User Manual
Contents
1. PDO table describes the mapping of one object from the object dictionary to the according RPDO or TPDO The following table describes about each in more detail Object ID of the object to be 0x1000 Object Object sub object that mapped Ox9FFF passes the mapping Sub object ID of the object to M Sub object 0x00 OxFE criteria will be listed be mapped Length of the mapped object Depends on the data type of the engt Bit count object sub object Offset related to the start of Offset Cumulative sum of the payload length the PDO payload Bit count Reserved for future use Defaults to OOh Hidden in the table Table 15 PDO properties configuration The individual entries of mapping are interpreted according to the following sample illustration all values in hex View from the Object Sub object Length bit Offset bit Reserved Actual Value View from the Object Sub object Reserved Offset bit Length bit Figure 16 View of PDO mapping data Page 37 of 48 Kae ito 4 8 4 PDO mapping vs access type For an object to be mapped to a PDO the following conditions should be met Access type for a CN object PDO If object mapped to a RPDO If object mapped to a TPDO mapping og Us 1600 Ox 16FF 0x1A00 of an e Example An Object 0x6000 with PDOmapping TPDO and AccessType Ro can be mapped only to a TPDO but not to an RPDO Table 16 PDO mapping vs Access type com2. Project upgrade app sample proJ8et iisuesase ie iter tai sucess aedaneesiceetarpesenaesecdanee2 46 Page 7 of 48 kaito 1 Preface 1 1 Purpose This document is intended for the users of openCONFIGURATOR version 1 4 1 1 2 Intended audience and reading suggestions A common knowledge of POWERLINK and or CANopen technology is assumed throughout this document 1 3 Terminology used in this document To make reading the docs easier the names of all the screens and Menus from openCONFIGURATOR are marked up in a different font The Build Project for instance A menu choice is indicated with an arrow View Advanced view means select Advanced view from the openCONFIGURATOR View menu User Interface Buttons are indicated like this Press Ok to continue Important Important notes are indicated with this icon Warning d Very important warnings are indicated with this icon If such warnings are ignored it might lead to data corruption or unpredictable behavior in the application Page 8 of 48 kalcito 2 Introduction 2 1 What is openCONFIGURATOR openCONFIGURATOR is an open source configuration tool for easy setup configuration and maintenance of any POWERLINK network It ideally complements openPOWERLINK the open source POWERLINK protocol stack for master and slave The application and the source code for the openCONFIGURATOR are licensed under BSD license Please refer to the License
3. eene 14 Jl Upgrade BOOSTS iuueni eei egeo ipnbx dar ron ete eo HMe E pU Rs peE Mi tans 14 41 2 2 Old project Backups aio eed tech dia tenia bles a 15 Z1235 Upgra d D OODSS ioecesipdisu ir term rpm nseries eias 16 ON AM S PLOJ Lo MANC TX I ce m 18 4 1 4 Sav ee 18 21 5 ee EE 18 4 2 Project EE 19 5 6 7 8 ell ito 424e Build e 19 4 22 Clean project aiieieo ire aE ii gem tus aaan iia oei EERS 19 H3 Project SOU INS oreet eic Dodd iudei eedem aA MM eiim aims 20 231 SIVE Opis Lade onc eeneg 20 4 2 3 2 Auto generate OPTIONS EE 21 GC NU Russe E 22 A Console TEE 23 4 5 Project Wy A e dba todas Emden tite cas cee eee RM 24 4 5 1 Proj t wizard MSOC IS aeui aser prin tro ett tbc ades Rate s aissei tps 25 4 5 2 Project wizard MN A EE 26 46 Adda d 27 4 7 Object sub object PIO eet ete 28 4 8 EEN 34 Geeks 34 4 5 2 Edit PDO Pr perteS deene 34 4 8 3 Mapping SIG oeste tnra TO pex EVER DR UIN IR Ohr M nee UE 37 4 8 4 PDO mapping vs access type oue etedeegeeg uge qe nec Cdi evds piss ls head iis 38 4 9 Deletea S qu 39 anim m 40 Brel e 41 6 1 IE M duevaae 41 6 2 Ke e 4 Compile openCONFIGURATOR library from source e eeeeee sees seen eene 42 7 1 e uoo cps i cto p
4. section for more information 2 2 openCONFIGURATOR features Here is a short list of features e Generates a generic POWERLINK stack configuration CDC format Generates the network variables in multiple formats ProcessImage variables Description ANSI C header file that describes the process image for C projects C class that describes the process image for NET projects XML file that describes the process image generally Table 1 List of Processlmage variable formats e Computes the PDO mapping of the MN automatically based on the mapping of the CNs e The Process Image variables of the MN are as per the CiA 302 4 CANopen additional application layer functions Part4 Network variables and process image specification e Support for Multiplexing e Support for PRes chaining e Support Cross Traffic communication Dynamic PDO mapping Implements Communication profile EPSG 301 1 2 0 Page 9 of 48 kalcito 3 Install openCONFIGURATOR 3 1 Operating environment openCONFIGURATOR is designed to work on both 32 bit and 64 bit versions of the 14 04 LTS Ubuntu 12 04 LTS Xp Sp3 following platforms Vista Sp2 Windows 7 Spl 8 and 8 1 Table 2 List of supported operating systems 3 2 Default installation path Windows WindowsDrive Program Files x86 openCONFIGURATOR lt version gt Linux opt openCONFIGURATOR Page 10 of 48 kaito 3 3 Linux All supported version
