CBCAN CANopen Communication Board User`s Manual
Contents
1. Exit Finish The Task Figure 6 EasyCANOpener main page Major functions of the software Create modify and set CBCAN configurations Users can save configurations into a file to be used for duplication storage and modification offline SDO Service Users can either access a single controller object directly or access multiple objects by batch operation The batch contents can also be saved in files to be re used in the future PLC remote access bridge The FBs PLC is usually connected to the Winproladder software via local serial port When this function is enabled the CBCAN can work as a remote programming gateway and Winproladder can connect to another FBs PLC at remote site through the CBCAN NMT service with a single operation users can send Start Remote Enter PRE OPERATIONAL Reset Node Reset Communication and Stop commands to one single node or all nodes on the network CBCAN firmware update Users can update the firmware of the CBCAN Board on the PLC via the serial port FATEK Automation Corporation 12 CBCAN User Manual 6 1 PLC connection Using this software to modify system settings of the PLC can only be done when the PLC is connected to the software via serial port except for some offline operations such as creating or modifying configuration and SDO batch files After the serial port is connected click the Comm Port Setup function key to set the s2. Figure 35 Module configuration page The master s node id is 2 thus any other id from 1 127 can be assigned to CBCAN Assume the FBs PLC uses id node 1 CBCAN node id can simply use PLC s node id as its CANopen node id because the id is not 2 Choose Dynamic option to use PLC s node id as the CBCAN s CANope node id Baud Rate 250K Figure 36 Node ID configuration The Baud Rate setting is located next to the Node ID choose 125K to set up CBCAN serial communication speed to 125 kbps Node ID Dynamic Figure 37 Baud Rate configuration RxPDO Setting The CANopen master uses transmission type 255 in this application the PDO messages will only be transmitted whenever events are triggered The Timeout Time setting is not important for this application since the FATEK Automation Corporation 33 CBCAN User Manual transmission interval between two consecutive PDO messages is not predictable The CANopen master only requires 1 RxPDO for exchanging 6 byte data with CBCAN thus RxPDO2 RxPDO4 are not needed in this application To remove them select them and choose the Delete on the mouse right click pop up menu Sot menor se Commands COB ID Comment SNodelD 200h R3640 R 3643 5 50 1 2 NodeID 300h 4 ppesanocarc na E NodeID 400h 4 Ri Edit EE E E_ re re enn E A Pees Enter EEE EA PE Delete Del Insert Ins Adel Ctrl Ins Up Ctrl Up D
3. Kee AAA Oe ES Slave Node ID 8 No COB ID Size Comment Role As Master Node PDO No 1 By value Cobld Hex 208h Transmission Type Async 255 v Inhibit Time 100 mS EventTime 2000 mS Cydic Time 2000 4 Figure 59 FBs 24MC TXPDO Setting FATEK Automation Corporation 45 FATEK Automation Corporation CBCAN User Manual Heartbeat Cyde Time 1000 Gaurd Time 1050 Auto Start Single Status Indicator D LN i Figure 62 FBs 20MC TXPDO Setting 46 CBCAN User Manual Heartbeat Parameter Zone Cyde Time 1000 m Size 10 Gaurd Time 1050 ms Start Address R 0 E Sync Master W Auto Start Sync Time 100 ms E Single Status Indicator Figure 63 FBs 20MC Misc Setting If both 24MC and 20MC are configured properly the PDOs transmission shall start automatically after system reboot However the data transmitted by PDOs are not DI status since both PLCs haven t been programmed to write their DI status to PDO transmission Therefore the last step is to make ladder programs which writes local DI status to pre assigned registers TXPDO1 R3600 R3603 for TXPDO transmission For this demonstration not only the transmitting site sends DI status out but also receiving site needs to write the received data to its local output To do this ladder programs need to move the receiving data from pre assigned registers R3640 R3643 to its DO output Note Since the number of loc
4. 6 7 ne Re E de EE 27 7 CBCAN SDO and NMT Service PLC Interface 0000 0 28 71 SOO SERVIC pe 28 Ez IMSS dia 30 7 3 Example NMT Service Start Remote 0000aeeoeneeeseseessesrssssrrssserrsssere 31 O EE 32 11 APPplICAON NES PN 32 1 1 1 Connect CBCAN to a CANopen master device 32 1 1 2 Connect CBCAN to a CANopen slave device 37 1 1 3 Simple example Connect two FBs PLCs to each other through CBCAN UNO CUS ee 43 APPENA NN 48 CBCAN Board Object Dictionary eres 48 FATEK Automation Corporation CBCAN User Manual Tables Table 1 OBCAN eer e ION vea 7 Table 2 Definition of the pinning for the CBCAN connector occooocnccnoccnccononncononancconannnonanananannnnos 8 Table Sc Process Catal AE ve 9 Table A ele IER 10 lolis RUE RE 11 Table 0 ERA LED vr 11 Table 7 Run LED Single status indicator mode 12 Table 8 PLC Registers for SDO SENCE nannaa a 28 Table 9 Registers Status after SDO Service Execution ooooooccnnoocccononnccnonancnonnanoconananonananononnss 29 able TO SDO Er COC Nuit 29 Table 11 Registers values of Start Remote commande 31 Table 12 Example network configuration sssssessesesssssessssseessssesssereessseressssrresssrressserreessn 32 Table 13 Example network configuration ooocccnooccncnoooonnncnoooannnncnnrnononononnnncnnocnnnncn
5. Insert from the pop up menu Click the OK button to insert a new batch command in the specified location Delete Right click the batch item you want to delete and select Delete from the pop up menu to delete the SDO command Delete All Right click the batch content window and select Delete All from the pop up menu to delete all batch commands Edit Right click the batch item you want to edit and select Edit from the pop up menu or double click the command item to edit its content Then click the OK button to complete modifying the content 6 3 3 2 Save batch contents Click File from the main menu at the top of the window and click Save or Save As from the pull down to save the current batch contents in a file 6 3 3 3 Read this batch file Click File from the main menu at the top of the window and click Open from the pull down list to read the contents of the batch file 6 3 3 4 Execute batch write First select the Write option in the operation group Then click the Execute button to start batch write SDO write commands will be sent out according to the contents in the batch window 6 3 3 5 Execute batch read First select the Read option in the operation group Then click the Execute button to start batch read SDO read commands will be sent out according to the contents in the batch window It differs from batch write in the read back values w
6. Size setting of RxPDO1 shall be configured as 3 FATEK Automation Corporation 40 CBCAN User Manual RXPDO 1 Setting Role As Master Node Slave Node ID 2 PDO No 1 By value Cobld Hex 182h Figure 52 RXPDO1 configuration for this application TxPDO Setting The CBCAN only requires one TxPDO to transmit 6 byte data to the slave device TxPDO 2 4 are not needed and shall be removed for this application as well No COB ID Size Comment a SNodelD 180h 4 R3600mR3603S 0 1 Inhibit Time 100 mS Event Time 1000 mS Cydic Time 2000 ms Figure 53 Removing TXPDOs A similar way to the RxPDO configuration double click on the TxPDO1 to set up further TxPDO settings TXPDO 1 Setting COB ID Assign C Dynamic By Role Role As Master Node Slave Node ID 2 PDO No 1 By value CobId Hex 202h Figure 54 TXPDO settings Same as RxPDO configurations the Role shall be set to As Master Mode and the Cobld Hex is then changed to Nodeld 200h automatically The Slave Node ID does not use the same node id of FBs PLC Dynamic setting FATEK Automation Corporation 41 CBCAN User Manual shall be disabled unchecked Select value 2 as the Slave Node ID The Cobld Hex setting is switch to 202h automatically This value 202h matches the general rule of using Slave node ID 200h as the master s TxPDOs COB ID setting Change the Size
