CBCAN CANopen Communication Board User`s Manual
Contents
1. Commands No cOB ID Sire Comment a NodelD4i8dh z T InhibitTme 100 ms Evert Time 1003 mp Cydic Time 2200 ME Figure 40 Removing TXPDOs A similar way to the RxPDO configuration double click on the TxPDO1 to set up further TxPDO settings Sees Model duel PO NG L Sy valle Locke boich D i E Figure 41 TXPDO settings Same as RxPDO configurations the default settings of Role Slave Node ID PDO No and Cobld Hex are required for this application Therefore they remain unchanged as shown on the picture above Change the Size to 3 for FATEK Automation Corporation 31 CBCAN User Manual having CBCAN exchange 6 bytes data with the CANopen master As required in this application the Async 255 shall be used as the Transmission Type for transmitting PDO messages Three additional settings are related to the transmission type and are located at the bottom of TxPDOs list page Cyclic Time is only valid when Cyclic transmission type is used Inhibit Time and Event Time are two transmission parameters for Async 255 type In this application there is no requirement specified for these two parameters They may use the default settings 1000ms and 100ms for Event Time and Inhibit Time respectively The Event Time 1000ms which means the consecutive TxPDO messages shall be transmitted within 1000ms even if no event occurs The setting2. FATEK Automation Corporation 33 CBCAN User Manual Table 9 Example network configuration Values Node ID Baudrate 125K bps sync master Disabled Error control Heartbeat producer 1000 ms Heartbeat consumer 1050 ms Number of TxPDO 1 3 Words Transmission type Async Mode 255 Number of RxPDO 1 3 Words To set up CBCAN CANopen communication the node id and baudrate are first items to be configured in terms of network requirements All CBCAN settings can be configured via the CBCAN device configuration of EasyCANopener utility The CBCAN configuration can be started by clicking the Module Configuration button on the main page of EasyCANopener utility FATEK Automation Corporation 34 CBCAN User Manual TATA Ca ooer Products nf FS Op Device Pan nelers Aone ANE Beda SUD eee Errio Frage arin Rescate 200 Bors dir tang MMT iendea Hut KK Dt Seas Hinrere Upc A Frack de arwa llnr are remm Port Setup EC ste KW FL pal sea Abou teran PFC n kan rish Tie Took DEER E Figure 45 Main page T a ay K aa 7 EELA K 11 CE L ysl Xon P3015 Self Xr a EH DATE PA AYE Ha H Mret ed 51 uve AS Seel KU 2 R LKAN AR A imo mei 1I beras Jefaat set Defait e e Figure 46 Module configuration page Assume the FBs PLC uses id node 1 CBCAN node id can simply use PLC s node id as its CANopen node id because it is not 2 Choose Dynamic opti
3. Ey vale Tobid Hex Med2I 200h e Figure 50 RXPDO setting page Since the CANopen slave device does not use the same id as CBCAN it s not necessary to enable Dynamic which uses FBs PLC node id as the CANopen Slave node id The CBCAN works as a master device in this application choose As Master Node mode to set up the RxPDO s role as a master According to the network configuration required by this application the slave device uses node id 2 thus value 2 is selected as the Slave Node ID setting In general the CANopen master uses slave node id 180h as the RxPDO1 s COB ID thus the COB ID shall set to 182h Please also double check if the CANopen slave node uses the general rule to configure its PDO settings The CBCAN uses the PLC internal register one word size as the base unit for calculating the PDO size thus the actual size of Size 4 is 8 bytes As described in the beginning of this section the CBCAN only exchanges 6 byte data with the CANopen slave device the Size setting of RxPDO1 shall be configured as 3 FATEK Automation Corporation 36 CBCAN User Manual RYPOC 1 Selling 7 SOO ID Assan EID ai By Rolz Role Gs Fase Hide slave Mode Ir 2 PUGO HG L kd De value Cobldi sd 207 Dietz Figure 51 RXPDO1 configuration for this application TxPDO Setting The CBCAN only requires one TxPDO to transmit 6 byte data to the slave device TxPDO 2 4 are not neede
4. The information of the searched modules as shown below will be listed in the window Mode c Vendor ID Serial Mo Description l 0267 Fatek o Fatek CBC BN LA UA atek U Fatek CR on Figure 17 Search result window Information shown in the Vendor ID and CBCAN Serial number can help users to select a module Read Completion After setting the above items click the OK button to complete reading CBCAN Board configurations 6 2 5 Write configurations to CBCAN Board The operations are similar to section 6 2 4 The only difference is the clicking of the Write button Please refer to Section 6 2 4 for details 6 2 6 Generate EDS files Select Generate EDS The Generate EDS File window will pop up tererate EUS Hle E EDS Fie Name C 8CE_Projecte EseyiAhOpener tect sde Description EDS test file Lrestedby bhobcdd wf Ok X cancel Figure 18 Generate EDS file Description Additional descriptions of the EDS file FATEK Automation Corporation 20 CBCAN User Manual Created By The name of the author who creates the EDS file The settings of two items above will be included in the EDS file Click the OK button to finish creating the EDS file 6 2 7 End configuration setup Click the Close button to exit the relevant configuration setup functions 6 3 SDO Service Click the Device Parameter Access button on the main page to enter the SDO Service screen as shown below The setup ite