5. the keyboard shortcut CTRL S or by clicking on Save icon Save project will save the following files in the lt project directory gt deviceConfiguration folder One XDC file for each one of the nodes present in the project The name of the file will be same as lt ImportedX DDName_NodeID gt of the node Where lt ImportedXDDName gt is the name of the XDD imported NodeID is the ID of the node e A copy of XDD XDCs used in the project are stored in project directory gt deviceImport folder Important A XDD XDC names must be unique or they will be overwritten in the deviceImport folder e One XML file that contains the overall project settings and is found in the project directory folder Documents library Demo 3CN BC0083 Name Type Size A deviceConfiguration File folder A devicelmport File folder J output File folder Demo 3CN BC0083xml XML Document 2 KB Figure 5 Project folder 4 1 4 Save project as The user can also save a copy of the project by selecting File Save Project As The application will switch to the newly created copy 4 1 5 Close project Close the project by selecting File Close Project Page 18 of 48 ito Kae 4 2 Project menu 4 2 1 Build project Eh POWERLINK See JopenPOWERLINK_MN 240 2 ObjectDictionary 3 CN 1 1 2 Mapping 2 ObjectDictionary Figure 6 Project menu The user can build the project by sel
6. 1 0x A480 e Sub object ID This field will only be visible if the currently active node is a sub object The Sub object ID identifies the sub object that is currently active An 8 bit identifier of the sub object given in hex Eg 0x00 OxFE e Name Name provides a textual description of the function of that particular object sub object Name shall be in accordance to IEC 61121 3 standards Name shall have a maximum limit of 32 characters Eg NMT FeatureFlags U32 DigitalInput US etc e Force CDC export Forces the presence of the actual value in the CDC regardless of the default value Page 28 of 48 Kaye alycito e Object type This attribute determines the type of object tis given as a decimal value with the following meaning An object with a single value A multiple data field object where each field is a simple variable of the same data type Eg array of ARRAY unsigned64 etc Note Sub object 0x00 is always of Unsigned8 and therefore not part of ARRAY data A multiple data field object where the data fields may be any combinations of simple variables RECORD Note Sub object 0x00 is always of Unsigned8 and therefore not part of RECORD data DEFSTRUCT Le Defines a record type Table 9 List of Object types Page 29 of 48 Y kalycito e Data type This attribute determines the data type of the object tis usually given as a reference to the data type definition area of the Obje
7. TOR version 1 4 0 and higher cannot deal with old projects created prior to this version an upgrade is highly recommended The project files no longer supported have an oct file extension 4 1 2 1 Upgrade benefits e In pre 1 4 x projects the node configuration files are only available in the octx format which is not compliant to the XDD specification The upgrade process will convert these files to compliant configuration files if the user provides the base XDD files e The upgrade process will also convert the project file to the new schema validated format which is easier to use and maintain e The upgrade will preserve the project node configuration as long as the user specifies the original XDDs used to create the nodes Page 14 of 48 kalycito 4 1 2 2 Old project backup The old projects will be moved to lt ProjectName gt _ lt old_version gt in the same directory without any modification For eg Referring to the Figure 2 openCONFIGURATOR project before upgrade and Figure 3 openCONFIGURATOR project after upgrade if user upgrades the project named BR X20 Evalpacks which was originally created with version 1 2 0 then after conversion the project will be moved to a new folder named BR X20 Evalpacks 1 2 0 HP L BR 328 Evalpacks BR 328 Evalpacks oct ctx 1 octx 2 o0ctx 248 o0ctx 3 octx scripts Transfer bat Figure 2 openCONFIGURATOR project before upgrade BR_ amp X26_Evalpa
8. a SDO Value The desired value that overrides the default value Default value The default value determines the value of the object when it is not configured Dec Hex radio buttons The user can toggle between decimal or hexadecimal view of the value by choosing from these radio buttons Refer to the section 6 2 1 PDO mapping of EPSG Communication Profile Specification DS 301 v1 2 0 Page 32 of 48 kalycito The user can edit only the following properties for the object sub object e Name e Force CDC export option e Actual value Important The user cannot add delete any object sub object and edit certain properties 1 of object sub object through openCONFIGURATOR The user is not expected to change the XDD XDC as it should be provided by the device manufacturer Page 33 of 48 Y kalcito 4 8 Process data objects Process data objects are used for isochronous data exchange between POWERLINK nodes The Objects 0x14xx 0x16xx and 0x18xx 0x1Axx are collectively known as PDO mapping objects PDO objects will be presented in a tabular structure and the user can select the values listed in the drop down boxes 4 8 1 What is a channel The PDO_T R xCommParam amp PDO_T R xMappParam pair is collectively known as a TPDO RPDO channel respectively The user can map data from an Object sub object to a PDO object and is known as PDO mapping The PDO Mapping determines the payload of a PDO frame i
