Bus Parameter 77 Settings gt Bus Parameter 4 Set Device Assignment for Left mouse click at the Master then Device Assignment 67 the Master if no automatic settings gt Device Assignment assignment has occurred 2 Download on the Master Left mouse click at the Master then Downloading the 9 Online gt Download Configuration Transfer user data Left mouse click at the Master then Message Monitor for Sending 120 Send CAN Telegrams Online gt Message Monitor CAN Telegrams transparent Receive CAN Telegrams 1 Message Monitor for Receiving CAN Telegrams transparent Table 14 Configuration Hilscher CANopen Master to any CAN Device for Send Receive transparent CAN Note 1 The information which CAN Telegram should receive Identifier is activated per message SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Ge
112. iltered Device s were found during the network scan in the local Ethernet network but they can not be assigned because they belong to another device family Change IP Address A new IP address is assigned to a device or respectively an existing IP address of a device is changed via the button Change IP Address Note The IP address can only be changed in case of Hilscher devices which are connected directly to the Ethernet and which support the function Change IP Address These are for example NL MPI NN40 NN42 CIF 104 EN COM C EN COM EN Therefore the device has to be selected in the table Board Selection by activating the checkbox Via the Change IP Address button the following dialog opens Configure IP Address Ed pua 192 168 10 194 Exit Figure 41 Set IP Address Type in the IP address for the device and confirm the entry by clicking on the Set IP button Note The IP address set by clicking the Set IP button is only temporarily adjusted A permanent storage of the IP address takes place with a download of the configuration from the framework SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 77 200 5 2 Bus Parameter In this window the basic settings for the CANopen network are done Mainly this concerns the setting of the Baudrate Attention Check that all CANopen Nodes support also the selec
113. ime in the Node is used as event in order to send the PDO Manufacturer and or device specifically also an application event can activate sending the PDO and reset the event timer Inhibit time The inhibit time describes the time interval how long at least it must be waited between sending two equal telegrams Thus a too frequent sending of the same telegram is inhibited Remote Request Condition CANopen Master Gives the number of internal Master cycles after that the Master sends a remote request to the Node in order to ask for the PDO SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 56 200 4 4 2 9 Creating own Transmit PDOs If further PDOs shall be used which are not predefined in the table Predefined Process Data Objects PDOs from EDS file this can be done with the functions Define new Transmit PDO New transmit PDO master input data x Free object index 1202 hex Cancel Proposed COB ID 897 era PDO name 401 TPDO003 Figure 22 Definite a new Transmit PDO SyCon suggests a free message number which can be edited later in the PDO configuration window if the PDO was taken over SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 57 200 PDO Contents Mapping Arrange a
114. in section Creating own Receive PDOs at page 53 Define new Transmit PDO By clicking on this button a new Transmit PDO is added to the Configured PDOs This is described in section Creating own Transmit PDOs at page 56 Delete configured PDO To delete a configured PDO you first have to select the PDO in Configured PDOs and then click on the Delete configured PDO button Symbolic Names The information at Symbolic Names relate to the symbols for the OPC server Further information you find in the manual for the OPC server 4 4 2 1 Overview Node Configuration For the Node Configuration to transfer PDO data the following typical steps have to be made Device Profile and Device Type Set or take over the value which is read out of the EDS file Module Configuration Select the modules of the node Process Data Configuration Select the PDO Process Data Configuration Set the PDO transmission characteristics PDO Mapping Take over the basic setting or adjust the PDO combination Node BootUp Set startup behaviour Set Nodeguarding and or Lifeguarding Table 17 Overview Node Configuration 4 4 2 2 Device Profile and Device Type Each CANopen Node has a mandatory Object 1000H which has to be existing in the object directory This object is named Device Type The Device Type also includes the information about the Device Profile The Master reads out the Object 1000H from the Node when starting up the CANopen bus and
115. in the list Available devices and then click the Add button or make a double click to put the Master in the list Selected devices With OK you confirm the selection and the Master will be insert This example shows a CIF 50 COM with the Description Master which is changeable in this field The Node ID address is necessary for the addressing of the device at the bus and has to be unique Therefore it is not allowed to use this number two times in the same network SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 37 200 4 3 1 1 Hardware Assignment If you have configured the CIF Device Driver Setup for your hardware and you insert the correct Master in the SyCon it detects this hardware SyCon displays at which board and which driver was detected and ask if the hardware should be assigned Question 2 SyCon has detected a suitable hardware on your system Driver name CIF Device Driver Board ID o Do you want to assign the hardware No Figure 10 Hardware Assignment Master If you answer with Yes the Hardware is assigned If you answer with No you have to assign this hardware with Settings gt Device Assignment in section Device Assignment at page 67 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configu
116. ing the timeout period given in the DevPutMessage function If you use an interrupt check the interrupt on the device and in driver setup These settings have to be the same Is an interrupt on the board set Is the right interrupt set The interrupt could already be used by another PC component also if the operating system reports it as unused If you use polling mode then make sure that no interrupt is set on the board and that polling is set in the driver setup These settings have to be the same Device internal segment buffer full and therefore PutMessage function is not possible because all segments on the device are in use This error occurs when only PutMessage is used but not GetMessage HOST flag is not set for the device No messages are taken by the device Use DevSetHostState to signal a board an application is available 18 Device Function GetMessage timeout No message received during the timeout period given in the DevGetMessage function If you use an interrupt then check the interrupt on the device and in driver setup These settings have to be the same Is an interrupt on the board set Is the right interrupt set The interrupt could already be used by another PC component also if the operating system reports it as unused If you use polling mode then make sure that no interrupt is set on the board and that polling is set in the driver setup These settings have to be the same The used protocol on the dev
117. into the root directory on the DVD and start Autorun exe Autostart disabled Note Administrator privileges are required on Windows XP Vista 7 systems for installation The installation program ask for the components you want to install Answer these questions with Yes or No System Installation Figure 1 Selection for the Installation of the System Configurator in Basic Version SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Installation and Licensing 16 200 System Installation EOTUGUESE Figure 2 Selection for the Installation of the licensed System Configurator It can be installed System Configurator SyCon Configuration and diagnostic tool OPC Server For OPC Communication CIF Device Driver Device Driver for access to the CIF If you have a license code or it is printed on the label of the DVD then answer the question for an existing license code with yes otherwise a basic version of the System Configurator will be installed Enter your name and the company name SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Installation and Licensing 17 200 2 3 Installation of the System Configurator SyCon During the installation the user and the company name must be entered If you have a license code or it is printed on t
118. ion 20u4440snnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 87 5 5 Project Informatio ianea en ing 88 5 6 u 1 1 DA E A teen E A E E E 88 5 7 Language na nal 89 5 8 AS 1216188 8 1 019 cere er ener reer O Carre errr SITE 90 6 ONLINE FUNCTION St A ana 92 6 1 Imroduction dd 92 6 2 Online to Me OUP uni ida 92 6 2 1 Downloading the Configuration oooncccnnccnnnnicnncccnnnccccnnncnnnannnn no cc cnn cn narran anno 92 6 2 2 Firmware Downoad secesia tienen tive te 93 6 2 3 Firmware ROSO b nsee rE irlanda 94 6 2 4 Device lnfo rs A A aa 94 6 2 5 Activate Diverse unable 95 6 3 Start Stop Communication 96 6 4 Diagnostic FUNCIONA ti ee Hei 97 6 4 1 A ea er Qin i ay On av a 98 6 4 2 Debugmode CANopen uurs44srsnsnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 99 6 4 3 Global State Field eis niaan ea dia 103 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Overview SyCon 5 200 6 4 4 Extended Device Diagnostic 0 0 0 eeecceceeeeeeeeeeeneeeeeeeaeeeeeeaaeeeeeeaaeeeeeeaeeeeeeaaas 105 6 5 User Data Transitoria 107 6 5 1 VO M nitor u arena 108 6 5 2 VO Wateh ea a a a aa aa aaa a a E E a a eE 109 6 5 3 Read Objects SDO Upload ccceccceceeeeeeeeeeeeeeeceeeeeeeeaeseeneeseeeesaeeesaeeeenees 111 6 5 4 Write Object SDO Download 0 ccceccceeeeeeeeeeeeeeeeceeeesaeeseeeeeseaeeetaeeneneeee 111 6 6 Me