5. Word or Dword Value Input a value Click the OK button to complete creation of the new batch content Insert Right click the location where the batch command to be inserted and select Insert from the pop up menu Click the OK button to insert a new batch command in the specified location Delete Right click the batch item you want to delete and select Delete FATEK Automation Corporation 23 CBCAN User Manual from the pop up menu to delete the SDO command Delete All Right click the batch content window and select Delete All from the pop up menu to delete all batch commands Edit Right click the batch item you want to edit and select Edit from the pop up menu or double click the command item to edit its content Then click the OK button to complete modifying the content 6 3 3 2 Save batch contents Click File from the main menu at the top of the window and click Save or Save As from the pull down to save the current batch contents in a file 6 3 3 3 Read this batch file Click File from the main menu at the top of the window and click Open from the pull down list to read the contents of the batch file 6 3 3 4 Execute batch write First select the Write option in the operation group Then click the Execute button to start batch write SDO write commands will be sent out according to the contents in the batch window 6 3 3 5 Execute batch read First
6. based on the TCP communication at port 500 Ready When the system is ready for the service the button is green On Line When the TCP network and application are linked the button is green 6 4 2 Run service Users must connect to port 500 of the local machine via TCP connection to subscribe the service Therefore an example of Winproladder settings is shown below FATEK Automation Corporation 25 CBCAN User Manual Faton ur bor I LoS e TEP IK 157 30 Pan Mu bel5 2o S Figure 28 Winproladder connection setup page As it is connected via the TCP communication users can link up with the CANopen network with Ethernet from a remote site 6 5 NMT Services Click the NMT Service button on the main page to enter the NMT Services screen as shown below NMT Services gt El ee Node ID Service Enter OPERATIONAL Send Comman d T Close Figure 29 NMT service Node ID Input the ID of the NMT slave node to be managed Users can select either a single node 1 127 or all nodes Service The service includes Start Remote Enter PRE_OPERATIONAL Reset Node Reset Communication Stop After the configuration is done click the Send Command button to start NMT service 6 6 CBCAN Firmware Update Click the Firmware Update button on the main page to enter the Firmware Update screen as shown below ig Firmware update e ea Set UD CO m jase Fig
7. EE 21 Figure 20 SOO lead Dag EEN 21 Fig re 2k SDO wite page EE 22 Fig re 22 SDO batch page NAAANINAG kda 22 Figure 23 SDO batch setup poade 23 Figure 24 Pop up menu for creating batch sse eee 23 Figure 25 Add a SDOCOMMINA EE 23 Figure 26 PLC remote monitoring service sse sees 24 Figure 27 Gateway status window aaa 25 Figure 28 Winproladder connection setup Oade eee eee eee 26 Figure 29 NMT SOVICO E 26 Figure 30 Firmware update EE 26 Figure st Firmware TRT ei Et le EE 27 Figure 32 ExaMpI NEIWOIK nana AANGAT ET NG GANA GANG 28 Figure 33 Malnh pagaani eee Ration eds ede eats 29 Figure 34 Module configuration page e sese eee 29 Figure 35 Node Bel ris le EE 29 Figure 36 Baud Rate Contguration Qu ANAN A diesen hese 29 PIQUE 37 REMOVING IRAP DOS Xa ANGKAN ATA AANGAL 30 Figure TTI eeh 30 Figure 39 RXPDO1 configuration for this application 31 Figure 40 Removing TAP DOS aaa GURU LANGAN KABA aeta 31 PIQUE Ee TAPDO SEN EE 31 Figure 42 TXPDO transmission parameters settings a 32 Figure 43 Write configuration to CRBCAN aaa 33 le 0 len Ce 33 FOUG 49 Main DIG EE 35 Figure 46 Module configuration page e sss 35 FATEK Automation Corporation Figure 47 Figure 48 Figure 49 Figure 50 Figure 51 Figure 52 Figure 53 Figure 54 Figure 55 CBCAN User Manual aa a Be AA 35 Bala Rate ent e Uu KAN LINA AN GA AA 35 FREMOVING RAP 16 CG 36 FSA Riede liebe e EE 36 RXPDO1 configuration for this applcaton eee
8. not 2 Choose Dynamic option to use PLC s node id as the CBCAN s CANope node id Baud Rate 250K z Node ID Dynamic S Figure 35 Node ID configuration The Baud Rate setting is located next to the Node ID choose 125K to set up CBCAN serial communication speed to 125 kbps Node ID Dynamic e Figure 36 Baud Rate configuration RxPDO Setting The CANopen master uses transmission type 255 in this application the PDO messages will only be transmitted whenever events are triggered The Timeout Time setting is not important for this application since the FATEK Automation Corporation 29 CBCAN User Manual transmission interval between two consecutive PDO messages is not predictable The CANopen master only requires 1 RxPDO for exchanging 6 byte data with CBCAN thus RxPDO2 RxPDO4 are not needed in this application To remove them select them and choose the Delete on the mouse right click pop up menu ROO zeg Macs commands Ho COB ID Size Comment i Mee 4 RISO RIHISIDA 2 mean NodeID 300h 2 SS E SACH den H JE 3 NodeID 400h 4 R Edit Enter 4 god A Relate D i Insert Ins Ade Ctrl Ins Up C rl Up Down Ctrl Down Delete All Ctrl Del 1 LST Figure 37 Removing RXPDOs There should be only RxPDO1 left in the list double click on it for further configuration RDA 1 Setting BE Cs ls Baag jo Drak Be Rule Hele Aa Save Mode Se vs Mote 10 Hade
