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CANopen Configuration Studio for IXXAT CME/PN

1. PROFINET 0 System 100 IF address 192 168 93 2 Ethemet IM Assign IP address via I0 controller IXXAT CME PN properties dialog 2015 IXXAT Automation GmbH All Rights Reserved 94 CANopen Configuration Studio for IXXAT CME PN In the final step of the offline hardware configuration in the HW Config window select Station Save and Compile Dh HW Config SIMATIC 300 1 Configuration Examplel lo Hil Station Edit Insert PLC View Options Window Help x k New Ctrl N cd O Open Ctrl O ojx e suchen PO ant ani Close Profile Standard PROFINET PROFINET 10 System 100 E PROFIBUS DP e ea a PROFINET I0 H SIMATIC 300 H SIMATIC 400 Ry Gd SIMATIC PC Based Control 300 400 Export iil H A SIMATIC PC Station Save Properties Import Consistency Check Ctrl Alt K Check CIR Compatibility Ctrl Alt F Print Cirk P Print Preview address Q address Diagnostic address Comment ETET cence cic Page Setup 1 Example SIMATIC 300 1 2 Exarmmple2 SIMATIC 300 1 3 Examplel SIMATIC 300 Ld Ld O aer Ld O Ld jis ace lien ec ne E o A are p e ff E E a a o2 e000 04 Read inputi O O o o a O SSS S S H 08600001 Reante O O o o ea O SSS S S 03600002 Read input Oo O O o s O SSS rf 03600008 Readinputi O O O o o e OOO TOSS S SO o3 e00 04 Readout OO O O o e OO rf o em m Anogir OO O O O e S a a a A o em wie owp OOOO S
2. After the download a message box confirms the successful completion of the procedure Click OK and then Close to close the dialog 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN Download via direct USB Link to a IXXAT CME PN USB does not have special options that may be selected from within the Download dialog IXXAT CME PN Config USB PROFINETCDC 1 Studio for MAT CME PN Projects Example network profinetede USB Download dialog 2015 IXXAT Automation GmbH All Rights Reserved 55 56 CANopen Configuration Studio for IXXAT CME PN 4 4 3 Device Catalog Management The Device Catalog Management dialog is used for configuration of the devices available in the catalog The dialog is available via the Tools gt Manage Catalog menu item Only devices that have been imported into the device catalog may be used in projects The dialog is related to the Device Catalog tool window E CiA 401 Generic I O Modules E Digital Input Digital Output Analogue Input Analogue Output CiA 401 digital analog I O EDS file for CiA 401 digital analog I O device Saite o a ee sk ced a at S5 CIA 402 Drives and Motion Control E Frequency Converter a arly ponent rage ia et Nat cheered en conde devas oer cee de dee 2 a Servo Drive a GA age controller PDO set Ene file for CIA 402 drives and motion control device PDO set for generic drive device i corer controller
3. NMT 0 NMT master or not available in the network 1 NMT slave and available in the network NMT boot slave 0 Configuration and NMT service Start remote node shall not be allowed in case of error control event or NMT service Boot up The application is responsible for the NMT slave startup 1 Configuration and NMT service Start remote node shall be performed in case of error control event or NMT service Boot up 1 CANopen device shall be present prior to network startup CANopen device is mandatory 0 CANopen device may be used without prior resetting Mandatory 0 CANopen device may be present prior to network startup CANopen device is optional 1 CANopen device shall be reset to factory defaults by issuing a restore to defaults object 1011 1F8A Restore Configuration Value Description All parameters are restored Communication related parameters All objects from index 1000 to 1F FF are restored Application related parameters All objects from index 6000 to 9FFF are restored 04 to 7Fy Manufacturer specific restore behavior is performed Reserved for future use Additional Manager Objects The active managing device supports additional objects used to configure the startup behavior Object 1F8 9 Boot time defines the time out in milliseconds between start of the process Start process boot NMT slave and signaling of successful boot of all mandatory NMT slaves Object 102A NMT I
4. 66 CANopen Configuration Studio for IXXAT CME PN Project Explorer IX x Name Device Profile Device Name Vendor Name BSS eee ee ar ee ee 127 0x7F XXAT CMEPN 0 ASAT CME PN IXXAT Automation Slaves New project populated with only the IXXAT CME PN We have now concluded the first step in the generation of a CANopen network configuration for the IXXAT CME PN gateway We can now continue to add devices to the CANopen network 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 67 512 Byte Order Representation of the IXXAT CME PN Process Image PROFINET and CANopen use different network byte order conventions to transfer multi byte data objects PROFINET by default uses the big endian format CANopen uses the little endian format in which the lowest order byte is transferred first in the CAN frame The example below illustrates how an UNSIGNED32 value 01020304 will be transmitted over the PROFINET and the CANopen networks PROFINET Big Endian encoding CANopen Little Endian encoding 03h 02h Transmission sequence By default IXXAT CME PN swaps bytes in a multi byte object such as INTEGER32 so that in the process image those objects are stored in big endian format allowing for easier processing by PROFINET IO devices This byte swapping is only supported for numerical data objects that are transmitted with PDO services Automatic byte swapping is not possible for SDO
5. a Network Man agement Configuration Error Control Configuration Applica tion Objects Process Image Timing Parameters r default H 4 ml Group Direction Node ID Index Sub Index Parameter Name Denotation Data Type A sfou E C stot rd unscnee 3 default Read input 09h to 10h UNSIGNED 000 8 default 6000 03 Read input 17h to 18h UNSIGNED 8 default 6000 u Read input 19h to 20h UNSIGNED 8 default 2 6000 01 Read input 01h to O8h UNSIGNED g default 2 6000 02 Read input 09h to 10h UNSIGNED g default 2 6000 03 Read input 17h to 18h UNSIGNED 8 default 2 6000 H Read input 19h to 20h UNSIGNED 8 default 3 6000 01 Read input 01h to 08h UNSIGNEDS 8 default 3 6000 02 Read input 09h to 10h UNSIGNED g default 3 6000 03 Read input 11h to 18h UNSIGNED 8 default 3 6000 H Read input 19h to 20h UNSIGNED 8 default 1 6401 01 Analog input 01h INTEGERT6 default 6401 02 Analog input 02h INTEGERT6 default 1 6200 01 Write output 01h to O8h UNSIGNED default 1 6200 02 Write output 09h to 10h UNSIGNED default 1 6411 01 Analog output 01h INTEGERT6 default 1 6411 02 Analog output 02h INTEGERT6 Resulting process image layout on the IXXAT CME PN after calculation of the PDO configuration E Columns in the process image list may be freely reordered thus the actual layout in your installation may differ from the screen dump pictured above Before we download the configuration to the IXXAT CME PN gateway we will setup device monitoring via C
6. fess sinden tne OOOO fee fperet Node ID 61p 7Fh UNSIGNED32 Bit n represents Drarenreens rodearon Bt ID n 97 Bit 31 is always 0 5003 Fault slaves bit list ARRAY Bit list that flags all attached CANopen slave devices for which an error has been detected Errors reasons may include e CANopen devices that were detected in the CANopen network but are not declared in object 1F81 CANopen devices that reuse the CANopen node ID used by the CANopen manager itself te Node ID Olp 20h UNSIGNED32 Bit n represents node ID n 1 Node ID 21 40h UNSIGNED32 Bit n represents node ID n 33 Node ID NodeID 41 60 60h UNSIGNED32 Bit n represents node ID n 65 ID 7Fh UNSIGNED32 Bit n represents node ID n 97 Bit 31 is always 0 5004 ARRAY Bit flag list of CANopen slave devices with expected NMT state Operational The bit list is populated based on NMT node control commands issued by the CANopen manager The operational slave bit list is not directly synchronized with information from NMT error control services heartbeat or node guarding On error control events such as heartbeat or node guarding errors or on detected boot up messages the bit flag for the particular CANopen slave is cleared a Slaves bit list 5 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 149 04h Node ID 61p 7Fh UNSIGNED32 Bit n represents node ID n 97 Bit
7. g 03 6000 04 Read input i o eer e e AA HMI J 01_6401_01_Analog inu f o fese Ago J 01 6401_02 Analog inoa f drt HAE Netwnrk Comnonents J 0 200 0i write outoa S f 0 6200 02 write oupa S ooo o a S PROFIBUS DP slaves for SIMATIC S7 M7 Eg J 016411 0_Anaog oupa f ooo o e o and C distributed rack f 016411 02 Analogoutpu BT Press Fl to get Help Oo Op an E cd op ot SIMATIC 300 configuration with IXXAT CME PN added to the PROFINET IO system CANopen application objects are entered in slots under the IXXAT CME PN The gateway modules are automatically entered into the correct slots In the slots the module names are truncated to a total of 24 characters each 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 93 The next step verifies the configuration of the IXXAT CME PN gateway Double click the CME PN icon in the configuration window to open the IXXAT CME PN properties dialog Check device name IXXAT CME PN and IP address 192 168 99 2 the next available address in the PROFINET IO subnet of the CPU and click OK to confirm the settings Properties IXXAT CME Ph AAA T COME PN IAAAT CME PN with one CAN Interface PROFINET lO CCB Order No fimware 1 07 0267 02106 V1 0 Family AAAT CME PN AAAT CME PN GSD file GSDML V2 3 444 T Example 1 20131022 234911 xml Change Release Humber Node in PROFINET IO System Device number fi
8. Disabled means that bit 31 in the COB ID parameter of the PDO communication parameter record is set to 1 All All If the PDO filter is active all PDOs that match the other filter criteria Yes No All If the PDO filter is active all PDOs for which the other filter criteria are valid are visible in the PDO list Event driven If the PDO filter is active only event driven PDOs are visible in the PDO list provided they match the other filter criteria Synchronous If the PDO filter is active only event driven PDOs are visible in the PDO list provided they match the other filter criteria s If the PDO filter is active only PDOs that are disabled and for which the 2015 IXXAT Automation GmbH All Rights Reserved 26 CANopen Configuration Studio for IXXAT CME PN For each mapped application object the following information is available Parameter Name Name of the application object as extracted from the ParameterName keyword in the electronic data sheet of the device Denotation User assigned alternative object name as entered in the Denotation column of the Application Objects workspace page 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 27 PDO Communication Parameters The lower section of the PDO list tool window contains the PDO communication parameters All values that are shown in this section refer to the PDO currently selected in the PDO list in the upper s
9. The Device Catalog tool window displays only those device profile navigation panes that are populated with matching CANopen slave device descriptions Furthermore the navigation bar allows for user customization of which panes are shown and in which sequence those panes are displayed via a context menu Context Menu CIA 401 Generic KVO Modules CIA 402 Drives and Motion Control Show More Buttons CIA 404 Measuring Devices and Closed Loop Controllers CIA 406 Linear and Rotary Encoders CIA 408 Proportional Valves and Hydrostatic Transmissions Other Profiles Navigation Bar Options Add or Remove Buttons atllr LE leie Navigation bar context menu a a gt Show More Buttons Use this command to show more navigation panes in the device catalog tool window Show Fewer Buttons Use this command to show fewer navigation panes in the device catalog tool window CANopen Configuration Studio for IXXAT CME PN is closed After the next restart the navigation bar will assume the default settings Add or Remove Buttons Displays a submenu to selectively enable or disable device profile navigation panes Navigation Bar Options Use this command to display the Navigation Bar Options dialog in which you can either selectively enable or disable device profile navigation panes You may also change the sequence in which the navigation panes are shown E Note that the sequence of navigation panes is not persisted w
10. against the value of this object in case the value is not equal 0000 0000p An error event is generated if the values mismatch The sub index corresponds to the node ID of the CANopen devices in the network The sub index corresponding to its own node ID is ignored Object description Object code ARRAY Entry description Attribute Description Highest sub index supported Access const PDO mapping Value range Olp 7Fh 2015 IXXAT Automation GmbH All Rights Reserved 142 Attribute Sub index Description Entry category Access PDO mapping Value range Default value Attribute Sub index Description Entry category Access PDO mapping Value range Default value CANopen Configuration Studio for IXXAT CME PN Node ID 1 conditional mandatory if node ID 1 is supported see value definition for object 1018p sub index 04p see CiA 301 0000 0000 Node ID 127 conditional mandatory if node ID 127 is supported see value definition for object 1018p sub index 04p see CiA 301 0000 0000 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 143 6 1 13 Object 1F89 Boot Time The object defines the time out between start of the process Start process boot NMT slave and the signaling of the successful boot of all mandatory NMT slaves The value is given in multiples of 1 ms The value 0000 0000p disables the timer Object descriptio
11. generated by CANopen Configuration Studio for IXXAT a PROFINET network CME PN to the SIMATIC STEP 7 device catalog e Add and configure the IXXAT CME PN e Work in online mode e Use of CANopen SDO services J Note that the examples presented here use device description information from EDS files that have been compiled based on the published CiA specifications These files do not necessarily correspond to EDS files describing commercially available CANopen devices CANopen Configuration Studio for IXXAT CME PN generates configuration data that may be downloaded into the IXXAT CME PN gateway only for those objects in the CANopen devices for which the configured value differs from the default value as declared in the device description files If the device description files used to generate the configuration do not exactly match the functionality of the devices used to implement the CANopen network the configuration data may be successfully downloaded into IXXAT CME PN however after having started the CANopen network the devices may not operate as intended 2015 IXXAT Automation GmbH All Rights Reserved 64 CANopen Configuration Studio for IXXAT CME PN 5 1 Basic CANopen Network Configuration This tutorial gives a short step by step introduction in how to create a simple CANopen network project with CANopen Configuration Studio for IXXAT CME PN The project described in this section is composed of three CiA 401 compliant I O modules
12. 2 assignment 1F82p ARRAY RequestNMT NMT UNSIGNED8 Manager Ga302 2 302 2 epa ARRAY Device ee UNSIGNED32 psor p CIA 302 2 identification 1F85 ARRAY Vendor UNSIGNED32 Manager CIA 302 2 identification 1F86p ARRAY Productcode code UNSIGNED32 Manager cia 302 20 302 2 2015 IXXAT Automation GmbH All Rights Reserved 118 CANopen Configuration Studio for IXXAT CME PN 6 1 1 Object 1000p Device Type This object contains information about the device type describing the type of the logical device and its functionality It is composed of a 16 bit field indicating the implemented device or application profile and a second 16 bit field which provides additional information about specific functionality of the logical device The additional information parameter is device or application profile specific It is defined in the corresponding device profile and application profile specification The value 0000 for the device profile number indicates a logical device that does not implement a standardized device or application profile In this case the additional information is 0000 if no further logical device is implemented For multiple logical device modules the additional information parameter is set to FFFF and the device profile number referenced by object 1000p indicates the profile of the first logical device in the object dictionary All other profiles of a multiple logical device module indicate their profiles at objects 67FF n x 800
13. 31 is always 0 ARRAY Bit flag list of CANopen slave devices with expected NMT state Stopped The bit list is populated based on NMT node control commands issued by the CANopen manager The stopped slave bit list is not directly synchronized with information from NMT error control services heartbeat or node guarding On error control events such as heartbeat or node guarding errors or on detected boot up messages the bit flag for the particular CANopen slave is cleared 5005h Stopped slaves bit list Devices that have been detected in the network but are not declared as CANopen slave devices assigned to the CANopen manager will be set into NMT state Pre operational by default to prevent network disruption The application may set these devices alternatively into NMT state Stopped The bit flag for these devices is then set to 1 in the stopped slaves bit list ID 034 Node ID 41 60 UNSIGNED32 Bit n represents node ID n 65 O41 Node ID 61 7Fr UNSIGNED32 Bit n represents node ID n 97 Bit 31 is always 0 5006p Pre operational slaves bit list ARRAY Bit flag list of CANopen slave devices with expected NMT state Pre operational The bit list is populated based on NMT node control commands issued by the CANopen manager The pre operational slave bit list is not directly synchronized with information from NMT error control services heartbeat or node guarding On error control events 2015 IXXA
14. B C Generate Configuration Alt B G Network keyboard accelerator Alt N Pop up menu containing commands to select and configure the download link to the IXXAT CME PN A dialog allows to select any one of the IXXAT CME PN gateway devices connected via USB to the host PC running CANopen Configuration Studio for IXXAT CME PN Interface Configuration a AIt N C Tools keyboard accelerator Alt T The Tools menu contains commands to open the device catalog management dialog and to set general options of CANopen Configuration Studio for IXXAT CME PN Manage Catalog TT Alt T M Help keyboard accelerator Alt H The Help menu gives access to online documentation The technical support menu item contains a link to the support section on http www ixxat com Technical Support a aT AIt H T About CANopen Configuration Studio for IXXAT CME PN 2015 IXXAT Automation GmbH All Rights Reserved 12 CANopen Configuration Studio for IXXAT CME PN 4 2 Tool Windows CANopen Configuration Studio for IXXAT CME PN implements tool windows for network definition and device specific configuration tasks Tool windows are used to compose a CANopen network based on predefined entries in a device catalog Tool windows are also available to set device specific parameters such as default values for output parameters or to explicitly manipulate the PDO configuration for a selected device Additionally output and error windows are availa
15. Build Toolbar aa Network Toolbar B 2015 IXXAT Automation GmbH All Rights Reserved 10 CANopen Configuration Studio for IXXAT CME PN Menu Description File keyboard accelerator Alt F The File menu contains commands related to the CANopen project new open and close project and save project with different name Keyboard shortcut Keyboard accelerator AIt F R View keyboard accelerator Alt V Commands for activating tool windows or workspace pages Additionally a menu item allowing to restore the default tool window and workspace layout is available Oo o o mn O O o h Oooo h oo he a a a oo Network Management Configuration Error Control Configuration Application Objects Process Image es Project Explorer Device Catalog Device Parameters PDO Parameters Restore Default Layout Project keyboard accelerator Alt P Contains only one menu item that opens the project properties workspace page Command Keyboard shortcut Keyboard accelerator 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 11 Build keyboard accelerator Alt B The Build menu contains commands to calculate PDO connections and device specific configuration data The calculation process can be repeated iteratively before a file with the configuration data is generated that shall be downloaded to the IXXAT CME PN Be Calculate Configuration Alt
16. C a Station Edit Insert PLC View Window Help eee oh amp Customize Ctrl Alt E Specify Module oj x Configure Network Find ant ani Symbol Table Ctrl Alt T Gil SIMATIC 300 1 Configuration Profile Standard Report System Error CPU 317 2 PN A PROFIBUS DP Edit Catalog Profile J ASE PROFIBUS PA pam H PROFINET I0 H SIMATIC 300 Install HW Updates il SIMATIC 400 STS H SIMATIC PC Based Control 300 400 et hele SIMATIC PC Station Find in Service amp Support Update Catalog Create GSD file for I Device Oo UR Comment at PAROFIBUS OP slaves for SIMATIC S M te and C distributed rack Installs new GSD files in the system and updates the contents of the catalog Open the Insert GSD Files dialog In the dialog navigate to the directory in your file system where the GSD file created in the Example1 has been saved Select the corresponding XML file and click Install The file name of the GSD file is composed according to the PNO GSDML specification 1 GSDML 2 The version ID in format Vx y whereby x and y are unsigned numbers The version ID refers to the ID of the GSDML schema used IXXAT CME PN is based on version 2 3 3 Vendor name here IXXAT 4 Device family name To distinguish between multiple projects the name of the CANopen project is used In our case this is Example1 5 Release date of the GSD in format yyyymmdd 6 Release time of the G
17. CANopen manager in the IXXAT CME PN Please note that the value entered in the text field uses one millisecond as time basis and not one micro second as specified in the CANopen application layer and communication profile specification CiA 301 The SYNC Producer combo box allows to select an alternative producer of the CANopen synchronization message from a list of all devices in the network that support SYNC producer functionality This will cause the specified communication cycle period object to be configured on the selected device and the generate bit bit 30 in object 1005 COB ID SYNC to be set to 1p On all other devices the generate bit in object 1005p is set to Op Process Image Size IN OUT define the upper limit for the process image on the IXXAT CME PN in byte that may be allocated by network variables In CANopen Configuration Studio for IXXAT CME PN those values are read only and correspond to the fixes sizes supported by the IXXAT CME PN gateway The currently allocated part of the process image is indicated in the toolbar 4 3 3 1 Network Variables Internally IXXAT CME PN implements a process image with dynamically created network variables according to CiA 302 4 to map the application objects of the connected CANopen slave devices into the process image of the PROFINET gateway application Due to the restrictions of PROFINET with respect to supported data types not all data types defined in the CANopen specifications are s
18. IXXAT CME PN 59 4 4 4 Options The Options dialog contains all global options of the application The dialog is available via the Tools Options menu item aie Download Timeout ms Files amp Paths Firmware Update Timeout ms PROFINET USB Download CANopen Configuration Studio for IXXAT CME PN Options dialog 2015 IXXAT Automation GmbH All Rights Reserved 60 CANopen Configuration Studio for IXXAT CME PN Ca S E S General Files amp Paths Default Project Directory The default path CANopen Configuration Studio for IXXAT CME PN will propose if projects are saved or loaded Default EDS Directory The default path the application will search for EDS files Startup Show Splash Screen on Startup If checked the splash screen will be shown on startup Network Access PROFINET USB Download Download Timeout Default timeout used for a down operation Firmware Update Timeout Default timeout used for a firmware update operation As firmware update requires some long running internal operations the timeout is higher than the normal download timeout 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 61 CANopen Configuration Studio for IXXAT CME PN Workspace Customization The user interface of CANopen Configuration Studio for IXXAT CME PN is fully customizable Customization may involve hiding or displaying floating or docking to
19. Name ME Desktop Ji Example network XPR iy Downloads Recent Places Libraries Computer ti Network 4 File name Example network profinetcdc Save as type profinetcdc Hide Folders Selection of the device configuration file into which the network configuration data are written This concludes the configuration and we can now download the configuration data to the IXXAT CME PN gateway 5 1 9 Download to the IXXAT CME PN Before starting the download it is required to specify the interface that will be used to transfer the configuration data to the IXXAT CME PN This may be performed via selecting the Network Interface Configuration menu item or the corresponding toolbar button BB or directly from within the Download dialog via the Configure button In this case the PC running CANopen Configuration Studio for IXXAT CME PN is connected to the IXXAT CME PN gateway via a USB cable If several IXXAT CME PN devices are connected to the host PC we need to select the module we want to download the configuration to Finally we need to select the configuration file generated earlier and start the download process We have now generated and downloaded a simple CANopen configuration to the IXXAT CME PN gateway This step concludes the first tutorial 2015 IXXAT Automation GmbH All Rights Reserved 80 CANopen Configuration Studio for IXXAT CME PN 5 2 IXXAT CME PN in a PROFINET Network The subsequen
20. O e SSS O rf o e200 02 wrie owp OOOO O O O O o a SSS O PROFIBUS DP slaves for SIMATIC S7 M7 Ee rf O1_6411_01 Anaogopa OOOO O e O O O and C7 distributed rack i H oeni ozana op OOOO O OO o S y Saves and creates all system data in the current station Save and compile the hardware configuration in the HW Config window We continue to configure the IXXAT CME PN IP address and device name 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 95 Set IP Configuration and assign Device Name to IXXAT CME PN We now have defined a PROFINET topology in STEP 7 consisting of SIMATIC S7 300 PLC as PROFINET IO controller and IXXAT CME PN as PROFINET IO device We also need to parameterize the IXXAT CME PN device such that it corresponds to the projected STEP 7 configuration In factory settings IXXAT CME PN is shipped with the IP address set to 0 0 0 0 and an empty device name For this step verify that SIMATIC S7 300 and IXXAT CME PN are powered and connected as depicted in the introductory section on example 1 Return to the SIMATIC Manager and select PLC Edit Ethernet Node from the main menu 5 2 1 5 gt fe 47 Re SEM Download Ctrl L mea EER Example Configure Ctrl K lf SIMATI Compile and Download Objects Upload to PG Upload Station to PG Copy RAM to ROM Download User Prograrn to Memory Card Save to Memory Card Retrieve from Memory Card Manage M