9. aMappmg Si ObjectDictionary Figure 13 Add CN After clicking on Add CN a pop up will appear where the user can enter a CN configuration by referring to the Table 8 CN configuration options and can select the XDD XDC files for that CN Name of the Node 1 32 chars Node ID decimal value Node Id of the Node 1 239 Default CN XDD which will be Default available with the installation package User defined configuration for the CN XDD XDC configuration Import Ko Table 8 CN configuration options Important A XDD XDC names for each node must be unique or they will be overwritten in the deviceImport folder Important A Please validate XDDs with the XDD Check tool It is a free utility available at the EPSG website http ethernet powerlink org Page 27 of 48 kaye alycito 4 7 Object sub object properties The properties that are available for any object sub object are shown in Figure 14 Object properties Sub object Object ID Ox1F98 Sub object ID 0x05 Name PResActPayloadLimit_U16 Force CDC export M Properties Datatype Unsigned16 Upper limit 1490 Accesstype im Object type VAR Lower limit 36 PDO mapping NO Value 258 Dec C Hex Default value 36 Save Discard Figure 14 Object properties e Object ID The Object ID identifies the object that is currently active lt A 16 bit identifier of the object given in hex Eg Ox1F81 0x25F4 0x620
10. age cs CS File 1 KB E xap h H File 1 KB xap xml ML Document 1 KE Figure 18 Output files i Concise Device Configuration binary file used with mnobd cdc the openPOWERLINK stack Text version of the binary CDC file C class that describes the process image for NET ProcessImage cs projects XAP xml XML file that describes the process image generally ANSI C header file that describes the process image XAP h for C projects Table 17 openCONFIGURATOR output files Page 40 of 48 kaito 6 Uninstall 6 1 Linux Uninstall openCONFIGURATOR using either one of the following methods e Remove openconfigurator from Ubuntu software center or using Synaptic package manager or e Run this command sudo apt get remove openconfigurator 6 2 Windows e Uninstall openCONFIGURATOR by navigating to the Control Panel Programs and Features and choosing the openCONFIGURATOR package e Alternatively one can uninstall openCONFIGURATOR from the windows start menu Page 41 of 48 Ito alic 7 Compile openCONFIGURATOR library from source 7 1 Pre requisites 7 1 1 Windows Install the pre requisites to compile openCONFIGURATOR in windows systems Minimum Package Download URL version openCONFIGURATOR http sourceforge net projects openconf source Microsoft Visual C 2010 http microsoft com 1 54 0 http boost org http www activestate com activetcl dow nloads 2 0 10 http source
11. alto Your R amp D Partner openCONFIGURATOR User Manual 1 4 1 Prepared by Kalycito Infotech Pvt Ltd India kaito License The application and the source code for openCONFIGURATOR are released under BSD license by Kalycito Infotech Private Limited Please refer to the header section of the source files for the applicable license and the corresponding terms and conditions In this manual are descriptions for copyrighted products that are not explicitly indicated as such The absence of the Trademark TM and copyright symbols does not imply that a product is not protected Additionally registered patents and trademarks are similarly not expressly indicated in this manual The information in this document has been carefully checked and is believed to be entirely reliable However Kalycito Infotech Private Limited assumes no responsibility for any inaccuracies Kalycito Infotech Private Limited neither gives any guarantee nor accepts any liability whatsoever for consequential damages resulting from the use of this manual or its associated product Kalycito Infotech Private Limited reserves the right to alter the information contained herein without prior notification and accepts no responsibility for any damages which might result Additionally Kalycito Infotech Private Limited offers no guarantee nor accepts any liability for damages arising from the improper usage or improper installation of the hardware or software Kalyc