9. not change frequently These parameters can be mapped to the CANOpen objects through the SDO Service Data Object service for remote access over the network Size This setting is to indicate the quantity of the mapped registers The maximum value is 1000 Start Address This represents the start address of the mapped register Only R registers can be mapped as parameter registers Sync Master option When this option is enabled checked the CBCAN will operate as the sync master node which transmits synchronous messages If this option is disabled and any TXPDO is configured in sync mode the CBCAN will monitor sync messages produced by the sync master on the network If the sync master does not generate the sync messages within the pre defined sync timeout time a timeout event will be generated R3680 Bit1 FATEK Automation Corporation 18 CBCAN User Manual Sync Time When Sync master option is enabled this value represents the interval of synchronous messages transmission When sync master option is disabled this value represents the sync timeout time for sync messages monitoring A longer timeout time than the sync messages interval shall be given for getting the monitoring mechanism works properly 6 2 1 5 Commands By inputting commands via this function users can make additional configurations for the CBCAN Board 6 2 2 Save configurations to files Click the Save or Save As button The save configura
10. other nodes on the CANopen network The default value for this setting is Dynamic 6 2 1 2 RPDO setup Click the RPDO tab to enter the receive process data object RPDO setup page as shown in the Figure 9 below RXPDO 4 TKPDO 4 Misc Commands Mo COB ID Size Comment 1 SNodeID 200h 4 H 26240 AR 3043 5 50 1 3 SNodeID 300h 4 Ra6 4eR 5647 5 502 3 SNodeID 400h 4 H 26246 H 3651 5 503 4 SNodeID 500h 4 R36 52 R35655 5 50 4 Timeout Time 1500 mS Figure 9 RPDO setup page The number in parentheses of the tab name represents the quantity of PDOs that has been defined As shown in the Figure 9 four RXPDOs have been defined The RPDO is configured by the popup menu as shown in the Figure 10 below Edit Delete Insert Add Up Down Delete All Figure 10 RPDO pop up menu The functions in this popup menu are described below Edit Right click on the PDO you want to edit to start the pop menu and select Edit from the menu Or simply double click the PDO you want to edit to start the following screen FATEK Automation Corporation 14 CBCAN User Manual Pole Ae Slavs Nade Slave Node ID Hole FOO Ne 1 r 3y valuc Coblef cx odd 1200h Figure 11 Edit RXPDO From this screen users can configure the communication object ID COB ID and data length Items as shown in the Figure 11 are described as follows Dynamic option A COB ID can be a fixed
11. select the Read option in the operation group Then click the Execute button to start batch read SDO read commands will be sent out according to the contents in the batch window It differs from batch write in the read back values will overwrite the original ones 6 4 PLC remote monitoring service With this service the ladder programming software Winproladder from Fatek can connect to the remote PLC equipped with the CBCAN Board via the PC serial port thus ladder programs on the remote PLC can be modified locally through local PLC equipped with CBCAN module Pia na ax MAA Figure 26 PLC remote monitoring service FATEK Automation Corporation 24 CBCAN User Manual 6 4 1 Open service Click the Remote Programming button on the main page to enter the remote monitoring service screen as shown below CANopen z2 Fatek Gatew Remote Node ID 1 w Scan Link Status TCP Packet Transmited 0 Packet Received 0 Figure 27 Gateway status window Items in the screen are described as follows Remote Node ID Input the ID of the node which you want to connect Link Status Auxiliary status Packet Transmitted The quantity of data packets transmitted to the remote PLC Packet Received The quantity of data packets received from the remote PLC This service is completed through the local CBCAN module which operates as a gateway between the remote PLC and local Winproladder software It is