21. Properties 44 Dialogs 4 4 1 Interface Configuration 4 4 2 Download of Configuration Data 4 4 3 Device Catalog Management 44 4 Options 4 5 CANopen Configuration Studio for IXXAT CME PN Workspace Customization oy CANopen Configuration Studio for IXXAT CME PN Configuration Examples 5 1 Basic CANopen Network Configuration 5 1 1 Create a new Project 5 1 2 Byte Order Representation of the IXXAT CME PN Process Image 2015 IXXAT Automation GmbH All Rights Reserved 4 5 8 9 9 11 12 13 14 14 16 17 18 19 20 21 22 33 27 28 29 30 31 32 33 36 37 39 40 42 42 43 43 44 45 46 47 51 52 53 53 54 54 55 56 58 59 60 61 62 63 64 65 66 67 68 5 2 CANopen Configuration Studio for IXXAT CME PN 5 1 3 Add Devices to the Project on heme Import CANopen Devices to the Device Catalog 5 1 4 Selection of Process Data 5 1 5 Inspection of the Process Image Layout 5 1 6 Configuration of NMT Error Control 5 1 7 Configuration of CANopen and PROFINET Timing Parameters 5 1 8 Generation of Configuration Data 5 1 9 Download to a IXXAT CME PN IXXAT CME PN in a PROFINET Network 5 2 1 Integration of IXXAT CME PN into the SIMATIC STEP 7 project 5 2 1 1 SPA 5 2 1 3 5 2 1 4 5 2 1 5 5 2 1 6 5 2 1 7 Creating a SIMATIC STEP 7 Project Configuration of the SIMATIC S7 300 PLC Add the PROFINET Device Description Add the IXXAT CME PN Gateway to the PROFINET IO System Set IP Configuration and assign
22. SIMATIC S7 M7 g and CY distributed rack g Hardware configuration windows of the SIMATIC STEP 7 software Proceed in the following sequence 1 In the hardware catalog expand the SIMATIC 300 node E and then expand the RACK 300 node Drag the Rail icon and drop it in the configuration window 2 In the hardware catalog expand the SIMATIC 300 node E and then expand the CPU 300 node Expand the node that corresponds to CPU type used in your setup and drag the icon corresponding to the exact CPU version used i and drop it in slot 2 of the rail previously added in step 1 In the case of the example demonstrated here this is a CPU 317 2 PN DP 6ES7 317 2EK13 0ABO gt V2 6 3 When the CPU is dropped onto the rail a configuration dialog is displayed that requests the user to specify the IP address of the PN IO interface 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 87 Properties Ethernet interface PN Gateway IP address Do not use router Subnet mask Properties of the PN IO interface For this example enter 192 168 99 1 and retail the subnet mask 255 255 255 0 Press New to open the dialog to set the properties of the new industrial Ethernet subnet 2015 IXXAT Automation GmbH All Rights Reserved 88 CANopen Configuration Studio for IXXAT CME PN Ma HW Config SIMATIC 300 Station Edit Insert PLC View Options Window Help Cae ae m
23. assigned allowing the user to distinguish between different devices of identical type It is also required to specify the CANopen node ID for the device and a group to which the device will be added The user may also enter a textual description of the device s functionality in the Description field 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 1 01 GA 401 digital analog 1 0 IXXAT Automation GmbH GA 401 compliant digital analog IYO device a Additional configuration parameters for 8 bit digital and 16 bit analog access Vanable PDO mapping with 8 bit granularity Add a new device to the CANopen project When the dialog is closed with OK the device is added to the Project Explorer window Project Explorer ZE Ga Device Profle Device Name 127 Ooc F XAT CME PR XAT CMEPN Slaves 1 0x01 VO module 1 10 CIA 401 digital analog I O CANopen project populated with a CANopen manager and one CANopen slave I O device 2015 IXXAT Automation GmbH All Rights Reserved 69 70 CANopen Configuration Studio for IXXAT CME PN Repeat this operation to add two more I O devices to the project The Project Explorer will display the following project structure with one CANopen manager device and three I O modules Project Explorer AX B X Device Profil
24. bit coded NMT slave assignment configuration error 2015 IXXAT Automation GmbH All Rights Reserved 156 CANopen Configuration Studio for IXXAT CME PN Object description CANopen network diagnostics Manufacturer specific Entry description Attribute Sub index Access PDO mapping no Value range see value definition 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 157 6 3 Device Profile Objects The configuration examples discussed in earlier sections are based on generic device description files according to CiA 401 CANopen device profile for generic I O modules The objects used in those example configurations are 6000 ARRAY Read input 8 bit UNSIGNED8 CiA 401 6200 ARRAY Write output 8 bit UNSIGNED8 CiA 401 6401h ARRAY Read analog input 16 bit INTEGER16 CIA 401 6411h ARRAY Write analog output 16 bit INTEGER16 CIA 401 2015 IXXAT Automation GmbH All Rights Reserved 158 CANopen Configuration Studio for IXXAT CME PN 6 3 1 Object 6000 Read Input 8 bit This object reads groups of 8 input lines as 8 bit information The object is mandatory for digital input modules Object description Attribute Index Object name Object code Data type Category Entry description Attribute Sub index Description Entry category Access PDO mapping Value range Default value Sub index Description Entry category Access PDO mappi
25. device catalog It can now be used in CANopen Configuration Studio for IXXAT CME PN projects 2015 IXXAT Automation GmbH All Rights Reserved 72 CANopen Configuration Studio for IXXAT CME PN 5 1 4 Selection of Process Data To select the process data of the CANopen slave devices that shall be mapped into the process image on the IXXAT CME PN navigate to the Application Objects workspace page On this page a list of all the application objects that are mappable as process data is displayed The application objects are sorted according to the node ID of the device their object index and finally the sub index of the entry Select individual application objects To select application objects click the checkbox in the Mapped column next to the parameter name In the example below the first four digital input blocks of the CANopen I O module 1 object dictionary index 6000 sub index range 01 to 04 have been selected Network Management Configuration Error Control Configuration Application Objects Process Image Timing Parameters T ia Im Allocated Process Image Size IN 4 OUT 0 Index Parameter Name Mapped Direction Data Type Transmission Type Noof SYNC Denotation E Node ID 1 0x01 Name VO module 1 1001 Error register E N UNSIGNEDS Eventdriven profile specific 1002 Manufacturer status register IN UNSIGNEDS Event driven profile specific 6000 01 Read input 01h to 08h W IN UNSIGNE
26. devices in the network in logical groups This concept is not described within the CANopen specifications but allows to render the project itself more clearly To add a new logical group to the project select the Add Group menu item in the context menu of the Project Explorer tool window Add Group Remove Properties Collapse All Expand All Project Explorer context menu This opens a dialog that allows to enter a name for the new group and a corresponding textual description Name Servo control Description Device group for three dimensional axis control with GA 402 compliant servo drives Add New Group dialog Both device and group properties can be modified after they have been added to the project using the corresponding Device Properties and Group Properties dialogs 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 17 4 2 2 Device Catalog The Device Catalog tool window lists all device descriptions currently added to a device catalog database Internally CANopen Configuration Studio for IXXAT CME PN implements two separate catalog databases a core catalog than cannot be changed by the user and a user catalog to which a user may add or from which the user may remove devices The Device Catalog tool window allows only for browsing the catalog contents to add or remove particular devices to the catalog use the Device Catalog Management dialog The Device Cata
27. logic block OB1 internally calls first the logic block FC2 which implements SDO_START_NETWORK and then the block FC4 113 SDO_GET_DEVICETYPE for both node ID 7F CANopen manager and 01 I O device FC2 demonstrates how to start the network by writing to object 1F82p Request NMT FC4 how to read object 1000p Device type Alternatively you may read one of the IXXAT specific diagnostics objects in XXAT CME PN similar to the program code of FC4 2015 IXXAT Automation GmbH All Rights Reserved 114 CANopen Configuration Studio for IXXAT CME PN OB1 CYCL_EXC Cyclic execution of of the startup statemachine STATEO Call SDO_GET_MANAGER_STATE STATE1 Call SDO_START_NETWORK STATE2 Call SDO_GET_DEVICETYPE STATE3 Wait for GATEWAY_IO_READY STATE4 Process Data IO OB35 CYC_INTS Cyclic interrupt e Modifies IO data every 100ms for demonstration only OB83 1 O_FLT2 Monitors the presence of modules in the central rack This block is executed for each module when it becomes operational and its process data are valid OB85 OBNL_FLT The operating system of the CPU calls OB85 when the following event occurs e I O access error during update of the process image by the system OB86 RACK FLT Detects a rack failure This block is called when a PROFINET IO device fails or when the error is eliminated This is the case when the gateway is available again for example after disconnect OB100 COMPLETE RESTART Clear execution control flags and in
28. manager counts the emergency messages received from each of the CANopen slave devices starting with the NMT startup process Emergency messages indicating an error free condition are counted as well If 2015 IXXAT Automation GmbH All Rights Reserved 152 CANopen Configuration Studio for IXXAT CME PN index Sub index Name Type Description the counter has reached the limit of 255 the counter is not incremented further 00h Highest sub index supported sub index supported UNSIGNED8 UNSIGNED8 Node ID 01 UNSIGNED8 Emergency counter for node ID Olh 7Fh Node ID 7Fh UNSIGNED8 Emergency counter for node ID 7Fh 5011p O04 Generic error count UNSIGNED8 The CANopen manager counts and categorizes emergency messages received from any CANopen slave according to the most important error types If a counter has reached the value 255 it is not incremented further Error code 10xx 5012 OO Device hardware error count UNSIGNED8 see description for object 5011p Error code 50xxh 5013p 001 Device software error count UNSIGNED8 see description for object 5011p Error code 60xx1 50141 O01 Communication error count UNSIGNED8 see description for object 5011p Error code 81xx1 5015p 00 Protocol error count UNSIGNED8 see description for object 5011p Error code 82xx1 5016 00 External error count UNSIGNED8 see description for object 5011p Error code 90xx1 5017p OOh Device specific error count UNSIGNED8 see des
29. of the corresponding device profile During installation the EDS file are copied into the C Users Public Documents IXXAT CANopen Configuration Studio for IXXAT CME PN EDS on Microsoft Windows 7 systems See also the information in the First Steps section on the installation directories 2015 IXXAT Automation GmbH All Rights Reserved 20 CANopen Configuration Studio for IXXAT CME PN CO CiA 401 CANopen device profile for generic I O modules CiA 401 device CiA 401 device Group messaging Device description for generic I O module with digital and analog input and output additional device parameters such as polarity and trigger ranges Device description for generic I O module with digital and analog input and output additional device parameters such as polarity and trigger ranges Additional support for scanner and dispatcher list SAM MPDO CiA 402 CANopen device profile for drives and motion control CiA 402 frequency converter PDO set for frequency converter CIA 402 servo controller PDO set for Generic objects for power drive system control with support for velocity and profile torque mode PDO set for frequency converter according to CiA 402 3 V3 0 Generic objects for power drive system control with support for profile position mode interpolated position mode profile velocity and homing mode PDO set for servo drive according to CiA 402 3 V3 0 Generic objects for power drive system control with su
30. or all Objects to their Default Values cull Description Resets the selected parameter object to its default value as declared in the electronic data sheet EDS sheet EDS Resets all parameter objects on the selected device to their default values as declared in the electronic data Context Menu The context menu in the object list offers the following menu options Collapse All Collapses all profile areas and complex objects such that only the headers of the object dictionary profile areas are visible Expand All Expands all objects such that all object entries and sub entries are visible below the object dictionary profile area s headers 2015 IXXAT Automation GmbH All Rights Reserved 32 CANopen Configuration Studio for IXXAT CME PN 4 3 Workspace Pages CANopen Configuration Studio for IXXAT CME PN uses workspace pages for network wide configuration tasks Workspace pages are used to configure the network management functionality of the managing device Also the NMT error control dependencies between the devices of the network are configured by a workspace page Additionally the process data are configured in this area including the selection of mapped application objects and inspection of the created process image on the managing device For detailed information on the workspace pages see the following sections ame r Network Management Configuration of the network management functionality Configuration Erro
31. the generated configuration data to the IXXAT CME PN Download Selection of the configuration data to be downloaded to the IXXAT CME PN The status of the download operation is indicated by a progress bar Device Catalog Management Use the Device Catalog Management dialog to add CANopen devices to or remove them from the user catalog See also the help information on the Device Catalog tool window options Supports setting of general application options 4 4 1 Interface Configuration The Interface Settings dialog is used for the basic configuration of the download interfaces The dialog is available via the Network Interface Configuration menu item or the corresponding tool bar item CANopen Configuration Studio for IXXAT CME PN supports download via a USB link directly connected to a IXXAT CME PN USB Configuration The USB port tree provides a list of all IXXAT CME PN devices that are attached to the PC via USB By selecting a device this device will be targeted by the download via USB The USB interface does not require further configuration 2015 IXXAT Automation GmbH All Rights Reserved 54 CANopen Configuration Studio for IXXAT CME PN Interface USB Channel Selection of a IXXAT CME PN gateway as target device for the configuration download 4 4 2 Download of Configuration Data The Download dialog is used to download network configuration data to a IXXAT CME PN The dialog is available via the Network Downl
32. unequal to 0000 0000 An error event is generated if the values mismatch The sub index corresponds to the node ID of the CANopen devices in the network The sub index corresponding to the own node ID is ignored Object description Index 1F841 Name Device type identification Object code ARRAY Data type UNSIGNED32 Entry description Attribute PDO mapping Value range Olp 7Fh Sub index 0 1p Description Node ID 1 Entry category conditional mandatory if node ID 1 is supported Access PDO mapping Value range see value definition for object 1000p see CiA 301 Default value 0000 0000h to 2015 IXXAT Automation GmbH All Rights Reserved 134 Attribute Sub index Description Entry category Access PDO mapping Value range Default value CANopen Configuration Studio for IXXAT CME PN Node ID 127 conditional mandatory if node ID 127 is supported see value definition for object 1000p see CiA 301 0000 0000 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 135 6 1 9 Object 1F85 Vendor Identification This object is used for verification of the vendor ID of the CANopen devices in the network The vendor ID object 1018p sub index 01 see CiA 301 of the CANopen device in the network is matched against the value of this object in case the value is not equal 0000 0000 An error event is generated if the values mismatch Th
33. value 0000 0000h 2015 IXXAT Automation GmbH All Rights Reserved 130 CANopen Configuration Studio for IXXAT CME PN 6 1 7 Object 1F82 Request NMT This object allows to request a specific NMT service for a unique CANopen device in the network or for all CANopen devices in the network in case the CANopen device implementing this object is in NMT master mode Normally the request is issued by another CANopen device in the network or by the application on the very same CANopen device for example an IEC 61131 environment This object additionally indicates the current NMT state of a unique CANopen device in the network in case the CANopen device implementing this object is in NMT master mode The sub index corresponds to the node ID of the CANopen devices in the network Sub index 80 addressed all nodes Requests may apply for the NMT master itself The value definition is provided in the table below An attempt to download a value that is reserved is responded with abort code 0609 0030 E The values from 00 to 7Fp have to be applied carefully to not unintentionally affect the NMT master or the requesting CANopen device itself Value definition Value Description NMT state Stopped NMT service Stop remote node Note that an attempt to request this service for node ID 0 or the node ID of the CANopen manager is aborted by the IXXAT CME PN to prevent the network from becoming non operable NMT state Operational NMT service S
34. windows while holding the Control key down dock guides are not displayed and the tool window will be floating when the mouse pointer is released 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 63 CANopen Configuration Studio for IXXAT CME PN Configuration Examples The tutorials that are part of this chapter give short step by step instructions how to create CANopen network projects with the CANopen Configuration Studio for IXXAT CME PN Creating a CANopen configuration involves creating an empty project populating the project with devices selection of application objects that are to be mapped into the process image of the IXXAT CME PN setting up NMT error control and finally generating and downloading the configuration data into the IXXAT CME PN The examples in the following sections are based on a network topology similar to that described in the introduction to this online help Example Demonstrated functionality Creating a CANopen e Create a new CANopen project project and basic network e Working with the CANopen device catalog configuration e Selection of application objects to be mapped into the process image of the CANopen managing device e Configuration of NMT error control e Configuration of CANopen and PROFINET timing parameters Generate and download the CANopen configuration Integrating the configured Select the PLC hardware IXXAT CME PN device into e Add the GSDML file
35. with n internal number of the logical device from 1 to 8 minus 1 These objects describe the device type of the preceding logical device having the very same value definition as object 1000 31 16 15 0 Additional information Device profile number MSB LSB Structure of the device type parameter Object description Index 1000p Data type UNSIGNED32 Entry description Attribute Sub index PDO mapping Default value 0000 0000h 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 119 6 1 2 Object 1001p Error Register This object provide error information The CANopen device maps internal errors into this object The content of the error register is transmitted in byte 2 of an emergency object Value definition of the error register ti renano oen OOO o memos eer fos optional Communication error overrun error state optional Device profile specific If a specific error occurs the corresponding bit is set to 1p The generic error bit is always supported The other bits may be supported The generic error is set to 1 at any error situation Object description Entry description Sub index Access PDO mapping Value range see value definition 2015 IXXAT Automation GmbH All Rights Reserved 120 CANopen Configuration Studio for IXXAT CME PN 6 1 3 Object 1008 Manufacturer Device Name This object contains a manufacturer assigned
36. 100 Mbit s compared to CANopen 10 1000 kbit s the available bandwidth of PROFINET is significantly higher than that of CANopen It has to be taken care to carefully adjust the PROFINET update time as a function of the shortest duration of process data to be exchanged between the CANopen slave devices and the PROFINET network the CANopen bit rate the amount of process data to avoid loss of data Note that the source of process data the PLC and the PROFINET bus are not synchronized Therefore the following two criteria shall be met 1 The PROFINET update time shall be greater than the transmission time of all configured TPDOs and RPDOs 2 The PROFINET update time shall be less or equal to half of the shortest process data duration PLC PROFINET 100 Mbit s PROFINET Cycle Time PI PROFINET PROFINET Update Time IXXAT CMEFN PI CANopen CANopen 10 1000 kbit s is i Node ID 0x11 0x12 0x13 de dim CANopen Devices ff T1 an Error Control Configuration Application Objects Process Image Timing Parameters Timing Parameters CANopen Bit Rate 125 kbit s PROFINET Update Time 8 ms Timing Estimate Total PDO Payload bytes 4 Total POO Length bytes 39 Total PDO Transmission Time ms 6 336 CANopen and PROFINET timing parameters 2015 IXXAT Automation GmbH All Rights Reserved 48 CANopen Configuration Studio for IXXAT CME PN Based on the configured
37. 5 Value definition CANopen network diagnostics CAN status Bit coded Bus off CAN receive message lost CAN transmit message Warning level reached Transition warning level reached to warning level left occurred Cable break CANopen Bit coded slave status Mandatory slave missing identity error or concise DCF error Optional slave missing identity error concise DCF error or unexpected device s present in the network At least one operational slave that has been booted successfully At least one pre operational slave that has been booted successfully At least one stopped slave that has been booted successfully Reception of a RPDO with less data than expected Mismatching concise DCF Inconsistent concise DCF Failed save configuration Cable break detected The state of the CANopen network has been changed by a request NMT command see object 1F82 via a CAN message The state of a single CANopen slave has been changed by request NMT command see object 1F82 via a CAN message Event Byte 4 bit coded indication 0 Fatal error 1 Another device uses the node id of the CANopen manager 2 Error control event of a mandatory slave 3 Identity error of a mandatory slave 4 Identity error of an optional slave 5 No communication with the PROFINET IO controller 6 Communication status with the PROFINET IO controller has changed 7 General indication network management event Byte 5
38. 7 System Display Accessible Nodes Change Module Identification CPU Messages Display Force Values Monitor Modify Variables Di ic Setti PROFIBUS Edit Ethernet Node Assign PG PC Cancel PG PC Assignment Update Firmware Update the Operating System Save Service Data Access address Displays the address of the node on Ethernet and allows you to modify it Open the Edit Ethernet Node dialog to assign IP address and device name 2015 IXXAT Automation GmbH All Rights Reserved 96 CANopen Configuration Studio for IXXAT CME PN In the Browse Network dialog browse for accessible nodes and select the IXXAT CME PN Browse Network 3 Nodes Stark It IP address MAL address Device type Mame 192 166 595 254 00 0E 5C 51 7C 53 SCALANCE 8 scalance Stop 00 05 94 03 24 44 IKAT CME SPN 192 168 95 1 08 00 06 99 59 30 57 300 W Fast search LiL Flash MAC address 00 05 94 03 24 44 Cancel Help Browse for accessible Ethernet nodes Select the line with the device type IXXAT CME PN 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 97 In the Edit Ethernet Node dialog enter IP address and subnet mask in the Set IP configuration group Press Assign IP Configuration Also assign the device name iw Make sure that the IP address and device name correspond exactly to IP address and device name set in the properties dialog of the hardware configur
39. ANopen NMT error control to detect device failures or changes the NMT state that were not explicitly triggered by the NMT master in the network 5 1 6 Configuration of NMT Error Control With CANopen Configuration Studio for IXXAT CME PN the setup of the CANopen error control functionality is performed in the Error Control Configuration workspace page in which the so called heartbeat parameters can be specified Heartbeat is one of the two error control mechanisms specified by CAN in Automation in CiA 301 CiA recommends to use the heartbeat mechanism instead of the alternative node guarding protocol Node Guarding Producer Time Consumer Time Gus Heartheat Frror Control VO module 1 LGI Parameters for the heartbeat based error control mechanism 2 VO module 2 0 List BA 3 VO module 3 0 List hia MA AA M A Nede ID Logical Name Configuration entries for heartbeat or node guarding 2015 IXXAT Automation GmbH All Rights Reserved 76 CANopen Configuration Studio for IXXAT CME PN In the Producer Time column we can configure how often we want the I O module and the IXXAT CME PN gateway to transmit heartbeat messages to indicate that they are operating as expected In the example below this is set to 500 milliseconds We also need to specify the heartbeat consumer time which is the time frame in which the receiving device expects a heartbeat message from the producer For the I O module 1 we click into the Consumer Time c