119. ity question Replace Master If you click the Yes button a new window opens where you can replace the Master against the existing Master Replace Master Ed Available devices Selected devices CIF100 COM CIF104 COM res res Cancel gt CIF104 COM R CIF104P COM Br Ei Br CIF30 COM CIF50 COM _ lt lt Bemove _ lt lt Bemove CIF80 COM COM C COM y K REMOVE OMA coh Node ID address Description Master Figure 13 Edit gt Replace Master In this window you select the Master you want by clicking on it By clicking the Add button this Master is shown in the first position by Selected devices With OK you confirm the selection and the Master will be replaced SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 40 200 4 4 Node Slave 4 4 1 Insert Node In order to insert a CANopen Node into the configuration select the Insert gt Node menu to open the selection window or click on the symbol Insert gt Node Figure 14 Insert gt Node The mouse cursor changes automatically to the insert Node cursor Click on the position where you want to insert the new Node A dialogue box appears where you can select one or more Nodes for insertion Mouse pointer for Insert gt Node Figure 15 Mouse pointer for Insert gt Node Insert Node ar yl an CIF104 COS CIF50 COS
120. lags Fh Last command 1 1h Enter Pre Op messages 0 Start node messages 6 Stop node messages 0 Reset comm messages 4 Reset node messages 0 Unknown messages 0 Node guarding requests 64629 Life time exceeded 3 Emergency messages sent 5 Error 0 Figure 103 COS_TASK Node Management Variable Current Node management state of the DEVICE 0 Init 1 Pre Operational 2 Prepared 3 Operational Some flags Bit 0 PDO communication enable Bit 1 SDO communication enable Bit 2 Node guarding enable Bit 3 life guarding enable Bit 7 Node guarding toggle bit Unknown messages Number of unknown and ignored Node management messages received Node guarding requests Number of Node guarding requests received Life time exceeded Number of life time supervision failures Emergency messages Number of emergency messages sent by the DEVICE sent Table 85 COS_TASK Node Management SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 172 200 10 2 5 COS TASK PDO Transfer RxPDOs 2928337 TsPDOs 12 RTRs on TxPDOs 1 Last RxPDO COB ID 513 201h Last TxPDO COB ID 641 281h Last ATA TxPDOCOBID 385 181h Wrong length AxPDOs 0 Wrong length RTRs 0 RTRs on AxPDOs 0 Received TxPDOs 0 Error 0 Figure 104 COS_TASK PDO Transfer Variable Last RTR TxPDO COB ID COB ID of RTR on TxPDO most recently received Wrong length RxPDOs
121. lic Name IEC Address Offset Data type Representation and Value 8 Input data are displayed and can t be changed Output data can be entered into the value column Fa loWatch Bil x Device SymName IEC Address Data Type Representation Value Node1 PDO_1400 Dbject62001dx0 O Output 0 Byte Hex 00 Node PDO_14000mect 20d O Dun 1 ene He m Nodei PDO_1400 0bect620042 O Oupa 2 feve Hex I 0 Node1 PDO 1400 Obiect620013 O Oupa f3 feve Hex Im Modet PDO 1400 biecG20na4 O Dun a Modet PDO 1400 0biect6200145 O Oupa 6 Modet PDO_1400ObjectG20n6 O Oupa fe Modet FDO 1400 0biect6200167 O Du 7 E Programme HilscherSyCon Project 1 co Figure 65 O Watch window In the column representation can be selected the data type Bit Pattern Char decimal Signed decimal Unsigned Hex SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 111 200 6 5 3 Read Objects SDO Upload With this function you can execute the CANopen services read object and write object based on the current configuration As the first you must select the required device by clicking with the left mouse button on the symbol Node Then select the menu Online Read Object or Online gt Write Object Read Object Ed Object Index 1000 hex Read Sub Index fo hex OK Value 2D010000 Figure 66 Online gt Read Object di
122. lick at the Master then 1 O Monitor or 2 108 Send data Online gt I O Monitor alternatively O Watch 109 Receive data Left mouse click at the Node then 1 O Monitor 2 108 Online gt I O Monitor Table 10 Configuration Hilscher CANopen Master to a Hilscher CANopen Node PDO a aa J _ N Notes see next page SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Getting Started Configuration Steps 29 200 Note 1 The Offset addresses assigned in the Node configuration are always related to the Hilscher DP Master Note 2 Alternatively the CIF Device Driver Test program can be used for the test After Board Select Data Transfer gt I O Data gt DevExchangelO SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Getting Started Configuration Steps 30 200 3 3 Configuration for SDO Communication 3 3 1 Configuration Hilscher CANopen Master to any CANopen Node SDO The following table describes the steps to configure a Hilscher CANopen Master to any CANopen Node for SDO communication as it is typical for many cases Menu in the System Configurator Detail information in Page section 1 Create a new project File gt New gt CANopen Setting up the CANopen 35 Configuration Copy EDS file of CANopen File gt Copy EDS EDS files 35 Node if Node is
123. lows first the desired device for Firmware downloading must be chosen in that the symbol of the device is selected with a left mouse click Then call up the Online gt Firmware Download menu Select the new Firmware and retrieve it with Download into the device The Firmware is now retrieved Available Firmware Files Le z Firmware Hardware Version Date el hilscherksycon fieldbus r Selected Firmware Files e z e Mieldbus canopen firmware File Extension HEE apy gt gt Downoad Download Firmware Hardware Version Date Figure 53 Online gt Firmware Download SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 94 200 6 2 3 Firmware Reset First the desired device must be chosen with a left mouse click on the symbol of the device Then the Online gt Firmware Reset menu must be called up and the name and the version of the Firmware are displayed Firmware Reset x m Firmware Information Firmware CANopen CIF3OCAN Wersion 101 072 22 01 04 Reset Error 0 m Task Information ask RES I TE 2 2 m IE Figure 54 Online gt Firmware Reset The device is reset with the Reset button 6 2 4 Device Info First the desired device must be chosen with a left mouse click on the symbol of the d
124. m Configurator and its Components AS Interface Selected Program DLL and Components of CANopen Selected the Fieldbus System or the Protocol InterBus PROFIBUS Selected Ethernet Protocol Selected CIF Device Driver Selected CIF Device Driver C Programs CIF Device Driver SyCon System Configurator Folder under Start gt Programs Table 3 Selection during Installation The installation program copies the program files GSD or EDS files and Bitmaps to the PC Finally System DLLs The Application OLE Controls ODBC Components are entered into the Registry SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Installation and Licensing 19 200 2 4 Licensing This section describes the steps to license the System Configurator from the already installed basic version of the System Configurator To license the System Configurator during installation was already described above Deliveries that contain a license for the System Configurator have a formulary with Fill out this paper formulary and fax it to your distributor or directly to us After you receive the license code enter it as described in section Enter the License Code as described below on page 20 An order form for a license for the System Configurator can be printed out and is described in the next section 2 4 1 Ordering a License for the SyCon Configurator To order
125. mon profile It is the basic of CANopen communication and lays down how the device on the CANopen communicates with each other Profile Ed ene Profile 301 Figure 109 Device Profile 301 Device Type x Device Type 0 Caca Figure 110 Selection of the Device Type in case of Device Profile 301 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 183 200 10 5 2 Device Profile 401 Device Profile for I O Modules The device profile DS 401 is a profile for I O modules Profile x Profile 401 r BA Figure 111 Device Profile 401 Y Digital Input FE E V Digital Output 7 Analog Input T Analog Output ie od Cancel Figure 112 Selection of the Device Type in case of Device Profile 401 Digital Input Device Profile for I O Modules Digital Output Analog Input Analog Output Table 97 Device Profile for I O Modules SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 184 200 10 5 3 Device Profile 402 Device Profile for Drives The device profile DS 402 is a profile for drives Profile x Profile 402 x Ea Figure 113 Device Profile 402 Device Type x Frequency Converter y Cancel Figure 114 Selection Device Type in case of Device Profile 402 Frequency Conv
126. n this has to be activated In the Master Producer Heartbeat Time field the cycle time for the Master is entered in ms Synchronization Object SYNC Furthermore the Communication Cycle Period and the message number COB ID has to be set The default value for the COB ID is 128 Enable Global Start Node After the Master started all Nodes configured individually first it sends a Global Start Node with activated menu option afterwards in order to synchronize all Nodes again SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 79 200 Attention The following stetting are just for Master devices which support the 29 Bit CAN specific identifier according to CAN 2 0B At the moment this is only available in case of the TSX CPP 100 module hardware Enable 29 Bit Selector If this menu option is activated the 29 Bit identifier is switched free for the Master Message Bit _ Acceptance Code _ F Acceptance Mask 1 accepted O not accepted b28 Figure 43 Diagram Acceptance Code Acceptance Mask SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 80 200 5 3 CANopen Master 5 3 1 Master Settings To enter the CANopen Master settings select the menu Settings gt Master Settings or click with the right mouse button on