12. value or a value changed with CPU node id This option is valid only when the current Node ID is set to Dynamic The COB ID can be set by either from master or slave perspectives as follows By Role Basically every PDO of the master and slave nodes on the network has a default independent COB ID The default setting of each node is assigned with four TXPDO COB IDs and four RXPDO COB IDs By Value Input a value between 181H and SFFH Size Setup The size of the RXPDO can be set to one to four 16 bit words Delete Right click the PDO you want to delete and select Delete from the pop menu to delete the PDO Insert Right click any location where a PDO to be inserted and select Insert from the pop menu to start the PDO Edit screen After the configuration on the popup menu is done a new PDO will be inserted at the location addressed Add Right click the screen to start the popup menu Select Add to start the PDO Edit screen After the configuration on the popup menu is done a new PDO will be added at the end of the list Up Right click the PDO to be moved up Select Up on the popup menu to move the PDO to one position upward Down Right click the PDO to be moved down Select Down on the FATEK Automation Corporation 15 CBCAN User Manual popup menu to move the PDO to one position downward Delete All Right click on the screen to start the pop menu Select Delete All t
13. 100ms for Cyclic Time means the consecutive TxPDO messages will not be transmitted within 100 ms even if events are triggered during that period Inhibit Time 100 ms EventTime 1000 ms Cydic Time 2000 ms Figure 42 TXPDO transmission parameters settings Misc Setting On Misc setting page there are three main functions HeartBeat Parameter Zone and Sync Master The Parameter Zone configuration is not related to the CANopen network communication and can be disabled set to O to disable for this application As for the Sync Master it is not applicable for this application and can be disabled unchecked because the Async 255 mode is used as the PDO transmission type Since the CANopen master produces heartbeat at 1000 ms period the CBCAN Guard Time shall use a higher value than 1000 ms In this example Guard Time is set to the value 1050 ms for monitoring the CANopen master heartbeat messages Likewise the CBCAN Cycle Time shall use a lower value than the CANopen master s consumer heartbeat time Write Configuration to CBCAN After above settings are done the configuration then can be downloaded to CBCAN Click the Write button on the main page a pop up window will appear for setting up the communication between EasyCANopener utility and CBCAN The CBCAN on the local node is accessed through the FBs PLC port 0 Choose Auto baudrate to have EasyCANopner utility to
14. CBCAN CANopen Communication Board User s Manual V1 0 07 Nov 2011 FATEK Automation Corporation CBCAN User Manual Table of Contents RE lei e CN 2 IE 4 AA AA 5 1 e VIC WY sista tae atid oe nat seer at nea Da baat ba biag aNG bala data Ga td unat T 2 elZ enle HONG i AABANG O 7 3 Inslallalon and ANINO eea LA AA AA 8 a PLC ADpIIGAMON lan n LEE 9 4 1 Communication interface are 9 4 Pakamelerk dala aka EE 9 4 3 Process dala Ale EE 9 4 4 Module status areza sese 10 Ox HELD Ce es ae 11 D EasyCANopener Software Operations Xa 12 o t PLO CONDECION geheegt Een 13 6 2 COMMGUFATION SETUP eegene Seege 13 6 2 1 Create new Contduratons sese eee ee ee ee ee e 13 6 2 2 Save configurations to files a 19 6 2 3 Open old configuration Tles Xa 19 6 2 4 Read CBCAN Board configurations aaa 19 6 2 5 Write configurations to CBCAN Board a 20 6 2 6 Generate EDS AMES naaa aaa anakan a 20 6 2 7 End CONTGUIATION SeUP ian 21 69 DUO e 21 S n be BGC E 21 E Ee Bled 22 oC ro we BIO of AA E 22 6 4 PLC remote monitoring service 24 AER len ELE 25 6 42 RUM SEVICE EE 20 6 5 T SS e 26 6 6 CBCAN Firmware Update ANA AG 26 FATEK Automation Corporation CBCAN User Manual 6 6 1 Select firmware files ccccsccceccceccecceeecaeecesecaeecaeeeceesaeeeaes 21 6 6 27 Start firmware UDC EE 27 Sne Bel Le SANA NAA ANAKAN ANA MAGA 21 APPENOD A EE 28 lil ee te Mein H Le 28 1 1 1 Connect CBCAN to a CANopen master d
15. Rauma Tes Bu R o mn o ErorRegster eu R o mn o pas mu rR mm mom o cume mu R o o lfeTimeFacor Bu R o Consumer Heartbeat Time pt GonsumerHeartbeat Time 1320 R 1020 RXPDO1 Communication Parameters i 1401H 1409H RXPDO2 RXPDO10 Communication Parameters tem Count w R pgo Mapped gren gr ei R RXPDO1 Mapped guene eu R R R RXPDO1 Mapped Object 3 I32U RXPDO1 Mapped Object 4 I32U RXPDO2 RXPDO10 Mapped Objects 4 CFG CFG CFG CFG FATEK Automation Corporation 40 CBCAN User Manual Communication Object Cont Data type TXPDO1 Communication Parameters 1800H O temcount S wu RS C meoc eau R OFS TXPDO Transmission Type paus od pe mibiTme paul R cre EENEG 1801H TXPDO2 TXPDO10 Communication Parameters 1809H Pte Count ww R A moo Mapped object 2U R CFG moo Mapped Object 2 eau R CFG moo Mapped Object 3 fo2u R CFG moo Mapped Object 4 o2u R CFG TXPDO2 TXPDO10 Mapped Objects SCH D Zone 0 2001H P Zone 100 2001H P Zone 101 2009H P Zone 999 FATEK Automation Corporation 41 CBCAN User Manual PLC Process Data Objects Data type TXPDO process data a moo OR Cg Reo R Ca me 2011H R3604 R3639 2019H rr RXPDO process data e o RXPDO process data e data aR G ST e SS Ca me 201BH S R3640 R3679 2023H Program Version Objects Da