40. ANopen Configuration Studio for IXXAT CME PN 147 index Sub index Name Type Description expected network configuration i No CANopen device including the CANopen manager is in NMT state Operational At least one CANopen device is in NMT state Operational not including the CANopen manager i The CANopen manager is not in NMT state Operational The CANopen manager is in NMT state Operational O3h Communication status of the UNSIGNED8 0 OK 10 OK if CANopen diagnostic device is Tx passive 5001 Assigned slaves bit list ARRAY Bit flag list of CANopen slave devices for which bit 0 in object 1F81 is set to 1 Device with this configuration are assigned to the CANopen manager and present in the network rammed imme O41 Node ID 61 7Fh UNSIGNED32 Bit n represents node ID n 97 Bit 31 is always 0 ARRAY Bit flag list of CANopen devices for which the boot slave process has been successfully completed and CANopen manager 5002 Configured slaves bit list which are fully configured based on the concise DCF data for the particular device Highest sub index supported UNSIGNED8 i Node ID Olp 20 UNSIGNED32 Bit n represents node ID n 1 Node ID 21 40h UNSIGNED32 Bit n represents node ID n 33 034 Node ID 41 60 UNSIGNED32 Bit n represents node ID n 65 OO Olh 2h 0 2015 IXXAT Automation GmbH All Rights Reserved 148 CANopen Configuration Studio for IXXAT CME PN
41. ANopen SDO example program Next verify the status of the LEDs on both the PLC and the IXXAT CME PN gateway 4 As soon as the communication over PROFINET between the SIMATIC S7 300 PLC and the gateway has been established the IXXAT CME PN sends valid data to the PLC The valid data are set to 0 until data from the CANopen network replace it LEDs of the PLC If all steps described earlier have been successfully executed the LED on the CPU module of the PLC should exhibit the LED pattern as indicated in the nominal LED status column in the table below For additional information consult the documentation shipped with the SIMATIC S 7 300 PLC LED Color Status Description pone ED BF 1 Red Bus error at the first interface X1 Off BF 2 Red Bus error at the second interface X2 Off SF Red Hardware fault or software error Off DC5V Green 5 V power supply for the CPU and S7 300 bus On FRCE Yellow On Active force job Off Flashing at 2 Hz Node flash test function RUN Green On CPU in RUN On Flashing at 2 Hz CPU executes startup Flashing at 0 5 Hz CPU in Stop mode STOP Yellow On CPU in STOP or HOLD or STARTUP mode Off Flashing at 2 Hz CPU executes reset Flashing at 0 5 Hz CPU executes memory reset LEDs of the IXXAT CME PN gateway The CANopen LEDs on IXXAT CME PN are implemented according to the specifications in CIA 303 3 If the IXXAT CME PN has correctly started the CANopen network and all devices are in NMT state Operational the LEDs on
42. AR e T D Status Operating Mode Single Object All Select All Deselect All Status during Open Edit Test Settings for Compilation Download Update View Log Select Objects W Compile only M Do not load if compilation error is detected Start Close Compile and Download dialog Finally download the hardware configuration and the STEP 7 program into the S7 300 PLC In the SIMATIC Manager window select the SIMATIC S300 1 node in the Examplel tree and then in the menu system select PLC Download E We use the menu item PLC gt Download for the download Other than the menu item PLC gt Compile and Download Objects this menu item enforces the download of all objects 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 101 r Access Rights 7 e BEM Download c n Configure Upload to PG Upload Station to PG Copy RAM to ROM Download User Program to Memory Card Save to Memory Card Retrieve from Memory Card Manage M System Display Accessible Nodes Change Module Identification CPU Messages Display Force Values Monitor Modify Variables z E PROFIBUS Edit Ethernet Node Assign PG PC Cancel PG PC Assignment Update Firmware Update the Operating System Save Service Data Access address Downloads current object to the PLC
43. Configuration Studio for IXXAT CME PN 15 0 module 1 Node ID 1 O01 Group Slaves Device Profile 401 Device Name GA 401 digital analog 1 0 AXAT Automation GmbH GA 401 compliant digital analog IYO device a Additional configuration parameters for 8 bit digital and 16 bit analog access Vanable PDO mapping with amp bit granularity Add New Device dialog Logical Name Logical device name to be provided by the user Node ID required input Node ID of the device within a group The node ID is displayed both in decimal and hexadecimal notation required input Logical device group used to structure the project Device Profile Device profile number extracted from the lower 16 bits of object 1000p Manufacturer device name extracted from object 1008 if available Vendor Name information Name of device vendor uses the VendorName keyword in the DeviceInfo section of the device description file for the device Alternatively the content of object 1018 sub index 01 Vendor ID is used and matched against an internal reference list of device vendor names Description optional input Textual description of the device Typically the application functionality as defined by the system integrator is entered here 2015 IXXAT Automation GmbH All Rights Reserved 16 CANopen Configuration Studio for IXXAT CME PN Device Groups CANopen Configuration Studio for IXXAT CME PN supports structuring CANopen
44. D Event driven profile specific 02 Read input 09h to 10h W IN UNSIGNED Eventdriven profile specific 03 Read input 11h to 18h W IN UNSIGNEDS Eventdriven profile specific m Read input 19h to 20h W IN UNSIGNEDS Ewent driven profile specific 05 Read input 21h to 28h E IN UNSIGNEDS Event driven profile specific 06 Read input 29h to 30h E IN UNSIGNEDS Eventdriven profile specific 07 Read input 31h to 38h E IN UNSIGNED Eventdriven profile specific 08 Read input 39h to 40h E IN UNSIGNEDS Eventdriven profile specific 09 Read input 41h to 48h E IN UNSIGNED Event driven profile specific 0A Read input 49h to 50h IN UNSIGNEDS Event driven profile specific OB Read input 51h to 58h IN UNSIGNEDS Event driven profile specific oc Read input 59h to 60h I IN UNSIGNEDS Event driven profile specific nr Dead eet EDR tn COR ml I I LIRICII RIC Cs namh det eer eee ref ai Communication Cycle Period ms 0 dec SYNC Producer None Process Image Size OUT byte 850 dec Process Image Size IN byte 650 dec Selection of individual application objects for mapping into the process image of the IXXAT CME PN The buffer size allocated in the process image on the IXXAT CME PN gateway can be simultaneously monitored in the application objects toolbar As we have selected four UNSIGNED8 input objects we see that 4 bytes are allocated in the process image In the notation used by CANopen Configuration Studio for IXXAT CME PN IN denotes i
45. Device Name to IXXAT CME PN Add S7 Program Blocks Compile and Download to S7 300 5 2 1 7 1 Download from SIMATIC HW Config 5 2 1 8 Working in Online Mode 5 3 Command and Diagnostics Interface ons yee oneal ID 5 3 4 SDO Command Sequence SDO Command Data Structure CANopen SDO Example Program CANopen SDO Example Blocks Object Dictionary Entries 6 1 6 1 1 6 1 2 6 1 3 6 1 4 6 1 5 6 1 6 6 1 7 6 1 8 6 1 9 Standardized Communication Profile Object 1000h 1001h 1008h 1018h 1F80h 1F81h 1F82h 1F84h 1F85h Device Type Error Register Manufacturer Device Name Identity Object NMT Startup NMT Slave Assignment Request NMT Device Type Identification Vendor Identification 6 1 10 1F86h Product Code 68 70 71 72 74 75 75 77 78 78 79 79 80 80 81 83 84 88 89 91 92 94 95 97 98 99 101 101 103 103 109 110 110 111 112 113 113 115 116 116 117 118 119 120 121 122 123 125 126 129 130 132 133 134 135 136 137 138 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 6 1 11 1F87h Revision Number 6 1 12 1F88h Serial Number 6 1 13 1F89h Boot Time 6 2 Manufacturer Specific Objects 6 2 1 4000h Process Image Byte Order Configuration 6 2 2 General CANopen Diagnostics Objects 6 2 3 5020h CANopen Network Diagnostics Object 6 3 Device Profile Objects 6 3 1 6000h Read Input 8 bit 6 3 2 6200h Write
46. Download the compiled configuration into the S7 300 PLC from the SIMATIC Manager window The SIMATIC Manager will request if the current system data in the programmable controller shall be deleted and replaced with the offline system data if the target module shall be stopped and if the blocks OB1 OB83 and OB86 shall be overwritten Confirm with Yes When the download has been completed we proceed with sending and receiving data in online mode 5 2 1 7 1 Download from SIMATIC HW Config In the HW Config window select the IXXAT CME PN device that shall be configured Ej It is possible to add several IXXAT CME PN gateways to the PROFINET IO System see the section Add the IXXAT CME PN Gateway to the PROFINET IO System It has to be taken care to select the correct IXXAT CME PN device for which the configuration has been generated Open the context menu of the selected IXXAT CME PN with a right mouse click Select Start Device Tool Configuration Downloader The Download dialog that will be opened supports the selection of profinetcdc files for generated configuration data and bin files for firmware updates 2015 IXXAT Automation GmbH All Rights Reserved 102 CANopen Configuration Studio for IXXAT CME PN Eh HW Config SIMATIC 300 Configuration Examplel E Hil Station Edit Insert PLC View Options Window Help E x Da ae Sl ey amp ain a FI Sk CPU 317 2 PN DP 1 IS8AT CME PN Slot Module O
47. File View Project Build Network Tools Help Haig i z E n Index Mapped Direction DataType f wE All PDOs Node ID 6 0x06 Name Slave 1O 1 i der Size bi _Paramelet Name E Node ID 7 0x07 Name Slave IO 2 pe 1001 UNSIGNEDS El 1002 UNSIGNED32 BA o o de ae OF UNSIGNEDS UNSIGNEDS ia Status word Status word asar 00 S in 401 Vendor ID E Digital input Digtal Output Analogue Input Analogue Output CIA 401 device 0x00000004 0x01027A00 CIA 401 device 0x00000004 0x01027A00 i is Iss ssh ssh CANopen Configuration Studio for IXXAT CME PN User Manual Doc no 4 02 0159 20010 Rev 2 1 44 MAS Ii i CANopen Configuration Studio for IXXAT CME PN Table of Contents 1 Introduction to CANopen Configuration Studio for IXXAT CME PN 2 Important User Information 3 System Requirements 3 1 Installation and First Steps 4 User Interface 4 1 Menu System and Toolbars 4 2 Tool Windows 4 2 1 Project Explorer 4 2 1 1 Device and Group Properties 4 2 2 Device Catalog 4 2 2 1 Device Catalog Navigation 4 2 2 2 Customizing the Device Catalog Appearance 4 2 3 PDO Parameters 4 2 3 1 Configuring the PDO Mapping 4 2 4 Device Parameters 4 3 Workspace Pages 4 3 1 Network Management Configuration 4 3 2 Error Control Configuration 4 3 3 Application Objects 4 3 3 1 Network Variables 4 3 3 2 Default PDO Mapping 4 3 4 Process Image 4 3 5 IXXAT CME PN Timing Parameters 4 3 6 Project
48. H All Rights Reserved 84 CANopen Configuration Studio for IXXAT CME PN 5 2 1 2 Configuration of the SIMATIC S7 300 PLC In the first step of the definition of the PLC setup a SIMATIC station is inserted into the Example1 project Select Insert Station SIMATIC 300 Station from the main menu of the SIMATIC Manager 7 S e Be M ae E 5T Software ST Block Mi Software Symbol Table Text Library External Source Inserts SIMATIC 300 Station at the cursor position Insert SIMATIC 300 station This adds one new SIMATIC 300 station to the project 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 85 s lt A File Edit Insert PLC View Options Window Help Di ae aei 25 22 EE a E lt No Fiter gt 32 S S lz A EA N Ea E xX Example1 project with SIMATIC 300 station 2015 IXXAT Automation GmbH All Rights Reserved 86 CANopen Configuration Studio for IXXAT CME PN Opening the SIMATIC 300 object via the context menu with the keyboard shortcut Ctrl Alt O or by double clicking the Hardware icon in the project will start the HW Config window the allows further configuration of the SIMATIC 300 station aly DSE q g R i t P ew Eind Profile Standard bl ASP PROFIBUS PA H E PROFINET I0 H E SIMATIC 300 H E SIMATIC 400 H E SIMATIC PC Based Control 300 400 H E SIMATIC PC Station SIMATIC 300 PROFIBUS DP slaves for
49. IMATIC Manager is typically installed in the SIEMENS Automation SIMATIC program group SIMATIC Manager File PLC View Options Window Help Mew New Project Wizard Open 7 Memory Card Memory Card File Delete Reorganize Manage Archive Page Setup Previous File Exit Creates a new project or a new library SIMATIC Manager 2015 IXXAT Automation GmbH All Rights Reserved 82 CANopen Configuration Studio for IXXAT CME PN Open the New Project dialog with the File gt New menu item or the corresponding toolbar button and enter Examplel as project name User projects Libraries Multiprojects Storage path Add to current multiproject Name Type Example Project D F Library Storage location path C Program Files sob Siemens Stepe pro Browse Cancel Help ve j New Project dialog of the SIMATIC Manager 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 83 d roe n foam Dia Sh et amp Be we de So Se fo ce EE Se Be lt No Piter gt 92 S amp v O m ER E E Empty Example1 SIMATIC project Now that an empty SIMATIC STEP 7 project has been created we continue to specify the SIMATIC S7 300 CPU unit and the PROFINET configuration to which we will connect the IXXAT CME PN 2015 IXXAT Automation Gmb
50. ME PN 39 The CANopen specifications state that heartbeat and node guarding must not be concurrently used for the same device Thus CANopen Configuration Studio for IXXAT CME PN will require the user to deactivate one of the mechanisms if an entered value would cause both mechanisms to be activated The consumer heartbeat time s object 1016 is configured in an extended context menu The menu is opened by clicking the ellipsis button a which appears when the consumer heartbeat cell is selected The list contains as many entries as supported by the selected device Node ID Consumer Time 1 1500 790 790 Cancel Configuration of Consumer heartbeat time Node ID Contains the node ID of a CANopen device that shall be monitored by the selected device Entries containing the text string Not used are not active Consumer Time Configures the consumer heartbeat time that shall be applied for the selected device When a new device is added the initial value will be preset based on the values in the default section Default Values The default values are used for configuration operations on the error control page The value entered in the Error Control Timeout field is used to preset object 1017 Producer heartbeat time respectively object 100C Guard time on the CANopen slave It is also used to set the Guard time field of the sub index in object 1F81 NMT slave assignment on the NMT master corresponding to the node ID of the CANope
51. MT Startup Gives access to the individual bits of object 1F80 NMT startup for each device in the network implementing this object 2015 IXXAT Automation GmbH All Rights Reserved UJ 4 CANopen Configuration Studio for IXXAT CME PN 1F80h NMT Startup Bit Description NMT master start O Shall switch into NMT state Operational in the process NMT Startup 1 Shall not switch into the NMT state Operational by itself Start node 0 The NMT master shall start the NMT slaves 1 The NMT master shall not start the NMT slaves and the application may start the NMT slaves 0 In case of error control event of a CANopen device defined as mandatory the NMT service reset node with node ID of the CANopen device that caused the error control event shall be executed Reset all nodes 1 In case of error control event of a CANopen device defined as mandatory the NMT service reset node with node ID 0 shall be executed Flying master 0 CANopen device shall not participate the NMT flying master negotiation 1 CANopen device shall participate the NMT flying master negotiation J Note that NMT flying master functionality is not supported by the IXXAT CME PN gateway Stop all nodes 0 In case of error control event of a CANopen device defined as mandatory the action as defined by bit 4 shall be executed 1 In case of error control event of a CANopen device defined as mandatory the NMT service Stop remote node with n
52. NTITY Entry description Description Highest sub index supported PDO mapping O Value range Olp 04h Default value Profile or manufacturer specific 2015 IXXAT Automation GmbH All Rights Reserved 122 CANopen Configuration Studio for IXXAT CME PN Attribute ro Access Value range UNSIGNED32 Default value Profile or manufacturer specific 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 123 6 1 5 Object 1F80p NMT Startup This object configures the startup behavior of a CANopen device Internal state transitions do not result in changes the value of this object An attempt to change a bit of a functionality that is not supported by the CANopen device is responded with an abort message abort code 0609 0030 The first figure below describes the overall structure of the NMT startup object the second figure the bit oriented structure of the configuration value The subsequent tables describe the allowed values 31 24 23 16 15 8 7 0 MSB LSB Object 1F80 bit structure of the value 7 6 5 4 3 2 1 0 reserved Op Stop all Flying Reset all Start node NMT master Start all NMT master nodes master nodes start nodes MSB LSB Object 1F80 bit structure of the configuration value Value NMT master bit 0 Description CANopen device is not NMT master The entries of the object 1F81p are ignored All other bits of object 1F80 are ignored CANo
53. Output A o1_6200_01_ d 01_6200_02 4 d 1_6411_01_ j 01_6411_02 01_6000_01_Aead_input_0 01_6000_02_Aead_input_0 01_6000_03_Read_input_1 O1_ 6000_04 Read_input_1 O2_6000_01_Read_input_O O2_6000_02_Read_input_O O2_6O00_03_Read_input_1 9 O2_6000_04 Read _input_1 Oo Op an E cd j Po ot as pa bey 03_6000_01_Read_input_O0 O3_ 6000_02_Read_input_O O3_ 6000_03_Read_input_1 O3_ 6000_04 Read_input_1 01_6401_01_Analog_input 01_6401_02_Analog_input 01620001 Wwrite_output O1_6200_02_Wirite_output PROFIBUS OP slaves for SIMATIC S M te 01 6411_01_Analog_outpue and C distributed rack 01_6411_02_Analog_outpu Gateway Hbl H IO Network Coarnincnerits mi H E H E H E Press Fl to get Help Online window to access application objects configured into the IXXAT CME PN process image We can now monitor or modify I O parameters of remote CANopen devices In the ONLINE window select the IXXAT CME PN device Right click on the module 01 6411 01 Analog outpu and select select Monitor Modify This will display a dialog that lists the select module its address and the display format In the Modify value column enter the process value that will be written from the SIMATIC S7 CPU via the IXXAT CME PN gateway into the remote CANopen device 2015 IXXAT Automation GmbH All Rights Reserved 108 CANopen Configuration S
54. Output 8 bit 6 3 3 6401h Read Analog Input 16 bit 6 3 4 6411h Write Analog Output 16 bit 7 Glossary 8 References 9 Support Addresses 2015 IXXAT Automation GmbH All Rights Reserved 139 140 141 142 143 144 145 146 153 154 156 157 158 159 160 161 162 163 164 165 166 167 168 170 171 4 CANopen Configuration Studio for IXXAT CME PN Introduction to CANopen Configuration Studio for IXXAT CME PN CANopen Configuration Studio for IXXAT CME PN is an easy to use tool that supports generation of configuration data for the IXXAT CME PN PROFINET RT to CANopen gateway from IXXAT Automation GmbH The IXXAT CME PN is a powertul and easily configurable gateway for connecting CANopen devices and networks to PROFINET systems The IXXAT CME PN converts PROFINET RT frames to CANopen frames and vice versa On the PROFINET side it features a built in 2 port switch On the CANopen side up to 120 CANopen devices can be connected Detailed hardware information is included in IXXAT CME PN hardware manual 1 The IXXAT CME PN is configured via USB interface or remote via Ethernet When configured it acts as customer specific PROFINET IO device and as CANopen manager with functionality according to CiA 301 and CiA 302 The IXXAT CME PN maps PROFINET slots to CANopen network variables It supports a wide range of applications from short cycle times with few variables up to longer cycle times with a large number of variables CANopen is an int
55. PDO set Ens file for CIA 402 drives and motion control device PDO set for servo drive E Cid 404 Measuring Devices and Closed Loop Controllers a Digital Input Block Analogue Input Block Digital Dutput Block Alarm Block e pA AOS digital O analog alarm EDS file for CiA 404 digital I O analog input device alarm block lt El output 4 Error List Device Catalog Management dialog 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 57 Within the list of imported devices the following information is displayed if available in the electronic data sheet for the device If the data cannot be extracted from the device data the corresponding column is left empty Multi purpose column that contains the vendor name a textual description of the additional information field in 1000 Device type The nodes may be ordered by manufacturer or device profile The value of the description field of the FileInfo section in the EDS file Vendor ID Vendor ID as assigned by CAN in Automation contained in object 1018p sub index Oty Product Code Manufacturer specific product code contained in object 1018 sub index 02 Manufacturer specific revision number contained in object 1018 sub index 03 Hardware Version Hardware version as contained in the electronic data sheet for the device The value presented in the list is extracted from object 1009 Manufacturer hardware version Sof
56. PN xin Monitor Modify 01_6000_01_Read_input_0 R Sl xa Online via assigned CPU services Path Example SIMATIC 30001 CPU 317 2 PN OF Display format Status value Modify value Ao Row Not Effective Update Force Symbol with F5 Run conditionally Run immediately Monitor Go Status Value Modify I Modify Value i 1 0 Display Ee Trigger Close Monitor Modify dialog in ONLINE mode for a digital input object 2015 IXXAT Automation GmbH All Rights Reserved 109 110 CANopen Configuration Studio for IXXAT CME PN 5 3 Command and Diagnostics Interface The IXXAT CME PN gateway implements a command and diagnostics interface The command interface enables the user to control the CANopen manager and the remote CANopen devices e The diagnostic interface enables the user to identify failed remote CANopen devices and to retrieve corresponding error information The remote access interface enables the user to read and write any object dictionary entry of a remote CANopen device The command object and the diagnostic objects are included in the object dictionary of the CANopen manager The user accesses the object dictionaries of both the CANopen manager and the remote CANopen devices via SDOs 5 3 1 SDO Command Sequence To read SDO upload or write SDO download CANopen object dictionary entries either in IXXAT CME PN or the remote CANopen slave device the following sequences have to be executed T
57. RR 3000 Gateway application main loop measurements for internal use only ARE 3001 Gateway application new data interval measurements for internal use only ARR 3002 Gateway application r free interval measurements for internal use only Process image byte order 0 litte endian 1 big endian Status CANopen manager Assigned slaves but list Configured slaves bit list Fault slaves bit list Operational slaves bit list Stopped slaves bit list Pre operational slaves bit list Error state bit list Inconsistent concise DCF bit list Wrong concise DCF bit list Identity error bit list Configuration of the process image byte order 5 1 3 Add Devices to the Project After an empty project has been created in CANopen Configuration Studio for IXXAT CME PN slave devices can be added to the network In this example one of the CANopen slave device templates that are included in the device catalog by default is used but it can be any other type of CANopen device that has been added to the device catalog prior to this step To use any other device the corresponding device description file EDS for this device has to be imported into the device catalog To add a device to the CANopen network open the corresponding navigation pane in the Device Catalog tool window select the device that shall be added to the network description and drag it to the Project Explorer window and drop it there For each device a logical name has to be
58. SD in format hhmmss hh is 00 up to 24 The indication of the release time is optional but used by IXXAT Automation GmbH 7 xml file extension For the example project the file name of the GSDML file is thus GSDML V2 3 IXXAT Example1 20131022 234911 xml 2015 IXXAT Automation GmbH All Rights Reserved 90 CANopen Configuration Studio for IXXAT CME PN Ainstall GSD Files Install GSD Files from the director u sers Public D ocuments e047 CANopen Configuration Studio for a7 CME PN Projects Browse GSOML V2 S les47 Examplel 20751022 25491 1 5m 10 24 2013 11 45 11 PM V2 5 English Install Show Log Select All Deselect All Selection of the GSD file to be inserted into the hardware catalog Close the dialog and navigate to the hardware catalog The IXXAT CME PN device will be installed under the category PROFINET IO Additional Field Devices gt Gateway IXXAT CME PN 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 91 a PROFINET 10 o H Additional Field Devices ce Gateway H E AT CME PN Yaa AAAT CME PN Example 2073 10 22 23 49 71 Fl Input Pi 016000 01 Read_input_01h_to_Oeh 01 BOO0_02_Read_input_O9h_to_10h 01_6000_03_ Read_input_11h_to_18h 01_6000_04_Read_input_19h_to_20h O01 6407 01 Analog input Oth U1 6401 02 _4nalog_ input O2h U2 6000 01 Read_input_01h_to_Oeh U2 BOOO_O2_Read_input_O09h_to_10h U2 6OOO_O3_Read_input_11h_to_18h
59. STEP 7 program In the SIMATIC Manager window select the SIMATIC S300 1 node in the Examplel tree and then in the menu system select PLC Compile and Download Objects f SIMATIC Manager Examplel C Program Files x86 Siemens Step7 s7 proj Examplel o mec EP File Edit Insert View Options Window Help alx Access Rights Ve SR a mpe Example Download Ctrl L i fa CPU 317 2 Configure Ctrl k Compile and Download Objects Upload to PG Upload Station to PG Copy RAM to ROM Download User Program to Memory Card Save to Memory Card Retrieve from Memory Card Manage M7 System Display Accessible Nodes Change Module Identification CPU Messages Display Force Values Monitor Modify Variables Diagnostic Setting PROFIBUS Edit Ethernet Node Assign PG PC Cancel PG PC Assignment Update Firmware Update the Operating System Save Service Data Access address Compiles downloads the objects to be selected under the highlighted objects Compile and Download Objects In the compile and Download Objects dialog select the Compile only checkbox and select all objects Start the compilation with the Start button On completion close this dialog 2015 IXXAT Automation GmbH All Rights Reserved 100 CANopen Configuration Studio for IXXAT CME PN Selection table Objects Status Operating Mode E E SIMATIC 300 1 PB aware e ES Ui A E ee Bork E a a