127. n scheme is defined which is described in section COB ID at page 176 These identifiers are available in the Pre operational state of a Node which works in accordance to the Communication Profile 301 directly after initialization These pre defined connection sets are used by SyCon if automatic allocation is enabled Then the COB IDs in the already configured PDO COB ID column are not editable So if the automatic allocation is disabled the COB IDs can be edited in the range from 0 2047 Note If the setting Automatic COB ID allocation in accordance with Profile 301 is deactivated SyCon does not check if a COB ID was assigned two times This is the job of the user Further more you have to check if the Node supports this function Device Profile and Device Type Because of the information of the Device Profile and the Device Type the Master can read out the Object 1000H from the Node and compare it with this information when it start communication If the Device Profile and the Device Type do not agree the Master reports a parameterization error Further information about the Device Profile and the Device Type you find in section Device Profile and Device Type at page 47 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 45 200 NodelD address The NodelD address is necessary for the addressing of the device at t
128. ncnnnnnnnnnnncnnnnnnnncnnnnnnnnnnnes 23 3 1 1 Configuration for PDO Communication CANopen ocicccnnnnnnnnccconcccnnonnnanncncancnos 24 3 1 2 Configuration for SDO Communication CANopen unsersnennnnennnnnennnnennn 24 3 1 3 Configuration for Send Receive transparent CAN enennnnnn 24 3 2 Configuration for PDO Communication ooocconoccccnanancccnnnnnnnccnnnanoncncnnnnn cnn nn none ncnnnnnnnns 25 3 2 1 Configuration Hilscher CANopen Master to any CANopen Node PDO 25 3 2 2 Configuration Hilscher CANopen Node to any CANopen Master PDO 27 3 2 3 Configuration Hilscher CANopen Master to a Hilscher CANopen Node PDO 28 3 3 Configuration for SDO COoMmMUNIealian anna ee 30 3 3 1 Configuration Hilscher CANopen Master to any CANopen Node SDO 30 3 3 2 Configuration Hilscher CANopen Node to any CANopen Master SDO 31 3 3 3 Configuration Hilscher CANopen Master to a Hilscher CANopen Node 32 3 4 Configuration for Send Receive transparently CAN cccceseceeeeeeeeeeeeteeeteeeeteeeees 33 3 4 1 Configuration Hilscher CANopen Master to any CAN Device for Send Receive transparent CAN rridurninda iind aa adian 33 3 4 2 Configuration Hilscher CANopen Node to any CAN Device for Send Receive transparently SAN Diccionari dd id nnd a ande 34 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 O
129. nfigurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 121 200 The following picture shows the Sending of the CAN ID 2000 with 8 bytes user data The user data here are 1 2 3 4 5 6 7 and 8 Message Monitor CANSEND MSG Nelegrann Eager VEVICE AG Wate ated ar Data Rea Data Bal Ma Gry Wate pal Data la Wate leourt Wate pre Wate leant Wate pre sancion m sancion Figure 75 Message Monitor for Sending CAN telegrams transparent Note The sending of the telegram is not confirmed and the error number 2025 appears SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 122 200 6 6 2 2 Message Monitor for Receiving CAN Telegrams transparent For the receiving of CAN telegrams it has to be informed which CAN Identifier are permissible for receiving For this the receive filter is set to inform which CAN identifier are passed through In the following the Message Monitor for setting the receive filter at the Hilscher Master and or Hilscher Node is described For setting a receive filter you have to type in the following in the Message Monitor SAN Receive Pant ja i aN Receive Pane AS Table 47 Message Monitor for Setting the Receive Filter The
130. nsmis cycl acycl synchronous asynchronous RTR Description sion a The telegram is transferred related to the SYNC but not periodically A 240 A value between 1 and 240 means that the PDO is transferred synchronously and periodically and that the value of the type of transmission indicates the number of SYNC of B between the two transferring PDOs 241 241 251 reserved 252 E The transmission types 252 and 253 mean that the PDO is an event without immediate notification and it is only transferred with remote transmission requirement With the type of transmission 252 the data are immediately updated after receiving the SYNC Telegram however not sent 253 X X The transmission types 252 and 253 mean that the PDO is an event without immediate notification and it is only transferred with remote transmission requirement With the type of transmission 253 the data are immediately updated after receiving the SYNC Telegram The Transmission type 254 means that the application event is manufacturer dependent The Transmission type 255 means that the application event is defined in the respectively supported equipment profile The exact transmission mode whether cyclically event controlled etc can reread there Table 21 PDO Communication Parameter gt Transmission Types Transmit PDO e Communication Timer Node Event timer Lays down the time for the event timer for the send PDO The expiration of the t
131. ntly in the queue Table 90 COS_TASK Transmit Queue SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Appendix 176 200 10 3 COB ID Predefined Connection Set COB ID means Communication Object Identifier This is the 11 bit telegram identifier of the CAN telegram The higher 4 bits bit 10 to 8 is the function code and the lower 7 bits bit 7 to 0 is the bus address of the Node Broadcast Objects Function COB ID COB ID Index in the Object Code hex dec Directory SYNC 0001 1005H 1006H 1007H TIME STAMP 0010 100H 1012H 1013H Table 91 COB ID Broadcast Objects Peer to Peer Objects pe pee Ge ee Code hex dec Directory PDO 2 by PDO 3 by NMT Error 1110 701H 77FH 1793 1919 1016H 1017H Control Table 92 COB ID Peer to Peer Objects SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 177 200 10 4 Object Dictionary The Object Dictionary is a collection of data which have influence on the application and the communication of a CANopen device and the device can be configured with this data collection The entries are structured by the index and the sub index 10 4 1 Object Name and Object Code The following table shows a list of the Object Codes NULL A dictionary entry with no data fields los DOMAIN Large variable amount
132. oad request 0 Segment upload response 0 Init download request 55 Init download response 45 Segment download request 0 Segment download response O Abort domain request 254 Abort domain response 10 Reset node request 3 Sync request 0 Node guard request 55476 Hard transmission aborts 0 Error 0 Figure 96 CAN_TASK CMS Domain Services The CANopen protocol defines different services which are summarized under the name Domain Services All Domain Services that are transmitted and were received are counted in this table and shown online by SyCon A special value is the Hard transmission abort counter Each CAN message which is inserted into the CAN controller to be sent is supervised by a simultaneously started timer If the CAN controller cannot sent the message because it don t find any other CAN controller active in the connected network who is acknowledging him the message the message can t be sent and the timer expires If so the message is thrown away and the next message of the queue is inserted to be sent So an incrementing Hard transmission abort counter is directly an indication for a physical hardware problem in the network A possible fault that is often made is a wrong configured baud rate for example that causes such an error too SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 165 200 10 1 8 CAN_TASK Timeout Counter
133. odule 1 you find in the cells L1 M1 N1 O1 and for module 2 in the cells P1 Q1 R1 S1 and so on E oaase e Tmesizeofthemoduleisahnes INi__ DataPostton 0 Output Datatype unsigned Integer Or JOteetaacress 0 meorseraresso o o P1 1Q1 icc a The modules 2 till 59 are not used for this device and so a 0 is shown Table 53 Example of a CSV File in Excel If two or more Slave devices are connected to the Master these are displayed in the next lines of the table SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 File Print Edit Export and View 132 200 7 4 Edit 7 4 1 Cut Copy and Paste With the menus Edit gt Cut and Edit gt Copy you put the cut copied device with its settings and configuration only not the description of the device in the Clipboard and with Edit gt Paste it can be insert The difference between Cut and Copy is With the menu option Edit gt Cut you move a device from one point in the configuration to another With the menu option Edit gt Copy you duplicate an existing device If you select Edit gt Cut a security question appears Question 2 Do you want to cut this device Figure 80 Security question cut device If you answer this question with Yes the device is cut and stays in the clipboard SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06
134. on Now the device is connected with the System Configurator via the serial driver and the Device Assignment dialog is closed If the assignment is not possible or if the assignment has failed this is displayed by an error number in the Error column If the error number 51 appears after activating one of the buttons a timeout error has occurred That means no device is connected to this COM port The error number 20 indicates that this COM port is not available or not free already in use By clicking the Cancel button the Device Assignment is closed without an assignment has been completed or respectively changed SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 73 200 5 1 4 CIF TCP IP Driver The CIF TCP IP Driver builds up a connection to the Hilscher device via Ethernet TCP IP This communication is utilized when the System Configurator is installed on a PC and the PC and the Hilscher device are connected via Ethernet It is distinguished between two application possibilities 1 The Hilscher device is installed in a PC and the TCP IP connection is built up to the PC that means the IP address of the PC is used as IP address This PC is called Remote PC in the following The following two requirements have to be accomplished to get access to the Hilscher device via Ethernet TCP IP Note The CIF Device Driver has to be inst