7. FATEK Automation Corporation 13 CBCAN User Manual network and can be configured 1 127 or Dynamic When it is set to Dynamic the node ID will be configured with the same ID as the ID of the PLC CPU module The advantage of using Dynamic is to prevent different CBCANSs from using the same ID and causing conflicts thus each node ID will be unique Otherwise the CBCAN will not be able to communicate with other nodes on the CANopen network The default value for this setting is Dynamic 6 2 1 2 RPDO setup Click the RPDO tab to enter the receive process data object RPDO setup page as shown in the Figure 9 below RXPDO 4 TXPDO 4 Misc Commands COB ID Size Comment SNodelD 200h R3640 R 3643 5 50 1 SNodeID 300h R3644 R 3647 5 50 2 SNodeID 400h R3648 R 3651 5 50 3 SNodeID 500h R 3652mR 3655 5 50 4 Timeout Time 1500 m Figure 9 RPDO setup page The number in parentheses of the tab name represents the quantity of PDOs that has been defined As shown in the Figure 9 four RXPDOs have been defined The RPDO is configured by the popup menu as shown in the Figure 10 below Edit Delete Insert Add Up Down Delete All Figure 10 RPDO pop up menu The functions in this popup menu are described below e Edit Right click on the PDO you want to edit to start the pop menu and select Edit from the menu Or simply double click the PDO you want to edit to start the following screen FATEK A
8. the RUN and ERR Led will be operated as follow RUN LED green Table 5 Run LED Indicator State Node Operation State single flash STOPPED Blinking PRE OPERATIONAL ERR LED red Table 6 ERR LED indicator State morse Any one of expected RXPDOs is blinking green off on single flash green off on single flash red off on triple flash red off 1000 on guadruple flash red off 200 200 200 1000 me WENN db ms d Figure 5 Indicator status and flash rate The RUN and ERR LED will be operated as follows when the check item Single status indicator is checked RUN LED green FATEK Automation Corporation 11 CBCAN User Manual Table 7 Run LED Single status indicator mode Indicator State Node State On Normal network operation OPERATIONAL Blink period 1Sec Warning limit reach Blink period 5Sec Bus OFF Off Not OPERATIONAL state ERR LED Always off 6 EasyCANopener Software Operations Run EasyCANOpener exe and the main page will pop up as follows EzCANopener Module Configuration FATEK CANOpen Products Configuration Device Parameters Access CANOpen Products SDO Service Remote Programming Remote PLC Programming Monitoring NMT Services Network Management Services Firmware Update Products Firmware Update Comm Port Setup PC serial comm port setup About Version Information
9. thus users don t need to configure all functions one by one First click the SDO Batch tab to enter the SDO Batch screen as shown below FATEK Automation Corporation 22 CBCAN User Manual sDO Read SDO Write SDO Batch Enter Click here to enter SDO batch service Figure 22 SDO batch page Click on the SDO batch window as shown in Figure 22 to start SDO Batch editing below Figure 23 SDO batch setup page 6 3 3 1 Create batch contents After entering the SDO Batch service screen there should be no batch contents Then users can create the batch content The menu pops up as shown below Add Insert Delete Clear All Edit Figure 24 Pop up menu for creating batch Add Right click the batch content window and select Add from the pop menu to start the following window P Node ID Index Hex 0001 Sub Index Hex 02 Data Type Word v Value 0 Decimal v 26 Cancel Figure 25 Add a SDO command e Node ID Select the ID of the node you want to write SDO data to e Index Input the index value FATEK Automation Corporation 23 CBCAN User Manual e Sub Index Input the sub index value e Data Type Select SDO data type Byte Word or Dword e Value Input a value Click the OK button to complete creation of the new batch content Insert Right click the location where the batch command to be inserted and select
10. Slave Node ID SNodeld PDO No By value Cobld Hex SNodeld 200h e Size 3 X Cancel Figure 40 RXPDO1 configuration for this application TxPDO Setting As described above the CANopen master only uses one TxPDO TxPDO 2 4 shall be removed as well gema mool ms Commands 1 NodeID 180h 4 R3600 R3603S 80 1 o Inhibit Time 100 mS Event Time 1000 mS Cydic Time 2000 mS Figure 41 Removing TXPDOs A similar way to the RxPDO configuration double click on the TxPDO1 to set up further TxPDO settings TXPDO 1 Setting COB ID Assign Y Dynamic By Role Role As Slave Node Slave Node ID SNodeld PDO No 1 By value Cobld Hex SNodeld 180h e Transmission Type Async 255 v X cance Figure 42 TXPDO settings Same as RxPDO configurations the default settings of Role Slave Node ID PDO No and Cobld Hex are required for this application Therefore they remain unchanged as shown on the picture above Change the Size to 3 for FATEK Automation Corporation 35 CBCAN User Manual having CBCAN exchange 6 bytes data with the CANopen master As required in this application the Async 255 shall be used as the Transmission Type for transmitting PDO messages Three additional settings are related to the transmission type and are located at the bottom of TxPDOS list page Cyclic Time is only valid when Cy
11. a 3 pin spring style connector Table 2 Definition of the pinning for the CBCAN connector ni e em Tou trio E ones femme Diagram 1 SE aera Pons i JET CAN _L Twisted Pair Cable Tel LT Line Termination Figure 3 CANopen line termination Normally for a node located at either left or right most side of network a 1200 1 4W line termination resistor should be connected between CAN H and CAN L terminal pins as shown in above picture to ensure the signal quality but for CBCAN there s an easier way to implement the same function short the jumper JP4 labeled Term inside the CBCAN module The following picture shows the Term jumper location of CBCAN her FBs CBCAN 0 a Figure 4 Term jumper location FATEK Automation Corporation CBCAN User Manual 4 PLC Application Interface The PLC CPU communicates with the CBCAN board via its internal registers These registers basically fall into the following areas 4 1 Communication interface area In this area there are 70 reserved registers ranging from R3700 R3769 These registers shall be reserved for internal system operation and CAN NOT be used for user s applications since the configuration tool EasyCANopener communicates with the CBCAN through this area 4 2 Parameter data area The size of this area is configurable up to 1000 registers From the network point of view these registers in this area act as objects in that cont
12. is transmitted when the TPDO data is changed or event time is elapsed without any data change After TPDO messages are transmitted the end of the Inhibit Time must be reached before sending next TPDO message With this function users can prevent the communication bandwidth from being consumed by unexpected high frequency input signals amp Sync synchronous transmission Whenever the status change the TPDO message will be transmitted immediately after the next SYNC message is received e ETime Sync Event Time SYNC It differs from the Sync mode in one additional transmission condition In this mode TPDO messages are also transmitted immediately after the next SYNC message is FATEK Automation Corporation 16 CBCAN User Manual received even if the status is not change during pre defined event time e Cyclic TPDO messages are transmitted periodically in time with the cyclic time setting Figure 13 shows the TXPDO setup page Three general settings for TXPDO transmission type at the bottom of the setup page are described as follows RxPDO TXPDO S isc Commands COB ID Siz Comment SNodeID 180h R3600 R 3603 5 40 1 SNodelD 280h R3604 R 3607 5 50 2 SNodeID 380h R3608 R 3611 5 50 3 SNodeID 480h R3612mR3615 5 0 4 Inhibit Time 100 ms Event Time 1000 mS CydicTime 2000 m5 Figure 13 TXPDO setup page Inhibit Time The minimum transmission time interval when TXPDO are transmitted in Asy