16. ce the configuration tool EasyCANopener communicates with the CBCAN through this area 4 2 Parameter data area The size of this area is configurable up to 1000 registers From the network point of view these registers in this area act as objects in that control node These registers can be addressed by their indexes and sub indexes thus they can be accessed by SDO services With this function users can change adjust parameters of users applications over network easily during system installation in the field 4 3 Process data area There are 80 registers in this area ranging from R3600 R3679 The real time data of the PLC is exchanged with other nodes on the network via this area Table 3 Process data area Word 1 R3600 Word 2 R3601 U Word 3 R3602 Word 4 R3603 TPDO2 R3604 40 TPDO10 R3639 Word 1 R3640 Word 2 R364 1 RERO Word 3 R3643 Word 4 R3644 45 RPDO2 R3645 80 RPDO10 R3679 FATEK Automation Corporation CBCAN User Manual The data length 0 4 with one register size per unit of each PDO Process Data Object is configurable When the data length is smaller than 4 registers in the front will be used first For example if the length of TPDO1 is 2 only the first two registers R3600 and R3601 will be used The starting register number of each PDO is fixed and will not be changed regardless of the preceding PDO length settings Any unoccupied registers in this range can be free to use by applications 4 4 Modul
17. d and shall be removed for this application as well mrna DPDO Mise Commands Mo UUB SIZE Cammen 1 NodeID A Dh 4 BIG BIO 3 50 4 Jrrbt mer LOO m3 Event Time loco m YOC Time 2003 mg Figure 52 Removing TXPDOs A similar way to the RxPDO configuration double click on the TxPDO1 to set up further TxPDO settings PS op rien Seti Go D neeg 1 Enamik Ry Itoi vole AG Magar Mode Jave Yode D 2 POO ko 1 By value Co Adtien 202 Figure 53 TXPDO settings Same as RxPDO configurations the Role shall be set to As Master Mode and the Cobld Hex is then changed to Nodeld 200h automatically The Slave Node ID does not use the same node id of FBs PLC Dynamic setting FATEK Automation Corporation 37 CBCAN User Manual shall be disabled unchecked Select value 2 as the Slave Node ID The Cobld Hex setting is switch to 202h automatically This value 202h matches the general rule of using Slave node ID 200h as the master s TxPDOs COB ID setting Change the Size to 3 for having CBCAN exchange 6 bytes data with the CANopen master As required in this application the Async 255 shall be used as the Transmission Type for transmitting PDO messages Three additional settings are related to the transmission type and are located at the bottom of TxPDOs list page Cyclic Time is only valid when Cyclic transmission type is used Inhibit T
18. detect FBs FATEK Automation Corporation 32 CBCAN User Manual baudrate setting automatically Then click OK button on the Comm Setup pop up window to start the configuration downloading Saul Pale il kok ID Dyna e Gha dc ral ma RaP0f1 TEC HG Lamp ma Sehin Rau Hate Ato r Com Part Coin eed Made C Lol hulk L Sen M Cancel ei Figure 43 Write configuration to CBCAN Input and Output image After downloading the new configuration to the CBCAN the CBCAN should be able to communicate with the CANopen master The CBCAN supports maximum 10 RxPDOs and 10 TxPDOs Each PDO supports maximum 8 bytes data these data is mapped to the FBs PLC internal registers The CBCAN integrates the data of RxPDOs into the input image and maps those data to the internal register R3640 R36 79 Mapping registers for output image are R3600 R3639 the CBCAN reads data from output image for transmitting TxPDO messages In this application the 6 byte data of RxPDO1 is mapped to the register R3640 R3642 and the 6 byte data of TxPDO1 is read from R3600 R3602 1 1 2 Connect CBCAN to a CANopen slave device In this application the FBs PLC with CBCAN is used as the CANopen master node on the network CBCAN CANopen Slave FBS PLC Figure 44 Example network Assume the CBCAN uses the configuration in the following table to connect to the CANopen network
19. e settings are done the configuration then can be downloaded to CBCAN Click the Write button on the main page a pop up window will appear for setting up the communication between EasyCANopener utility and CBCAN The CBCAN on the local node is accessed through the FBs PLC port 0 Choose Auto baudrate to have EasyCANopner utility to detect FBs FATEK Automation Corporation 38 CBCAN User Manual baudrate setting automatically Then click OK button on the Comm Setup pop up window to start the configuration downloading Generate EDS bam fi Coe Sle Tels Input and Output image After downloading the new configuration to the CBCAN the CBCAN should be able to communicate with the CANopen devices The CBCAN supports maximum 10 RxPDOs and 10 TxPDOs Each PDO supports maximum 8 bytes data these data is mapped to the FBs PLC internal registers The CBCAN integrates the data of RxPDOs into the input image and maps those data to the internal register R3640 R3679 Mapping registers for output image are R3600 R3639 the CBCAN reads data from output image for transmitting TxPDO messages In this application the 6 byte data of RxPDO1 is mapped to the register R3640 R3642 and the 6 byte data of TxPDO1 is read from R3600 R3602 FATEK Automation Corporation 39 CBCAN User Manual Appendix B CBCAN Board Object Dictionary Communication Object index Subindex Name Data Type Access Default mm o