60. SYNC messages after Size bit which a TPDO is transmitted may be specified Contains the size of the object in bits Parameter Name The name of the default mapped object according to the EDS Denotation The alternative name for the object as specified by the user The value can not be changed here 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 45 4 3 4 Process Image The process image page displays the process image of the CANopen manager that is created by the configuration Network Management Configuration Error Control Configuration Application Objects z Direction Index Sub Index Parameter Name a E e c e EE 90000000 ead input 09h to 10h UNSIGNEDS O0000001 Read input 11h to 18h UNSIGNEDS O0000002 Read input 19h to 20h UNSIGNEDS 00000003 Read input 21h to 28h UNSIGNEDS QO0000004 Read input 29h to 30h UNSIGNEDS 00000005 Read input 31h to 38h UNSIGNEDS O0000006 Read input 39h to 40h UNSIGNEDS Analog input 01h INTEGER16 00000008 Analog input 02h INTEGER16 OOD00004 Analog input 03h INTEGER16 OOD00007 Analog input 04h INTEGER16 OO00000E Wiite output 01h to 10h UNSIGNED16 OD0D00000 Write output 11h to 20h UNSIGNED16 Write output 21h to 30h UNSIGNED16 Process Image workspace page The process image page is subdivided into the following main regions D Toolbar t Process image list Toolbar The tool bar interfaces to commands related to the process grou
61. T Automation GmbH All Rights Reserved 150 CANopen Configuration Studio for IXXAT CME PN abides ome E such as heartbeat or node guarding errors or on detected boot up messages the bit flag for the particular CANopen slave is cleared Devices that have been detected in the network but are not declared as CANopen slave devices assigned to the CANopen manager will be set into NMT state Pre operational by default to prevent network disruption The bit flag for these devices is set to 1 in the pre operational slaves bit list OO Highest sub index supported UNSIGNED8 es Olp Node ID 01 20 UNSIGNED32 Bit n represents node ID n 1 02h U O34 4h Node ID 21 40h NSIGNED32 Bit n represents node ID n 33 Node ID 41 60 UNSIGNED32 Bit n represents node ID n 65 Node ID 61 7Fh UNSIGNED32 Bit n represents node ID n 97 Bit 31 is always 0 ARRAY 0 Slave has transmitted at least one emergency message the corresponding device is not error free Node ID 61 7Fr UNSIGNED32 Bit n represents node ID n 97 Bit 31 is always 0 Inconsistent concise DCF bit list ARRAY Bit flag list of CANopen slave devices for which a format error has been detected in the concise Emergency slaves bit list 00h Olp 02 03 Ah 0 U1 O O N gt Ul 0 0 5 DCF data containing the configuration information for the slave device Node ID 01 20 UNSIGNED32 Bit n represents nod
62. U2 BOOO 04 Read_input_19h_to_20h U3 6OO0 01 Read_input_O1h_to_Oeh U3 _6OO0_02_Read_input_O9h_to_10h U3 _6OOO_O3_Read_input_11h_to_18h U3 6000 04 Read_input_19h_to_ 20h Ea Output _ d 01 6200 01 write output 01h to Ogh ven d 01 6200 02 write_output_O9h to 10h _ d 01 641_01_ Analog output 01h m 01 641_02 Analog output 02h SIMATIC STEP 7 hardware catalog with the IXXAT CME PN GSD added to the list of available devices Under the IXXAT CME PN device we also find categories for input and output Opening these categories we identify exactly those application objects of the CANopen slaves devices that have been added to the process image of the CANopen manager on the IXXAT CME PN during the prior CANopen network configuration As naming convention CANopen Configuration Studio for IXXAT CME PN uses a concatenation of the CANopen devices node ID the object index and sub index and the parameter entry name Example Ol 6000 01 Read input Oln to Och Node ID of the remote CANopen slave 01 Object index 6000 Object sub index 01 Parameter name Read input Olh to 08h We continue to add the IXXAT CME PN gateway to the PROFINET IO system in our SIMATIC STEP 7 project 2015 IXXAT Automation GmbH All Rights Reserved 92 CANopen Configuration Studio for IXXAT CME PN Add the IXXAT CME PN Gateway to the PROFINET IO System In the hardware catalog expand the PROFINET IO Additional Field Devices Gateway IXXAT CME PN category in th
63. XAT Automation GmbH All Rights Reserved Payload Payload PDO Total byte bit PDO Node ID Length frame Data Type Length2 0x11 RPDO1 UNSIGNED16 RPDO3 UNSIGNED16 UNSIGNED32 TPDO3 UNSIGNED16 UNSIGNED32 2 UNSIGNED16 ope o ERRE ERRE PoP o UNSIGNED16 48 95 UNSIGNED32 ERRE PoP o ERRE ERRE 0x12 RPDO1 RPDO3 TPDO3 UNSIGNED16 UNSIGNED32 UNSIGNED16 2 0x13 RPDO1 RPDO3 UNSIGNED16 UNSIGNED32 TPDO3 UNSIGNED16 UNSIGNED32 50 CANopen Configuration Studio for IXXAT CME PN PDO PDO Mapping Payload Payload PDO Total e byte bit PDO Aeee 2a Type Length frame Length2 Total PDO payload byte 1 Frame length in bits covering payload plus CAN protocol overhead 44 bit plus inter frame space 3 bit 2 Total frame length in bit allowing for 4 overhead due to CAN stuff bits for statistically generated data bit sequences PROFINET update time according to criterion 1 At a CAN bit rate of 125 kbit s this results in a total PDO transmission time of 6 3 ms Not considering asynchronous services and events such as SDO transfers or emergency messages or NMT error control services the PROFINET update time has to be set to at least 8 ms to avoid loss of process data If the PROFINET update time was set to 4 ms a warning icon would be displayed behind the total PDO transmission Application Objects Process Image Timing Parameters Error Control Configurati
64. alized periphery and distributed automation Specification for PROFINET version 2 2 PNO Order No 2 722 Application layer protocol for decentralized periphery and distributed automation Specification for PROFINET version 2 2 PNO Order No 2 352 GSDML Technical specification for PROFINET IO version 2 3 SIEMENS Order number 6ES7810 4CA10 8BWO SIMATIC Configuring Hardware and Communication Connections STEP 7 05 2010 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 169 2015 IXXAT Automation GmbH All Rights Reserved 170 CANopen Configuration Studio for IXXAT CME PN 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 171 9 Support Addresses Support Sweden HQ France Italy North America Tel 46 35 17 29 20 Tel 33 3 89 32 76 41 Tel 39 039 59662 27 Tel 1 312 829 0601 E mail support hms networks com E mail fr support hms networks com E mail it support hms networks com E mail us support hms networks com China Germany Japan Tel 86 10 8532 3023 Tel 49 721 989777 300 Tel 81 45 478 5340 E mail cn support hms networks com E mail ge support hms networks com E mail jo support hms networks com Denmark India UK amp Eire Tel 46 35 17 29 20 Tel 91 20 40111201 Tel 46 35 17 29 20 E mail support hms networks com E mail in support hms networks com E mail support hms networks com HMS Industrial Network
65. all blocks of PLC Example Expand Example and select Blocks CON DMN BRWHN f SIMATIC Manager PLC Example ol meen File Edit Insert PLC View Options Window Help D ar ot amp in Sa 20 EE RH lt No Fiter gt 1 we SEM E PLC Example ixxat fs1 hms se data_m Tmp _Transfer mame PLC Example PLC Example System data io 081 io 08100 a ga SIMATIC 300 1 ia FB2 ia DB52 CPU 317 2 PN DP ga SFBS2 8 7 57 Program 1 By Sources a Blacks E Examplel C Program Files x86 Siemens Step7 s proj Examplel 1 o amp s p Example System data ia 0B1 a g SIMATIC 3001 ff CPU 317 2 PN DP sq 57 Program 1 By Sources 0H Blocks Press F1 to get Help S7 Program Blocks of PLC Example project 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 9 10 11 12 13 14 15 Drag all blocks of PLC Example and drop them in Example Confirm overwriting of all blocks Select S7 Program Symbols in the PLC Example window Select S7 Program Symbols in the Example window Drag Symbols of PLC Example and drop them in Example1 Confirm replacing of symbols Close PLC Example You may now repeat the tests of the section Working in Online Mode 5 3 4 CANopen SDO Example Blocks The following table gives an overview of the blocks and symbols of the project PLC Example The
66. ame arbitration control CRC and ACK fields EOF and inter frame Space are added An estimated 4 is added to each TPDO to cover for possible stuff bits in the CAN frames The resulting value is rounded up to the next full byte This estimate is based on the assumption that each TPDO is transferred exactly once within one PROFINET update time Total PDO Transmission Textbox Information Total PDO length divided by the CANopen bit rate Time A warning icon A is displayed next to this textbox if the estimated total PDO transmission time exceeds the PROFINET update time 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 49 Example Calculation of the PDO Transmission Time For the example calculation the CANopen project as depicted above is used e IXXAT CME PN as CANopen manager device e 3 CIA 402 compliant CANopen servo drives each with RPDO1 2 byte payload RPDO3 6 byte payload and TPDO3 6 byte payload active PDO PDO Mapping S E Control 6040h 00 word Control 6040 00 word Target 607A OO position Status 6041 O01 word Actual 6064 OO position Control 6040 OOh word Control 6040 00 word Target 607A OO position Status 6041 001 word Actual 6064 OO position Control 6040 OOh word Control 6040 OOh word Target 607Ap OO position Status 6041 001 word Actual 6064 OO position 2015 IX
67. and one IXXAT CME PN PROFINET to CANopen gateway device CAN cen Network Topology Example 1 PC with CANopen Configuration Studio for IXXAT CMEJPN and SIMATIC STEP 7 Import device Program link Ethemet lt a oo Configuration link USB Bus termination CAN bus E PROFINET 7 SIMATIC 37 300 IX AT CME PN PROFINET PROFINET IO Device IO Controller CANopen Manager Bus tenmination GIA 401 I O modules node ID 0x01 0x03 Create a new CANopen network project with CANopen Configuration Studio for XXAT CME PN Configuration of the byte order representation of the IXXAT CME PN process image Add CANopen slave devices to the project Selection of the application objects to be mapped into the process image of the IXXAT CME PN PDO calculation and inspection of the process image layout Configuration of NMT error control functionality Configuration of CANopen and PROFINET timing parameters Generation of CANopen configuration data Download of configuration data to a IXXAT CME PN gateway 2 OO ae eS Ne 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 65 5 1 1 Create a new Project To prepare a new configuration for a IXXAT CME PN by IXXAT Automation GmbH start CANopen Configuration Studio for IXXAT CME PN and create a new project To create a new project either select the File New menu item or use the Ctr1 N or Alt F N keyboard shortcuts or accelerators This operation will o
68. ation Edit Ethemet Node Ethernet node Nodes accessible online MAC address 00 05 94 03 24 44 Browse Set F configuration Use IP parameters Gateway Do i 32 165 10 2 f Do not use router Subnet mask 255 255 255 0 C Use router CC Obtain IP address from a DHCP server Identified by G Client ID Assign IP Configuration Assign device name Device name S84 T CME PN Assign Mame Reset to factor settings Reset seo Edit Ethernet Node dialog Assign IP address subnet mask and device name The basic configuration steps are now finalized In the next section we add required S7 program blocks to the PLC program 2015 IXXAT Automation GmbH All Rights Reserved 98 CANopen Configuration Studio for IXXAT CME PN 5 2 1 6 Add S7 Program Blocks Compiling the S7 300 hardware configuration automatically creates the program cycle organization block OB1 This block is required to execute the user program in the S7 CPU OB1 is executed periodically by the operating system of the S7 CPU To successfully operate IXXAT CME PN with a SIMATIC S7 CPU organization blocks OB83 and OB86 have to be created in addition OB83 and OB86 are required by the Return of submodule alarm which is mandatory according to the PROFINET specification For further information on OB83 and OB86 consult the SIMATIC STEP 7 documentation or the online help of the SIMATIC manager To create OB83 and OB86 navigate to the SIMATIC Ma
69. available with a tooltip The input field is disabled if the functionality is not supported by the selected PDO Event timer for the selected PDO in multiples of 1 millisecond If the value entered by the user exceeds the allowed value range an error icon is displayed to the right of the input field Event Timer When positioning the mouse pointer over the error icon detailed error information is available with a tooltip The input field is disabled if the functionality is not supported by the selected PDO Lock PDO Checkbox to prevent the current PDO configuration from being modified by the PDO mapping calculator If checked the current PDO mapping CAN ID and transmission type of the PDO cannot be changed If unchecked the PDO mapping may be configured using the toolbar of the PDO list For details on how to change the PDO mapping see the section on Configuring the PDO Mapping 2015 IXXAT Automation GmbH All Rights Reserved 28 CANopen Configuration Studio for IXXAT CME PN 4 2 3 1 Configuring the PDO Mapping The mapping of application objects into the transmit and receive PDOs of a device can be changed using the commands available in the toolbar or the context menu The user may add objects to a PDO remove object from a PDO or change the sequence in which the application objects appear within the PDO E To be able to modify the PDO mapping the CANopen device has to support variable or dynamic PDO mapping This implies
70. ble to inform the user on the result of a configuration calculation or errors occurred during the calculation For detailed information on the tool windows see the following sections icon fome oeo SSS f _ rokct pow Denton of Aopen deer avata nine remo Device Parameters Direct configuration of device parameter that are not configured by either the PDO parameters tool window or via the automated calculation of configuration data based on the workspace tab page input settings Tool window containing textual status and error information generated by CANopen Configuration Studio for IXXAT CME PN By default auto hide is enabled and the window is in hidden state at the bottom of the main application window The Output tool window will become visible as soon as CANopen Configuration Studio generates new output information Error List The information in the Error List tool window is identical to the Output tool window however the Error List tool window supports selective filtering for errors warnings or messages 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 13 4 2 1 Project Explorer The Project Explorer tool window lists all devices that are added to the current CANopen Configuration Studio ible Device Profle Device Name Vendor Name Manager 127 0h7F IXXAT CME PN DOCAT CME PN DOUAT Automation GmbH El Serve control 17 0x11 Servo drive X axis GA 402 servo controlle
71. ce profile Part 2 Operation modes and application data version 3 0 0 CiA 402 3 CANopen drives and motion control device profile Part 3 PDO mapping version 3 0 0 CiA 404 CANopen device profile for measuring devices and closed loop controllers version 1 3 0 CiA 406 CANopen device profile for encoders version 3 2 0 CiA 408 CANopen profile for fluid power technology proportional valves and hydrostatic transmissions version 1 5 2 CiA 410 CANopen device profile for inclinometer version 1 3 0 EN 50325 4 2002 Industrial communications subsystem based on ISO 11898 CAN for controller device interfaces Part 4 CANopen IEC 61800 7 1 2007 Adjustable speed electrical power drive systems Part 7 1 Generic interface and use of profiles for power drive systems Interface definition IEC 61800 7 201 2007 Adjustable speed electrical power drive systems Part 7 201 Generic interface and use of profiles for power drive systems Profile type 1 specification IEC 61800 7 301 2007 Adjustable speed electrical power drive systems Part 7 301 Generic interface and use of profiles for power drive systems Mapping of profile type 1 to network technologies PNO Order No 2 702 Overview and guidance for PROFINET specifications Guideline for PROFINET version 2 3 PNO Order No 7 042 PROFINET IO conformance classes Guideline for PROFINET IO version 1 1 PNO Order No 2 712 Application layer services for decentr
72. cific This field is read only if the object is mapped via default mapping No of SYNC If the transmission type is set to Synchronous cyclic this field allows to configure the number of SYNC messages that have to be received before the PDO producer samples input data and triggers the PDO transmission The field is disabled if a transmission type other than Synchronous cyclic is configured The default value is 1 the allowed value range 1 240 Configures an alternative name for the object entry 2015 IXXAT Automation GmbH All Rights Reserved 42 CANopen Configuration Studio for IXXAT CME PN Context Menu Select All of Device Adds all application objects of the selected device for which the PDO mapping attribute is set to true to the process image of the CANopen manager Select Default Opens a dialog which allows the selection of PDOs including their default application object Mappings of Device mapping according to the device description data in the EDS file Remove All of Removes all currently selected application objects of the selected device from the process Device image of the CANopen manager Global Parameters The global value section allows to configure parameters which apply to the PDO mapping and PDO communication in general The Communication Cycle Period specifies with which interval a SYNC producer shall transmit a SYNC message The field corresponds to object 1006 Communication cycle period of the
73. cription for object 5011p Error code FFXXh 5018h CANopen slave emergency history ARRAY If no emergency message has yet been received by a CANopen slave that is part of the CANopen network byte O returns the value zero The size of the domain is one Else the value of byte 0 specifies the number of the last emergency message received 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 153 index Sub index Name Type Description The data of the emergency messages are copied into the queue in the same order as they were received LSB first Every emergency message consists of exactly 8 bytes Node ID Olp DOMAIN Emergency history for node ID Olp Tfn Node ID 7Fp DOMAIN Emergency history for node ID 7Fp 50201 C ea network diagnostics UNSIGNED48 see CANopen network diagnostics ee description 5030 Fatal error Fatal errorlog RECORD Oln Number Number of fatal errors fatal errors UNSIGNEDI6 p peee Fatal error log DOMAIN Contact Technical Support ee details 2015 IXXAT Automation GmbH All Rights Reserved 154 CANopen Configuration Studio for IXXAT CME PN 6 2 3 Object 5020p CANopen Network Diagnostics Object General summary of state of CANopen manager CANopen slave devices and the CAN network Value definition CANopen network diagnostics CANopen manager Value coded state machine 0 Waiting for CANopen initialization or CANopen initializa
74. d 03 6000 0 Read input 07 A 03 6000 02 Read_input_O JA 03 6000 03 Read input 17 H 03 6000_04 Read input 17 fa 01_64071_O1_Analog_input E 01_6401_02_Analog_input J 016200 01 write output E 016200 _ 02 write output PROFIBUS OP slaves for SIMATIC S7 M7 te 01 641101 Analog outpu a and C distributed rack A 01_6411_02 Analog outpu HRE Saves and creates all system data in the current station Open the SIMATIC station in ONLINE mode 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 107 This will open the online window for the hardware configuration of the SIMATIC 300 project XY HW Config SIMATIC 300 1 Diagnostics ONLINE cae Hil Station Edit Insert PLC View Options Window E x De i g f o x Find AtA il ey CPU 317 2 PN DP 1 Profile Gtandard PROFINET PROFINET IO System 100 38 PROFIBUS DP ASE PROFIBUS PA ES PROFINET I0 EH Additional Field Devices Ef Gateway Eig XAT CME PN Elgg V2 3 IXXAT CME PN E El Input i fd O1_B000_01_F o bel O1_B000_02_F A 1 AT CME PN J o1_s000_03_F i he E O1_BOO0_04_F Slot Module Order number address Q address Diagnostic address Comment E ieg O1_B401_O1_4 ay KA FOE AN PIE E 2 O1_6401_02 4 Age Jofedtace ETRE E he E 02_6000_01_F At PF PE i be E o2 6000 02 F At Fe EEL E ff 02_6000_03_F ff 02 6000 04 F j 03 6000_01_F d 03 6000 02 F d 03_6000_03_F d 03 6000_04_F
75. data from the IO controller The update time may be configured separately for each IO device and determines the interval at which data is sent from the IO controller to the IO device output module as well as from the IO device to the IO controller input module RPDO Receive PDO SDO Service Data Object SYNC Synchronization object TPDO Transmit PDO 2015 IXXAT Automation GmbH All Rights Reserved 168 CANopen Configuration Studio for IXXAT CME PN 8 References IXXAT 4 01 0261 20000 Hardware manual IXXAT CME PN CANopen PROFINET gateway CiA 301 CANopen application layer and communication profile version 4 2 0 CiA 302 1 CANopen additional application layer functions Part 1 General definitions version 4 1 0 CiA 302 2 CANopen additional application layer functions Part 2 Network management version 4 1 0 CiA 302 3 CANopen additional application layer functions Part 3 Configuration and program download version 4 1 0 CiA 302 4 CANopen additional application layer functions Part 4 Network variables and process image version 4 1 0 CiA 303 3 CANopen recommendation Part 3 Indicator specification version 1 4 0 CiA 306 CANopen electronic data sheet specification version 1 3 0 CiA 401 CANopen device profile for generic I O modules version 3 0 0 CiA 402 1 CANopen drives and motion control device profile Part 1 General definitions version 3 0 0 CiA 402 2 CANopen drives and motion control devi
76. datory for analog input modules Object description Index 64011 Object name Read analog input 16 bit Object code ARRAY Data type INTEGER16 Category conditional mandatory if the device supports analog inputs Entry description Attribute PDO mapping Value range Olp FE Description Analog input Olp Access PDO mapping TPDO Value range INTEGER16 to 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 163 Attribute Sub index Description Entry category Access PDO mapping Value range Default value TPDO INTEGER16 2015 IXXAT Automation GmbH All Rights Reserved 164 CANopen Configuration Studio for IXXAT CME PN 6 3 4 Object 6411p Write Analog Output 16 bit This object writes an unsigned 16 bit value to an analog output channel The object is mandatory for analog output modules Object description Attribute Index Object name Object code Data type Category Entry description Attribute Sub index Description Entry category Access PDO mapping Value range Default value Attribute Sub index Description Entry category Access PDO mapping Value range Default value to Value 6411 Write analog output 16 bit ARRAY INTEGER16 conditional mandatory if the device supports analog outputs Olp FE 01 h Analog output Olp 2015 IXXAT Automation GmbH All Rights Reserved CANopen C
77. device name Object description Entry description Attribute Sub index Access PDO mapping Value range VISIBLE_STRING Default value Manufacturer specific 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 121 6 1 4 Object 1018p Identity Object This object provides general identification information of the CANopen device e Sub index 01 contains a value that is allocated uniquely to each vendor of a CANopen device The value 0000 0000p indicates an invalid vendor ID The value is assigned exclusively by CAN in Automation Sub index 02 contains a value that identifies a specific type of CANopen devices The value of 0000 0000 is reserved Sub index 03 contains the major and the minor revision numbers of the CANopen device The major revision number identifies a specific CANopen behavior That implies that if the CANopen functionality is different the major revision number is incremented The minor revision number identifies different versions of a CANopen device with the same CANopen behavior The value of 0000 0000 is reserved 31 16 15 0 MSB LSB Structure of the pre defined error field e Sub index 04 contains a serial number that uniquely identifies a CANopen device within a product group and a specific revision The value of 0000 0000 is reserved Object description Value Index 1018 Object name Identity object Object code RECORD Data type IDE
78. e amp Bo eo Gc Se kh Gl SIMATIC 300 Configuration Examplel Find Profile 9 CPU 3140 2 PN DP 5 CPU 3140 2 PIP 5 CPU 315 E CPU 315 2 OP JEJ CPU 315 2 PN DP 9 CPU 315F 2 DP JEA CPU 315F 2 PN DP 9 CPU 316 9 CPU 316 2 DP 9 CPU 317 2 JEJ CPU 317 2 PN DP GI GES 317 260 0480 I 5 BES 317 2EK13 04B0 CPU 317 2 PN DP __PROFINET PROFINET 0 System 100 CPU 317F 2 CPU 317F 2 PH DF CPU 318 2 CPU 319 3 PN DP CPU 319F 3 PH DF DODOOD e C U Cc T a 0 UR Aae ooo Module mae o number a address address ae address Comment z Doaa ea a G o ar eaer o ee ar ae o o S ae S anaa a o o S e S Oo Oo S el FM 300 Gateway IhM 300 a on oo mm mm H H H EH RACK 300 fA F SIMATIC 400 H E SIMATIC PC Based Control 300 400 7 BES 317 2EK13 04B60 alt 1024 EB work memory 0 05ms1 000 instructions PROFINET connection S7 Communication loadable FBs FCa Insertion possible SIMATIC STEP 7 hardware configuration with CPU 317 2 PN DP CPU and PROFINET IO system Continue now to add the PROFINET device description for the Example1 IXXAT CME PN project to the hardware catalog 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 89 5 2 1 3 Add the PROFINET Device Description In the hardware configuration window select Options Install GSD File from the main menu Eh HW Config SIMATIC 300 1 ae
79. e monitoring of a heartbeat producer will start with the reception of the first heartbeat transmitted by the CANopen device As this entry may contain a different value for each monitored device a drop down menu is available for detailed configuration of the consumer heartbeat times The drop down menu may be opened by clicking the ellipsis button m which appears if a cell is selected Guard Time Slave Configures object 100C Guard time for the selected CANopen device The value is specified in milliseconds and specifies the interval within which the slave expects a guarding request by the NMT master in order to consider it functional Life Time Factor Configures object 100D Life time factor for the selected CANopen device The value is specified in milliseconds The value specifies how many successive times a missing guarding by the NMT master e will be tolerated before an error event is raised on the CANopen device Guard Time Master Configures the Guard time field of object 1F81 NMT slave assignment The value is specified in milliseconds and configures the cycle time for the node guarding of the CANopen device Retry Factor Configures the Retry factor field of object 1F81 NMT slave assignment The value specifies how many successive times a missing guarding response will be tolerated before the CANopen slave is considered unavailable 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT C