12. cks BR_ 26_Evalpacks xml eviceConf iguration EvalPackfi 1 xdc EvalPackB_2 xdc EvalPackC 3 xdc openPOWERLINK_MN xdc euiceImport EvalPackA_1i xdc EvalPackB_2 xdc EvalPackC 3 xdc openPOWERLINK_MN xdd ut put BR 328 Hoa loathe 1 2 8 BR 328 Evalpacks oct ctx 1 octx PATE 246 o0ctx 3 octx scripts Transfer bat Figure 3 openCONFIGURATOR project after upgrade Page 15 of 48 4 1 2 3 kalcito Upgrade process Please follow the steps below to upgrade pre 1 4 x openCONFIGURATOR projects to the new format r Y Project converter window e ez Node1D anc EE Configuration oct Path Select the factory configuration fileXDD XDC miu B 240 openPOWERLINK_MN 0cb 240 octx S Browse 1 EvalPackA och och D Browse 2 EvalPackB och och D Browse 3 EvalPackC ocbv3 oct D Browse H Convert Close 1 2 3 Figure 4 Project converter window Once the old project is opened from openCONFIGURATOR 1 4 0 or later a Project converter window will open as shown in Figure 4 Project converter window It is highly recommended to provide the default device configuration file XDD XDC that was used for each node in the older project To do so click Browse and set the path of the XDD XDC file for each node In case the default configuration file is not provided openCONFIGURATOR 1 4 0 or later shal
13. ct Dictionary and therefore a 16 bit unsigned integer The following table provides the list of supported data types its data size and whether it is allowed to be mapped to a PDO object Allowed for PDO Data type ID hex Data size bits mapping Only supported via i DOMAIN objects that uses BIT Boolean 0001 padded to 8 parameter and varDeclaration mmm Dow o uso Dow wo mune Dow wo Uweux Dow eme Dow wo Uwew Do wy 3 Yes Yes Spe go pe OCTET STRING 000A Not allowed VISIBLE STRING 0009 Not allowed mex C wn 00x mue 0 Refer to the section 6 1 4 2 Boolean of EPSG Communication Profile Specification DS 301 v1 2 0 16 2 16 UNSIGNED64 001B 24 0 8 6 gt Refer to the section 6 3 dataTypeList of EPSG XML Device Description Implementation Guideline v1 0 0 gt Refer to the section 6 1 6 1 Octet String of EPSG Communication Profile Specification DS 301 v1 2 0 Refer to the section 6 1 6 2 Visible String of EPSG Communication Profile Specification DS 301 v1 2 0 Page 30 of 48 Ito alic Umum wi D om mee E REES ses fon a o E MAC_ADDRESS 0401 8 Not allowed IP_ADDRESS 0402 Not allowed Unicode_String 000B 16 Not allowed Time of Day 000C Lx i Not allowed Time Diff 000D Not allowed Table 10 List of data types Object sub object e Limit This property indicates the range high and low limits for the value in the respective object It d
14. directory lists the feature additions bug fixes and known issues for that version Page 48 of 48
15. e EvalPackB Octx octx 2 octx xddPath INodeID 3 Name EvalPackC Octx octx 3 octx xddPath C XDD 168006C_X26BCQ083_3 xdc The project has been upgraded successfully The new project file is located at C openCONFIGURATOR projects BR X28 Evalpacks BR X28 Evalpack is xml Do you want to have a look at the upgrade log lt y n gt y iC NopenCONFIGURRTOR Pro jectUpgrade_App gt Figure 19 Project upgrade app sample project Important A XDD XDC file names for each node must be unique or they will be overwritten in the deviceImport folder Page 46 of 48 kaito 10 References e EPSG Draft Standard 301 v1 2 0 available at http www ethernet powerlink org e XML Device Description Implementation Guidelines v1 0 0 available at http www ethernetpowerlink org e openCONFIGURATOR High level design document v1 3 available at http www sourceforge net projects openconf e openCONFIGURATOR User quick start guide v1 4 1 available at http www sourceforge net projects openconf e openPOWERLINK wiki pages available at http sourceforge net p openpowerlink wiki e Complete openPOWERLINK guide is available at http openpowerlink sourceforge net Page 47 of 48 kalycito 11 Support 11 1 Sourceforge forum For more information on using openCONFIGURATOR please post on the help forum at http sourceforge net p openconf discussion help 11 2 Readme The Readme txt present in the openCONFIGURATOR installation
16. ecting Project Build Project or by using the function key F7 or by clicking on Build Project icon as shown in Figure 6 Project menu 4 2 2 Clean project The user can remove the output files Eg mnobd cdc xap h from the project by selecting Project Clean Project Page 19 of 48 kaito 4 2 3 Project settings The user at any time can change the settings of the project by selecting Project Project Settings option as shown in Figure 7 Project settings 4 2 3 1 Save options mms eem Saves the configuration automatically without prompting the user Prompt Default Discard Prompt the user with the option to save before exiting from the project Requires the user to manually save the configuration by clicking save button Table 5 Save options Vreese O Project Settings C Autoe Save Prompt C Discard Auto Generate Yes C No Prompts the user for saving the edited d ata Autogenerates MN object dictionary durin Ok Cancel Figure 7 Project settings Page 20 of 48 Ito V kal 4 2 3 2 Auto generate options Available CN configurations will be used to auto generate MN Yes Default configuration M The user will have to manually generate update the MN o configuration Table 6 Auto generate MN OBD options If Auto Generate is set to Yes the following items are generated e PDO mapping for the MN e PRes and PReq payload length values e Offset for t