13. menu is done anew PDO will be added at the end of the list e Up Right click the PDO to be moved up Select Up on the popup menu to move the PDO to one position upward e Down Right click the PDO to be moved down Select Down on the FATEK Automation Corporation 15 CBCAN User Manual popup menu to move the PDO to one position downward e Delete All Right click on the screen to start the pop menu Select Delete All to delete all PDOs in the list There is an additional item Timeout Time at the bottom of the RPDO setup page as shown in Figure 9 Timeout Time This setting is used to indicate the deadline after the reception of an RPDO message If RPDO messages are received properly within this interval the corresponding bit of PLC internal register R3681 RPDO status will be set to 1 If not the bit will be set to O to indicate the RPDO timeout event The default value for this setting is 1 5 seconds 6 2 1 3 TPDO setup The TPDO setup is similar to the RPDO s this section only described the difference between TPDO and RPDO setup Please refer to the section 6 2 1 1 for those similar settings There is one additional item Transmission Type added to the TXPDO Edit page Transmission Type D Async 255 Sync 0 ETime 5ync 0 Cydic 255 Figure 12 Transmission type Transmission Type It indicates the transmission type of the TPDO e Async asynchronous transmission A TPDO
14. 46 FBS 20MC AXPPO SENG varsel 46 WER TT PLO Semin tas ts dE 46 FBS 0M0 MISC SE NN 47 FBs 24MC and FBs 20MC Ladder Program erre 47 FATEK Automation Corporation CBCAN User Manual CBCAN Board User s Manual 1 Overview The CBCAN board is the communication board of the FBs PLC series from FATEK It can be directly mounted on the extension board slot of the CPU module without the additional space With the CBCAN the PLC can directly communicate with other devices connected to the CANopen network CANopen is a CAN based industrial protocol and is widely used in field applications such as automatic controls for industrial machinery automobile control systems factory automation medical equipment control building automation remote data collection and control environmental monitoring and others 2 Specifications Table 1 CBCAN specification Compliance with CAN 2 0A DS301 V4 02 PDO quantity len Application Parameter Object 1 000 registers maximum a Baud 20K 50K 125K 250K 500K 750K 1M programmable Remote operation Supported FATEK Automation Corporation 3 CBCAN User Manual Installation and Wiring The CBCAN is a CANopen communication board for FBs series PLC FBs PLCs provides an extension slot for installing optional communication boards E T T Figure 1 CBCAN Top View Figure 2 FBs Top View The CBCAN is connected to the CANopen network via
15. BCAN User Manual Baud Rate 250K v Node ID Dynamic v RXPDO 4 TXPDO 4 misc Commands ech New Cave 1 Comment ne Y 0 pp py s888 AUNG q r Figure 47 Module configuration page Assume the FBs PLC uses id node 1 CBCAN node id can simply use PLC s node id as its CANopen node id because it is not 2 Choose Dynamic option to use PLC s node id as the CBCAN s CANope node id Baud Rate 250K Figure 48 Node ID configuration The Baud Rate setting is located next to the Node ID choose 125K to set up CBCAN serial communication speed to 125k bps Node ID Dynamic e Figure 49 Baud Rate configuration RxPDO Setting The network requires transmission type 255 in this application the PDO messages will only be transmitted whenever events are triggered The Timeout Time setting is not important for this application since the transmission interval between two consecutive PDO messages is not predictable The CBCAN only requires 1 RxPDO for exchanging 6 byte data with the CANopen slave node thus RxPDO2 RxPDO4 are not needed in this application To remove them select them and choose the Delete on the mouse right click pop up menu FATEK Automation Corporation 39 CBCAN User Manual RxPDO 4 menors Misc Commands No COB ID Size Comment 1 SNodelD 200h 4 R3640AR3643S 80 1 L NodeD 300h 4 i
16. CBCAN CANopen Communication Board User s Manual V1 4 03 Oct 2012 FATEK Automation Corporation CBCAN User Manual Table of Contents Een et casas tees rice Ree ever ne be Fe tera io 2 FAD NN 4 A EE E NN EE NR KE 5 PO A ae ee AE o ONGD eevee ote eee ert na 7 2 SPECICAUONS ado 7 3 Installation and WIRING oil 8 4 PLC Application Interface 9 4 1 Communication interface area 9 4 2 Parameter data area 9 43 po Cava cl A eee 9 4 4 Module status A eee 10 Begleet EE 11 EasyCANopener Software Operations 0000eosessessessesseseesssrrssssrresserresserressen 12 ol PLEG GEHEESCHT 13 6 2 Configuration setup ss 13 6 2 1 Create new Conftgurations 13 6 2 2 Save configurations to files ren 19 6 2 3 Open old contfiguratonfles 19 6 2 4 Read CBCAN Board configurations 000oeeeeeeeseeesereesrreserreseress 19 6 2 5 Write configurations to CBCAN Board 00sseseessesssesssssressressn 20 6 2 6 GenerateEDGties 20 6 2 7 End configuration Setup 21 63 5DO SEVICE ne 21 0 3 1 SDO R d A N 21 032 SDO WIG ee 22 DS SS DO Bale usas rss late 22 6 4 PLC remote monitoring service 24 6741 Open SEVICE E ae aa ala 25 0 42 RUN SCRVICO Lee 25 65 NMT VICO oe a 26 6 6 CBCAN Firmware Update 26 6 6 1 Select firmware files 0 000000000nnnnnnonnesnoonessnessessessessenssessrsseesssseess 27 6 6 2 Start firmware update 27 FATEK Automation Corporation CBCAN User Manual
17. Een 32 FOUE 34 Mal DAGE susp ia 33 Figure 35 Module configuration page ccooooccccnooooncconooonncconoonnncnononnnncnnnnnnnnnonnnnnnnconnnnnnnconnnnnnos 33 Figure 36 Node ID contguraton canon 33 Figure 37 Baud Rate configuration canon 33 Figure 38 REMOVING RAP DOS save 34 FIQUre SI RXPDO Seting NE essere ii 34 Figure 40 RXPDO1 configuration for this application 35 Figure EA Removing IAP DOS Harnes 35 FE TPM NR 35 Figure 43 TXPDO transmission parameters settings 000nnsonenesnenssneessseessneesssrrsssressssressn 36 Figure 44 Write configuration to CGRBCAN 37 FURE AS Example Ee 37 gle MASE Je epoca gt EE EE NS NE eRe eae 38 FATEK Automation Corporation Figure 47 Figure 48 Figure 49 Figure 50 Figure 51 Figure 52 Figure 53 Figure 54 Figure 55 Figure 56 Figure 57 Figure 58 Figure 59 Figure 60 Figure 61 Figure 62 Figure 63 Figure 64 CBCAN User Manual Module configuration page ooocconocccnonocccnononncnononcnnononnnnononnnnononnnnononnnnanonnnnanonnos 39 NIE ENCON QUINA OIE ss ss E 39 BAREN 39 REN OM RAPDOS rada 40 RAPDO SENG PIE NR 40 RXPDO1 configuration for this appltecaton 41 MCMOVING APDO Se 41 FOSS 41 TXPDO transmission parameters settings 00 o0nnnoooeeosseeessneessnoessnseesseresssresssees 42 Wille Conn guration to GBGAN uan 43 FBs 24MC connect to FBs 20M0 ess ia 44 FBS 24MC RXPDO SONO Se 45 FBS ANG TAPDO Se 45 FBS 216 MISC SEN eee