80. e Device Name 127 0x7F DXXAT CME PN XAT CME PN Slaves 1 0x01 VO module 1 14 401 digital analog l O 2 0x02 VO module 2 CIA 401 digital analog 0 3 0x03 VO module 3 CIA 401 digital analog 10 CANopen project populated with a CANopen manager and three CANopen slave I O devices Now that we have described the composition of the network we can continue to select the process data that shall be exchanged between the CANopen manager and the slave devices 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 71 5 1 3 1 Import CANopen Devices to the Device Catalog If it is required to integrate additional devices into a CANopen network to configure them with CANopen Configuration Studio for IXXAT CME PN their device description information has to be imported into the device catalog first To do this the corresponding EDS files are required Those files are either shipped with the devices or available from the WWW pages of the device vendor In the example the description for an Anybus S module by HMS Industrial Networks is imported into the device catalog gt gt E CANopen Configuration Studio EDS Search EDS Organize New folder UY Favorites Type BE Desktop F EDS_ABS COP V 31201 Electronic Data Sheet m Downloads S Recent Places Libraries ji Computer ti Network Selection of an EDS device description file This adds the device to the
81. e ID n 1 Node ID 21 40 UNSIGNED32 Bit n represents node ID n 33 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 151 Node ID 41 60h UNSIGNED32 Bit n represents node ID n 65 Node ID 61 7Fh UNSIGNED32 Bit n represents node ID n 97 Bit 31 is always 0 ARRAY 5009p Bit flag list of CANopen devices for which the internal structure in the concise DCF data does not correspond to the object dictionary layout of the connected CANopen Mismatching concise DCF bit list slave device This case is detected if the download of configuration data to the CANopen slave device is terminated by means of a SDO abort protocol Node ID 61p 7Fh UNSIGNED32 Bit n represents node ID n 97 Bit 31 is always 0 500An Identity error bit list ARRAY Bit flag list of CANopen slave devices for which the identity information in the arrays 1F84p to 1F88p does not correspond to the identity information retrieved from objects 1000 and 1018 sub index 01 to 04 of the CANopen Slave device f Node ID Olp 20h UNSIGNED32 Bit n represents node ID n 1 Node ID 21 40h UNSIGNED32 Bit n represents node ID n 33 03 Node ID NodeID 41 60 60h UNSIGNED32 Bit n Bit n represents node ID n 65 node ID Bit n represents node ID n 65 ID 61 7Fh UNSIGNED32 Bit n represents node ID n 97 Bit 31 is always 0 5010 Node error count ARRAY The CANopen
82. e device tree Select the node corresponding to the previously created example project drag it into your SIMATIC 300 configuration and drop it onto the PROFINET IO system 5 2 1 4 Dh HW Config SIMATIC 300 1 Configuration Examplel o E E Gil Station Edit Inset PLC View Options Window Help E x Dia ay g a oa A Ak oj x Fins f aay CPU 317 2 PN DP 7 one E _PROFINET PROFINET IO System 100 E F AR PROFIBLIS PA H E PROFINET I0 E29 Additional Field Devices EM Gateway Eig XAT CME PN Elgg W2 3 IMAT CME PN E El Input 01_6000_01_F i bei O1_6000_02_F 1 sAT CHE FPN E s 01_6000_03_F _ 01_6000_04_F Slot Module Order number address O address Diagnostic address Comment o o 01_6401_01_4 a ALNE Ae ie ae eeroe sd RF O1_6401_02 4 Me g dotediare ree ew Gf 02_6000_01_F Were i Aer ree E p o2 5000 02 F sree E awe d O S O E_ p o2 e000 03 F J o eoon o Read inow o f O o e S e p 02 6000 04 F J 0 eooo 02 Read nowo f ooo e d e p i 02 e000 mF j 0 6000 03 Read inomi f o e S e p i 026000 02 F j o eooo 04 Read input t de ew 02500003F J o2 600001 Readinputo de e f 035000 04 F j o2 eooo oz Read inot 0 a S e Output J o2 6000 03 Readinputi de H e200 m j 02 6000 04 Read inoi J 0200 02 J 03 600001 Read inputo dt e e ef 6410A f 03 6000 02 Read now 07 s e e J O1_e411_02_4 gf 03 600003 Read input i de LD Gateway
83. e sub index corresponds to the node ID of the CANopen devices in the network The sub index corresponding to its own node ID is ignored Object description Index 1F85ph Name Vendor identification Object code ARRAY Data type UNSIGNED32 Entry description Attribute Description Highest sub index supported Access const PDO mapping Value range Olp 7Fh 2015 IXXAT Automation GmbH All Rights Reserved 136 Attribute Sub index Description Entry category Access PDO mapping Value range Default value Attribute Sub index Description Entry category Access PDO mapping Value range Default value CANopen Configuration Studio for IXXAT CME PN Node ID 1 conditional mandatory if node ID 1 is supported see value definition for object 1018p sub index 01 see CiA 301 0000 0000 Node ID 127 conditional mandatory if node ID 127 is supported see value definition for object 1018 sub index 01 see CiA 301 0000 0000 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 137 6 1 10 Object 1F86 Product Code This object is used for verification of the product code of the CANopen devices in the network The product code object 1018 sub index 02 see CiA 301 of the CANopen device in the network is matched against the value of this object in case the value is not equal 0000 0000p An error event is generated if the values mi
84. ected in the upper region PDO Parameters Node ID 17 0x11 e PDO Mapping Parameters a ZA Al PDOs Index Sub Index Size bit Parameter Name Denotation RPDO1 6040 00 16 Control word RPDO RPDOS 6040 00 Control word 60FF 00 1 Target velocity RPDO4 TPDO1 6041 00 TPDO Z TPDOS B41 00 Status word 606C O00 Velocity actual value TPDO4 PDO Communication Parameters Enabled CANAD Transmission Type Transmission Rate Inhibit Time 1700p Event Timer ms PDO Parameters tool window 2015 IXXAT Automation GmbH All Rights Reserved 24 CANopen Configuration Studio for IXXAT CME PN PDO Mapping Parameters The PDO mapping parameters section lists all PDOs implemented by the selected CANopen device For each of these PDOs the transmission direction and additional status information is displayed in the header of the PDO All currently mapped application objects are indicated below the root element of the PDO The PDO header may be decorated by additional icons that are explained below e The PDO has static mapping The PDO mapping records are predefined in the device s object dictionary and are read only thus the PDO mapping cannot be changed The user may modify the PDO communication parameters To prevent the automatic PDO calculation from altering the user selected communication parameter configuration the PDO has to be locked see below before the calculation process The current PDO config
85. ection of the tool window For each PDO the following communication parameters may be configured Communication Description Parameter Enabled Checkbox that allows to activate checkbox is checked or deactivate checkbox is unchecked the PDO This functionality corresponds to bit 31 in the COB ID parameter of the PDO communication parameter structure sub index 01 CAN ID CAN identifier used by this PDO in hexadecimal notation Note that the IXXAT CME PN supports only 11 bit CAN IDs If it is attempted to enter values that exceed the supported CAN identifier range an error icon W is displayed to the right of the input field When positioning the mouse pointer over the error icon detailed error information is available with a tooltip Transmission Type Transmission type of the PDO If the transmission type Synchronous cyclic Is selected the transmission rate may be further specified in the Transmission Rate numeric input control see below Numeric input control to specify the transmission rate of the selected PDO The control is only enabled if the transmission type Synchronous cyclic Is set for the selected PDO Transmission Rate Inhibit Time Inhibit time for the selected PDO in multiples of 100 microseconds If the value entered by the user exceeds the allowed value range an error icon W is displayed to the right of the input field When positioning the mouse pointer over the error icon detailed error information is
86. ell in the list This will display an ellipsis button If we click this button a list containing all available entries in the Consumer heartbeat time list on node ID 1 will open In this list we specify that I O module 1 shall expect heartbeat messages from the IXXAT CME PN which is using node ID 127 once every 1000 milliseconds If the I O module does not receive a corresponding heartbeat message from the IXXAT CME PN it will transmit an emergency message Ej According to CiA 301 heartbeat is an optional functionality CANopen requires only that either heartbeat or node guarding shall be supported If heartbeat is not implemented by a device N A will be displayed in the corresponding list cells It is not mandatory to activate either heartbeat or node guarding Network Management Configuration Error Control Configuration Application Objects Process Image Timing Parameters a 2 woiew E Heartbeat Node Guarding seen CAME Producer Time Consumer i Guard Time Life Time Factor Guard Time Retry Factor VO module 2 Mode ID Consumer Time NIA 3 VO module 3 500 Notused 1000 MA NA 127 XAT CMEPN 500 MIA MA Not used 2 3 127 Notused Not used Not used Not used Not used Not used Not used 0 a 0 0 0 0 0 0 0 0 0 Eror Control Timeout ms 500 Cancel Node Guarding Retry Factor 3 dec Ratio Consumer Heartbeat Time 1 5 to Producer Hearbeat Time Configuration of object 1016 Consumer heartbea
87. en Configuration Studio for XXAT CME PN Projects Example network coppy Created by Creation Date IXXAT Automation GmbH 30 06 2013 01 19 Modified by Modification Date IXXAT Automation GmbH 22 08 2013 17 51 Description Example project demonstrating the configuration of three CGA 401 compliant generic lO modules with both digital an analog input and output ports and three servo dives implementing the generic PDO mapping of CGA 40 connected to a CME PN gateway acting as CANopen manager Project Properties Name Contains the full path and name of the project file Created by The name of the creator of the project This value may be freely assigned Creation Date Time and date of the creation of the project This value is automatically set on creation based on system time Modified by The name of the modifier of the project This value may be freely assigned Modification Date Time and date of the last modification of the project This value is automatically set on save based on system time Description An optional description of the project This value may be freely assigned 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 53 4 4 Dialogs CANopen Configuration Studio for IXXAT CME PN implements four global dialogs that allow to configure basic settings of the application eon Name Description Interface Settings Configuration of the network interface used for downloading
88. ents commands that perform global operations on the NMT error control parameters kon pemn ooo ram Resets all error control objects of the devices to the EDS defaults region in the lower part of the workspace page If both heartbeat and node guarding are supported by a device heartbeat is enabled and node guarding is disabled al Initializes all values in the error control objects of the devices to the values preset in the default values 2015 IXXAT Automation GmbH All Rights Reserved 38 CANopen Configuration Studio for IXXAT CME PN Error Control Configuration The error control list supports the parameterization of the individual error control objects implemented by the devices in the network If a device does not support a particular functionality the corresponding entry will be marked as not available N A Node ID Node ID of the device in decimal notation Logical Name Logical device name to be provided by the user Producer Heartbeat Configures object 1017 Producer heartbeat time of the selected CANopen device Time The value is measured in milliseconds and defines the configured cycle time of the heartbeat message transmitted by the CANopen device A value of 0 zero deactivates the transmission of the heartbeat message Consumer Heartbeat Configures object 1016 Consumer heartbeat time of the selected CANopen device Time The value is specified in milliseconds and defines the expected heartbeat cycle times Th
89. ernationally standardized EN 50325 4 CAN based higher layer protocol for embedded systems In addition to the application layer and communication profile specified in CiA 301 the version of EN 50325 4 which is maintained by CAN in Automation CIA the set of CANopen specifications also covers device CiA 401 CiA 402 CiA 404 CiA 406 application and interface profiles CANopen supports extensive configuration capabilities A CANopen network is commonly composed of several CANopen slave devices and one dedicated device acting as a network management NMT master The NMT master is responsible for starting the CANopen slave devices A NMT master that additionally supports configuration manager functionality is called CANopen manager CiA 302 1 If the CANopen manager is integrated with a PLC runtime system process data of the CANopen slaves are mapped into a process image on the manager CANopen Configuration Studio for IXXAT CME PN fully supports parameterization of the NMT master the configuration manager and the process image description In the example shown the figure below one IXXAT CME PN gateway operates as CANopen manager and a SIMATIC S7 300 PLC is used as PROFINET IO controller Alternatively other PROFINET IO controllers may be deployed instead Additional I O modules and servo drives complete the example network The node IDs in the figure below have been chosen arbitrarily but will be used in the examples contained in later sections
90. ess image layout The Address column for those objects will remain empty until the project is recalculated Contains the process group that was assigned to the object Displays the transfer direction of the data as seen from the manager Node ID The node ID of the CANopen slave device implementing the object that is mapped onto the process image Main index of the object on the CANopen slave device Sub Index Sub index of the object on the CANopen slave device Parameter The name of the object on the slave according to the device description data EDS Name The optional alternative name entered on the application objects page The value cannot be changed here Data Type The CANopen data type of the object Address The address of the objects value in the process image in hexadecimal representation The address space Is divided into an IN and OUT direction Thus the same address may occur twice If the mapping was not calculated since an object was added the address column is empty for this object Size bit The size of the object in bits 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 47 4 3 5 IXXAT CME PN Timing Parameters The Timing Parameters page is used to configure basic timing parameters such as the bit rate of the CAN network connected to the IXXAT CME PN or the PROFINET update time for the IXXAT CME PN I O device Note that due to the higher bit rate of PROFINET
91. et communication may be executed for the CANopen device at any time lp NMT service Reset communication shall not be executed for the CANopen device in case the CANopen device is in NMT state Operational Software version bit 5 om Software version verification shall not be performed for the CANopen device Software version verification shall be performed for the CANopen device Software update bit 6 om Software update shall not be performed for the CANopen device Software update shall be performed for the CANopen device Restore bit 7 CANopen device may be used without prior resetting 1011p CANopen device shall be reset to factory defaults by issuing a restore to defaults object 2015 IXXAT Automation GmbH All Rights Reserved 128 Object description Index Object name Object code Data type Category Entry description Sub index Description Entry category Access PDO mapping Value range Default value Attribute Sub index Description Entry category Access PDO mapping Value range Default value to CANopen Configuration Studio for IXXAT CME PN Value Olp to 7Fph Node ID 1 conditional mandatory if node ID 1 is supported rw 0000 0000p 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 129 Description Node ID 127 Entry category conditional mandatory if node ID 127 is supported rw Access Default
92. evision number is unequal to the expected major revision number or e the minor revision number is less than the expected minor revision number The sub index corresponds to the node ID of the CANopen devices in the network The sub index corresponding to its own node ID is ignored Object description Index 1F87ph Object code ARRAY Data type UNSIGNED32 Entry description Sub index 00 Description Highest sub index supported Value range Olp 7Fh Default value 7Fh 2015 IXXAT Automation GmbH All Rights Reserved 140 Attribute Sub index Description Entry category Access PDO mapping Value range Default value Attribute Sub index Description Entry category Access PDO mapping Value range Default value CANopen Configuration Studio for IXXAT CME PN Node ID 1 conditional mandatory if node ID 1 is supported see value definition for object 1018 sub index 03 see CiA 301 0000 0000 Node ID 127 conditional mandatory if node ID 127 is supported see value definition for object 1018 sub index 03 see CiA 301 0000 0000 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 141 6 1 12 Object 1F88 Serial Number This object is used for verification of the serial number of the CANopen devices in the network The serial number object 1018p sub index 04p see CiA 301 of the CANopen device in the network is matched
93. g download may be aborted by means of the abort button After the download a message box confirms the successful completion of the procedure Click OK and then Close to close the dialog 5 2 1 8 Working in Online Mode fj Ifthe values of bit 2 NMT master start and bit 3 Start node of object 1F80h NMT startup are setto 0 in the CANopen configuration the CANopen manager in the IXXAT CME PN gateway will configure the CANopen slave devices and start the network This implies that all devices will be set to NMT state Operational i IXXAT CME PN sets the network to NMT state Operational only if communication over PROFINET between the SIMATIC S7 300 and the gateway has been established If the attached CANopen devices remain in NMT state Pre operational this may be monitored with a CAN bus analyzer verify the correct configuration of both the SIMATIC S7 300 and IXXAT CME PN devices 2015 IXXAT Automation GmbH All Rights Reserved 104 CANopen Configuration Studio for IXXAT CME PN 4 Since the download process will temporarily interrupt the connection between PLC and gateway LED S2 switches temporarily to red on a CANopen manager that is already in NMT state Operational will detect an error condition and set the CANopen network to NMT state Pre operational In this case the CANopen network has to be restarted explicitly Methods to restart the CANopen network Power cycle the IXXAT CME PN gateway e Restart the CANopen network using the C
94. he data structure used to describe the requested SDO service is common for both upload and download services SDO read access sequence read diagnostic data 1 Fill the structure with a Command 0 SDO read b CANopen node ID c Object dictionary index and sub index d Number of data bytes 0 2 Send a PROFINET record with the structure to the IXXAT CME PN 3 Receive a PROFINET record with the structure from the IXXAT CME PN 4 Check the error code 5 Read the data contents SDO write access sequence write command data 1 Fill the structure with a Command 1 SDO write b CANopen node ID c Object dictionary index and sub index d Data e Number of data bytes 2 Send a PROFINET record with the structure to the IXXAT CME PN 3 Receive a PROFINET record with the structure from the IXXAT CME PN 4 Check the error code 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 111 5 3 2 SDO Command Data Structure Byte Number Content SDO service type CANopen node ID Object dictionary index low byte Object dictionary index high byte Object dictionary sub index Data 0 Number of data bytes reserved Error code least significant byte Error code Error code o oe Data 244 Error code most significant byte 2015 IXXAT Automation GmbH All Rights Reserved SDO read upload 0 SDO write download 1 Valid range Olp to 7Fh Least significant byte Most s
95. hen 2015 IXXAT Automation GmbH All Rights Reserved 22 CANopen Configuration Studio for IXXAT CME PN Adjusting the Navigation Bar Panes Depending on the number of device profiles for which devices have been added to the device catalog profile panes are moved to an overflow tray To reserve more space in the device tree view navigation panes may be moved to the overflow tray area at the bottom of the navigation bar control Move the mouse pointer over the splitter bar until it changes to the arrow icon i then drag the splitter bar either up or down to desired position to either increase or decrease the number of visible navigation panes Navigation panes visible Navigation panes collapsed to overflow tray 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 23 4 2 3 PDO Parameters The PDO Parameters tool window allows direct editing of PDO communication and mapping parameters This functionality is restricted to CANopen slave devices as the PDOs of the CANopen manager are configured indirectly via the Application Objects workspace page The PDO Parameters tool window is divided into two sections of control elements one region Yo that lists all PDOs implemented by the device currently selected in the Project Explorer and the objects that are mapped onto these PDOs and a second region 2 that allows the configuration of PDO communication parameters of the PDO currently sel
96. her be removed nor renamed Context Menu The context menu in the project explorer offers the following menu options Add Group Adds a new group to the project In addition to the group name the Add Group dialog allows the entering of a textual description of the group Please refer to the description above of device groups in CANopen Remove Removes the selected device or group from the project data Note that a group cannot be removed as long as it contains any device The Manager group containing the IXXAT CME PN gateway device can neither be removed nor renamed Properties Shows either the device or the group properties dialog The dialogs are identical to the Add Device respectively Add Group dialogs and allow to review or alter the device or group properties including in case of the Device Properties dialog the devices node ID or the group membership Collapse All Collapses all groups such that only the group headers are visible Expand All Expands all groups such that all devices in the project are visible below the group headers 4 2 1 1 Device and Group Properties Devices are added to a project via a drag amp drop operation from the Device Catalog to the Project Explorer tool window On this operation the Add New Device dialog is displayed allowing to enter both required and optional parameters and in addition displays basic device identification information 2015 IXXAT Automation GmbH All Rights Reserved CANopen
97. ication objects to the process image of the manager Removes all currently selected objects from the process image of the manager The toolbar also displays the number of bytes currently allocated in the process image on the CANopen manager for the direction IN and OUT If one of these values exceeds the upper limit specified in the global values section the display changes to text color red Application Objects List The application objects list displays all mappable objects on the CANopen slave devices in the network in a tree list view The application objects are sorted according to the node ID of the device their object index and finally the sub index of the entry Index Contains index and sub index of all mappable application objects organized in a tree structure Parameter Name The name of the object entry as declared in the ParameterName keyword in the device description data EDS Mapped Checkbox that is used to map or unmap an object to the managers process image Direction Indicates the data direction of the object IN means the data is transferred from the network devices to the manager OUT means data Is transferred from the manager to the network devices Data Type Indicates the CANopen data type of the object Transmission Type Configures the CANopen transmission type that shall be used for transferring the object data May be set to Synchronous acyclic Synchronous cyclic e Event driven profile spe
98. ignificant byte 0 245 Always 00 SDO abort code for details see CiA 301 0000 0000 if no error occurred FFFF FFFF if SDO command interface is busy 112 CANopen Configuration Studio for IXXAT CME PN 5 3 3 CANopen SDO Example Program Use a PLC program to transmit PROFINET records that encapsulate SDO commands The execution sequence and format the of these PROFINET records are defined in the sections SDO command sequence and SDO command data structure The IXXAT CME PN gateway will extract the SDO commands from the PROFINET records and access the corresponding object dictionary entries SDO accesses to the object dictionary of the CANopen manager are handled locally on the IXXAT CME PN gateway SDO accesses to object dictionaries of remote CANopen devices are transported via the CANopen network The installation of CANopen Configuration Studio for IXXAT CME PN copies a sample project PLC Example into C Program Files x86 IXXAT CANopen Configuration Studio for IXXAT CME PN Step7 PLC Exam folder on your PC path name for an English locale system Follow the procedure below to insert the blocks and symbols of the PLC Example into your project Start SIMATIC manager Select File Open to open PLC Example Browse to the folder of the example PLC program Select PLC Example and press OK Select File Open to open your project e g Example1 Expand PLC Example and select Blocks Select
99. indow 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 9 The main application window of CANopen Configuration Studio for IXXAT CME PN is subdivided into the following main regions J Menu system and toolbars CANopen network topology definition and device catalog browser Main workspace for CANopen manager configuration Contains windows and controls for parameterization of NMT startup and NMT slave assignment objects see CiA 302 2 NMT error control and to select application objects to be mapped into the process image on the CANopen manager The timing parameters page allows to configure both PROFINET cycle time and CANopen bit timing parameters O Device specific parameterization tool windows Supports additional PDO configuration Also gives access to all device parameters that are not related to the configuration tasks performed in the main workspace windows Output tool windows containing error warning and status messages 4 1 Menu System and Toolbars The menu system and the toolbars contain a set of menu items with commands required to generate new projects calculate I O connections generate and download configuration data The menu system supports navigation via mouse pointer keyboard shortcuts and accelerators or the cursor For a complete list of the menu system see the tables below Main Menu File View Project Build Wetwork Tool Help Standard Toolbar REAL