20. e status area Low Byte Bit O 0 Normal 1 Stppped when excessive RX error occur while startup Bit 1 Sync signal time out valid only if at least one TXPDO is configured in sync Module mode Poo Status Bit 2 Reserved Bit 3 z1 CAN Rx error Bit 4 z1 CAN Tx error High Byte Bit 15 8 CBCAN state 0 init 5 OPERATIONAL 4 STOPPED 127 PRE OPERATIONAL Each bit represents the receiving status of RPDO each RPDO 2 R3681 When Bit 1 it means data update is normal mas Bit O means RPDO1 Bit 9 means RPDO10 Table 4 Module status area Nodes 1 15 When Bit 1 1 it means the heartbeat in Node 1 is detected R3682 The detection cycle is determined by Heartbeat guard Time refer 6 2 1 4 When Heartbeat guard time 0 this register is not valid since CBCAN will not monitor heartbeat signals R3683 Heart beat Node 16 31 1 3 4 S 7 6 Reer o 1 me Second 0 5 Time Stamp Day 1 31 Month 1 12 Year 2000 2099 FATEK Automation Corporation 10 CBCAN User Manual 5 LED Indicators If the check item Single status indicator refer 6 2 1 4 is not checked the RUN and ERR Led will be operated as follow RUN LED green Table 5 Run LED Indicator State Node Operation State Single flash STOPPED Blinking PRE OPERATIONAL ERR LED red Table 6 ERR LED Indicator State Error State Quadruple flash Any one of expected RXPDOs Is time out on 4 blinking La 2 gr
21. ediately after the end of event time even if the status is not changed during the event time period The default value is 1 second Cyclic Time The transmission time interval used in the Cyclic mode The default value is 2 seconds 6 2 1 4 Miscellaneous Click the Misc tab to edit miscellaneous setup as shown in the Figure 14 below FATEK Automation Corporation 17 CBCAN User Manual Heartbeat Parameter Zonge Cyde Time 1000 ms Bas 0 Gaurd Time ms Start Address R 0 la Sync Master Sync Time ms Figure 14 Misc setup page Heartbeat This represents the existence of a node within a specific time interval In normal circumstances a node will send a heartbeat signal at a regular interval Other nodes determine if this node is operating normally based on this signal Cycle Time This represents the regular interval the node sends the heartbeat signal If the value is O this means the heartbeat function is disabled Guard Time This represents the time criteria for a node to detect if the heartbeat of other nodes is normal In general individual nodes have individual cycle times thus users should set different cycle times for different nodes However this system assumes that the cyclic time of all nodes are the same in order to simplify the configuration process In this case the value must be greater than the default value Parameter Data In general there are usually some parameters that do
22. eee 37 KAZI Le Ta Te E a TEE EEN 37 TARDO SCHUNS oreraa 37 TXPDO transmission parameters settings 38 Write configuration to CRBCAN 11 39 FATEK Automation Corporation CBCAN User Manual CBCAN Board User s Manual 1 Overview The CBCAN board is the communication board of the FBs PLC series from FATEK It can be directly mounted on the extension board slot of the CPU module without the additional space With the CBCAN the PLC can directly communicate with other devices connected to the CANopen network CANopen is a CAN based industrial protocol and is widely used in field applications such as automatic controls for industrial machinery automobile control systems factory automation medical equipment control building automation remote data collection and control environmental monitoring and others 2 Specifications Table 1 CBCAN specification Compliance with CAN 2 0A DS301 V4 02 PDO quantity l SDO quantity l Application Parameter 1 000 registers maximum Object SE 20K 50K 125K 250K 500K 750K 1M programmable Remote operation Ga Tooling PC software EasyCANopener Method Modify via PLC communication port ee EEG Supported rogramming Vendor ID 2EF Hexadecimal Signal Terminal 3 pin spring terminal Supported Voltage Current 5V 150MA Working Temperature 0 60 C Storage Temperature 20 80 C FATEK Automation Corporation 3 CBCAN User Manual Installation and Wir
23. een ms off on single flash green off on Sg single flash 2 1000 red off on triple flash fred off 200 LOGO on quadruple flash red off 1000 ms Figure 5 Indicator status and flash rate The RUN and ERR LED will be operated as follows when the check item Single status indicator is checked RUN LED green FATEK Automation Corporation 11 CBCAN User Manual Table 7 Run LED Single status indicator mode Indicator State Node State On Normal network operation OPERATIONAL Blink period 1Sec Warning limit reach Blink period 5Sec Bus OFF Not OPERATIONAL state ERR LED Always off 6 EasyCANopener Software Operations Run EasyCANOpener exe and the main page will pop up as follows F CANG JEN ET Mocula Conficureton TATEK CANOper 2roducts Configuraticn Levica Parameters ACCESS CANOpen Products 330 Service Remote Programming Remote PLE Pogamming Monitoring NMT Socyi0es Hal wmrk Managerial Series Fir mawar e LU lal n Products rmware Update Comin Pool Sp up PC serial corn pot setup About Version Information Exiz Finish The Task Figure 6 EasyCANOpener main page Major functions of the software Create modify and set CBCAN configurations Users can save configurations into a file to be used for duplication storage and modification offline SDO Service Users can either access a single cont