135. or LSS LMT 3 gt Set Baud Rate Message Monitor Ed File Edit View MESSAGE OUTPUT Counter 1 MESSAGE INPUT Counter 3 i m Message Header Message Header RX 16 TX 3 Ax 3 x 5 IN 5 NR 0 LIN E Auto NAM NR fo A 0 F 0 A fo F fo B 8 E 0 Be fe eE po lelegrean Heeger nn lelegramnieager DEFIGEFAr Date Area Device Agr Date Are er Data hdr Data ld ada fo Detain A Data fount Date pe Date lEGunt A Wate pe FS FURCHGn FT enable FUNCHGn T enable Receive data Send data T Put cyclic Figure 72 Message Monitor LSS LMT 3 gt Set Baud Rate SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Online Functions 118 200 4 Save Configuration 0 DO SAN Seng Patt fa Joa senso rane CI end ata Save Configuration 23 Table 44 Message Monitor LSS LMT 4 gt Save Configuration File Edit View MESSAGE OUTPUT Counter 1 MESSAGE INPUT Counter 4 iit m Message Header Message Header RX 16 TX 3 Ax 3 Tx 255 IN 3 NR 0 IN PB ALO NAT NR fo A 0 F 0 A fo F fo B 8 E 0 Bo fe eE po leleorean eager elegan Header Device Adi Date Ares Device Ad a3 Date Area I Data Adi Data Ide Data alar ean Wate touni Date pe ate lsourt haz Date pe la FURCHGn FT enable FUNCHGn EN T enable Receive data Send data lo h f2 ee le f s 9 0 1252 129 23 40 50 60 fo h 2 s ls 5 le f
136. or the network initialization the network guarding and the network configuration CANopen offers a big flexibility 1 3 3 CANopen Device Model A CANopen device can be described generally as 3 components communication objects and application Communication The communication unit contains the mechanism for the transport of data according to the CANopen specification over the CAN Object dictionary The object dictionary is the connection between the application unit and the communication unit It contains configuration data and device information All entries have an object index index and a sub index Application The application unit describes the function of the CANopen device Table 2 Components of the CANopen Device Model SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Overview SyCon 11 200 1 4 Legal Notes 1 4 1 Copyright O 1998 2012 Hilscher Gesellschaft f r Systemautomation mbH All rights reserved The images photographs and texts in the accompanying material user manual accompanying texts documentation etc are protected by German and international copyright law as well as international trade and protection provisions You are not authorized to duplicate these in whole or in part using technical or mechanical methods printing photocopying or other methods to manipulate or transfer using electronic systems without prior wri
137. pendix 179 200 Manufacturer specific 0040 005F DEFSTRUCT Manufacturer specific complex data types complex data types 0220 023 _ DEFTYPE Device prole 7 specie standard data types Table 94 Object Dictionary Data Types SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 180 200 10 4 3 Object Dictionary Profile The following table is a survey of the profile object dictionary and an extract of the CANopen specification Note The list of the single objects is no information that the Master or the Node support the respective object and the function which is associated with it Range Index Hex Object Name Type Access Pre defined Error Field Unsigned 32 ro 1004 resemes Cd CSC Y oon reserves CS 1008 ER reses EEE A E CN 101870 mumberorEmiies ____ unsigness morsa vendoriniarmation Unsigneds2 mose Productoode unsimeas2 ores Revision number Unsigneds2 morera Se iaiNumber unsignease KO a e Continuation see next page SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 181 200 Communication Profile 1200 RECORD Server 1 SDO Parameter SDO_ Parameter ro 1200 0 NumberofEnties Unsigned 8 1200 1 COB D Client gt Server Unsigned 32 1200 2 COB D Client lt Server Unsign
138. period given in the DevExchangelO function If you use an interrupt then check the interrupt on the device and in driver setup These settings have to be the same Is an interrupt on the board set Is the right interrupt set The interrupt could already be used by another PC component also if the operating system reports it as unused If you use polling mode then make sure that no interrupt is set on the board and that polling is set in the driver setup These settings have to be the same Device IO data mode unknown Device Function call failed Device Dual port memory size differs from configuration Device State mode unknown Table 56 CIF Device Driver Error Numbers 20 27 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Error Numbers 143 200 Error Number Description TUT 5 User Driver not opened device driver not loaded The device driver could not be opened Device driver not installed Wrong parameters in the driver configuration If the driver finds invalid parameters for a communication board and no other boards with valid Eee are available the driver will not be loaded User Board not initialized DevInitBoard not called User IOCTRL function failed A driver function could not be called This is an internal error between the device driver and the DLL Make sure to use a device driver and a DLL with the same version An
139. quest to the Node Node Guarding to check if the Node still exists on the bus The Node sends its actual state as answer back to the Master The Nodes can use the poll telegrams of the Master to supervise the Master on its part Life Guarding Requirement The Node has to support the Node Guarding Protocol SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 61 200 Settings The Guard time is the setting for the supervision of the Node in the view of the Master Master controls Node If the communication is running the Master will poll the Node in the time interval Guard time to check if the Node is still present in the network or not If this value is configured with O the supervision is disabled in the Master as well as in the Node The Life time factor is the setting for the supervision of the Master in the view of the Node Node controls Master If the communication is running the Node will control the Master in the Guard time multiplicated with the Life time factor as time interval to check if the Master is still present in the network or not If this value is configured with O the supervision in the Node is deactivated Warning To reach a stable communication of the Node on the CANopen the Life Time Factor has to be set to minimal 2 Note A Life Guarding can only be used if the Master carries out a Node
140. r Setting the Receive Filter CAN Layer 2 Message Header Rx 3 fixed Tx 255 Ln is calculated Nr 0 255 Table 40 Message Monitor for LSS LMT gt Setting the Receive Filter Message Monitor x File Edit View MESSAGE OUTPUT Counter 1 MESSAGE INPUT Counter 1 Message Header Message Header RX 255 TX 3 Tx LN 0 NA 2 Auto NR T NR 82 F F B 0 E B E electra eager Device ar Date Area Device Kar Wate Area Wate ar Vata ldy ata Adi Wate lar Date waunt Data mue ata Eoun Date ue OCCT enable ete enable Receive data T Put cyclic PutMessage Figure 69 Message Monitor for LSS LMT gt Set the Receive Filter SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 115 200 1 Switch in configuration mode Send Data Meaning for CAN Range of value Send data 1 Mode Global Service Send data 2 Config Mode Table 41 Message Monitor LSS LMT 1 gt Switch Configuration Mode on File Edit View MESSAGE OUTPUT Counter 1 MESSAGE INPUT Counter 2 m Message Header Message Header RX 255 TX 3 RX fa TX 255 IN 0 NA 0 LIN fi ALO NAM NR fo A 82 F 0 A fo F fo B 0 E 0 Bo fe E fo alegran Header jelEgram Header Device rar Wate Ate Device Ad EA Date Are a Data Adi Data Idy paasa fo Beer fo Data leount ete pre Data leount a Dieta pre a Fraction ena
141. r data here are 1 2 3 4 5 6 7 and 8 Message Monitor alas Header ate ater 2 Sdi Wate Area Wate Bal Wate ary Wate fal Wate ary Wate lout Wate ppe Wate sourt Wate pue PU GUGTT PEt Figure 77 Message Monitor for Receiving CAN Telegrams transparent SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 File Print Edit Export and View 126 200 7 File Print Edit Export and View 71 File 7 1 1 Open An existing project can be opened with File gt open 7 1 2 Save and Save As When the file name is known the configuration can be saved under the File gt Save menu otherwise the File gt Save As menu must be selected 7 1 3 Close The current project can be closed with File gt Close SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 File Print Edit Export and View 127 200 7 2 Print After the current printer has been selected in the File gt Print Setup menu the configuration can be printed out under the File gt Print menu For a page view select the File gt Print Preview menu Print Setup fe Sort aecoraing to node addresses Fe Sort aecoraing tadete ado u A S Fran A 0 1 1 fo Select Figure 78 File gt Print The base settin
142. r traffic control systems air traffic or air traffic communication systems in life support systems in systems in which failures in the software could lead to personal injury or injuries leading to death We inform you that the software was not developed for use in dangerous environments requiring fail proof control mechanisms Use of the software in such an environment occurs at your own risk No liability is assumed for damages or losses due to unauthorized use 1 4 4 Warranty Although the hardware and software was developed with utmost care and tested intensively Hilscher Gesellschaft fur Systemautomation mbH does not guarantee its suitability for any purpose not confirmed in writing It cannot be guaranteed that the hardware and software will meet your requirements that the use of the software operates without interruption and that the software is free of errors No guarantee is made regarding infringements violations of patents rights of ownership or the freedom from interference by third parties No additional guarantees or assurances are made regarding marketability freedom of defect of title integration or usability for certain purposes unless they are required in accordance with the law and cannot be limited Warranty claims are limited to the right to claim rectification SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Overview SyCon