100. ing devices E SIMATIC 300 E SIMATIC 400 E SIMATIC PC Based Control 300 400 SIMATIC PC Station Ctrl V a amp Alt Return Ctrl Alt 0 Ctrl F2 Ctrl F r Ctrl Fo 026102106 E b Configuration Downloader Se ka j 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 103 Download Interface XAT CME VPN Contic WET IAAAT CME PN Config ETCDC Download File IAAAT CME PN Firmware FTP BIN IXXAT CME PN device tool download dialog Ej Only binary files supplied by IXXAT shall be selected for a firmware update If an invalid firmware update file is loaded via Ethernet both LEDs S1 and S2 will blink red In this case the device must be power cycled Afterwards the device will be operational again If a valid firmware update file is loaded the HOST LED of the IXXAT CME PN will be permanently RED during the download process After the download process the HOST LED will be off until the boot process is finished A firmware update may take 1 to 2 minutes to complete Note that the progress bar pauses some time before indicating the first update progress Do not interrupt the IXXAT CME PN power supply during the download process The download is controlled by the buttons at the bottom of the dialog Download starts the download of the selected file to the selected IXXAT CME PN device While the download is running the progress bar will indicate the current status A runnin
101. ion the project explorer lists the following summary information that is retrieved from the device description data EDS If the corresponding entries are not available in the device description files the columns entries will be left empty amn pe OOOO a Node ID of the device within a group The node ID is displayed both in decimal and hexadecimal notation Logical device name to be provided by the user Device Profile Device profile number extracted from the lower 16 bits of object 1000 Manufacturer device name extracted from object 1008 if available Vendor Name Name of device vendor uses the VendorName keyword in the DeviceInfo section of the device description file for the device Alternatively the content of object 1018p sub index 01 Vendor ID is used and matched against an internal reference list of device vendor names 2015 IXXAT Automation GmbH All Rights Reserved 14 CANopen Configuration Studio for IXXAT CME PN Toolbar The project explorer toolbar implements global commands with respect to the CANopen topology of the network Icon Description ri Opens the Add Group dialog The user is required to enter a name for the new device group Optionally the user may enter a textual description for the device group Removes the selected device or group from the project data Note that a group cannot be removed as long as it contains any device The Manager group containing the IXXAT CME PN gateway device can neit
102. ion Studio for IXXAT CME PN Repeat this operation for the other two I O modules in the example network such that for each I O module 4 digital input blocks are mapped For I O module 1 additionally select 2 digital output blocks object dictionary index 6200 sub index 01 and 02 2 analog input channels object dictionary index 6401 sub index 01 and 02 and 2 analog output channels object dictionary index 6411 sub index 01 and 02 A recalculation will result in the following PDO configuration on the IXXAT CME PN gateway PDO Parameters Node ID 127 0x7 F PDO Mapping Parameters Index Sub Index Size bit Final PDO mapping on the IXXAT CME PN RPDO1 AACO 01 AACO 02 AACO 03 AJCO O4 RPODO2 AACO 05 AACO 06 AJCO OF AACO 08 RPDO3 AACO 09 AACO OA AJOO OB AACO OC RPDO4 AMO OF TPDO1 A040 01 ADO 02 TPDOZ2 ADCO 02 ADCO 03 16 16 16 Parameter Name Denotation IX Continue now with and inspection of the resulting process image layout 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 75 5 1 5 Inspection of the Process Image Layout To see the resulting process image on the IXXAT CME PN gateway after the calculation process navigate to the Process Image workspace page We see that we have created 14 input variables oO and 4 output variables Their exact offset in the process images IN and OUT is listed in the Address column on the right
103. itialize process IO data OB122 MOD_ERR The operating system of the CPU calls OB122 whenever an error occurs while accessing data on the module SDO_START_NETWORK Uses the command interface to start the CANopen network by calling FB2 SDO_REQUEST to write 05 NMT state operational to object 1F82 sub index 7F Request NMT SDO_GET_MANAGER_STATE Uses the diagnostic interface to query the CANopen manager state by calling FB2 SDO_REQUEST to read object 5000 sub index 02 State of the CANopen manager SDO_GET_DEVICETYPE Uses the diagnostic interface to query device type of a device by calling FB2 SDO_REQUEST to read object 1000p sub index O00 Device type SDO_REQUEST State machine to perform a generic SDO read write request States STATEO init fill the structure STATE1 write record STATE2 read record STATE3 check result Static data current state record 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 115 SDO_ACCESS INSTANCE Data block of FB2 SFB52 RDREC System Function Block Read a data record from a PROFINET IO device ps2 ata loc SB SFB53 WRREC System Function Block Transfer a data record to a PROFINET IO device pss Daa block oF SBS 2015 IXXAT Automation GmbH All Rights Reserved 116 CANopen Configuration Studio for IXXAT CME PN 6 Object Dictionary Entries CANopen Configuration Studio for IXXAT CME PN and
104. le node guarding for the CANopen device The value for the guard time indicates the cycle time for the node guarding of the CANopen device The value is indicated in multiples of 1 ms The value 0 disables node guarding for the CANopen device E If the heartbeat consumer object is configured to a value unequal 0 then the heartbeat mechanism will have priority over node guarding 31 24 23 16 15 8 7 0 MSB LSB Object 1F81 structure of the value 7 6 5 4 3 2 1 0 Restore Software Software Reset Mandatory NMT boot reserved Op NMT slave update version communication slave MSB LSB Object 1F81 bit structure of the configuration value Value NMT slave bit 0 o NMT master or not available in the network NMT slave and available in the network NMT boot slave bit 2 Configuration and NMT service Start remote node shall not be allowed in case of error control event or NMT service Bootup E Note The application is responsible for the NMT slave startup Configuration and NMT service Start remote node shall be performed in case of error control event or NMT service Bootup 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 127 Mandatory bit 3 CANopen device may be present prior to network startup CANopen device is optional CANopen device shall be present prior to network startup CANopen device is mandatory Reset communication bit 4 NMT service Res
105. log tool window uses navigation panes to categorize the individual devices according to their CiA device profile Vendor ID Product Code Revision Number Hardware Version Software Version Ox 00000004 0x01027 A00 Ox 00000004 0x01027 A00 1H CiA 401 Generic 1 0 Modules GA 402 Drives and Motion Control Device Catalog Browser 2015 IXXAT Automation GmbH All Rights Reserved 18 CANopen Configuration Studio for IXXAT CME PN Within the individual navigation panes the following information is displayed if it is available in the electronic data sheet for the device If the data cannot be extracted from the device data the corresponding column is left empty Multi purpose column that contains the vendor name a textual description of the additional information field in 1000 Device type or alternatively the manufacturer device name in object 1008 Vendor ID Vendor ID as assigned by CAN in Automation contained in object 1018 sub index 01 Product Code Manufacturer specific product code contained in object 1018 sub index 02 Manufacturer specific revision number contained in object 1018 sub index 03 Hardware Version Hardware version as contained in the electronic data sheet for the device The value presented in the list is extracted from object 1009 Manufacturer hardware version Software Version Software version as contained in the electronic data sheet for the device The value presented in the list is ext
106. lowed restore procedure for a CANopen device during startup 22 08 2013 D I O module 3 7 o 2h All parameters are restored 00000000 22 08 2013 are restored Servo drive Y axis 01 03 Application related parameters Index from 6000 to 9FFF m 22 08 2013 Servo drive Z axis 01 are restored 22 08 2013 04 to 7F Manufacturers specific restore behavior is performed 80 to FE Reserved for future use Boot Time ms NMT Inhibit Time 100us Network Management Configuration The network management configuration page is subdivided into three main regions explained in detail below In all regions extensive tool tips provide direct help detailing the configuration settings for individual bit or the value range of the corresponding CANopen objects J NMT Startup configuration Slave Assignment configuration Additional CANopen manager objects NMT Startup Configuration The NMT startup configuration specifies the behavior of managing and self starting devices in the network The configuration corresponds to object 1F80h NMT startup of these devices All bits except bitO NMT master may be configured Bit 0 is read only as the active manager can not be changed after the project was created amn peen OOOO Node ID Node ID of the device in decimal notation Logical device name to be provided by the user N
107. manager and CANopen slave devices Manual manipulation of PDO communication and mapping parameter for CANopen slave devices Inspection of the calculated process image and grouping of parameters within the process image Manual adjustment of PROFINET timing parameters with estimation of the resulting CANopen bus load Generation of concise device description data and direct download of network configuration data to the IXXAT CME PN J The IXXAT CME PN shall be solely configured by CANopen Configuration Studio for IXXAT CME PN The configuration process generates customer specific concise DCF and GSDML files Use only these generated concise DCF and GSDML files to configure the IXXAT CME PN Do not change the configuration in the object dictionary via SDOs because this will invalidate the configuration E The IXXAT CME PN maps PROFINET slots to CANopen network variables Note that PROFINET guarantees that the data in one subslot are consistent The mutual consistency of data in two different subslots cannot be guaranteed If it is vital that all data of one CAN message appear consistently on PROFINET you must map all data of one CAN message to one network variable with appropriate size e g UNSIGNED64 The IXXAT CME PN acts as CANopen manager Note that the CANopen manager does not support the optional Layer Setting Service LSS Th This documentation assumes that the reader is familiar with CANopen communication technology and has acces
108. mapping attribute declared in the electronic data sheet EDS of the device Output parameters for example may require specific initialization with an alternative parameter value instead of the default value during network startup P Device Parameters Node ID 17 0x11 usa 1000 Device type 000420192 us 1001 Error register usa 1002 Manufacturer status regi Arm 1003 Pre defined error field 1008 Manufacturer device nar CIA 402 servo control 1009 Manufacturer hardware w 1004 Manufacturer software we ARR 1010 Store parameters us 00 Highest sub index suppo 03 usa 01 Save all parameters Oe D0000001 usa 02 Save communication par Ox 00000001 usa 03 Save application parame ObceO0000001 ARR 1011 Restore default parameters 1014 COB ID EMCY message SNODEID 0x80 O lt D0000080 OxBFFFFFFF ue 1075 Inhibit time EMC Y Ox 0000 Ox 0000 OxFFFF REC 1018 Identity object Device Parameters tool window Object List The object list is populated with object information extracted from the device catalog information for the selected device Within the list objects are grouped according to their object dictionary area Communication manufacturer and device standardized device or application profile area and for complex objects the index For each object the following information is available 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 31 Index Index and sub inde
109. menu see figure below which opens on right click on the window title bar or by clicking the tool window pull down menu icon Floating Dockable 2015 IXXAT Automation GmbH All Rights Reserved 62 CANopen Configuration Studio for IXXAT CME PN Tool Window Control Icons The title bar of a tool window contains the following icons to control the window state Opens the tool window context menu Tool windows with docking buttons may be hidden at the border of the CANopen Configuration Studio for IXXAT CME PN main application window Press the button in the upper left corner of the tool windows title bar The tool window will be represented by a tab at the nearest border of the CANopen Configuration Studio for IXXAT CME PN main application window Ca PDO Parameters Node ID 17 0x11 PDO Mapping Parameters Z Bl Enabled Index Sub Index Size bit Oo J RPDO1 6040 00 If a tool window is in auto hide state press the button to un hide the tool window again Press this button to close a tool window The tool window may be made visible again by selecting the corresponding menu item in the View menu Docking Guides Verify that the menu item Dockable is checked in the tool window context menu While dragging tool windows dock guides are displayed to indicate valid drop locations A preview of where the window is to be placed is shown when the mouse is hovered over a single dock guide E When dragging tool
110. mmy INTEGERS2 Dummy UNSIGNED Dummy UNSIGNED16 Dummy UNSIGNED Dummy Polarity digital input 8 bit Digital filter enable bit Digital interrupt mask any change 8 bit Digital interrupt mask low to high amp bit Digital interrupt mask high to low 8 bit Write digital output 8 bit Winte output 01h to 08h Write output 09h to 10h Object List dialog Remove one Application Object from the PDO Mapping To remove an application object from the PDO mapping tables select the object in the PDO list and click either the Remove Object toolbar button G3 or select the corresponding context menu item Reorder Objects in the PDO Mapping Table To change the sequence with which application objects are transmitted within a PDO message select a single object and click either the Move Up i or Move Down E toolbar buttons or select the corresponding menu items in the context menu of the PDO list it Changes to the PDO mapping affect only the currently selected PDO Connected PDOs on other devices are not automatically modified and need to be correspondingly changed by the user 2015 IXXAT Automation GmbH All Rights Reserved 30 CANopen Configuration Studio for IXXAT CME PN 4 2 4 Device Parameters The Device Parameters tool window provides access to parameter objects of the CANopen device that is currently selected in the Project Explorer tool window Parameter objects may be additionally mapped onto PDO messages depending on the PDO
111. n Entry description Sub index PDO mapping Value range UNSIGNED32 Default value 0000 0000h 2015 IXXAT Automation GmbH All Rights Reserved 144 CANopen Configuration Studio for IXXAT CME PN 6 2 Manufacturer Specific Objects IXXAT CME PN implements manufacturer specific objects to enable access to additional configuration options and to diagnostics and status information These objects are described below Process Image Byte Order Configuration General CANopen Diagnostics Objects e CANopen Network Diagnostics Object 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 145 621 Object 4000p Process Image Byte Order Configuration This object allows to configure the byte order representation of the process image on IXXAT CME PN to be either little endian the network byte order for CANopen networks or big endian format the default network byte order for PROFINET networks The default is big endian format enabling the user to work with process data in the default byte order for PROFINET systems The object is only accessible from CANopen Configuration Studio for IXXAT CME PN The parameterized value is included in the concise device configuration file that is downloaded into the IXXAT CME PN gateway Any attempt to write this object from the CANopen network is aborted with error code 0800 0021 Data cannot be transferred or stored to the application because of local co
112. n slave If the Set command of the tool bar is executed the value is written to all devices as either producer heartbeat time or guard time As CANopen specifies that only either heartbeat or node guarding may be used to monitor a CANopen device CANopen Configuration Studio for IXXAT CME PN will first configure the heartbeat functionality Only if heartbeat is not supported by a device CANopen Configuration Studio for IXXAT CME PN will configure node guarding The Node Guarding Retry Factor is used as an initial default for object 100D Life time factor on the CANopen slave and the Retry factor field in the sub indices in object 1F81 NMT slave assignment onthe NMT master if guarding Is activated The value entered in Ratio Consumer Heartbeat Time to Producer Time is used to calculate the initial value for the consumer heartbeat time based on the producer heartbeat time configured for the CANopen device to be monitored 2015 IXXAT Automation GmbH All Rights Reserved 40 CANopen Configuration Studio for IXXAT CME PN 4 3 3 Application Objects The specification which of the process data implemented by CANopen slave devices in the network are mapped to the process image on the CANopen manager device is performed on the Application Objects workspace page Process Image Mapped Direction Data Type Transmission Type E Node ID 1 0x01 Name VO module 1 3 1001 Error register 1002 Manufacturer status register 6000 IN UNSIGNEDS Event d
113. nager window and expand the SIMATIC300 1 node Under CPU317 2 PN DP S7 Program right click on Blocks and select Insert New Object Organization Block In the dialog enter OB83 in the Name text field and confirm Repeat this for OB86 ait Examplel C Program Files x86 Siermens Step s proj Examplel Example My System data g E Fi SIMATIC 300 1 E CPU 317 2 PN DP SIMATIC Manager window with required organization blocks OB83 and OB86 We continue to compile and download the hardware configuration and the STEP 7 program into the SIMATIC S7 300 PLC 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 99 5 2 1 7 Compile and Download to S7 300 4 Prior to downloading the hardware configuration and the STEP 7 program the CANopen network configuration has to be downloaded into the IXXAT CME PN device This configuration must match the GSDML file used to implement the PROFINET configuration Download of the CANopen network configuration is supported via USB or via Ethernet USB Download from within CANopen Configuration Studio for IXXAT CME PN For details on the CANopen configuration download see the sections Download of Configuration Data or Download to the IXXAT CME PN Then proceed with the compilation of the hardware configuration and the STEP 7 program Ethernet Download from the SIMATIC HW Config window We continue with the compilation of the hardware configuration and the
114. nd illustrations in this document are included solely for illustrative purposes Because of the many variables and requirements associated with any particular implementation IXXAT Automation GmbH cannot assume responsibility for actual use based on these examples and illustrations Intellectual Property Rights IXXAT Automation GmbH has intellectual property rights relating to technology embodied in the product described in this document These intellectual property rights may include patents and pending patent applications in the US and other countries Trademark Acknowledgements Anybus is a registered trademark of HMS Industrial Networks AB CiA and CANopen are registered Community Trademarks of CAN in Automation e V IXXAT is a registered trademark of IXXAT Automation GmbH Microsoft and Windows are registered trademarks of Microsoft Corporation SIMATIC and S7 300 are registered trademarks of Siemens AG All other trademarks are the property of their respective holders 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 7 3 System Requirements To operate CANopen Configuration Studio for IXXAT CME PN the following system configuration is recommended x86 x64 CPU with 1 8GHz or higher 2GB RAM 20MB available space on hard disk 1024x768 display 1280x1024 recommended Microsoft Windows operating system Windows XP SP3 Windows Vista Windows 7 Windows 8 Micr
115. ng NMT state Pre operational 106 CANopen Configuration Studio for IXXAT CME PN Nominal LED LED Name Color Status Description ane Green Single flash NMT state Stopped Green On NMT state Operational C2 CANopen error LED Off No fault Off Fatal error if HOST LED red flickering Red Blinking Invalid configuration Red Single flash CAN warning limit reached Red Double flash Error control event occurred Red Triple flash SYNC error event occurred Red On CAN bus off Now that the CANopen network is started we can open the station in online mode In the HW Config window select Station Open ONLINE Dh HW Config SIMATIC 300 1 Configuration Examplel a e miy Station Edit Inset PLE View Options Window Hel E xX p p k New Ctrl M Pee 0 pen Ctri O a B Ppor ONLIE Suchen PO mtani Close Profile Standard Save EEE ER ee l PROFINET PROFINET 0 System 100 8 PROFIBUS DP paid aetna a O O ABS PROFIBUS PA a H PROFINET 10 H SIMATIC 300 SIMATIC 400 a Fl SIMATIC PC Based Control 300 400 ppn A a H E SIMATIC PC Station Properties Import Consistency Check Ctrl Alt K Check CIR Compatibility Ctrl Alt F Print Ctrl P Print Preview address Q address Diagnostic address Page Setup are 1 Examplel SIMATIC 300 1 2 Example2 SIMATIC 300 1 3 Examplel SIMATIC 300 4 Example2 SIMATIC 300 Station Exit fa 02_6000_03 Reac_input_1 E 02 6000 04 Read_input_1 i
116. ng Value range Default value to conditional mandatory if the device supports digital inputs Olp FEp 01 h Read input 01 to 08 TPDO UNSIGNED8 O n 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 159 Attribute Sub index Description Entry category Access PDO mapping Value range Default value TPDO UNSIGNED8 2015 IXXAT Automation GmbH All Rights Reserved 160 CANopen Configuration Studio for IXXAT CME PN 6 3 2 Object 6200p Write Output 8 bit This object sets groups of 8 output lines as 8 bit information The object is mandatory for digital output modules Object description Index 6200 Object name Write output 8 bit Object code ARRAY Data type UNSINGED8 amp Category conditional mandatory if the device supports digital outputs Entry description Attribute PDO mapping Value range Olp FE Description Write output 01 to 08 Access to 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 161 Attribute Sub index Description Entry category Access PDO mapping Value range Default value rw RPDO UNSIGNED8 2015 IXXAT Automation GmbH All Rights Reserved 162 CANopen Configuration Studio for IXXAT CME PN 6 3 3 Object 6401p Read Analog Input 16 bit This object reads the value of one input channel per sub index The object is man
117. nhibit Time specifies the configured inhibit time in units of 100us between two subsequent NMT node control messages Not yet transmitted NMT messages are queued and transmitted in order of their occurrence respecting the specified inhibit time 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 37 4 3 2 Error Control Configuration The Error Control Configuration page implements user interface controls enabling the user to configure the NMT error control functionality and dependencies of the devices within the network Depending on the functionality implemented by the devices the configuration of either heartbeat or node guarding functionality is supported e Timing Parameters Heartbeat Mode Guancing lei E teen Producer Time ConsumerTime Guard Time Life Time Factor Guard Time Retry Factor Wooaset TO T NA NA IO module 2 List NIA NIA VO module 3 List NIA NIA NIA Servo drive X axis List AA AWA BIA Servo drive Y axis List MA NA MA Servo drive Z axis List NIA NIA NIA DOCAT CMEIPN List NIA NIA NIA Eror Control Timeout ms Node Guarding Retry Factor Ratio Consumer Heartbeat Time Eprreducer Hearbeat Time Error Control Configuration The Error Control Configuration page is subdivided into the following main regions D Toolbar 2 Error control configuration Default values Toolbar The toolbar implem
118. nput objects on the CANopen slave devices OUT denotes output objects on the slaves If M Allocated Process Image Size IN 4 Current allocation status for process image IN and OUT To verify the configuration of the PDO communication based on this object selection navigate to the Build menu and select Calculate Configuration This creates a structure with four new network variables in the process image on the IXXAT CME PN gateway 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 73 To inspect the resulting PDO configuration on the devices with node ID 1 I O module and node ID 127 IXXAT CME PN select the devices in the Project Explorer In the PDO Parameters tool window we find that four network variables with object index A4C0 sub indices 01 to 04 are mapped into RPDO1 on the IXXAT CME PN gateway PDO Parameters Node ID 1 0x01 PDO Mapping Parameters SZ 5 Enabled Index Sub Index Size bit Parameter Name Denotation GE ITPDO Read input 01h to 08h Read input 09h to 10h Read input 11h to 18h Read input 19h to 20h PDO mapping configuration for TPDO1 on node ID 01 PDO Parameters Node ID 127 Ox F PDO Mapping Parameters SZ Enabled Sub Index Size bit Parameter Mame Denotation RPDO1 AACO 01 AACO 02 AACO 03 AACO 04 PDO mapping configuration for RPDO1 on node ID 7Fh 2015 IXXAT Automation GmbH All Rights Reserved 74 CANopen Configurat