18. OEP to trigger the SDO service The execution results of SDO service will be also shown on the same registers The detailed description for execution results and register functions are shown on the Table 9 below Table 8 PLC Registers for SDO Service Sequence Register a R3700 Execute Flag CAOEH R3701 Command SDO Read 5055 SDO Write 5066 PB R3702 Node ID station number 07127 If 0 this node Geet R3703 Object Index 0765535 R3704 Object sub index 07255 R3705 Object data size 1 128 Byte Data size to Write or max data TT o size for read R3706 Data Data word 0 WW HO R3769 Data word 63 R3707 Data word 1 FATEK Automation Corporation 28 CBCAN User Manual Table 9 Registers Status after SDO Service Execution MRE RA R3700 Result Code No Change ms ae rm om vote ee O EE 1 Result Code OK 0 CMD CODE ERR 1 NODE ID ERR 2 SDO_EXEC_ERR 4 3 SDO error code low word if execution is Failed Result Code 4 3 SDO error code high word if execution is Failed Result Code 4 Table 10 SDO Error Code ABORT TIME OUT 0x05040000L SDO service Time out ABORT NO OB 0x06020000L No such object ABORT RO 0x06010002L Attempt to write a read only object ABORT_SYS_LENGTH 0x06040047L Data length exceed system allow ABORT NO SEGEMNT Ox06010000L Not support segment transfer ABORT_OBJ_LENGTH 0x06070010L Not match object length ABORT SYNC 0x05040001L Command specifi
19. OM5 v v Scan Node ID Local Node X Cancel Test Figure 15 Read configuration comm setup The Baud Rate and Comm Port are the parameters for the PC serial communication port FATEK Automation Corporation 19 CBCAN User Manual Node ID This presents the ID 1 127 of the CBCAN node to be read If Local Node is selected the system will read the contents of the CBCAN which mounted on the local PLC connected to the PC directly Scan button Click this button to scan nodes on the network The screen is shown below Node Scan Search Range Start Node v End Node 16 Node Id Vendor ID Figure 16 Node scan page e Search Range By setting the search range users can narrow the scan range to save more time e Start Node The ID of the start node for the scan e End Node The ID of the end node for the scan Click the Start Scan button to start scanning By clicking the Stop Scan button users can end the scan immediately The information of the searched modules as shown below will be listed in the window Node Id Vendor ID Serial No Description 1 O2EF Fatek 0 Fatek CBCAN 2 O2EF Fatek 0 Fatek CBCAN Figure 17 Search result window Information shown in the Vendor ID and CBCAN Serial number can help users to select a module Read Completion After setting the above items click the OK button to complete reading CBCAN Board config
20. a NORSE E NodeID 400h 4 D Edit Enter 4 odeD 500h 4 o O R Delete De Insert In Add Ctrl Ins Up Ctr Up Down Ctrl Down Delete All Ctrl Del Timeout Time 1500 m o O cb Figure 50 Removing RXPDOs There should be only RxPDO1 left in the list double click on it for further configuration RXPDO 1 Setting __ COB ID Assign Y Dynamic By Role Role As Slave Node Slave Node ID SNodeld PDO No 1 X By value Cobld Hex SNodeId 200h e Figure 51 RXPDO setting page Since the CANopen slave device does not use the same id as CBCAN it s not necessary to enable Dynamic which uses FBs PLC node id as the CANopen Slave node id The CBCAN works as a master device in this application choose As Master Node mode to set up the RxPDO s role as a master According to the network configuration required by this application the slave device uses node id 2 thus value 2 is selected as the Slave Node ID setting In general the CANopen master uses slave node id 180h as the RxPDO1 s COB ID thus the COB ID shall set to 182h Please also double check if the CANopen slave node uses the general rule to configure its PDO settings The CBCAN uses the PLC internal register one word size as the base unit for calculating the PDO size thus the actual size of Size 4 is 8 bytes As described in the beginning of this section the CBCAN only exchanges 6 byte data with the CANopen slave device the
21. al DI points of 24MC and 20MC is less than 16 points only one register needed to be moved in both RXPDO and TXPDO cases You can also find the hints to know which registers to be moved from the RXPDO and TXPDO configuration on the EasyCanOpener utility as shown on Figure 58 and Figure 59 The detailed ladder program is shown on Figure 64 below 08 MOW EW CS NEO i D R3600 Ge l l Seege SE EN 5 R3640 i Eis a Figure 64 FBs 24MC and FBs 20MC Ladder Program FATEK Automation Corporation CBCAN User Manual Appendix B CBCAN Board Object Dictionary Communication Object Index Subindex Name Data Type Access Default 1000 o EquipmemType 2 R mm o Erorfegister ww R o men O COBDOSVNO 1820 R 80H gen o GuardTime nu R o o o LfeTmeFactor ww R 0o Consumer Heartbeat Time 1 ConsumerHeartbeat Time 91 R 1020 om O Producer Heartbeat Time 1820 R 1000 Identity Object O imom w r 2 ProductGode Bu R 0o a Revsonho u R o Da Soriano w R o RXPDO1 Communication Parameters 1 mxpporcosiD eu R oG 2 Transmissioniype ai R og gt we RXPDO2 RXPDO10 Communication Parameters Do emo wu IR 4 2 RXPDOI Mapped Object 2 mu R FG a RXPDOI Mapped Object a mu R CFG 4 RXPDOI Mapped Object 4 mu R FG 1601H 1609H RXPDO2 RXPDO10 Mapped Objects FATEK Automation Corporation 48 CBCAN U
22. anonnncnnns 38 Table TT CONNU ON Table daa 44 FATEK Automation Corporation CBCAN User Manual Figures Foue 1 GBGAN TOD VEN a ae 8 FOUS ZE FBS WOO VIC Sed 8 Figure 3 CANopen Ine terminator 8 ET TN MEN 8 Figure 5 Indicator status and flash rate oooooococnonococonooancnononnnnononnonononnononnonononnnnnannanonoss 11 Figure 6 EasyCANOpener main page se 12 Figure 7 GOMM Se EE 13 Figure g Conngquiaton SW nga REN 13 Foue PRD SEP PE E 14 Figure TO RPDO PP UP MENU NN 14 AC o A Da 15 FIqUe 12 Transmission type RE 16 FAE IS TARDO SEP PE unir 17 Foure 14 MISG SCLUD PAGO riadas 18 Figure 15 Read configuration comm getUp ee 19 FOUS TOF NOGE SEN PAGE re 20 Figure 17 Search resul Tele eee 20 FAE TS GENE ale EDS E 21 Figure 19 SDO Sevice PE PASSER 21 FIQUIC O SOCO slo Malo NE EEE EE RE EE 22 FIQUE 21 SDO WINE DADO msi iii 22 Eure 22 SDO N is 23 Figure 23 SDO Datch SEP NOE savnede 23 Figure 24 Pop up menu for creating batch cooococnonocccnononncnononnnnononnnnonrononononncnononnonoss 23 FE 25 AQUA SD Command NN 23 Figure 26 PLC remote monitoring service 25 Figure 27 Gateway Status WINGOW see 25 Figure 28 Winproladder connection Setup page oo ccccnooocncconoocnnccoooonnnnononnnnoconannnnnconnnnnnccona nacos 26 FOUS 29 NI SEN o 26 FIGUR 30 FIIMWATE WOO ANG sved 21 PIQUE ST lun ETC MO MAVO Vvs 27 Figure 32 NMT Start Remote command Ladder program exvample 31 FOUG 33 Example
23. ause the Async 255 mode is used as the PDO transmission type As required for this application the CBCAN produces heartbeat at 1000 ms period thus the Cycle Time is set to 1000ms Assume the CANopen slave also produces heartbeat at 1000ms period a higher value 1050ms Guard Time is set for monitoring the CANopen slave heartbeat messages Write Configuration to CBCAN After above settings are done the configuration then can be downloaded to CBCAN Click the Write button on the main page a pop up window will appear for setting up the communication between EasyCANopener utility and CBCAN The CBCAN on the local node is accessed through the FBs PLC port 0 Choose Auto baudrate to have EasyCANopner utility to detect FBs FATEK Automation Corporation 42 CBCAN User Manual baudrate setting automatically Then click OK button on the Comm Setup pop up window to start the configuration downloading Baud Rate 1M v Node ID Dynamic e Comm Setup Baud Rate Auto v ave P Com Port COM10 Read Node ID LocalNode v Scan 6 coca test Figure 56 Write configuration to CBCAN Input and Output image After downloading the new configuration to the CBCAN the CBCAN should be able to communicate with the CANopen devices The CBCAN supports maximum 10 RxPDOs and 10 TxPDOs Each PDO supports maximum 8 bytes