143. ration of CANopen with SyCon 38 200 4 3 2 Master Configuration The Master specific configuration is carried out in the following window and sub window Set the focus on the Master left mouse click and then select the Settings gt Master Configuration menu or A double click on the symbol of the Master which should be configured will open the following window Master Configuration Ed General f y Description Master Cancel Device CIF50 COM Settings Master Settings Global Settings Figure 11 Settings gt Master Configuration The following can be set in this Master Configuration window a symbolic Description of the Master the wndow Master Settings described on page 80 can be opened e the window Global Settings described on page 84 can be opened SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 39 200 4 3 3 Replace Master If a Master already exists in the configuration and should be replaced against another Master you first have to set the focus on the Master left mouse click and then select the menu Edit gt Replace or make a right mouse click at the Master and select in the now opened window the menu Replace In the opened window appears the question if the Master should be replaced Q Do you want to replace the master Figure 12 Secur
144. ription of these modes The set handshake of the process data must be supported by the application program The handshake buffered host controlled is mostly supported The handshake no consistence uncontrolled works without handshake and both processes run free A detailed description is provided in the manual for the Toolkit or the manual for the device driver If you run a soft PLC or a visualization software on your PC please check in their documentation which handshake mode this program expects Startup behaviour after system initialization If Automatic release of the communication by the device is selected the Slave is ready to communicate with the master when started If Controlled release of the communication by the application program is selected the user has to release communication by a defined release procedure CANopen Node Configuration The CANopen Node Configuration is described further above in section Node Configuration on page 42 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 88 200 5 5 Project Information If the user creates his own project the project information can be typed in into the Settings gt Project Information menu Anybody can then read this entry when this menu is called up Project Information CANopen neues Projekt Figure 47 Settings gt Project Information
145. s 158 10 1 1 PLC_ TASK Common Variables ccccoconcccononnnccnnnonnnononononnnnnnnanononononnnnnnnnnnns 158 10 1 2 CAN_ TASK Common Varlables oooooocccncccnonocococnnnnononononononononnnnononononnnnnnnnons 159 10 1 3 CAN_TASK Node Running State u 440ersnsunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nenn 161 10 1 4 CAN_TASK Global State Field 0unnnnnnnennnnnnnnnnnnnnennnnnnnnnenn 161 10 1 5 CAN_TASK Communication Error oooooccncnncncnonccooonnncnnonnnanoononononnnnnnononnnnonnnnnos 161 10 1 6 QUISAS ek eee 162 10 1 7 CAN_TASK CMS Domain Services ccccccnonenococanononnnnononononocononnnnnnanonononnnnnnnns 164 10 1 8 CAN_TASK Timeout Counter ccccsccecccececsesseeeceseeseecseseeeeseseesesesseaeaaeeeeees 165 10 1 9 CAN_TASK Node Init Counter ccccncccoconcncccncnocoooncnonnncnncnnnononononnnnnnnnnnnncnnnnnoos 166 10 2 Extended Device Diagnostic Node cccccccessseeeeeneceeeeeeeeeseeseeeeeeeeeeeeseseseneaees 167 10 2 1 PCL_TASK Common Variables ccccononcccononccnnnononononononnnnnnnnnanonnnononnnnnnannnos 167 10 2 2 COS_TASK Common Varlables ocoooococcnccccnonocooncnnnnnnonononononononnnnononononocnnnnnnns 168 10 2 3 COS_TASK User CommunicatiON oooooocccncncnonococnnnnnnononononnnnconcnnnnnnanonononnnnnnnns 170 10 2 4 COS_TASK Node ManageMentoccconcccccccccconicononcnanonononnnnn non nnnnn cnn nn cnn namen 171 10 2 5 COS_TASK PDO Transfer c
146. s found which is not convertible into a HEX value 5008 Function PackStringDumpToByteArray Number of character odd 5009 Function PackStringDumpToByteArray Not enough space in pvD 5010 Function PackStringDumpToByteArray The current data set needs to be appended the previous one 5011 Function PackStringDumpToByteArray No corresponding function to the given number exist Table 75 Error Numbers of data base functions 5000 5012 SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Appendix 158 200 10 Appendix 10 1 Extended Device Diagnostic Master The menu item Online gt Extended Device Diagnostic helps to find possible network and configuration faults while trying to get the network fully operative when the normal debugger does not rudicate any helpful information any more to get the fault location This menu activates a list of available structures The listed structures can be displayed to show the values The structures will be resetted after power on or after a cold or warmstart command Select Task State x Common Variables CAN_TASK Common Variables CAN_TASK Node Running States CAN_TASK Global State Field CAN_TASK Communication Error CAN_T45K Nodeguard Inputqueue CAN_TASK Management Inputqueue CAN_TASK Emergency Inputqueue ICAN TASK Transmit Queue g Figure 87 Online gt Extended Device Diagnostic
147. s its data addressing itself Note 2 Hilscher Node In case of a Hilscher Node Slave the In and Output data are taken over at the bus directly in the Dual port memory The Offset addresses relate to the Master SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 43 200 Node Configuration xj Node XN GW CANopen Node ID address 1 SS sat EUER Cancel Description In ode Configuration Error Control Protocol Node BootUp File name N225163V112 EDS I Activate node in actual configuration Emergency COB ID hex a1 DEL Objects IV Automatic COB ID allocation in accordance with Profile 301 Nodeguard COB ID hex 701 Object Configuration Device Profile 401 Multiple Device r Predefined Process Data Objects PDOs from EDS file Actual node Obida PDO name Ea a TXNGWCANopen y ReceivePdoParameter ReceivePdoParameter PDO mapping method ReceivePdoParameter os301 V4 y ReceivePdoParameter ReceivePdoParameter ReceivePdoParameter Add to configured PDOs PDO Contents Mapping la PDO Characteristics Define new Receive PDO Define new Transmit PDO Delete configured PDO Symbolic Names ReceivePdoPara PDO_1400 ReceivePdoPara PDO_1401 301 QB ReceivePdoPara PDO_1402 401 QB ReceivePdoPara PDO_1403 501 QB TransmitPdoPar
148. s section describes the steps to license the System Configurator from the already installed basic version of the System Configurator To license the System Configurator during installation was already described above Select the menu Help gt Licensing The licensing window will be opened In the table in the middle are listed the fieldbus modules that were already selected for the order form If this is not the case then select the fieldbus modules from the upper table by double click or by select and Add Check if the name and the company name was entered exactly as printed on the fax Observe that the spelling is the same as on the fax especially the small and capital letters SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Installation and Licensing 21 200 Then select the button Enter License Code The following windows appears Enter the 16 digits of the license code Note License codes with less than 16 digits can only be entered during the installation In this case deinstall the System Configurator first and then restart the installation and enter the code Also the System Configurator license code with less than 16 digits expects a license in the device Registration code from the application O1E70C0C303081DB Cancel r License code from the software Clear F kB ei 234567894BCDEF Figure 5 Enter the Licens
149. send the Start Node command to the Node at the end of the boot up procedure Initiate PDO data This item selects if the installed PDOs shall be automatically written and read by the master directly after the startup once This ensures that the latest output data which can be found within the Masters output process data area is sent to the Node and that the latest Node input data is read from the Node and be placed into the input process data area Table 22 Node BootUp SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 60 200 4 4 2 12 Configuration Error Control Protocol The Configuration Error Control Protocol defines the device monitoring In doing so the Node Guarding Protocol or the Heartbeat Protocol can be used In the following you find information about the functional principle about the settings as far as notes to the Node Guarding and the Heartbeat Protocol Error Control Protocol Node Id 2 Sse neatoearaotaca ma ina IGT ode Cauca miGGUCeEn me NGGE Eattueaulsorsumenist Node ID Active Description ConsumerTime msec Producer Time msec _ Figure 25 Error Control Protocol Node Guarding Protocol e Node Guarding Protocol Functional Principle The Master sends cyclically polling telegrams Remote Re
150. sk Taskstate PCL_TASK Common Variables COS_TASK Common Variables COS_TASK User Communication COS_TASK Node Management COS_TASK SDO Transfer COS_TASK Object Dictionary COS_TASK Receive Queue COS_TASK Transmit Queue Table 37 CANopen Node Taskstate COS_TASK PDO Transfer SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 107 200 6 5 User Data Transfer The following table show test functions with user data transfer and the usability for Hilscher CANopen Master devices Hilscher CANopen Nodes User data transfer function Usable with Usable with Hilscher Hilscher CANopen CANopen Slave Master devices 1 O Monitor Read input data and set output data cyclic I O data exchange VO Watch Read input data and set output data cyclic I O data exchange Read Objects SDO Upload Read objects SDO Upload Yes No Write Object SDO Download Write objects Yes No SDO Download Table 38 Overview User Data Transfer SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Online Functions 108 200 6 5 1 1 O Monitor This is an easy way of viewing and changing the first 32 Bytes of the process data image The I O Monitor is called up with the menu Online gt 1 O Monitor 120 Monitor