17. epends on the data type specified for the object e Access type This attribute determines the access from the network side to the object Read only access value is constant wo wos Write only access rw rws Read and write access Table 11 List of access types for an object sub object Refer to the section 6 1 4 8 MAC Address of EPSG Communication Profile Specification DS 301 v1 2 0 Refer to the section 6 1 4 9 IP address of EPSG Communication Profile Specification DS 301 v1 2 0 7 Refer to the section 6 2 1 Access Type of EPSG Communication Profile Specification DS 301 v1 2 0 Refer to the section 6 2 1 Access Type of EPSG Communication Profile Specification DS 301 v1 2 0 Page 31 of 48 kaito PDO mapping This attribute defines whether an object can be mapped to a PDO or not Objects cannot be mapped to a PDO DA The object is mapped by default to a PDO The mapping must be specified in an according mapping parameter OPTIONAL Objects may be mapped into any PDO See AccessType TPDO Objects shall be mapped only to a Transmit PDO RPDO Objects shall be mapped only to a Receive PDO Table 12 List of PDO mapping types Important The mapping configuration also depends on the access type of the object For example an object with access type read only can only be mapped to a TPDO even if PDO mapping specifies it as optional i Important Any object shall always be accessible vi
18. eral E ERT R eee 42 SW EH 42 p E Ee E 43 de Shared library Compilations ie tee ret enhn Eege gen 44 jb isi m 45 kai Ito 9 Project upgrade Console application ccssccsssscsssscccsssccesssccssscccssssssssssecsssssees 46 10 Referents sonatinndiunsinndninannninisndnndunnasandinnitn inn EE 47 11 Mgr EN 48 l l Ee 48 l2 Readme ert EE evite eee Eo REESEN 48 Table Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 ell of Figures Fil IAT Me s 13 openCONFIGURATOR project before upgrade eee eeesceeesneeeeeeeeeeneeeeeteeeenaes 15 openCONFIGURATOR project after Upgrade sse 15 Project converter Window M 16 Project folder EE 18 Project E 19 Project settings seisen ta E a a EE eae R 20 View IM pc IO 22 Console ini M eens 23 Projet Wizard Re aE 24 EE 25 Project Wi rd EE eege Ee 26 Add CN 27 DIDIBOL DEGDOELIBS en utto e a E a N 28 EIERE 34 View of PDO mene PCM eases 37 Delete e m AEAEE 39 Output c Y 40
19. forge net projects swig http www doxygen org index html Table 18 Pre requisites Windows Active TCL 32bit See Readme txt in openCONFIGURATOR Library Source gt openCONFIGURATOR to compile and install boost libraries 15 The Boost version 1 54 0 is fixed for all supported platforms Page 42 of 48 kalycito 7 1 2 Linux The user can install all the pre requisites using the package manager in Ubuntu or through terminal as sudo apt get install PACKAGE where PACKAGE refers to any of the packages listed below Dependencies Ubuntu version Package Name Minimum version KEE EE C a tc18 5 tk8 5 tcl8 5 dev tk8 5 dev 12 04 x86 12 04 x64 14 04 x86 14 04 x64 tcl8 6 tk8 6 tcl8 6 dev tk8 6 dev Table 19 Pre requisites Linux Install boost libraries manually if the package is not available via apt get Please refer http www boost org for manual installation of boost libraries S The Boost version 1 54 0 is fixed for all supported platforms Page 43 of 48 kalcito 7 2 Shared library Compilation Unzip the openCONFIGURATOR Library source package downloaded Move to XopenCONFIGURATOR Library gt Run CMake and choose openCONFIGURATOR root directory as source directory and a custom build directory Click on Configure Select the preferred C C compiler Tested using Visual Studio 10 Visual Studio 11 Unix Makefiles Click Finish to complete the confi
20. guration process On successful selection of the compiler the text Configuring done will be visible in the console window After the CMAKE configuration additional build options are available OPEN CONFIGURATOR TCL WRAPPER adds openCONFIGURATOR Tcl Tk wrapper target to build OPEN CONFIGURATOR PROJECT UPGRADE LIBRARY adds Project upgrade library to the target OPEN CONFIGURATOR PROJECT UPGRADE WRAPPER LIBRARY adds Project Upgrade Tcl Tk wrapper target to build OPEN CONFIGURATOR PROJECT UPGRADE CONSOLE APP adds a console application to upgrade pre1 4 0 projects target to build OPEN CONFIGURATOR DOCUMENTATION adds documentation target to build OPEN CONFIGURATOR UNIT TESTS adds unit test target to build Click Generate to generate the toolchain files in the chosen custom build directory Build the library and specified targets with the toolchain in Debug Release mode The binaries will be built inside the chosen binary path Copy all the files present in the bin directory into the openCONFIGURATOR installed path Refer to section 3 2 Default installation path Page 44 of 48 Ito A 8 Txt2Cdc The users who want to edit and generate their own CDC can edit the mnobd txt and generate the CDC with a utility txt2cdc exe txt2cdc Steps to be followed e Open terminal command prompt e Move to the directory where mnobd txt resides a sample is given below cd openCONFIGURATOR Projects Project l outpu