24. b to enter the SDO Service screen as shown below Cyclic Read option Select check this option to read SDO data repeatedly This function is useful for observing the dynamic change of objects Read button Click the button to start reading SDO data The results will be displayed in the window as shown below FATEK Automation Corporation 21 CBCAN User Manual SDO Read sp0 Write SDO Batch Cydic Read Result Data Size 4 Data 10 Ah DxA DxO 0x0 x Figure 20 SDO read page The value 4 in the Data Size item means that the size of the data is 4 bytes The data content are given in decimal 10 hexadecimal AH and string type Oxa 0x0 0x0 0x0 6 3 2 SDO Write Click the SDO Write tab to enter the SDO Write service screen as shown below SDO Read SDO Write SDO Batch Data Type Byte Data A Hex M Write Figure 21 SDO write page Data Type This means the type of object data At present the system supports only Byte Word and Dword data Data The value you want to input Users can select data format from the pull down list next to the box Hex hexadecimal or Decimal Write button Click the button and start writing An error window will pop up if there is any error 6 3 3 SDO Batch By using the SDO Batch a list of pre defined multiple SDO commands can be sent out sequentially It is very useful when multiple CBCAN modules need to be set up with similar configuration
25. be updated 6 6 1 Select firmware files Click the Ls button to open the file selection window After selecting the firmware file press the OK button The following confirmation dialog box will pop Up Firmware Information o CBCAN V1 0 Figure 31 Firmware information The information of the corresponding firmware file will appear in this dialog box 6 6 2 Start firmware update Click the Start button to start the firmware update 6 7 End operations Click the Exit button on the main page to close EasyCANOpener utility FATEK Automation Corporation 27 CBCAN User Manual 7 CBCAN SDO and NMT Service PLC Interface The current Winproladder design does not provide the SDO and NMT service ladder instructions which are sometimes the necessary functions for some applications The purpose of this chapter is to provide the PLC interface of the SDO NMT service which required for users who need to implement the two services in their ladder programs 7 1 SDO Service The PLC registers R3700 R3769 are reserved for SDO service when CBCAN module is used on FBs PLC family The major required information to issue a SDO service are SDO slave s node ID R3702 index and sub index of slave s object dictionary R3703 and R3704 the size of data to be read or write R3705 and the data itself R3706 R3769 After this information is input to corresponding registers the last step is to write R3700 with CA
26. clic transmission type is used Inhibit Time and Event Time are two transmission parameters for Async 255 type In this application there is no requirement specified for these two parameters They may use the default settings 1000ms and 100ms for Event Time and Inhibit Time respectively The Event Time 1000ms which means the consecutive TxPDO messages Shall be transmitted within 1000ms even if no event occurs The setting 100ms for Cyclic Time means the consecutive TxPDO messages will not be transmitted within 100 ms even if events are triggered during that period Inhibit Time 100 ms Event Time 1000 ms Cydic Time 2000 mS Figure 43 TXPDO transmission parameters settings Misc Setting On Misc setting page there are three main functions HeartBeat Parameter Zone and Sync Master The Parameter Zone configuration is not related to the CANopen network communication and can be disabled set to O to disable for this application As for the Sync Master it is not applicable for this application and can be disabled unchecked because the Async 255 mode is used as the PDO transmission type Since the CANopen master produces heartbeat at 1000 ms period the CBCAN Guard Time shall use a higher value than 1000 ms In this example Guard Time is set to the value 1050 ms for monitoring the CANopen master heartbeat messages Likewise the CBCAN Cycle Ti
27. data these data is mapped to the FBs PLC internal registers The CBCAN integrates the data of RxPDOs into the input image and maps those data to the internal register R3640 R3679 Mapping registers for output image are R3600 R3639 the CBCAN reads data from output image for transmitting TxPDO messages In this application the 6 byte data of RxPDO1 is mapped to the register R3640 R3642 and the 6 byte data of TxPDO1 is read from R3600 R3602 1 1 3 Simple example Connect two FBs PLCs to each other through CBCAN modules A real and simple example is given in this section The CBCAN configurations and ladder programs are also given below for both the master and slave roles in this example Two FBs PLCs are used in this demonstration A FBs 24MC is configured as the master which sends its digital input status X0 X7 to a FBs 20MC for writing FBs 20MC s digital output YO Y7 Meanwhile the FBs 20MC is configured as the slave role which also sends its digital input status X0 X7 to the FBs 24MC FATEK Automation Corporation 43 CBCAN User Manual FBs 20MC Figure 57 FBs 24MC connect to FBs 20MC It is suggested to make a table of configuration which can help users to setup the system environment Table 14 Configuration Table e pm que wee RXPDO Size 1 indicates the size of incoming 1 indicates the size of incoming data is no larger than 1 word data is no larger than 1 word incoming data DI status from incoming da
28. er not valid ABORT_TOGGLE_BIT 0x05030000L Toggle bit not alternated ABORT_PARM_LENGTH 0x06070012L Length of service parameter too high ABORT_WO 0x06010001L Attempt to read a write only object ABORT_READ_LENGTH 0x05040005L Object length too big to read FATEK Automation Corporation 29 CBCAN User Manual 7 2 NMT Service The NMT Service is done by using the SDO service with a specified object index 0x1F82 write service or 0x300C read service The detailed steps and register descriptions are as follows NMT Management Service Issue a NMT command to specified node s SDO write R3701 With Object index R3703 0x1f82 n 1 127 Node with node ID n to be requested R3702 Do not care Get NMT state service Get the NMT state of specified node SDO read R3701 With Object index R3703 0x300c Sub index R3704 0 Node ID R3702 Requested node ID Execution Result R3700 and R3706 ee R3700 R3706 Only valid 127 Pre operational when R3700 is 0 Operational CS Not detected FATEK Automation Corporation 30 CBCAN User Manual 7 3 Example NMT Service Start Remote The ladder example program below shows how to issue a NMT command to start all remote CANopen nodes on the network To issue the Start Remote command register values should be set as shown in the following table Table 11 Registers values of Start Remote command Description 1F82H NMT service index R3704 Requ
29. erial port configuration as shown in the screen below Fa Comm Setup Baud Rate 115200 v Com Port COMS v X cancel Test Figure 7 Comm setup After the configuration is done click the Test button to start the connection test 6 2 Configuration setup Click the Module Configuration button on the main page to enter the Configuration Setup screen as shown below New a wm Baud Rate 250K v Node ID Dynamic w COB ID Size Comment SNodeID 200h R3640 R 3643 S 0 1 SNodeID 300h R3644 R 3647 S 0 2 SNodeID 400h R3648R36515 50 3 SNodeID 500h R36525R3655 S 0 4 Save As bh QU NM Z 9 bp bs Read Write Generate EDS Timeout Time 1500 mS fl Close Restore Default Set Default Figure 8 Configuration setup 6 2 1 Create new configurations When entering the Configuration Setup screen a new configuration file will be generated automatically and all parameters are in their default values 6 2 1 1 Basic setup Functions at the top of configuration setup page as shown in the Figure 8 are described as follows Baud Rate This is the network operating speed The default value is 250K bps The range is 20K 1M bps The same baud rate must be set for all node devices on the network otherwise they will not operate properly Node ID This ID is set to indicate the CBCAN s node id on the CANopen