151. smision type 254 Communication Counter CANopen Master Each time when data has changed C Every fio Master cycle interval Transmission slow down Figure 19 Receive PDO Parameter Transmission cycl acycl synchronous asynchronous RTR Description eo The telegram is transferred related to the SYNC but not periodically a 240 A value between 1 and 240 means that the PDO is transferred synchronously and periodically and that the value of the type of transmission shows the number of SYNC telegrams between the two Sea PDOs pee of transmission 254 means that the application event is manufacturer dependent 255 X The Transmission type 255 means that the application event is defined in the respectively supported equipment profile The exact transmission mode whether cyclically event controlled etc can reread there Table 20 PDO Communication Parameter gt Transmission Types Receive PDO The Master has two configuration possibilities to send the PDO On the one hand there is the selection Each time when data has changed which configures the Master in such a way that the Master sends the PDO only if it has changed This kind of the event control keeps the bus load low On the other hand there is the possibility to transmit the PDO cyclic However this time is indicated here not in milliseconds but in Node cycle intervals A Node cycle interval is the time the Master needs to
152. ss define the address of the PDO data in the process data image which is lead in the Dual port memory of the Master The range can be between 0 and 3583 According to information the number of data bytes is shown under Number and O Number The addresses can be assigned automatically by SyCon or manually by the user This is set in the menu Settings gt Global Settings in the field Process Data Auto Addressing which is described in section Global Settings at page 84 A screening for double addresses takes place before the Download of Configuration and when you open the window Address Table Len and O Len Gives the length of the PDO in bytes and can be max 8 If the value 0 is shown the PDO still does not includes user data Via the PDO Mapping the user data for this PDO have to be set SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 51 200 4 4 2 5 PDO Communication Parameter PDO Characteristic Before a chosen PDO is moved into the lower window the PDO characteristics window is opened automatically A PDO in CANopen can be configured in Event Driven mode or Cyclic Transmission Both kinds of transmission types can be synchronized to a special synchronization message which is sent by the master in defined time intervals Because of the different behaviour of a transmit and receive PDO two different windows
153. ssage Monitor ra ee ee ada ce Bere DEE 112 6 6 1 Message Monitor for Using LSS LMT uuunseesseenssnsnnnnnennnnnnnnnnnnnnn namen 113 6 6 2 Message Monitor for Sending or Receiving Transparent CAN Telegrams 120 7 FILE PRINT EDIT EXPORT AND VIEW gi ce fue cae as 126 7 1 A Deinen enislusbiisi one 126 7 1 1 RDO Mint a Moti bate e a a o e a thea 126 7 1 2 Save and Save Aucas at 126 7 1 3 OSO REINE A Es deel Saath VA 126 7 2 Pit een A 127 7 3 EXPO FU MS Soro E ea az 128 7 3 1 DBM EXPO sui ala A eh ahha eee alee tats 128 7 3 2 A TN 128 7 4 A NN 132 7 4 1 Cut Copy and Paste iieiaeie a aa a eaaa asien iaieiiea 132 7 4 2 BEE e iia A AAA AA AE ETEA AA 134 7 4 3 112 0 ELE E MAAE dias 134 7 5 View ofthe Conliguralionzessrneee een 135 7 5 1 Device Table iii ea dd Teac le Pee ede 135 7 5 2 Address Table cian onde 136 7 5 3 E RO 136 7 5 4 SDO Table iiaia an a dia da 137 7 6 View A ea Ae a aon 138 7 6 1 Logical Network VIEW anniina asai a a iania N a nn 138 7 6 2 TODE anced 2 A E ar era ade 138 7 6 3 Status Barinas A tt iia 138 8 sss ead ctu na A are are are are al DEBS ta 139 8 1 PIKV40 7 PRVSO Gateway aa 139 9 ERROR NUMBERS POBAWERBENENBERDEFEUEEBDEFEUERBUREEVERBDE FEUEREUEFEVERBEEFEUBERUETEVEHBUR EUBRURETELEGRUEFENEEN 140 9 1 CIF Device Driver Dual port memory Error Numbers 1 49 4 140 9 2 CIF Serial Driver Error Numbers 20 71 222222044444444044H4HHHnnn nen nnnnnnnnnnnnnnnnn nenn
154. ssing active Auto Addressing deactivated Auto addressing by SyCon Manually addressing by the user The addresses will be allocated beginning The address 0 is shown in the Addr or O with O and incremented in accordance with Addr and must be overwritten by the user the entry sequence of the Slaves before downloading and can be viewed and checked in the menu View gt Address Table Table 32 Process Data Auto Addressing activated deactivated SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 85 200 COB ID Allocation during PDO insertion The CANopen specification provides that the message number COB ID of a PDO is given relatively to the Node address according to a fixed routine It is called Pre Defined Connection Set This is described in section COB ID Predefined Connection Set on page 176 Automatic Allocation in accordance with Profile 301 If this menu option is selected an alteration of the message number of the PDOs is not possible and its assignment takes place automatically by the CANopen profile 301 Manual Allocation in range 0 2047 If this menu option is selected a definition of the message number of the PDOs is possible and can take place in the context of the possible 2048 11 bit different CAN Identifier manually SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06
155. t Download Configuration PDO diagnostic Left mouse click at the Node then COS_TASK PDO Transfer Online gt Extended Device Diagnostic gt COS_TASK PDO Transfer Send data Online gt I O Monitor alternatively O Watch Receive data 7 6 E Transfer user data Left mouse click at the Master then 1 O Monitor or 2 109 Table 9 Configuration Hilscher CANopen Node to any CANopen Master PDO Note The Hilscher CANopen Node is configured via the CANopen Bus by means of SDO download by a configuration master Without a configuration master the Hilscher CANopen Node provides two send and two receive PDOs with a default mapping for the communication Note 1 Insert a Hilscher CANopen Master into the configuration It serves as dummy and it does not have to agree with the connected Master Note 2 Alternatively the CIF Device Driver Test program can be used for the test After Board Select Data Transfer gt I O Data gt DevExchangelO SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Getting Started Configuration Steps 28 200 3 2 3 Configuration Hilscher CANopen Master to a Hilscher CANopen Node PDO The following table describes the steps to configure a Hilscher CANopen Master to a Hilscher CANopen Node for PDO communication as it is typical for many cases Menu in the System Configurator Detail information in Page section 1 Creat
156. t page 64 and can be changed there Exceptions here form the entries COB ID SYNC and Communication Cycle Period which can be changed in the dialog Bus Parameter see at page 77 lt is possible to hid or to display the configured objects of the PDO Dialog The representation method of the object values can be selected between decimal and hexadecimal SDO Table x Customized objects Node IDJObjIdx Sub Idx Parameter Choosen value PDO Dialog 80 u COB ID Sync Communication Cycle Period Decimal COB ID Transmission type FE Inhibit time 64 Number of mapped objects 8 Output Byte 0 62000008 Output Byte 1 62000108 Output Byte 2 62000208 Output Byte 3 62000308 Output Byte 4 62000408 Output Byte 5 62000508 Output Byte 6 62000608 Output Byte 7 62000708 Show entries configured in the PDO dialog Hide entries configured in the PDO dialog ow oN WNM SHOWN OO KKK XX KM KKM MK X X Figure 86 View gt SDO Table SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 File Print Edit Export and View 138 200 7 6 View Menu SyCon 7 6 1 Logical Network View In the menu View gt Logical Network View the user can activate or deactivate the network view by selecting it with hook or by not selecting it without hook The network view is used for example for the Start Options 7 6 2 Toolbars In the menu View gt Toolbars
157. ted Baud rate Basic rule The Baud rate must be set same for all devices The Node address on the other hand must differ from Node to Node Bus Parameter Figure 42 Settings gt Bus Parameter Master Node ID The Master Node ID is necessary for the addressing of the device at the bus and has to be unique Therefore it is not allowed to use this number two times in the same network SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Settings 78 200 Baudrate Set the Baudrate The following Baudrates are available Baudrate 10 kBit s 20 kBit s 50 kBit s 100 kBit s 125 kBit s 250 kBit s 500 kBit s 800 kBit s 1 Mbit s Table 27 Baudrate Master stops in case of Node Guard or Heartbeat Error The Master stops in case of Node Guard or Heartbeat Error feature defines the behaviour of the Master if the communication is interrupted to at least one Node If the flag is set to Activated the Master will also stop the communication to all further Nodes which were still responding and active If the flag set to Deactivated then a lost communication to one Node has no influence on the communication of the still present Nodes For all the error affected Nodes the master remains in the state to try the reestablishment of the communication again Heartbeat Function If the Heartbeat Protocol should be used for the device supervisio
158. teps 23 200 3 Getting Started Configuration Steps 3 1 Overview Communication Types Select the communication that you want to use from the following table The configuration steps are described in the given section Note The booklet with the DVD ROM contains information for the hardware installation and information to the cable At this point it is presupposed that the hardware installation was done CANopen offers the following communication possibilities Communication Overview in section Page PDO CANopen Configuration for PDO Communication CANopen SDO CANopen Configuration for SDO Communication 24 CANopen 24 Send Receive Transparent Configuration for Send Receive transparent CAN CAN Table 4 Overview Communication Types CANopen SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Getting Started Configuration Steps 24 200 3 1 1 Configuration for PDO Communication CANopen Communication Device Device Described in section Page PDO CANopen Hilscher Any Configuration Hilscher CANopen Master to any CANopen CANopen CANopen Node Master Node Hilscher Configuration Hilscher CANopen Node to any CANopen CANopen Master Node Hilscher Hilscher Configuration Hilscher CANopen Master to a Hilscher CANopen CANopen CANopen Node Master Node Table 5 Overview Communication Types PDO Communication 3 1 2 Configur