24. evice 28 1 1 2 Connect CBCAN to a CANopen slave device 33 APPEN Baca AA 40 CBCAN Board Object EENEG 40 FATEK Automation Corporation Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 CBCAN User Manual Tables CBCAIN SDCCIICAU OM EE 7 Definition of the pinning for the CBCAN Connector sese eee 8 Process Cala Alea EE 9 Mod le status Tn e T atin tele O NG NA 10 RONE IR 11 ERR LED aha lied ANA MABABA ABM AA 11 Run LED Single status indicator mode sss 12 Example network configuration a 28 Example network configuration aa 34 FATEK Automation Corporation CBCAN User Manual Figures Figure 1 CB GAN TOP EE 8 Figure 2 FBS TOD EE 8 Figure 3 CANopen line termmmaton sese eee eee eee 8 Figure 4 Term rullen DEE 9 Figure 5 Indicator status and flash rate aa l1 Figure 6 EasyCANOpener main page aaa 12 pigura CONN SOP a AA aaa 13 Figure e CONTIGUFALION STUD AA AN NANANA NGANGA ANGAS 13 Figure 9 RPDO STUD e Le 14 FOS JOERPDO POP UD MENU AA ANAN AA AGA 14 glee tm ba Wel PD WEE 15 Figure 12 TRANSMISSION EE 16 Figure 15 KP DO Sel Be e ANA AA NANANA ce ia ee AA 17 Figure 14 Misc setup page aaa NADAAN AN AG AA AA AN 18 Figure 15 Read configuration comm Setup 19 Figure 162 INOUE SCAN PAg Ea ANAN GANA Ad 20 Figure 17 Search resul WINGOW maa AGA ATA AA Me 20 Figure TG Generate EDS NG kA GANA BANANA AG 20 Figure TOF SDO SERVICE DAS
25. ime and Event Time are two transmission parameters for Async 255 type In this application there is no requirement specified for these two parameters They may use the default settings 1000ms and 100ms for Event Time and Inhibit Time respectively The Event Time 1000ms which means the consecutive TxPDO messages shall be transmitted within 1000ms even if no event occurs The setting 100ms for Cyclic Time means the consecutive TxPDO messages will not be transmitted within 100 ms even if events are triggered during that period Inhibit Time 100 mS EventTime 1000 ms CydicTime 2000 ms Figure 54 TXPDO transmission parameters settings Misc Setting On Misc setting page there are three main functions HeartBeat Parameter Zone and Sync Master The Parameter Zone configuration is not related to the CANopen network communication and can be disabled set to O to disable for this application As for the Sync Master it is not applicable for this application and can be disabled unchecked because the Async 255 mode is used as the PDO transmission type As required for this application the CBCAN produces heartbeat at 1000 ms period thus the Cycle Time is set to 1000ms Assume the CANopen slave also produces heartbeat at 1000ms period a higher value 1050ms Guard Time is set for monitoring the CANopen slave heartbeat messages Write Configuration to CBCAN After abov
26. ing The CBCAN is a CANopen communication board for FBs series PLC FBs PLCs provides an extension slot for installing optional communication boards Figure 1 CBCAN Top View S Figure 2 FBs Top View The CBCAN is connected to the CANopen network via a 3 pin spring style connector Table 2 Definition of the pinning for the CBCAN connector Description CAN H CAN H bus line dominant high CAN L CAN L bus line dominant low CAN GND Ground OV V Magram U THT ii SH CAN L Twisted Pair Cable LL LT siper Figure 3 CANopen line termination Normally for a node located at either left or right most side of network a 1200 1 4W line termination resistor should be connected between CAN H and CAN L terminal pins as shown in above picture to ensure the signal quality but for CBCAN there s an easier way to implement the same function short the jumper JP4 labeled Term inside the CBCAN module The following picture shows the Term jumper location of CBCAN FATEK Automation Corporation CBCAN User Manual Figure 4 Term jumper location 4 PLC Application Interface The PLC CPU communicates with the CBCAN board via its internal registers These registers basically fall into the following areas 4 1 Communication interface area In this area there are 70 reserved registers ranging from R3700 R3769 These registers shall be reserved for internal system operation and CAN NOT be used for user s applications sin
27. le Network Assume the CANopen master uses the configuration in the following table to connect to the CANopen network Table 8 Example network configuration Values Error control Heartbeat producer 1000 ms Heartbeat consumer 1050 ms Number of TxPDO 3 words Transmission type Async Mode 255 To connect CBCAN to the master the node id and baudrate are first items to be configured in terms of master settings All CBCAN settings can be configured via the CBCAN device configuration of EasyCANopener utility The CBCAN configuration can be started by clicking the Module Configuration button on the main page of EasyCANopener utility FATEK Automation Corporation 28 CBCAN User Manual Device Para neters Access CAMs En RDC Sura Remate ragramming Roi DC ope corbin m r el Services Hew rT Management opges amas iess Products Tria Update arn sar setup PE seral corm pa t setup See Version Information pts Ameh Fe nee Figure 33 Main page scha ct a pew K z cones tke EN l wl Son bk PSs Oede BETS S C e Self Z d Pe ede ATAT Reon EE a e Shetek ah SEID dU 5 ANTAS d DI imo ger LA Letzte cI seb Figure 34 Module configuration page The master s node id is 2 thus any other id from 1 127 can be assigned to CBCAN Assume the FBs PLC uses id node 1 CBCAN node id can simply use PLC s node id as its CANopen node id because the id is