30. est all nodes R3706 Start Remote Node After completing the registers as shown on the Table 11 the last step is to write R3700 with value CAOEh to trigger the NMT command The 17 CMP function on the first network of the ladder example is only used as a trigger of the NMT service and is not a necessary instruction DB MOWY IF 82H NOGI Minn l l l 08 MOV es 5066 D R3701 S NOOS M100 l l 08 MOV EN 5 CADEH Ge SES NODE Figure 32 NMT Start Remote command Ladder program example FATEK Automation Corporation 31 CBCAN User Manual Appendix A 1 1 Application Notes CBCAN is a CANopen communication interface which can be plugged into the FBs series PLC for connecting the PLC with external CANopen devices Most of CBCAN CANopen objects are configurable via EzCANopener utility and shall be configured properly according to field network requirements The purpose of this section is to provide a quick configuration reference for users to set up CBAN modules connected to a CANopen network 1 1 1 Connect CBCAN to a CANopen master device In this application the FBs PLC with CBCAN is used as the CANopen slave node on the network CANopen Master Figure 33 Example Network Assume the CANopen master uses the configuration in the following table to connect to the CANopen network Table 12 Example network configuration Values Baudrate 125K bps Sync master Di
31. ill overwrite the original ones 6 4 PLC remote monitoring service With this service the ladder programming software Winproladder from Fatek can connect to the remote PLC equipped with the CBCAN Board via the PC serial port thus ladder programs on the remote PLC can be modified locally through local PLC equipped with CBCAN module FATEK Automation Corporation 24 CBCAN User Manual Figure 26 PLC remote monitoring service 6 4 1 Open service Click the Remote Programming button on the main page to enter the remote monitoring service screen as shown below CANopen Fatek Gatew kes Remote Node ID 1 Link Status TCP Packet Transmited 0 Facket Received O Figure 27 Gateway status window Items in the screen are described as follows Remote Node ID Input the ID of the node which you want to connect Link Status Auxiliary status Packet Transmitted The quantity of data packets transmitted to the remote PLC Packet Received The quantity of data packets received from the remote PLC This service is completed through the local CBCAN module which operates as a gateway between the remote PLC and local Winproladder software It is based on the TCP communication at port 500 Ready When the system is ready for the service the button is green On Line When the TCP network and application are linked the button is green 6 4 2 Run service Users must connect to local machine IP 127 0 0 1 at port 500 via TCP connect
32. ion to subscribe the service Therefore an example of Winproladder FATEK Automation Corporation 25 CBCAN User Manual settings is shown below Connection Setup Station Number ho Protocol C UDP TCP IP 127 0 0 1 Port Numbel500 Y Ok x Cancel Figure 28 Winproladder connection setup page As it is connected via the TCP communication users can link up with the CANopen network with Ethernet from a remote site 6 5 NMT Services Click the NMT Service button on the main page to enter the NMT Services screen as shown below NMT Services Node ID MEMES Service Enter OPERATIONAL v SendCommand ff Close Figure 29 NMT service Node ID Input the ID of the NMT slave node to be managed Users can select either a single node 1 127 or all nodes Service The service includes Start Remote Enter PRE OPERATIONAL Reset Node Reset Communication Stop After the configuration is done click the Send Command button to start NMT service 6 6 CBCAN Firmware Update Click the Firmware Update button on the main page to enter the Firmware Update screen as shown below FATEK Automation Corporation 26 CBCAN User Manual r Firmware update Figure 30 Firmware update Note The CBCAN firmware version can be read from object index 4000H sub index 1 File Name Input the file name of the firmware to
33. is disabled e Guard Time This represents the time criteria for a node to detect if the heartbeat of other nodes is normal In general individual nodes have individual cycle times thus users should set different cycle times for different nodes However this system assumes that the cyclic time of all nodes are the same in order to simplify the configuration process In this case the value must be greater than the default value Parameter Data In general there are usually some parameters that do not change frequently These parameters can be mapped to the CANOpen objects through the SDO Service Data Object service for remote access over the network O Size This setting is to indicate the quantity of the mapped registers The maximum value is 1000 O Start Address This represents the start address of the mapped register Only R registers can be mapped as parameter registers Sync Master option When this option is enabled checked the CBCAN will operate as the sync master node which transmits synchronous messages If this option is disabled and any TXPDO is configured in sync mode the CBCAN will monitor sync messages produced by the sync master on the network lf the sync master does not generate the sync messages within the pre defined sync timeout time a timeout event will be FATEK Automation Corporation 18 6 2 1 5 CBCAN User Manual generated R3680 Bit1 e Sync Time When Sync master option is enabled this val
34. me shall use a lower value than the CANopen master s consumer heartbeat time Write Configuration to CBCAN After above settings are done the configuration then can be downloaded to CBCAN Click the Write button on the main page a pop up window will appear for setting up the communication between EasyCANopener utility and CBCAN The CBCAN on the local node is accessed through the FBs PLC port 0 Choose Auto baudrate to have EasyCANopner utility to detect FBs FATEK Automation Corporation 36 CBCAN User Manual baudrate setting automatically Then click OK button on the Comm Setup pop up window to start the configuration downloading Baud Rate 1M Comm Setup Baud Rate Auto e Com Port COM 10 Node ID Local Node v Scan EE 36 cerca Le Figure 44 Write configuration to CBCAN Input and Output image After downloading the new configuration to the CBCAN the CBCAN should be able to communicate with the CANopen master The CBCAN supporis maximum 10 RxPDOs and 10 TxPDOs Each PDO supports maximum 8 bytes data these data is mapped to the FBs PLC internal registers The CBCAN integrates the data of RxPDOs into the input image and maps those data to the internal register R3640 R3679 Mapping registers for output image are R3600 R3639 the CBCAN reads data from output image for transmitting TxPDO mes