159. test all configured PDOs in their states and to process them once The smallest cycle interval is indicated with about 300usec SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 53 200 4 4 2 7 Creating own Receive PDOs If further PDOs shall be used which are not predefined in the table Predefined Process Data Objects PDOs from EDS file this can be done with the functions Define new Receive PDO New receive PDO master output data x Free object index 1401 hex Cancel Proposed COB ID 768 ema PDO name 401 RPDOOO2 Figure 20 Definite a new receive PDO SyCon suggests a free message number which can be edited later in the PDO configuration window if the PDO was taken over SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 54 200 4 4 2 8 Transmit PDO characteristics Transmit PDOs are input data of the Masters and they were sent by the Node These PDOs are called Transmit PDOs from view of the Node Node Transmit PDO Characteristics Master Input Process Data Figure 21 Transmit PDO Parameter SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 55 200 Tra
160. the corresponding Master symbol and select Master Settings from the list which opens up The Master Settings are also available from the Master Configuration window The CANopen Master Settings contain parameters that determine the behaviour of the Master device as well as the user interface These settings are only valid for Hilscher devices and are included in the download of the configuration CANopen Master Settings Ed Parameter to user interface m Startup behavior after system initialisation Automatic release of the communication by the device Cancel Controlled release of the communication by the application program User program monitoring Watchdog time 1000 ms Parameter to process data interface Addressing mode _ r Handshake of the process data Byte addresses Bus synchronous device controlled C Word addresses Buffered device controlled No consistence uncontrolled p Storage format word module Buffered host controlled Big Endian MSB LSB C Little Endian LSB MSB Buffered extended host controlled m Hardware parameter OE dvelootmenon te BRE duapt menor Eke dual pot menman Figure 44 Settings gt CANopen Master Settings Startup behaviour after system initialization When Automatic release of the communication by the device is selected the Master device starts with the data exchang
161. tings gt Global Settings Figure 46 Settings gt CANopen Node Settings Figure 47 Settings gt Project Information Figure 48 Settings gt Path SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public 193 200 15 16 17 20 21 21 35 36 36 37 38 39 39 40 40 40 41 43 52 53 54 56 57 58 60 61 64 66 66 67 69 69 70 71 71 73 74 75 75 76 76 77 79 80 84 86 88 88 O Hilscher 1998 2012 Lists Figure 49 Settings gt Language Figure 50 Settings gt Start Options Figure 51 Security question before Download Figure 52 Online gt Download Figure 53 Online gt Firmware Download Figure 54 Online gt Firmware Reset Figure 55 Online gt Device Info Figure 56 Online gt Activate Driver Figure 57 Online gt Live List Figure 58 The Debugwindow Figure 59 Online gt Device Diagnostic CANopen Standard Diagnostic Figure 60 Online gt Device Diagnostic gt Interpretation of emergency telegrams Figure 61 Online gt Global State Field Figure 62 Online gt Extended Device Diagnostic Figure 63 Online gt l O Monitor Figure 64 Logical Network View and I O Watch Figure 65 I O Watch window Figure 66 Online gt Read Object Figure 67 Online gt Write Object Figure 68 Online gt Message Monitor Figure 69 Message Monitor for LSS LMT gt Set the Receive Filter Figure 70 Message Monitor LSS LMT 1 gt Switch Con
162. tion PDO Send PDO and Receive PDO PDO Communication Parameter gt Transmission Types Receive PDO PDO Communication Parameter gt Transmission Types Transmit PDO Node BootUp Driver Selection Device Assignment Checkboxes of the CIF Device Driver Device Assignment Checkboxes of the CIF Serial Driver Device Assignment Checkboxes of the CIF TCP IP Driver Baudrate Addressing Mode Example for place to keep data in the process image Image of the method of addressing for input Image of the method of addressing for output Process Data Auto Addressing activated deactivated Overview Diagnostic Functions Meaning of the bits in the Device Diagnostic Meaning of collective status bits in the Global State Field CANopen Master Taskstate CANopen Node Taskstate Overview User Data Transfer Firmware for I O Watch function Message Monitor for LSS LMT gt Setting the Receive Filter Message Monitor LSS LMT 1 gt Switch Configuration Mode on Message Monitor LSS LMT 2 gt Set Node Address Message Monitor LSS LMT 3 gt Set Baud Rate Message Monitor LSS LMT 4 gt Save Configuration Message Monitor LSS LMT 5 gt Switch in Operating Mode Message Monitor for Sending CAN Telegrams transparent Message Monitor for Setting the Receive Filter Message Monitor for Receiving of CAN telegrams transparent CSV Export Meaning of the values SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06
163. ton eror over or te s Tic prole ape S CN Table 103 Structure of the Error Register Manufacturer specific error field Byte 4 to 8 See device description of the Node manufacturer SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public O Hilscher 1998 2012 Appendix 192 200 10 9 1 Emergency Telegram Error Codes The meaning of the Error Codes is shown in the following table Error Code Hex Meaning 8110 CAN Overrun Object lost Table 104 Emergency Error Codes Note The table Emergency Error Codes is a common list To see the exact meaning of these codes we refer to the Node manufacturer SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Lists 11 Lists 11 1 List of Figures Figure 1 Selection for the Installation of the System Configurator in Basic Version Figure 2 Selection for the Installation of the licensed System Configurator Figure 3 Enter the Name the Company Name and the License code Figure 4 Example for Selection of the Fieldbus Module CANopen Figure 5 Enter the License Code Figure 6 Note License code is invalid Figure 7 EDS files and bitmaps directory Figure 8 Insert gt Master Symbol Figure 9 Insert gt Master Figure 10 Hardware Assignment Master Figure 11 Settings gt Master Configuration Figure 12 Security question Replace Master Fig
164. tten consent You are not permitted to make changes to copyright notices markings trademarks or ownership declarations The included diagrams do not take the patent situation into account The company names and product descriptions included in this document may be trademarks or brands of the respective owners and may be trademarked or patented Any form of further use requires the explicit consent of the respective rights owner 1 4 2 Important Notes The user manual accompanying texts and the documentation were created for the use of the products by qualified experts however errors cannot be ruled out For this reason no guarantee can be made and neither juristic responsibility for erroneous information nor any liability can be assumed Descriptions accompanying texts and documentation included in the user manual do not present a guarantee nor any information about proper use as stipulated in the contract or a warranted feature It cannot be ruled out that the user manual the accompanying texts and the documentation do not correspond exactly to the described features standards or other data of the delivered product No warranty or guarantee regarding the correctness or accuracy of the information is assumed We reserve the right to change our products and their specification as well as related user manuals accompanying texts and documentation at all times and without advance notice without obligation to report the change Changes will be
165. tting Started Configuration Steps 34 200 3 4 2 Configuration Hilscher CANopen Node to any CAN Device for Send Receive transparently CAN The following table describes the steps to configure a Hilscher CANopen Node for send receive CAN telegrams Layer 2 transparently as it is typical for many cases Menu in the System Configurator Detail information in Page section 1 Create a new project File gt New gt CANopen Setting up the CANopen 35 Configuration 2 Select Hilscher CANopen Insert gt Master Insert Master 36 Master 1 Select Hilscher CANopen Insert gt Node Insert Node Node Set Bus Parameter Left mouse click at the Master then Bus Parameter 77 Settings gt Bus Parameter the Node if no automatic assignment has occurred 2 7 Download on the Node Left mouse click at the Node then Downloading the 9 Online gt Download Configuration Transfer user data Left mouse click at the Node then Message Monitor for Sending 120 Send CAN Telegrams Online gt Message Monitor CAN Telegrams transparent Receive CAN Telegrams 2 Message Monitor for 122 Settings gt Device Assignment Set Device Assignment for Left mouse click at the Node then Device Assignment Receiving CAN Telegrams transparent Table 15 Configuration Hilscher CANopen Node to any CAN Device for Send Receive transparently CAN Note 1 Insert a Hilscher CANopen Master into the configuration It serves as dummy and it does not have to agree
166. ual bits in the Device Diagnostic and their meaning Bits in the Device Diagnostic No Response The Node is configured but is not present in the network Please check the physical connection between the Master and this Node Compare the selected baudrate of the Node with the baudrate of the Master if this baudrate is supported by the Node Further more compare the Node address Emergency buffer CANopen defines a special reserved emergency channel for overflow each Node with high priority to give each Node the possibility to report emergency messages triggered by the occurrence of a device internal fatal error situation The emergency message of each Node are saved in an internal buffer on the Master The buffer will be cleared when SyCon reads out this buffer and shows the telegrams in the lower Emergency telegrams window If this buffer now is overstepped it will cause lost telegrams In this case the buffer overflow event is reported By means of CANopen Communication Profile defined emergency error codes the emergency condition is specified Collected and shown Emergency telegrams in the lower table can be interpreted textual by clicking onto the Interpret Telegrams button Parameterization fault The Master compares the configured Device Profile and the corresponding Device Type value of the Node Configuration window with the real physically present ones in the Node by reading out the Node object 1000H If the Master detects differences