119. nsmitted once during the PROFINET update time You may now continue with the next step If the estimated PDO transmission time is out of the recommended range a warning icon will be displayed behind the total PDO transmission time field In that case you should adjust the current settings The following options are suggested e Select a higher CANopen bit rate to shorten the estimated PDO transmission time until the warning icon disappears e Select a slower PROFINET update time to reduce the frequency of PDO bursts As a consequence the warning icon will disappear J The PROFINET update time must be less or equal to half of the shortest process data duration Ignore the warning icon if you have reliable information about the real PDO transmission time of your process and if this time is lower than the PROFINET update time Additional information is provided in the page on IXXAT CME PN Timing Parameters 5 1 8 Generation of Configuration Data Before the configuration can be downloaded to the IXXAT CME PN gateway the configuration data for the CANopen network have to be generated This is performed by selecting Generate Configuration from the Build menu or the corresponding toolbar button We save the generated configuration data into the same folder as our example network project 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 79 b Projects Organize New folder ir Favorites
120. ntrol Value definition Process Image Endianness Configuration Process data of IXXAT CME PN represented in little endian format Process data of IXXAT CME PN represented in big endian format Object description cite Entry description Sub index PDO mapping Value range see value definition 2015 IXXAT Automation GmbH All Rights Reserved 146 CANopen Configuration Studio for IXXAT CME PN 6 2 2 General CANopen Diagnostics Objects The IXXAT CME PN gateway implements manufacturer specific diagnostic objects that enable the user to identify a failed remote CANopen device and to read the corresponding error information You can access the diagnostic objects via PROFINET using a PLC program The supported diagnostic objects are listed in the table below ne ee eee SO a eS Recordo Event indication UNSIGNED16 Equal to object 5020p byte 4 and 5 02h State of the CANopen manager UNSIGNED8 High nibble 001 40h 60h 6lh 62h 64h 70h 8Xh AXh CXh EXh 90h INIT MASTER_STATE_RESET PREPARE_NET_INIT NTW_RESET NTW_WAIT BOOT_CONF BOOT_END_MISSING_MAND CLEAR RUN STOP PREOPERATIONAL FATAL_ERROR Low nibble Bit 0 Bit 0 No error 1 At least one optional or unexpected CANopen module does not correspond to the expected network configuration 0 No error 1 At least one mandatory CANopen module does not correspond to the 2015 IXXAT Automation GmbH All Rights Reserved C
121. oad menu item or the corresponding toolbar button ats CANopen Configuration Studio for IXXAT CME PN supports download via a direct USB link between the host PC running CANopen Configuration Studio for IXXAT CME PN and a IXXAT CME PN gateway See also the help page on network interface configuration The desired download interface may be selected via the Download Interface combo box The Configure button opens the Interface Configuration dialog of the currently selected interface The file that shall be downloaded is selected via the ellipsis button 6 CANopen Configuration Studio for IXXAT CME PN currently supports profinetcdc files for generated configuration data and bin files for firmware updates Only a binary file supplied by IXXAT shall be selected for a firmware update The HOST LED of the IXXAT CME PN is permanently RED during the download process After the download process the HOST LED is off until the boot process is finished A firmware update may take 1 2 minutes to complete Note that the progress bar pauses some time before indicating the first update progress Do not interrupt the IXXAT CME PN power supply during the download process The download is controlled by the buttons at the bottom of the dialog Download starts the download of the selected file using the selected interface While the download is running the progress bar will indicate the current status A running download may be aborted by means of the abort button
122. ode ID 0 shall be executed Bit 4 shall be ignored 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 35 Slave Assignment Configuration The slave assignment configuration specifies how the manager will treat its slave devices Most options are related to network startup and configuration verification which also takes place during startup Node ID Node ID of the device in decimal notation Logical device name to be provided by the user NMT Slave Configures the Configuration byte of object 1F81 NMT slave assignment inthe Assignment manager E Retry factor and Guard time bytes of object 1F81 NMT slave assignment are configured on the Error Control page in the workspace Restore Configuration of object 1F 8A Restore configuration on the CANopen manager that Configuration defines the restore procedure for a CANopen device during startup Device Type Contains the device type that shall be expected during the verification Corresponds to object 1F84 Device type identification The checkbox activates the identification of the device type for the specific slave The value for the device type is read from the EDS and can not be entered manually Vendor ID Contains the vendor ID that shall be expected during verification Corresponds to object 1F85 Vendor identification The check box activates the identification of the vendor ID for the specific slave The value for
123. of this documentation CAN cen System Architecture PC with CANopen Configuration Studio for IXXAT CME JPN and SIMATIC STEP 7 Import device Program link Ethemet al description files feos eos Configuration link USB Bus tenmination CAN bus I PROFINET g m m E H H H SIMATIC 57 300 IXXAT CME PN CiA 402 servo drives node ID 0x11 0x13 PROFINET PROFINET IO Device IO Controller CANopen Manager Bus termination i an EE GREE On ED EI p Hd ads EL E m i GIA 401 I O modules node ID 0x01 0x03 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 5 Supported Functionality Selection of CANopen manager and CANopen slave devices based on a user configurable device catalog Management of any number of device description files inside the device catalog e Configuration of CANopen manager parameters including NMT startup object NMT slave assignment and device type identifications e Configuration of NMT error control services both heartbeat and node guarding e Direct configuration of device parameter objects which are written to the CANopen devices on network startup e Individual selection of application objects to be mapped into the process image of the CANopen manager Alternatively selection of application objects based on default PDO mapping of CANopen slave devices e Automated calculation of PDO communication and mapping parameters for both CANopen
124. ol windows or arranging the workspace tab pages in individual horizontal or vertical groups Tool windows are used for network topology definition and device specific configuration tasks The following tool window states are supported Tool windows may be freely positioned on the desktop also in front of other windows Dockable The tool window is in either docked or floating state If in floating state it may be freely positioned on the desktop but also may be attached to the main application window Tabbed Document This option is only available for the Project Explorer tool window The tool window is available as an additional tab page in the central workspace area If in tabbed state the tool window may be set to any other state using the context menu on the tab page header Auto Hide The tool window may be unpinned to enter the auto hide state A tab appears for each tool window that is unpinned As soon as a tool window looses focus it is minimized As the mouse pointer moves over a tab the corresponding tool window and its content is redisplayed The control is hidden from the user This state is equal to the control being closed To redisplay the control select the corresponding menu item under the View menu in the main menu bar of the application The default state of tool windows is docked to the main application window Tool Window Context Menu For tool windows the available menu options are accessible via the context
125. on on Timing Parameters CANopen Bit Rate 125kbit s PROFINET Update Time 4ms Timing Estimate Total PDO Payload bytes 4 T Total PDO Length bytes 59 t Total PDO Transmission Time ms 6 336 A t CANopen and PROFINET timing parameters with PROFINET update time too short Allowing for additional available bandwidth it is recommended to set the PROFINET update time for this configuration to no shorter than 16 ms 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 51 PROFINET update time according to criterion 2 With the PROFINET update time equal to 16 ms the shortest duration of process data shall be 32 ms or longer See figure below pman ee eee Process _data_in Timing diagram for 16 ms update time and 32 ms process data duration t1 t3 internal delay times of PLC and IXXAT CME PN t2 total PDO transmission time If criterion 2 is not met criterion 1 must be re calculated based on a higher bit rate e g 250 kBit s 2015 IXXAT Automation GmbH All Rights Reserved 52 CANopen Configuration Studio for IXXAT CME PN 4 3 6 Project Properties The project properties page displays some basic information about the current project The page is not displayed by default It is available via the Properties item in the Project menu Properties Network Management Configuration Error Control Configuration Applicat x Name Documents XXAT CANop
126. onfiguration Studio for IXXAT CME PN 165 Description Analog output FE rw PDO mapping RPDO Value range INTEGER16 Default value 0000 2015 IXXAT Automation GmbH All Rights Reserved 166 CANopen Configuration Studio for IXXAT CME PN 7 Glossary C CAN Controller Area Network CAN ID CAN identifier CiA CAN in Automation e V COB Communication Object COB ID COB identifier Concise DCF Concise DCF Specified in CiA 302 3 DCF Device Configuration File Specified in CiA 306 EDS Electronic Data Sheet Electronic device description format as specified in CiA 306 FSA Finite state automaton GSD General Station Description GSDML General station description markup language XML based markup language to describe PROFINET devices Specified in PNO Order No 2 352 LSB Least significant bit byte MPDO 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 167 Multiplexed PDO MSB Most significant bit byte NMT Network Management NMT error control Node guarding heartbeat NMT node control Node ID Unique node identifier with a valid range from 1 to 127 PDO Process Data Object PLC Programmable Logic Controller Process data duration Time interval for which process data retain their current values PROFINET Update Time The update time is the time interval within which an IO device in the PROFINET IO system is supplied cyclically with new
127. or control event of a CANopen device defined as mandatory see object 1F81 the action as defined by bit 4 is executed In case of error control event of a CANopen device defined as mandatory see object 1F81 the NMT service Stop remote node with node ID 0 is executed Bit 4 is ignored 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 125 Object description Category conditional mandatory if the CANopen device is a CANopen manager or a start up capable CANopen device Entry description Attribute Sub index PDO mapping Value range see value definition 2015 IXXAT Automation GmbH All Rights Reserved 126 CANopen Configuration Studio for IXXAT CME PN 6 1 6 Object 1F81 NMT Slave Assignment This object assigns CANopen devices to the NMT master the device that implements this object Each sub index of this object corresponds to the node ID of the corresponding CANopen device in the network The sub index corresponding to its own node ID Is ignored An attempt to change a bit of a functionality that is not supported by the CANopen device is aborted with code 0609 0030 invalid value for parameter The two figures below describe the structure of the value The subsequent tables describe the value contents The value for the retry factor indicates the number of retries the NMT master issues in case of a node guarding event see CiA 301 The value 0 shall disab
128. osoft NET Framework 4 Full PROFINET engineering tool 3 1 Installation and First Steps The installation procedure installs CANopen Configuration Studio for IXXAT CME PN by default into the S ProgramFiles IXXAT Automation GmbH CANopen Configuration Studio for IXXAT CME PN directory The Microsoft Windows environment variable 3ProgramFiles is typically set to C Program Files on US locale systems or C Programme on German locale systems The installation procedure installs the configuration tool and the USB driver J Execute the installation procedure on the PC before connecting the IXXAT CME PN via USB 4 Do not connect the USB plug to an unpowered IXXAT CME PN device Supply the IXXAT CME PN power first and mate the USB plug next Otherwise the device may be subject to irreparable damage The installation procedure installs the command line tool USBErrorLog exe to the PC If a fatal error is indicated by the IXXAT CME PN LEDs see hardware manual the user can read an error log via USB that supports error trace back Note that reading the error log aborts the network communication The default location for project files is typically set to C Users Public Documents IXXAT CANopen Configuration Studio for IXXAT CME PN on Microsoft Windows 7 systems and to C Documents and Settings All Users documents IXXAT CANopen Configuration Studio for IXXAT CME PN on Microsoft Windows XP systems The exact path depends on the operating
129. p mechanism and process image sorting Process image groups provide a way to optimize the process image layout This is a concept that is not defined by CANopen Objects that are placed in the same group will be allocated in a continuous memory space inside the process image to allow for a more efficient exchange of process data with the PLC program The process groups are managed via the tool bar ikon Joscp O Combo box The combo box allows to select the process groups that were created The group default is always available Assigns the process group selected in the combo box to all entries selected in the process image list Adds a new process group which is subsequently displayed in the combo box Sorts the entries of the process image list by ascending order of addresses Sorts the entries of the process image list by ascending order of node ID main index and sub index Removes the group selected in the combo box All process image entries that are in the removed group are moved to the default group 2015 IXXAT Automation GmbH All Rights Reserved 46 CANopen Configuration Studio for IXXAT CME PN Process Image List The process image list displays all objects that were mapped to the process image of the CANopen manager Objects that are highlighted with a alternate background color have been added to the list of objects selected for inclusion into the process image after the last calculation of the PDO connections and the proc
130. pen device is the NMT master Value Start all nodes bit 1 om NMT service start remote node is requested individually for each node ID te NMT service start remote node is requested for all nodes with node ID 0 Value NMT master start bit 2 The NMT master switches into NMT state Operational in the process NMT startup lp The NMT master does not switch into the NMT state Operational by itself and wait for an application to request the state transition into NMT state Operational 2015 IXXAT Automation GmbH All Rights Reserved 124 CANopen Configuration Studio for IXXAT CME PN Value Start node bit 3 The NMT master starts the NMT slaves lp The NMT master does not start the NMT slaves and waits for an application to request that the NMT slaves are started Reset all nodes bit 4 In case of error control event of a CANopen device defined as mandatory see object 1F81 the NMT service reset node with node ID of the CANopen device that caused the error control event is executed In case of error control event of a CANopen device defined as mandatory see object 1F81 the NMT service reset node with node ID 0 is executed Note that Flying master functionality bit 5 is not supported by IXXAT CME PN Flying master bit 5 om CANopen device shall not participate the NMT flying master negotiation CANopen device shall participate the NMT flying master negotiation Stop all nodes bit 6 In case of err
131. pen the New Project dialog Project Parameters CANopen Manager Device DXXAT CME PN Node ID 127 dec Process Image Size OUT byte 850 Process Image Size IN byte 290 New Project dialog In the dialog the user needs to specify where to save the project The default path for CANopen Configuration Studio for IXXAT CME PN is set to C Users Public Public Documents IXXAT CANopen Configuration Studio for IXXAT CME PN on English locale Windows 7 systems Use Example network as name for our first project Next we need to specify the type of CANopen manager device that shall be used for this project Click on the Browse button and select IXXAT CME PN from the list of available manager devices We also need to specify the node ID of the CANopen manager device in the network We leave this at the default value of 127 Finally the maximum sizes of process image OUT and process image IN have to be specified The process image is the buffer where process data are stored in the CANopen manager and from where the process data are exchanged with the PROFINET network CANopen Configuration Studio for IXXAT CME PN uses the values hard coded in IXXAT CME PN to check that no more application objects are selected than supported by the IXXAT CME PN Closing the New Project dialog now with OK will create an empty new project containing the IXXAT CME PN module as managing device with node ID 127 2015 IXXAT Automation GmbH All Rights Reserved
132. pport for profile position mode interpolated position mode profile velocity and homing mode PDO set for generic drive device according to CiA 402 3 V3 0 servo drive CIA 402 servo controller PDO set for generic drive device CiA 404 CANopen device profile for measuring devices and closed loop controllers CiA 404 device Device description for CiA 404 compliant digital I O analog input device with variable PDO mapping granularity 8 bit Alarm function block with 2 alarms per channel supported CiA 405 CANopen interface and device profile for IEC 61131 3 programmable devices E The corresponding specification has been withdrawn by CiA and its contents has been moved to other CiA documents The navigation pane is maintained as a container for legacy devices CiA 406 CANopen device profile for encoders CiA 406 device Encoder class C3 standard and high resolution parameters Constant PDO mapping for TPDO1 to TPDO3 variable PDO mapping for TPDO4 granularity 8 bit CiA 408 CANopen profile for fluid power technology proportional valves and hydrostatic transmissions ii CiA 410 CANopen device profile for inclinometer Devices that do follow a standard CiA device profile or implement a profile for which no specific navigation m f bar pane is implemented 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 21 4 2 2 2 Customizing the Device Catalog Appearance
133. r PDO set generic drive XAT Automation GmbH 40 18 0x12 Servo drive Y axis 402 GA 402 servo controller PDO set generic drive XAT Automation GmbH 402 19 0x13 Servo drive Z axis E Slaves 1 0201 VO module 1 401 CIA 401 digital analog I O IXXAT Automation GmbH 2 O02 VO module 2 401 CIA 401 digital analog I O POLAT Automation GmbH 3 003 VO module 3 401 CIA 401 digital analog I O POAT Automation GmbH CIA 402 servo controller PDO set generic drive IXXAT Automaton GmbH CANopen Configuration Studio for IXXAT CME PN Project Explorer tool window Devices are organized in user definable device groups with subordinate device trees Within these groups devices are sorted by their node ID For a not yet populated project a Manager group containing the IXXAT CME PN and one Slaves group for CANopen slave devices are created by default The Slaves group may be renamed by the user to match specific project requirements Additional groups may be created by the user to improve the structuring of the project See the topic on device groups for more information Ej Device groups is a concept introduced to organize devices in a project according to their function Device groups are not part of the CANopen specifications but help understanding the logical structuring of a CANopen project Device groups are not related in any way to the actual connection of the devices to the physical CAN network For each device within the network configurat
134. r Control Configuration Definition of the NMT error control dependencies of the devices providing heartbeat and or node guarding i Application Objects Configuration of the objects that shall be mapped to the managers process image Process Image Additional information about the created process image Also contains some options to fine tune the process image Timing Parameters Configuration of PROFINET and CANopen timing parameters Properties Basic project information such as project path project author and creation respectively modification dates Allows also to enter a short textual description of the project This page is not displayed by default See menu system and toolbars on how to activate the properties page 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 33 4 3 1 Network Management Configuration The network management page supports configuration of the NMT functionality of the managing device Network Management Configuration Error Control Configuration Application Objects Process Image V Timing Parameters NMT Startup BitO Biti Bit2 Bits Bt4 Bit5 Bits cOP CON220PN EA m NMT Slave Assignment m Product Code Revision Number PEET ee Expected Configuration BitO Bit2 Bit3 Bit7 Configuration idii Date II Restore Configuration 1F8A tml 00000000 00000000 22082073 Ed v v 7 F 00000000 00000000 Fj Fa O module 2 01 Defines the al
135. racted from object 100A Manufacturer software version RPDOs Number of receive PDOs supported by the device TPDOs Number of transmit PDOs supported by the device 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 19 4 2 2 1 Device Catalog Navigation Devices are listed in navigation bar panels with one individual pane for each device profile To further categorize the devices contained in the device catalog CANopen Configuration Studio for IXXAT CME PN interprets the Additional information field in object 1000 Device type Please consult the corresponding device profile specifications available from CAN in Automation for further information on object 1000y The core catalog is pre configured to contain the device description for the IXXAT CME PN in NMT master mode This catalog is locked against modification by the user The user catalog is pre populated with device description information for selected CiA device profiles for details see the table below If device description information is included in the user catalog a short description of the corresponding devices functionality is included below the description of the navigation pane The corresponding EDS files have been created on the basis of the device profile specifications available from CAN in Automation They do not represent any existing commercially available device they are only intended to demonstrate typical functionality
136. rder number if eq AAA T LWE EN 1 CI PBS BAIRE i deters al Ee WEE Ee 1A 1 e000 01 Read input 0 f 1600002 Read input O J 0 6000 03 Read inputi J 06000 04 Read inputi g 02 s000 01_Read input 0 J 02 6000 02 Read input O J 02 6000 03 Read input 1 J 02 6000 04 Read input 17 J 03 6000 01 Read input 0 J 03 6000 02 Read input 0 J 03 6000 03 Read input 1 J 03 6000 04 Read input 1 a 01_6401_01_Analog input f 01_6401_02 Analog input H 1620001 Wwrite_output fg 1620002 Write_output 9 01_6411_01_Analog outpu Id 01_6411_02 Analog outpu Tool for download of the IKXAT CME PN configuration ROFINET PROFINET lO System 100 Paste Replace Object Edit PROFINET 10 System IP Addresses PROFINET 10 Domain Management PROFINET 10 Topology PROFINET 10 Multi Controller Devices specify Module Delete Move Size Minimize Maximize GoTo Object Properties Open Object With Assign Asset ID Product Support Information FAQs Find Manual Start Device Tool Opening the Download dialog from the SIMATIC HW Config window ol x Find ant ani Profile Standard ae fa PROFIBUS DP ASP PROFIBUS PA ctrl c E PROFINET ID H E Additional Field Devices EYED Gateway Eig XAT CME PN Elf V2 3 ISMAT CME PN Exan Ege V2 3 IMSMAT CME PN Serv TI Gateway HMI 10 Ident System Network Components H E Sensors H E Switch
137. riven profile specific UNSIGNEDS Eventdriven profile specific Read input 41h to 43h Read input 49h to 50h Read input 51h to 58h Read input 59h to 60h Read input 61h to 63h Read input 69h to 70h Read input 71h to 73h Read input 73h to 80h UNSIGNEDS Event driven profile specific UNSIGNEDS Event driven profile specific UNSIGNEDS Eventdriven profile specific UNSIGNEDS Event driven profile specific UNSIGNEDS Eventdriven profile specific UNSIGNEDS Eventdriven profile specific UNSIGNEDS Eventdriven profile specific UNSIGNEDS Event driven profile specific E Read input Othto08h I Read input 09h to 10h I Readinput 1thto 1h Read input 19h t020h I Reed input 21h to 28h MI Read input 29h t0 20h I Read input 3th to 28h I Read input 39h t040h I A a A a A a a A Communication Cycle Period ms 0 dec SYNC Producer Process Image Size OUT byte 850 dec Process Image Size IN byte 650 dec Application Objects workspace page The application objects page is subdivided into the following main regions J Toolbar Application objects list 3 Global parameters 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 41 Toolbar The toolbar implements the interface to commands that globally select or deselect application objects for mapping onto the process image on the CANopen manager eon Description Adds all mappable appl
138. s is a world leading supplier of industrial network technology HMS develops and manufactures products used for interfacing automation devices to industrial networks SIMATIC is a registered trademark of Siemens AG S7 and STEP 7 are trademarks of Siemens AG Part No 4 02 0159 20010 Version 2 1 HMS reserves the right to make modifications without prior notice 2015 IXXAT Automation GmbH All Rights Reserved