21. he CN if the type of station is Chained station Process Image Variables e Node Assignment configuration of the MN If Auto Generate is set to No e The user has to manually create update the mapping and relevant changes in the object dictionary of the MN e The changes made to the project are reflected in the CDC regardless of correctness of the configuration data Page 21 of 48 k M alycito 4 3 View menu The user can switch between the Simple View and Advanced View options of the tree browser as shown in Figure 8 View Menu Help A ET Simple View v Advanced View Network Br v Show Output Console ObjectDictionary CN 1 1 Mapping 2 ObjectDictionary Figure 8 View Menu In Simple View the attributes listed below are visible in the tree browser All node configurations added to the POWERLINK Network A Mapping tree node for each node which is split into TPDO and RPDO that simplifies the mapping activity In Advanced View the attributes listed below can be viewed by expanding the corresponding entries in the tree browser All node configurations added to the POWERLINK Network A Mapping tree node for each node which is split into TPDO and RPDO that simplifies the mapping activity An ObjectDictionary tree node which lists all the objects present in the node configuration XDD or XDC Page 22 of 48 ito Kae 4 4 Console windo
22. ito object It ranges from 00h to F9h OnaCN the node ID is interpreted in the following way Node ID Interpretation RPDO Read data from the PReq frame inb TPDO Send data to the network PRes frame RPDO Read data from the PRes frame of node with ID ranges 01 F9h from 01 F9h TPDO Not allowed on a CN Table 13 PDO properties CN settings Important To read data from a PRes of the MN e g on a CN using PRes Chaining set the Node ID to FOh 240 instead of 00h On an MN the node ID is interpreted in the following way Node ID Interpretation RPDO PDO is not used 00h TPDO Send data to the network PRes frame RPDO Read data from the PRes frame of node with ID ranges from 01 F9h 01 F9h TPDO Send data in the PReq frame to node with ID ranges from 01 F9h Table 14 PDO properties configurations z Important 1 To send data to a CN using PRes Chaining set the node ID to 00h Page 35 of 48 kaito e Mapping version Version of the PDO mapping implementation e Number of valid entries Number of objects that shall be mapped to the PDO Ranges from 00h to FEh e Total bytes Total size in bytes of the payload data that is configured to communicate in the PDO Ranges from 36 Bytes up to 1490 bytes 10 Refer to the section PDO Mapping of http sourceforge net p openpowerlink wiki PDO 20Mapping Page 36 of 48 kalcito 4 8 3 Mapping entry Each row in the
23. ito Infotech Private Limited further reserves the right to alter the layout and or design of the hardware or software without prior notification and accepts no liability for doing so Copyright 2015 Kalycito Infotech Private Limited Rights including those of translation reprint broadcast photo mechanical or similar reproduction and storage or processing in computer systems in whole or in part are reserved No reproduction may occur without the express written consent from Kalycito Infotech Private Limited Registered Office Kalycito Infotech Private Limited E LAB Science and Technology Entrepreneurial Park I PSG College of Technology Avinashi Road Coimbatore 641004 Tamil Nadu INDIA Phone 00 91 422 4518454 Email info kalycito com Kae Abbreviations API Application Process Interface CAN Controller Area Network CDC Concise Device Configuration CiA CAN in Automation CN POWERLINK Controlled Node slave DLL Dynamic Link Library EPL Ethernet POWERLINK EPSG Ethernet POWERLINK Standardization Group GUI Graphical User Interface ID Identifier IEC International Electro technical Commission MN POWERLINK Managing node MNOBD Object Dictionary of the Managing Node NMT Network Management PDO Process Data Objects PReq Poll Request POWERLINK frame type PRes Poll Response POWERLINK frame type RPDO Receive Process Data Object SWIG Simplified Wrappe
24. l convert the octx files available in the older project to xdc format with the following changes in order to comply with the standard XDC format a The values in the actual Value field for each Object and Sub Object will be copied from the octx to the XDC file D b Missing elements and fields in the octx are included but the values are assumed as default A XDD XDC names for each node must be unique or they will be overwritten Important in the deviceImport folder Page 16 of 48 kalycito 4 Once the device configuration file have been chosen click Convert button to upgrade the old projects or click Close to cancel the upgrade process 5 On successful completion the upgraded project will be opened automatically with openCONFIGURATOR The older project will be moved to ProjectName old version in the same directory without any modification 6 A debug log for the upgrade process will be created in the location project directory Important The log file will be created regardless of what is defined in the boost log settings ini present in the openCONFIGURATOR installation directory If you face any errors and need support please post on the help forum at http sourceforge net p openconf discussion help Page 17 of 48 kalycito 4 1 3 Save project The project can be saved by selecting File Save Project or by using