35. nc mode After the transmitting of TXPDO messages the next TXPDO message will not be sent until the end of inhibit time even if the status is changed during the inhibit time period The default value is 100ms Event Time The maximum transmission time interval when TXPDO are transmitted in Async mode After the transmitting of TXPDO messages the next TXPDO message will be sent immediately after the end of event time even if the status is not changed during the event time period The default value is 1 second Cyclic Time The transmission time interval used in the Cyclic mode The default value is 2 seconds 6 2 1 4 Miscellaneous Click the Misc tab to edit miscellaneous setup as shown in the Figure 14 below FATEK Automation Corporation 17 CBCAN User Manual exe ees see REPDO 4 TXPDO 4 Misc Commands Heartbeat Parameter Zone Cycle Time 1000 m Saas 0 Gaurd Time 1050 m Start Address R 0 E Syne Master 7 Auto Start Sync Time 100 ms E Single Status Indicator Figure 14 Misc setup page Heartbeat This represents the existence of a node within a specific time interval In normal circumstances a node will send a heartbeat signal at a regular interval Other nodes determine if this node is operating normally based on this signal e Cycle Time This represents the regular interval the node sends the heartbeat signal If the value is 0 this means the heartbeat function
36. own Ctrl Down Delete All Ctr Del Timeout Time 1500 m Figure 38 Removing RXPDOs There should be only RxPDO1 left in the list double click on it for further configuration RXPDO 1 Setting __ COB ID Assign Y Dynamic By Role Role As Slave Node Slave Node ID SNodeld v PDO No 1 By value Cobld Hex SNodeId 200h e Figure 39 RXPDO setting page Since the CBCAN node id was configured Dynamic the Dynamic option on this page remains checked to use FBs PLC node id as the slave id The CBCAN is used to connect to a CANopen master device in this application choose As Slave Node mode to set up the RxPDO s role as slave The default setting Nodeld should then be selected for using CBCAN node id as the Slave Node ID In general the CANopen master and slave use slave node id 200h as the slave s RxPDO1 s COB ID thus the setting Nodeld 200h should be chosen for Cobld Hex setting unless otherwise specified The CBCAN uses the PLC internal register one word size as the base unit for calculating the PDO size thus the actual size of Size 4 is 8 bytes As described in the beginning of this section the CANopen master only FATEK Automation Corporation 34 CBCAN User Manual exchanges 6 byte data with CBCAN in this application the Size setting of RxPDO1 shall be configured as 3 RXPDO 1 Setting COB ID Assign Y Dynamic By Role Role As Slave Node
37. poration Time Stamp packets receiving indication Ladder software version Low Byte Bit O 0 Normal 1 Stppped when excessive RX error occur while startup Bit 1 Sync signal time out valid only if at least one TXPDO is configured in sync mode Bit 2 Reserved Bit 3 1 CAN Rx error Bit 4 1 CAN Tx error High Byte Bit 15 8 CBCAN state 0 init 5 OPERATIONAL 4 STOPPED 127 PRE OPERATIONAL Each bit represents the receiving status of each RPDO When Bit 1 it means data update is normal Bit 40 means RPDO1 Bit 9 means RPDO10 Nodes 1 15 When Bit 1 1 it means the heartbeat in Node 1 is detected The detection cycle is determined by Heartbeat guard Time refer 6 2 1 4 When Heartbeat guard time 0 this register is not valid since CBCAN will not monitor heartbeat signals Node 16 31 Node 32 47 Node 48 63 Node 64 79 Node 80 95 Node 96 101 Node 102 127 Second 0 59 Minute 0 59 Hour 0 23 Day 1 31 Month 1 12 Year 2000 2099 The value of this register increment by one when a new Time Stamp packet is received and rollover at 65535 The value for ladder software version Index 4000H sub index 2H in the object dictionary in decimal This value will be converted to ASCII characters version e g decimal value 0215 gt ASCII char 01 2 5 10 CBCAN User Manual 5 LED Indicators If the check item Single status indicator refer 6 2 1 4 is not checked
38. rol node These registers can be addressed by their indexes and sub indexes thus they can be accessed by SDO services With this function users can change adjust parameters of users applications over network easily during system installation in the field 4 3 Process data area There are 80 registers in this area ranging from R3600 R3679 The real time data of the PLC is exchanged with other nodes on the network via this area Table 3 Process data area Sequence Item Function Register Word 1 R3600 Word 2 R3601 VRC Word 3 R3602 Word 4 R3603 TPDO2 R3604 40 TPDO10 R3639 Word 1 R3640 Word 2 R3641 SEG Word 3 R3643 44 Word 4 R3644 RPDO2 R3645 Le H Le H Le H 0 RPDO10 R3679 The data length 0 4 with one register size per unit of each PDO Process Data Object is configurable When the data length is smaller than 4 registers in the front will be used first For example if the length of TPDO1 is 2 only the first two registers R3600 and R3601 will be used The starting register number of each PDO is fixed and will not be changed regardless of the preceding PDO length settings Any unoccupied registers in this range can be free to use by applications FATEK Automation Corporation 4 4 Module status area CBCAN User Manual Table 4 Module status area Module 1 R3680 Status RPDO 2 R3681 Sais 3 R3682 Heart beat status e roes DO Roer a roes Time Stamp FATEK Automation Cor
39. sabled Error control Heartbeat producer 1000 ms Heartbeat consumer 1050 ms Number of TxPDO 1 3 words Transmission type Async Mode 255 Number of RxPDO 1 3 words To connect CBCAN to the master the node id and baudrate are first items to be configured in terms of master settings All CBCAN settings can be configured via the CBCAN device configuration of EasyCANopener utility The CBCAN configuration can be started by clicking the Module Configuration button on the main page of EasyCANopener utility FATEK Automation Corporation 32 CBCAN User Manual EasyCANopener Module Configuration FATEK CANopen Products Configuration Device Parameters Access CANopen Products SDO Service Remote Programming Remote PLC Programming Monitoring NMT Services Network Management Services Firmware Update Products Firmware Update Comm Port Setup PC serial comm port setup About Version Information Exit Finish The Task Figure 34 Main page dE Baud Rate 250K v Node ID Dynamic e RXPDO 4 TXPDO 4 Misc Commands SES No COB ID Size Comment Ree 1 NodeID 200h 4 R3640 R 3643 5 0 1 SE 2 NodeID 300h R36445R3647 5 0 2 3 NodeID 400h 4 R3648 R 36515 0 3 Save AS 4 NodeID 500h 4 R3652 R3655 5 0 4 Read Write Generate EDS EEE SS A A Timeout Time 1500 e Restore Default SetDefault
40. sages In this application the 6 byte data of RxPDO1 is mapped to the register R3640 R3642 and the 6 byte data of TxPDO1 is read from R3600 R3602 Connect CBCAN to a CANopen slave device In this application the FBs PLC with CBCAN is used as the CANopen master node on the network CAN open Slave Figure 45 Example network Assume the CBCAN uses the configuration in the following table to connect to the CANopen network FATEK Automation Corporation 37 CBCAN User Manual Table 13 Example network configuration e ms Error control Heartbeat producer 1000 ms seen Heartbeat consumer 1050 ms Number of TxPDO 1 3 Words Transmission type Async Mode 255 Number of RxPDO 1 3 Words To set up CBCAN CANopen communication the node id and baudrate are first items to be configured in terms of network requirements All CBCAN settings can be configured via the CBCAN device configuration of EasyCANopener utility The CBCAN configuration can be started by clicking the Module Configuration button on the main page of EasyCANopener utility FATEK CANopen Products Configuration CANopen Products SDO Service Remote PLC Programming Monitoring Network Management Services Products Firmware Update Comm Port Setup PC serial comm port setup About Version Information Exit Finish The Task Figure 46 Main page FATEK Automation Corporation 38 C