139. s to the most recent CANopen specifications T 2015 IXXAT Automation GmbH All Rights Reserved 6 CANopen Configuration Studio for IXXAT CME PN 2 Important User Information Liability Every care has been taken in the preparation of this manual Please inform IXXAT Automation GmbH of any inaccuracies or omissions The data and illustrations found in this document are not binding We IXXAT Automation GmbH reserve the right to modify our products in line with our policy of continuous product development The information in this document is subject to change without notice and should not be considered as a commitment by IXXAT Automation GmbH IXXAT Automation GmbH assumes no responsibility for any errors that may appear in this document There are many applications of this product Those responsible for the use of this device must ensure that all the necessary steps have been taken to verify that the applications meets all performance and safety requirements including any applicable laws regulations codes and standards IXXAT Automation GmbH will under no circumstances assume liability or responsibility for any problems that may arise as a result from the use of undocumented features timing or functional side effects found outside the documented scope of this product The effects caused by any direct or indirect use of such aspects of the product are undefined and may include e g compatibility issues and stability issues The examples a
140. services as this CANopen protocol provides no intrinsic possibility to distinguish between numeric data objects and streams such as VISIBLE_STRING or DOMAIN type objects This requires different handling for data objects depending on if they are transmitted via SDO services or via the process image and PDO services It has to be ensured that data objects that are to be transmitted using SDO services are provided in little endian format IXXAT CME PN may be alternatively configured such that data in the process image are stored in little endian format as well This however necessitates that data objects located in the process image of IXXAT CME PN are transmitted in little endian format by the PROFINET IO controller Data have therefore to be converted into little endian format on the PROFINET IO controller The configuration for big endian or little endian handling may be parameterized in object 4000h of the IXXAT CME PN To modify the default value select the IXXAT CME PN node in the Project Explorer of CANopen Configuration Studio for IXXAT CME PN and navigate to object 4000 in the Device Parameters tool window Enter a configuration value in the Value column according to your requirements 2015 IXXAT Automation GmbH All Rights Reserved 68 CANopen Configuration Studio for IXXAT CME PN Device Parameters Node ID 127 Ox7F Index Parameter Name Communication Profile Area Manutacturer Profile Ares c ARR 2000 Version of IEM A
141. smatch The sub index corresponds to the node ID of the CANopen devices in the network The sub index corresponding to its own node ID is ignored Object description Object code ARRAY Entry description Description Highest sub index supported Access const PDO mapping Value range Default value 2015 IXXAT Automation GmbH All Rights Reserved 138 Attribute Sub index Description Entry category Access PDO mapping Value range Default value Attribute Sub index Description Entry category Access PDO mapping Value range Default value CANopen Configuration Studio for IXXAT CME PN Node ID 1 conditional mandatory if node ID 1 is supported see value definition for object 1018 sub index 02 see CiA 301 0000 0000 Node ID 127 conditional mandatory if node ID 127 is supported see value definition for object 1018 sub index 02 see CiA 301 0000 0000 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 139 6 1 11 Object 1F87 Revision Number This object is used for verification of the revision number of the CANopen devices in the network The revision number object 1018p sub index 03 see CiA 301 of the CANopen device in the network is matched against the value of this object in case the value is not equal 0000 0000p An error event is generated if the values mismatch A mismatch is defined as the major r
142. system locale To start CANopen Configuration Studio for IXXAT CME PN open the Microsoft Windows start menu and navigate to All Programs IXXAT CANopen Configuration Studio for IXXAT CME PN 2015 IXXAT Automation GmbH All Rights Reserved 8 CANopen Configuration Studio for IXXAT CME PN 4 User Interface The initial user interface layout of the CANopen Configuration Studio for IXXAT CME PN main application window is shown below The design of the user interface is similar to typical development environments allowing for a quick familiarization with the application Main elements of the user interface are tool windows for network definition and device specific configuration tasks and a central workspace within which most of the CANopen manager and network configuration is performed The user interface layout is fully customizable but may be restored to its default settings at any time PDO Mapping Pammeties EA brabled OAT CHEFH 17 he 11 wa 18 he 1 Sait ii HO module 1 2 xD HO module 2 2 eth WO modus 4 WO module 1 bO module 2 WO module 3 Serve drive Mas i Sevodive Yas OOOOH Deve Catalog AX E DLAT Automation GmbH a Digital khipu Dygta OutpebiAnalo 14 401 digital malog ee inhaa Tira TORO NHT inhiba Time iHa ce Parameters H List ih 0 Warnings i1 Messages Clear Calculation sucoseded CANopen Configuration Studio for IXXAT CME PN main application w
143. t on I O module 1 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 77 We repeat this configuration step for the other I O modules and IXXAT CME PN device such that it expects a heartbeat message from the I O module with node ID 1 2 and 3 once every 1000 milliseconds Node ID Consumer Time 1000 1000 Notused Not used Not used Not used Not used 0 0 0 0 0 0 0 0 0 Configuration of object 1016 Consumer heartbeat on the IXXAT CME PN We have now concluded our configuration and can continue to adjust the timing parameters for the IXXAT CME PN module 2015 IXXAT Automation GmbH All Rights Reserved 78 CANopen Configuration Studio for IXXAT CME PN 517 Configuration of CANopen and PROFINET Timing Parameters The setup of the IXXAT CME PN timing parameters is performed in the Timing Parameters workspace page of CANopen Configuration Studio for IXXAT CME PN Two combo boxes support the specification of CANopen bit rate and PROFINET update time Select the CANopen bit rate first for example 125 kBit s Then select the PROFINET update time less or equal to half of the shortest process data duration Based on the configured parameters CANopen Configuration Studio calculates the PDO payload and estimates the total PDO transmission time If the estimated PDO transmission time is in the recommend range your selection will work even if all configured TPDOs and RPDOs are tra
144. t sections demonstrate the integration of a CANopen network into a PROFINET system with the help of the IXXAT CME PN gateway The examples use the SIMATIC STEP 7 engineering software and SIMATIC S7 300 PLC as PROFINET IO controller The chapter is subdivided into 1 Integration of the IXXAT CME PN gateway into the SIMATIC STEP 7 project 2 Using the command and diagnostics interface Integration of IXXAT CME PN into the SIMATIC STEP 7 project The following sections demonstrate how to integrate a configured IXXAT CME PN into a PROFINET network The example uses a SIMATIC S7 300 PLC as PROFINET IO controller The system is configured with the SIMATIC STEP 7 engineering tool The example covers the following steps 5 2 1 1 Creating a new SIMATIC STEP 7 project Configuration of the SIMATIC S7 300 PLC Add the PROFINET device description for the configured IXXAT CME PN gateway to the SIMATIC STEP 7 device catalog Add the IXXAT CME PN gateway to the PROFINET IO system Set IP configuration and assign device name to IXXAT CME PN Add S7 Program Blocks Compile and Download to the SIMATIC S7 300 PLC Working with the SIMATIC S7 300 PLC and the IXXAT CME PN in online mode UW N CON DU sf 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 81 5 2 1 1 Creating a SIMATIC STEP 7 Project To create a new SIMATIC S7 project open the SIMATIC Manager from the Windows start menu The S
145. tart remote node reserved NMT state Pre operational NMT service Enter pre operational reserved reserved 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 131 Object description Attribute Index Name Object code Data type Category Entry description Attribute Sub index Description Entry category Access PDO mapping Value range Default value Attribute Sub index Description Entry category Access PDO mapping Value range Default value to Value 1F82 Request NMT ARRAY UNSIGNED8 2015 IXXAT Automation GmbH All Rights Reserved 132 Attribute Sub index Description Entry category Access PDO mapping Value range Default value Attribute Sub index Description Entry category Access PDO mapping Value range Default value CANopen Configuration Studio for IXXAT CME PN 7Fh Node ID 127 conditional no see value description OO 80h All nodes mandatory wo no see value description OO 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 133 6 1 8 Object 1F84 Device Type Identification This object is used for verification of the device type of the CANopen devices in the network The device type object 1000p see CiA 301 of the CANopen device in the network is matched against the value of this object in case the value is
146. that the object dictionary entries describing the PDO configuration have to support read write access Changes that a user has applied to the default PDO configuration such as adding additional objects to the PDO mapping will be overwritten by the object linker if the PDO is not locked Configuration Commands Add a new Object to the PDO Mapping To be able to add an object to the mapping tables of a PDO adequate space has to be available to allow for the additional object without exceeding the maximum data length of a CAN frame 8 bytes As the IXXAT CME PN supports only byte granularity for PDOs Boolean objects cannot be mapped onto a PDO By default new application objects are added at the end of the mapping table Use the Move Up or Move Down commands to change the mapping sequence if required To add an application object to a PDO select the PDO first Clicking the toolbar button em or selecting the context menu item over the PDO header line will open the Object List dialog that allows to add one or multiple objects from a list of application objects which have the PDO mapping attribute set to true The Object List dialog will display only those objects for which the input output direction matches the selected PDO For example a read only object cannot be mapped onto a receive PDO 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 29 Parameter Name INTEGERS Dummy INTEGER16 Du
147. the IXXAT CME PN front panel will exhibit the LED pattern as indicated in the nominal LED status column in the table below 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN LED Name Color ON Power LED Green S1 PROFINET status LED 1 Green Red Red S2 PROFINET status LED 2 Green Red HOST Host status LED Red Red Red Green Green Green C1 CANopen run LED Green 2015 IXXAT Automation GmbH All Rights Reserved Status Off On Off Blinking On Off On On Blinking Flickering Single flash Flashing On Off Blinking 105 Nominal LED Description p Status Fuse defective Green on Voltage regulation defective Device not connected to power Device fully functional No fault Off Module identification Module fault status Connection AR Off established to the controller PROFINET protocol not initialized No connection AR to the controller Gateway software is not Green on running initialization Update mode for configuration or software No valid configuration found Fatal error Configured and initialized but PROFINET connect frame has not yet been received Normal operation process model not valid or no transfer of the process model Normal operation exchange of valid process data Gateway software is not Green on running initialization Fatal error if HOST LED red flickeri
148. the example configurations and programs described in the previous chapters refer to a number of standardized CANopen objects as well as manufacturer specific objects that are described in more detail in the following sections Standardized communication profile objects e Manufacturer specific objects e Standardized device profile objects 6 1 Standardized Communication Profile Objects CANopen Configuration Studio for IXXAT CME PN and IXXAT CME PN devices refer to respectively implement communication objects that are standardized in the CANopen specifications published by CiA The table below contains a selection of those objects that can be addressed in the communication profile area of the object dictionary In the Implemented on device category column of the summary table below it is indicated if the corresponding object is typically implemented on CANopen manager or CANopen slave devices or on both 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 117 type category 1000p VAR Device type UNSIGNED32 Manager Slave CIA 301 and device or application profiles 1001p VAR Error register UNSIGNED8 Manager Slave CIA 301 and device or application profiles 1008h VISIBLE_STRING Manager Slave CiA 301 name 10181 RECORD Identity object object IDENTITY Manager Slave Slave ast 301 a VAR NMT startup UNSIGNED32 a ia 302 20 302 2 ARRAY NMT slave UNSIGNED32 a fvereeSe CIA 302
149. the vendor ID is read from the EDS and can not be entered manually Product Code Contains the product code that shall be expected during verification Corresponds to object 1F86 Product code The checkbox activates the identification of the product code for the specific slave The value for the product code is read from the EDS and can not be entered manually Revision Number Contains the revision number that shall be expected during verification Corresponds to object 1F87 Revision number The checkbox activates the identification of the revision number for the specific slave The value for the revision number is read from the EDS and can not be entered manually Serial Number Contains the serial number that shall be expected during verification Corresponds to object 1F88 Serial number The value is entered in hexadecimal format All values other than 00000000 activate the verification of the serial number Expected Contains the expected date of the configuration of the device in the manager Corresponds to Configuration objects 1F26 Expected configuration date and1F27 Expected configuration time The value cannot be entered manually It is set from system time during configuration file generation By means of the check boxes the mechanism may be deactivated 2015 IXXAT Automation GmbH All Rights Reserved 36 CANopen Configuration Studio for IXXAT CME PN 1F81 NMT Slave Assignment Bit Description Byte 0 Configuration
150. timing parameters and the calculated PDO configuration an approximation of the time required to transmit each TPDO exactly once per PROFINET update time is calculated This estimated transmission time and thus also the expected busload is independent of the configured PDO transmission type If the TPDO transmission type is set to event driven an input device may transmit its TPDOs more than once per PROFINET update time The estimated transmission time and busload on the CANopen network may therefore differ from the observed busload in the final network installation CANopen Bit Rate Drop Down List Input Bit rate used in the CANopen network According to CIA 301 the CAN bit rate can be selected within the range of 10 kbit s to 1 Mbit s PROFINET Update Time Drop Down List Input The cycle time in a PROFINET system within which the I O device is polled by the I O controller The PROFINET update time is an integer multiple of the basic PROFINET cycle time The IXXAT CME PN supports PROFINET update times between 1 ms and 512 ms Total PDO Payload Textbox Information Accumulated payload of all active TPDOs transmitted within one PROFINET update time The value in this textbox depends on the selected application objects in the Application Objects page and additional TPDOs configured in the PDO Parameters tool window Total PDO Length Textbox Information For each active TPDO 47 bits for the additional CAN protocol information start of fr
151. tion is running IXXAT CME PN is configured as CANopen slave Only valid if IXXAT CME PN is configured as NMT master Process NMT startup has not been started Process NMT startup in state reset network 4 Process NMT startup scanning the network and booting the CANopen slave devices Reserved always 0 Reserved always 0 Process NMT startup mandatory slave error boot time not elapsed Process NMT startup CANopen manager is allowed to start itself and the network Process NMT startup CANopen manager is allowed to start itself but not the network Process NMT startup CANopen manager is not allowed to start itself but may start the network Process NMT startup CANopen manager is neither allowed to start itself nor the network Process NMT startup finished CANopen manager is allowed to start a booted slave autonomously Process NMT startup finished CANopen manager is allowed to start a booted slave if the CANopen manager is in NMT state Operational Process NMT startup finished CANopen manager is not allowed to start a booted slave autonomously Fatal error Severe software error has been detected CANopen state of _ Value coded the CANopen manager 0 NMT state Operational 1 NMT state Stopped 2 NMT state Pre operational 3 Waiting for initialization or CANopen initialization is running 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 15
152. tudio tor IXXAT CME PN sin Monitor Modify 01_6411_01_Analog_outpu R 59 _ Online via assigned CPU services Path Example SIMATIC 3000 CPU 317 2 PN OF Symbol Display format Status value Modify value Ao Row Not Effective Update Force Symbol with F5 Run conditionally Run immediately Monitor Ao Status Value Modify I Modify Value i 1 0 Display Ee Trigger Close Monitor Modify dialog in ONLINE mode for an analog output object Note that in CANopen data are represented in little endian coding while PROFINET uses the big endian format Depending on the configuration of object 4000 Process image byte order to write a 16 bit process value of 7FFF into the CANopen device a value of FF7F has to be entered in the text field In default settings IXXAT CME PN converts the Litte Endian data as transmitted in the CANopen network into a big endian representation in the process image so that no byte swapping by the user is required Similarly input data from remote CANopen devices can be monitored Open the context menu for the 01 6000 01 Read input0 module and in the Monitor Modify dialog for module and press the Status value button This will read the current value in the process image on IXXAT CME PN into the SIMATIC S7 CPU and the STEP 7 software In the image below the current process data were 55 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME
153. tware Version Software version as contained in the electronic data sheet for the device The value presented in the list is extracted from object 100A Manufacturer software version Number of transmit PDOs supported by the device The granularity value defined in the DeviceInfo section of the EDS Indicates if the device support group messaging The file version according the FileInfo section of the EDS The original file name of the EDS file At the lower border of the dialog an output and an error window are docked that display errors warnings and information created during device import 2015 IXXAT Automation GmbH All Rights Reserved 58 CANopen Configuration Studio for IXXAT CME PN Menu system File keyboard accelerator Alt F The File menu contains commands basic commands Edit keyboard accelerator Alt E Commands for importing or removing devices from the catalog Toolbar The toolbar implements the interface to commands that sort the devices and add or remove devices kon om OOO If this tool bar item is clicked the device tree is sorted by device profile at the first level a If this tool bar item is clicked the device tree is sorted by device vendor at the first level 4 Imports a new device to the catalog Opens a file open dialog for EDS files Removes the currently selected device from the catalog 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for
154. uch objects are treated as one unit and can only be removed together 44 CANopen Configuration Studio for IXXAT CME PN Select Default Mapping Dialog The default mapping dialog is shown if the corresponding option in the context menu was selected Select Default Mapping Node ID 2 0x02 Transmission ype Sub lndex No of SYNC Size bit Parameter Name Denoctation Event driven profile specific 01 02 03 O4 05 DE 07 08 Event dnven profile specific 6401 01 6 Analog input 01h 6401 02 amp Analog input 02h 6401 03 6 Analog input 03h 6401 04 6 Analog input 04h mE TPDO3 Event driven profile specific Hl TPDO4 Event driven profile specific H RPDO1 Event driven profile specific 4 Read input 01h to 08h Read input 09h to 10h Read input 11h to 18h Read input 19h to 20h Read input 21h to 28h Read input 29h to 30h Read input 31h to 38h Read input 39h to 40h 0 amp amp amp amp amp amp amp amp 0 Selection of PDO default mapping as contained in the device description file C e Index Contains the main index of the application object contained in the default mapping of the PDO Transmission Type Allows to configure the PDO transmission type in the corresponding header row individually Sub index for each PDO Contains the sub index of the application object contained in the default mapping of the PDO No of SYNC If synchronous cyclic is selected as transmission type the number of
155. uch that all mapped application objects are visible below the PDO header 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 25 The display style of the PDO list may be adjusted to display only those PDOs that match certain filter criteria To display or hide the filter options click the PDO filter icons E The following filter options are available via combo box controls Reset Filters PDO Type Al PDO Enabled Al Transmission Type E Selection of PDO filters via drop down menus To activate or deactivate the PDO filter click the toggle PDO filter button CO in the toolbar of the PDO mapping list The current filter settings are display in the toolbar of the PDO list PDO Type If the PDO filter is active all PDOs that match the other filter criteria are visible in the PDO list RPDO If the PDO filter is active only receive PDOs that match the other filter criteria are visible in the PDO list PDO Enabled TPDO If the PDO filter is active only transmit PDOs that match the other filter criteria are visible in the PDO list Transmission Type are visible in the PDO list If the PDO filter is active only PDOs that are enabled and for which the other filter criteria are valid are visible in the PDO list Enabled means that bit 31 in the COB ID parameter of the PDO communication parameter record is set to 0 other filter criteria are valid are visible in the PDO list
156. upported by IXXAT CME PN For details consult the related PROFINET specifications and see the table below 2015 IXXAT Automation GmbH All Rights Reserved CANopen Configuration Studio for IXXAT CME PN 43 Data Type Definitions and Object Dictionary Index Range Input network variables Data type Output network variables A000 to A03Fy INTEGERS A4COp to ASFF UNSIGNED8 BOOLEAN1 A500 to A53Fr INTEGER16 UNSIGNED16 INTEGER241 UNSIGNED241 INTEGER32 A200 to A23Fy UNSIGNED32 REAL32 UNSIGNED401 INTEGER401 A300 to A33Fy UNSIGNED481 INTEGER481 UNSIGNED561 INTEGER561 INTEGER64 A400 to A43Fh A440 to A47Fy UNSIGNED64 D D D D D D D D D D D D D 5 OO WO CO NO NO NO fA fA fA fA O Q O A Q O A Q O Ha O Q O HA gt M Se D D D D D D D D D D D D D or or or or or or or or or or or or or D O O O O O O O O O O O O O gt D D D D D D D D D D D D D Q OO OO 09 NO NO NO fA fA fA fA oO Hr Ud J H w J H td J Wo Es ve J H Fr H H Fz H H Fr H Hr H Fz H D D D D D ag D D a D D D D 1 Not supported by IXXAT CME PN By selecting the desired PDOs and confirming the dialog all application objects of the PDOs are added to the mapping and corresponding network variables are created in the process image of the CANopen manager Objects that were selected via a default mapping are displayed with a yellow background in the application object list S
157. uration is locked and neither PDO mapping parameters nor PDO communication parameters can be changed by the user The automatic PDO mapping and linking calculation will not affect the current configuration To re enable the configuration options uncheck the Lock PDO check mark in the PDO communication parameters section The PDO has static mapping In addition the PDO is locked which implies that the PDO communication parameter cannot be modified The PDO has variable PDO mapping and thus may be modified by the user To prevent the automatic mapping calculation from altering either the mapping or the communication parameters configuration the PDO has to be locked by the user Toolbar and Context Menu The toolbar and the context menu of the PDO list implement commands that may be used to change the PDO mapping configuration of the PDOs implemented by the selected CANopen device By means of the available commands additional application objects may be added to the PDO objects may be removed from the mapping tables or the sequence in which the objects are mapped onto the PDO may be modified If a command is not available for the selected PDO or object the corresponding toolbar button and context menu item are disabled REES Te SCSCSCSC C lt S Move the selected application object down in the PDO mapping table Collapse All Move the selected application object down in the PDO mapping table Expand All Expands all PDOs s
158. x eee the parameter in the object dictionary of the CANopen device Sub indices for complex objects such as arrays or records are listed in a tree structure attached to the main object In addition to index and sub index this column contains an icon indicating the CANopen data type of the parameter object E Objects that are read only or may not be configured within the Device Parameters tool window are disabled gray text Parameter Name Name of the object entry as declared in the ParameterName keyword in the device description file Value Configured value of the parameter object The value may be changed within the limits indicated in the low limit and high limit columns To change a parameter value double click into the cell enter the new value and hit lt return gt when finished The new value is verified against the permitted value range as indicated by the low and high limit columns Default Value Default value of the parameter as declared in the DefaultValue keyword in the device description file The default value is reapplied if either an individual or all parameter objects are reset using one of the toolbar buttons Low Limit Minimum value for the parameter object if available The field uses the value declared by the LowLimit keyword in the EDS file High Limit Maximum value for the parameter object if available The field uses the value declared by the HighLimit keyword in the EDS file Resetting a single Object

CANopen Configuration Studio for IXXAT CME/PN

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