25. n a POWERLINK network 4 8 2 Edit PDO properties The following are the properties of the PDO which is shown in Figure 15 PDO properties aAa aa Mio Network Brow E d Properties Project203 Communication parameter 0x1800 Send to Node Id Default 0 X Mapping version 0x0 POWERLINK openPOWERLINK_MN 240 CN 10 01d A00 i tes Mapping parameter 1A00 Number of valid entries 3 Total bytes TPDO uen Dr a RPDO 3 RPDO 00 S No Object Sub object Length Offset Cl 9 RPDO 01 L ui RPDO 02 1 Analoguelnput 00h A 16 0x6401 Analoguelnput 0x02 0x0010 0x0000 4 ObjectDictionary 2 Analoguelnput_00h_Al16 0x6401 Analoguelnput 0x01 0x0010 0x0010 3 Analoguelnput_00h_AI8 0x6400 Analoguelnput 0x03 0x0008 0x0020 4 Digitallnput 00h AU8 0x6000 Digitallnput 0x04 0x0008 0x0028 5 0x0000 0x00 0x0000 0x0030 6 0x0000 0x00 0x0000 7 0x0000 0x00 0x0000 a mnnn innn mana Mennan zl Save Discard Figure 15 PDO properties e Communication parameter 0x14XX for RPDO and 0x18XX for TPDO Anobject which describes the communication attributes of the PDO channel e Mapping parameter 0x16XX for RPDO and Ox1AXX for TPDO An object which describes the mapping of the objects contained in PDO payload to object dictionary entries e Receive from Send to Node ID The Node ID which is stored in sub object 0x01 of the communication parameter Page 34 of 48 Kal A alyc
26. patibility table An Object 0x6200 with PDOmapping Optional and AccessType Rw can be mapped to both TPDO and RPDO Important Also refer to the list of data types allowed for PDO mapping ACN can have only one TPDO Page 38 of 48 4 9 Delete a CN A CN can be deleted by right clicking on the node and select Delete Node option from the ito Kae sub menu The sub menu will appear as shown in Figure 17 Delete a CN Eile Project View Help Biza al a1 1 C Network Browser Dr Project203 Chr POWERLINK Er a openPOWERLINK MN 240 Era Mapping a ObjectDictionary Replace with XDC XDD Delete Node Figure 17 Delete a CN Warning If the user wishes to delete the node the objects and their sub objects will also be deleted The user cannot undo the operation Important Instead of deleting and again adding a new CN in its place the user can replace the configuration files of the existing CN by choosing the Replace with XDC XDD option in the sub menu This will update the configuration of the existing CN with the new CN configuration Page 39 of 48 E ito 5 Output files The following files will be created after a successful build of the project These files will be present in lt Project location gt lt Project Name gt output directory Name Type Size Ni mnobd cdc CDC File 1 KB mnobd txt Text Document 1 KB ProcessIm
27. r and Interface Generator TCL Tool Command Language TPDO Transmit Process Data Object XAP Extend Application Process variables XDC XML Device Configuration file XDD XML Device Description file XML Extensible Markup Language ito kaito Table of Contents Ao EOS ma VUE EN 7 IE Unc e 8 E oo mer 8 1 2 Intended audience and reading suggestions see 8 1 3 Terminology used in this document seen 8 2 Introduction E 9 24 What is open ENEE 9 2 2 open ONFIGDR ATOR Tears soos cr retta eret rr erue egene eet ege tegen 9 3 Install openCONFIGURATOR oiscssciscasicasccecsaacsvasncavecnsscudnsecseveseassvununetsnoecuensuevonsssnveons 10 3 1 Operating environment seeeesseeeseesesstreresressttsritterserseerrirsttsrseresteseeneessressreer 10 3 2 Default installation path eege Ee 10 3 3 LINUR ahs sett e ae AEA EAEE A E AARET 11 2 1 Package namne soree E E dE 11 adul TPISHEQUISIDR ei ortis Glen ccegidavecuaemvestnqun tacwiats UR V V GUReR P UN XU SRE N Gru ON DR RR 11 3 3 3 Installation types E 12 3 4 Ke wee EE 12 4 Using openCONFIGURATOR cssssssssssssssssssscssssscsssscssscssssscsssssccsssccssssccssnscssssssseses 13 4 1 File VST E 13 ATi CODO DEIOIBB og uiae c EPOR DURO n tu adbeu RM DN MI Ta RN M PM DM LUE 13 4 1 2 Upgrade pre v1 4 0 openCONFIGURATOR projects
28. s Project Name The maximum limit is 32 characters Special characters and spaces are not allowed Choose Path The user can select the location for placing the projects by clicking the Browse button next to the Choose Path field The default path is the Documents2 openCONFIGURATOR Projects Choose Save option Refer to the section Table 5 Save options Page 25 of 48 kalycito 4 5 2 Project wizard MN XDD The options given below are to be entered selected as applicable in the Project Wizard dialog box before clicking Ok button as shown in Figure 12 Project wizard MN XDD MN Configuration Default C Import XDC XDD Auto Generate Yes C No Description Imports default xdd file designed by Kalycito for openPOWERLINK MN Autogenerates MN object dictionary during bui ld Back Ok Cancel Figure 12 Project wizard MN XDD MN Configuration mms o mm Default MN XDD will be available with the installation Default package Import XDD XDC User defined MN configuration Table 7 MN configuration e Auto Generate Please refer to the section Table 6 Auto generate MN OBD options Page 26 of 48 kalycito 4 6 Add a CN A CN can be added by right clicking on the POWERLINK and selecting Add CN option from the sub menu as shown in Figure 13 Add CN openCONFIGURATC File Project View Help RA a IG C3 Network Browser Phys Project203 e BEE Dr oper 40 Dr