41. ser Manual Communication Object Cont Data type TXPDO1 Communication Parameters 1800H Do To temcom s a 5 A vxevorcoeiD eu R cr 2 I om Transmission Type 2U R og 3 TxPOOt InmibeTime maul R CFG 4 Reserved e oo sentirme nu a CFG 1801H TXPDO2 TXPDO10 Communication Parameters 1809H emo u RT moo Mapped Object 1820 R GFG moo Mapped Object 2 820 R CFG moo Mapped Object 9 820 R CFG moo Mapped Object 4 820 R CFG TXPDO2 TXPDO10 Mapped Objects FATEK Automation Corporation 49 CBCAN User Manual PLC Process Data Objects Data type TXPDO process data Ca To o RO Ce Pen RO 4 me 2011H R3604 R3639 9H o RXPDOprocessdta e process data GT mw Gen a R 201BH me R3640 R3679 2023H Program Version Objects Data Ee EE jean Lanz 2 __Laddersoftware version t82u R Ladder software version is decided by R3697 of the PLC Electron board Version Objects Data i stem Count o Count a ebe a a ee FATEK Automation Corporation 50
42. ta DI status from 20MC 24MC TXPDO COB ID 208h 188h TXPDO Size 1 indicates the size of outgoing 1 indicates the size of outgoing data is no larger than 1 word data is no larger than 1 word outgoing data DO status to be outgoing data DO status to be sent to 20MC sent to 24MC TXPDO Asnyc 255 Asnyc 255 Transmission Type Heart Beat No particular requirement Default No particular requirement Default setting is used setting is used Cycle Time 1000 ms Cycle Time 1000 ms Guard Time 1050 ms Guard Time 1050 ms OFF Async transmisson OFF Async transmisson ON indicates the PDO ON indicates the PDO FATEK Automation Corporation 44 CBCAN User Manual transmissions will start transmissions will start automatically after boot up automatically after boot up The next step is to configure FBs 24MC and FBs 20MC by using EasyCanOpener utility according to the information from the configuration table above The detailed configurations are shown on the snapshots Figure 58 Figure 63 below GA RxPDO 1 Setting Re COB ID Assign Dynamic By Role Role As Master dem i PDO No 1 By value Cobid Hex 188h Timeout Time 1500 mS Restore Default Set Default Figure 58 FBs 24MC RXPDO Setting Ed TXPDO 1 Setting o COBIDAssign mnan RXPDO 1 TXPDO 1 Misc Commands Dynamic By Role Baud Rate 250K v Node ID 1 e
43. to 3 for having CBCAN exchange 6 bytes data with the CANopen master As required in this application the Async 255 shall be used as the Transmission Type for transmitting PDO messages Three additional settings are related to the transmission type and are located at the bottom of TxPDOs list page Cyclic Time is only valid when Cyclic transmission type is used Inhibit Time and Event Time are two transmission parameters for Async 255 type In this application there is no requirement specified for these two parameters They may use the default settings 1000ms and 100ms for Event Time and Inhibit Time respectively The Event Time 1000ms which means the consecutive TxPDO messages Shall be transmitted within 1000ms even if no event occurs The setting 100ms for Cyclic Time means the consecutive TxPDO messages will not be transmitted within 100 ms even if events are triggered during that period Inhibit Time 100 mS EventTime 1000 ms CydicTime 2000 ms Figure 55 TXPDO transmission parameters settings Misc Setting On Misc setting page there are three main functions HeartBeat Parameter Zone and Sync Master The Parameter Zone configuration is not related to the CANopen network communication and can be disabled set to O to disable for this application As for the Sync Master it is not applicable for this application and can be disabled unchecked bec
44. ue represents the interval of synchronous messages transmission When Sync master option is disabled this value represents the sync timeout time for sync messages monitoring A longer timeout time than the sync messages interval shall be given for getting the monitoring mechanism works properly Auto Start option When Auto Start function is enabled CBCAN enters OPERATIONAL state from PRE OPERATIONAL state automatically after power up Single Status Indicator CBCAN provides two types of status indicator When Single Status Indicator is enabled CBCAN only uses RUN LED for status identification Please refer to the chapter 5 for detailed flash rates Commands By inputting commands via this function users can make additional configurations for the CBCAN Board 6 2 2 Save configurations to files Click the Save or Save As button The save configuration window will pop up Input the name of the file to be saved and click the Save button to save the configurations 6 2 3 Open old configuration files Click the Open button The open configuration file window will pop up Click the button and select the configuration files that have been saved Click the OK button to open the selected configuration file 6 2 4 Read CBCAN Board configurations Click the Read button The Comm Setup window as shown below will pop up r Comm Setup Baud Rate v Com Port C
45. urations 6 2 5 Write configurations to CBCAN Board The operations are similar to section 6 2 4 The only difference is the clicking of the Write button Please refer to Section 6 2 4 for details 6 2 6 Generate EDS files Select Generate EDS The Generate EDS File window will pop up FATEK Automation Corporation 20 CBCAN User Manual e Generate EDS File EDS File Name D BCB_Projects EasyCANOpener test eds Description EDS test file Created By Nobody X Cancel Figure 18 Generate EDS file Description Additional descriptions of the EDS file Created By The name of the author who creates the EDS file The settings of two items above will be included in the EDS file Click the OK button to finish creating the EDS file 6 2 7 End configuration setup Click the Close button to exit the relevant configuration setup functions 6 3 SDO Service Click the Device Parameter Access button on the main page to enter the SDO Service screen as shown below The setup items are described below r SDO Service Target Node ID v Index Hex 0 Sub Index Hex 0 SDO Read spo Write SDO Batch Figure 19 SDO service page Node ID This represents the ID of the node you want to access Index This represents the main index of the object Sub Index This represents the sub index of the object 6 3 1 SDO Read Click the SDO Read ta
46. utomation Corporation 14 CBCAN User Manual RXPDO 1 Setting COB ID Assign Dynamic By Role Role As Slave Node v Slave Node ID SNodeld v PDO No 1 v By value CobId Hex SNodeId 200h e Figure 11 Edit RXPDO From this screen users can configure the communication object ID COB ID and data length Items as shown in the Figure 11 are described as follows Dynamic option A COB ID can be a fixed value or a value changed with CPU node id This option is valid only when the current Node ID is set to Dynamic The COB ID can be set by either from master or slave perspectives as follows By Role Basically every PDO of the master and slave nodes on the network has a default independent COB ID The default setting of each node is assigned with four TXPDO COB IDs and four RXPDO COB IDs By Value Input a value between 181H and DEER Size Setup The size of the RXPDO can be set to one to four 16 bit words Delete Right click the PDO you want to delete and select Delete from the pop menu to delete the PDO e Insert Right click any location where a PDO to be inserted and select Insert from the pop menu to start the PDO Edit screen After the configuration on the popup menu is done a new PDO will be inserted at the location addressed e Add Right click the screen to start the popup menu Select Add to start the PDO Edit screen After the configuration on the popup
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