167. ure 13 Edit gt Replace Master Figure 14 Insert gt Node Figure 15 Mouse pointer for Insert gt Node Figure 16 Insert gt Node Figure 17 Hardware Assignment Node Figure 18 Settings gt Node Configuration Figure 19 Receive PDO Parameter Figure 20 Definite a new receive PDO Figure 21 Transmit PDO Parameter Figure 22 Definite a new Transmit PDO Figure 23 PDO Contents Mapping Figure 24 Online gt Node Configuration gt Node BootUp Figure 25 Error Control Protocol Node Guarding Protocol Figure 26 Error Control Protocol Heartbeat Protocol Figure 27 Online gt Node Configuration gt Object Configuration Figure 28 Security question Replace Device Figure 29 Edit gt Replace Node Figure 30 Driver Selection Figure 31 CIF Device Driver Driver Description Figure 32 CIF Device Driver Board Selection Figure 33 CIF Device Driver More Details Figure 34 CIF Serial Driver Driver Description Figure 35 CIF Serial Driver Board Selection Figure 36 CIF TCP IP Driver Driver Description Figure 37 CIF TCP IP Driver Type in IP Address manually Figure 38 CIF TCP IP Driver Board Selection Found Device Figure 39 CIF TCP IP Driver Board Selection Assigned Device Figure 40 CIF TCP IP Driver Filtered Devices Figure 41 Set IP Address Figure 42 Settings gt Bus Parameter Figure 43 Diagram Acceptance Code Acceptance Mask Figure 44 Settings gt CANopen Master Settings Figure 45 Set
168. ured By activating a PDO this is inserted into the table configured PDOs and by deactivating this selection the PDO is removed from this table Configured PDOs Shows the PDOs which are used for the data exchange between Master and Node In addition to the Offsets in the process data image also the length of the PDOs is indicated Further information you find in section Process Data Configuration Selection of PDO on page 49 Add to configured PDOs By clicking on a PDO in the list Configured PDOs and afterwards a click on the button Add to configured PDOs the selected PDO is taken over in the list of Configured PDOs PDO Contents Mapping First you have to select a PDO in the list Configured PDOs By making a double click or a click at the PDO Contents Mapping button the in the PDO transferred user data can be shown and the combination can be changed if necessary Further information you find in section PDO Contents Mapping on page 57 PDO Characteristics First you have to select a PDO in the list Configured PDOs With a click at the PDO Characteristics button the transmission settings of the PDO can be shown and adjusted if necessary SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 47 200 e Define new Receive PDO By clicking on this button a new Receive PDO is added to the Configured PDOs This is described
169. verview SyCon 4 200 4 CONFIGURATION OF CANOPEN WITH SYCON cc ccccecceeeeeeeeeeeteeeeeeeeeeeeeeeeeaees 35 4 1 Setting up the CANopen ConfiguratiON ooooncccconnoncccnnnonccccnnnancnnnnnnnnnncnnncnnannnnnnnnnos 35 4 2 EDS TSS nn er ERG Beis NS HOS EAE E E E E TS 35 4 3 Masten unsere eier 36 4 3 1 Hsen Masa eer ea ateei id ob 36 4 3 2 Master Configuration 40s4s44444 sen nnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 38 4 3 3 Replace Masterccs aci n iii 39 4 4 Node SV lustros idad 40 4 4 1 insert Node eroien nie 40 4 4 2 Node Configuration c cccccccccceeeeeseeceeeeeeceaeeeeaeeseeeeeseaeeesaaeseeaeeeseaeeesaeeseeesennees 42 4 4 3 Replace Node acia air aaron 66 9 VSETLNGS recs ceca dc ct ce rt ia 67 5 1 Device AS SIOMIIOM ag site bit ee Te een ne Re 67 5 1 1 Driver Selection cia iia aldea dedo aaa 67 5 1 2 GIF Device Driver iii aiai BIN 69 5 1 3 CIF Serial Diver iii A Rae A iden i da a ee 71 5 1 4 CIF TCP IP Driver cual cari ted da 73 5 2 BUS Paramete imien e a a Seen one demoted AEEA eet nea laepemaannotees 77 5 3 CANOPEN Master EA oad Baer ee ee rn upee ea 80 5 3 1 Master Settings mini a 80 5 3 2 Addressing Modessa eede iaeei ideana iaiia dieien aiiai 82 5 3 3 Master Configuration cccccceeeeeeseceeeeececeeeeeaeeceeeeeceaeeesaaeeseaeeseeeeeesaeeeeaaesenees 84 5 3 4 Global Settings ira m een eintreten 84 5 4 E 86 5 4 1 Node Settings ia ah 86 5 4 2 CANopen Node Configurat
170. will be open during the PDO insertion The several transmissions are distinguished in the so called Transmission type value Synchronous means that the transmission of the PDO shall be related to the SYNC message that is sent cyclically by the Master Preferably the Nodes use the SYNC message as a trigger to output or actuate based on the previous synchronous Receive PDO respectively to update the data transmitted at the following synchronous Transmit PDO Details of this mechanism depend on the device type and are defined in the device profile Asynchronous means that the transmission of the PDO is not related to the SYNC message and can happen at any time SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 52 200 4 4 2 6 Receive PDO characteristics Receive PDO are output data of the Master and where received from the Node One calls this PDOs therefore Receive PDOs from view of the Node Node Receive PDO Characteristics Master Output Process Data m Transmission Mode Node shall use a sychronization message to actuate the received PDO Node shall use every fi 0 received synchronization message to actuate the received PDO Actuate the received PDO when data has changed manufacturer specific Actuate the received PDO when data has changed event triggered Resulting CANopen specific tran
171. with the connected Master Note 2 The information which CAN Telegram should receive Identifier is activated per message SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Configuration of CANopen with SyCon 35 200 4 Configuration of CANopen with SyCon 4 1 Setting up the CANopen Configuration To create a new configuration choose the File gt New menu This will offer a selection list of fieldbus systems Select CANopen If only the CANopen fieldbus system is installed the configuration window will open directly The name of the configuration file can be allocated when the configuration is finished or with File gt Save As 4 2 EDS files Each CANopen device manufacturer defines the CANopen characteristics of its device in a so called Electronic Data Sheet also called EDS file This description files form the basis of the configuration Hilscher devices The EDS files for Hilscher devices are already included in the delivery of the System Configurator SyCon Devices from other For other devices these have to be delivered by the manufacturers device manufacturer Table 16 EDS files Source of Supply During the program start the System Configurator reads in automatically all EDS files which are put down in the EDS directory In this act the device names are taken up to an internal list The device specific data are read out during the conf
172. with the device diagnostic data SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Settings 68 200 CIF TCP IP Driver The System Configurator communicates with the Hilscher device via an Ethernet TCP IP connection This communication is utilized when the System Configurator is installed on a PC and the PC and the Hilscher device is connected via Ethernet It has to be distinguished 1 The Hilscher device is installed in a PC and the TCP IP connection is built up to the PC that means the IP address of the PC is used as IP address 2 The Hilscher device has an own Ethernet connection and the TCP IP connection is built up to the Hilscher device that means the IP address of the Hilscher device is used as IP address Select the favored driver for the communication between the System Configurator and the used device from the lower table You find a detailed instruction about the selection of the several drivers in the denoted section Driver Described in section CIF Device Driver CIF Device Driver CIF Serial Driver CIF Serial Driver CIF TCP IP Driver CIF TCP IP Driver Table 23 Driver Selection To select a driver mark the favored driver by clicking on it in the dialog window Driver Select and confirm your selection with OK The configuration window of the favored driver opens SyConCO System Configurator CANopen DOC9803010
173. ws 2000 removed 2 71x SyCon exe SyConCO System Configurator CANopen DOC9803010113EN Revision 13 English 2012 06 Released Public Hilscher 1998 2012 Overview SyCon 3 200 Table of Contents 1 OVERVIEW SYGON Gasse 8 1 1 o TE A eran cheap cede 8 1 2 Properties caniden Re 9 1 3 CAN and GANOBET ee OO 10 1 3 1 CAN aaa dida dais 10 1 3 2 GANOBEN irs ae is Ae aie IR iA cate 10 1 3 3 CANopen Device Model cccccccceeceeeeeceeeeeceaeeeeaeeseeeecaaeeeseaeeseeeesaeessaaeeeenees 10 1 4 Legal NOS ia ae 11 1 4 1 COPYN NE a st tar ID de qe ee ee ae tte ende ME 11 1 4 2 importan NOIES riean aaa aei een 11 1 4 3 Exclusion ot Liability sei kin 12 1 4 4 Wai it rta 12 1 4 5 Export Regulations 0 0 0 ccceceseeeeteseeeeeeeseeeeeeeseaeeeeeeaeeeensaaeeeseeaaeeeeeeeeeneeeneeeneees 13 2 INSTALLATION AND LICENSING cocooooooccncnnnnnnnnnnnnnnoncnnononnnnnnonononnnnononnnonnnnnnnnnnnnnnnnn 14 2 1 System Requirements u nen ee 14 2 2 Software A O 18 2 3 Installation of the System Configurator SyCon uuusrsssssnennssnnnnnnnnnnnnnnnnnnnnnnnnnn nn 17 2 4 EIBSFIS E 19 2 4 1 Ordering a License for the SyCon Configurator 0rssersnnnnnnennnnnnnnnnnnn 19 2 4 2 Enter the License Code 4 22 12 tie en ihn 20 2 5 Scope of functions of the basic version and unlicensed Fieldbus Modules 22 3 GETTING STARTED CONFIGURATION STEPS 23 3 1 Overview Communication TYPES oooocccccnoccccnnononccnnnnannccnnnnann

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