29. s of Ubuntu requires Debian package to run openCONFIGURATOR Download the latest Debian package 32 or 64 bit version depending on the Linux version of openCONFIGURATOR from http sourceforge net projects openconf 3 3 1 Package name All openCONFIGURATOR packages follow the nomenclature of openconfigurator_ lt openconf_version build gt ubuntu lt ubuntu_version gt _ lt arch gt deb 12 12 04 x86 x86 openconfigurator 1 4 1 ubuntul2 04 1686 deb E MEE 2 04 x64 openconfigurator 1 4 1 ubuntul2 04 amd64 deb 14 04 x86 openconfigurator 1 4 1 ubuntul4 04 1686 deb 14 04 x64 openconfigurator 1 4 1 ubuntul4 04 amd64 deb Table 3 openCONFIGURATOR package names 3 3 2 Pre requisites Ubuntu version Dependencies libxml2 libxml2 utils tcllib tklib tcl thread Common to all libboost filesystem1 54 0 libboost system 1 54 0 Ubuntu versions libboost date time1 54 0 libboost log1 54 0 libboost thread1 54 0 12 04 x86 and x64 tc18 5 tk8 5 14 04 x86 and x64 tcl8 6 tk8 6 Table 4 Linux pre requisites Page 11 of 48 Y kalycito 3 3 3 Installation types Graphical install e Double click on the downloaded deb package to install using the graphical package manager Terminal install e sudo apt get update e sudo dpkg i openconfigurator 1 4 1_ubuntul4 04_amd64 deb Offline install e To install offline download and install all the listed dependency packages for the respective platform and proceed
30. t e Convert the edited text file to CDC using the command given below openCONFIGURATOR installed directory gt txt2cdc mnobd txt mnobd cdc Page 45 of 48 Y kalycito 9 Project upgrade Console application The project upgrade app is a console application to upgrade pre v1 4 0 openCONFIGURATOR projects to the new version This application prompts the user to provide the file path of the default device configuration for each node It is highly recommended to provide the default device configuration file XDD XDOC that was used for each node in the older project Usage project upgrade app i Input project file gt oct Eg project upgrade app i BR X20 Evalpacks oct A sample conversion is shown in the Figure 19 Project upgrade app sample project E Administrator C Windows system32 cmd exe Si m IC NopenCONFIGURATOR ProjectUpgrade fipp project upgrade app exe i openCONFI GURATOR_pro jects BR_X26_Evalpacks BR_K26_Evalpacks oct openCONFIGURATOR project upgrade utility vi Kalycito Infotech Private Limited pgrades pre v1 4 openCONFIGURATOR projects to vi 4 8 sage project upgrade app exe i input project file Enter the XDD XDC path for the following nodes if available D 248 Name openPOVERLINK MN Octx octx 24 octx xddPath C Program Files x86 gt openCONFIGURATOR 1 4 resources openPOWERLINK_MN xdd lodeID 1 Name EvalPackfl Octx octx 1 octx xddPath C NXDDNB188886C 320BCB883 1 xdc lodeID 2 Nam
31. to openCONFIGURATOR installation 3 4 Windows Download the latest 32 bit version of openCONFIGURATOR from http sourceforge net projects openconf openCONFIGURATOR is available with an easy to use installer Double click on the installer file and follow the instructions The installer will take care of the rest Important A Administrator privileges are required to install openCONFIGURATOR In case of any problems encountered during or after installation of openCONFIGURATOR please post in the project support forum at http sourceforge net p openconf discussion help Page 12 of 48 ito Kae 4 Using openCONFIGURATOR 4 1 File menu The user can create a new project by selecting File New Project or by using the keyboard shortcut CTRL N 4 1 1 Open project Project View Help New Project Ctrl N Open Project Ctrl O Save Project Ctri S lg Save Project As Close Project 2 ObjectDictionary 3 CN 1 1 3 Mapping 2 ObjectDictionary Figure 1 File Menu The user can open the already created projects by selecting File Open Project or by using the keyboard shortcut CTRL O Important It is highly recommended to upgrade projects created with openCONFIGURATOR versions pre 1 4 x Please refer to section 4 1 2 for greater details in the upgrade process Page 13 of 48 kalycito 4 1 2 Upgrade pre v1 4 0 openCONFIGURATOR projects As openCONFIGURA
32. w The user can view the status messages warnings and error messages in the console window as shown in Figure 9 Console Window par E Info Error Warning CN_1 nodeId 1 has been inserted using the configuration MYDRIVE openCONFIGURATOR openCONF_Tc1Tk GUI resources openPOWERLINK_CN xdd v Qu Figure 9 Console Window Page 23 of 48 Y kalycito 4 5 Project wizard The project wizard can be used to create a new project or open an existing one e When the user launches openCONFIGURATOR it will ask either to Create New Project or Open Existing Project as shown in Figure 10 Project wizard e Alternatively the user can also create a new project or open an existing one through the menu bar by using the File New Project or File Open Project options Create New Project C Open Existing Project Description Create a new Project Cancel Figure 10 Project wizard Page 24 of 48 kaito 4 5 1 Project wizard settings The options given below are to be entered selected as applicable in the Project Wizard dialog box before clicking Next button as shown in Figure 11 Project wizard settings ican Vow OO bes Project Name Demo 7CN Choose Path Ci Users Documents openCONFIGURA Browse Choose Save Option C Auto Save Prompt C Discard i cription Prompts the user for saving the edited data Figure 11 Project wizard setting
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