28. mediately after the next SYNC message is received ETimetSync Event Time SYNC It differs from the Sync mode in one additional transmission condition In this mode TPDO messages are also transmitted immediately after the next SYNC message is FATEK Automation Corporation 16 CBCAN User Manual received even if the status is not change during pre defined event time 6 Cyclic TPDO messages are transmitted periodically in time with the cyclic time setting Figure 13 shows the TXPDO setup page Three general settings for TXPDO transmission type at the bottom of the setup page are described as follows RXPDO 4 TXPDO 4 Misc Commands Mo COB ID Size Comment E SModeID 180h 4 H 3600 H 3603 5 50 1 3 SNodeID 280h 4 R304 3607 5 90 2 a Shinde 380h 4 R3608 R36115 50 3 4 Shinde 480h 4 R3612 R3615 5 50 4 Inhibit Time 100 ms EventTime 1000 ms CydicTime 2000 ms Figure 13 TXPDO setup page Inhibit Time The minimum transmission time interval when TXPDO are transmitted in Async mode After the transmitting of TXPDO messages the next TXPDO message will not be sent until the end of inhibit time even if the status is changed during the inhibit time period The default value is 100ms Event Time The maximum transmission time interval when TXPDO are transmitted in Async mode After the transmitting of TXPDO messages the next TXPDO message will be sent imm
29. ms are described below SDO Service i Target Mode 1G Iver ext 0 Sub Irdex Hexi 3 ARC Read suainte 5G Razh Figure 19 SDO service page Node ID This represents the ID of the node you want to access Index This represents the main index of the object Sub Index This represents the sub index of the object 6 3 1 SDO Read Click the SDO Read tab to enter the SDO Service screen as shown below Cyclic Read option Select check this option to read SDO data repeatedly This function is useful for observing the dynamic change of objects Read button Click the button to start reading SDO data The results will be displayed in the window as shown below SDO Read spo Write 5DO Batch Cydic Read Result Data Size 4 Data 10 Ah UYA UYU Ox0 UYU Figure 20 SDO read page The value 4 in the Data Size item means that the size of the data is 4 bytes The data content are given in decimal 10 hexadecimal AH and string type FATEK Automation Corporation 21 CBCAN User Manual Oxa 0x0 0x0 0x0 6 3 2 SDO Write Click the SDO Write tab to enter the SDO Write service screen as shown below spo Read SDO Write SDO Batch Data Type Byte ka Data d Hex e Figure 21 SDO write page Data Type This means the type of object data At present the system supports only Byte Word and Dword data Data The value you want to input Users can select data format from the pull dow
30. n button on the main page to enter the Configuration Setup screen as shown below Baul Sala 250K e Koue TD Daag T PGCE Lrepotg mec comman Hu CAD Sue E m 1 Shade 270 2 R364 3643 550 1 3 Stef 320h e Edd 3647 NADZ Ste 420h e E3893 F39515 80 3 Shoda SO e debe debs gt SU Kezd Wane Concrabe EDS D Cos Figure 8 Configuration setup 6 2 1 Create new configurations When entering the Configuration Setup screen a new configuration file will be generated automatically and all parameters are in their default values 6 2 1 1 Basic setup Functions at the top of configuration setup page as shown in the Figure 8 are described as follows Baud Rate This is the network operating speed The default value is 250K bps The range is 20K 1M bps The same baud rate must be set for all node devices on the network otherwise they will not operate properly Node ID This ID is set to indicate the CBCAN s node id on the CANopen FATEK Automation Corporation 13 CBCAN User Manual network and can be configured 1 127 or Dynamic When it is set to Dynamic the node ID will be configured with the same ID as the ID of the PLC CPU module The advantage of using Dynamic is to prevent different CBCANSs from using the same ID and causing conflicts thus each node ID will be unique Otherwise the CBCAN will not be able to communicate with
31. n list next to the box Hex hexadecimal or Decimal Write button Click the button and start writing An error window will pop up if there is any error 6 3 3 SDO Batch By using the SDO Batch a list of pre defined multiple SDO commands can be sent out sequentially It is very useful when multiple CBCAN modules need to be set up with similar configuration thus users don t need to configure all functions one by one First click the SDO Batch tab to enter the SDO Batch screen as shown below SDO Read SDO Write 5DO Batch Enter Click here to enter SDO batch service Figure 22 SDO batch page Click on the SDO batch window as shown in Figure 22 to start SDO Batch editing below FATEK Automation Corporation 22 CBCAN User Manual Figure 23 SDO batch setup page 6 3 3 1 Create batch contents After entering the SDO Batch service screen there should be no batch contents Then users can create the batch content The menu pops up as shown below Add Figure 24 Pop up menu for creating batch Add Right click the batch content window and select Add from the pop menu to start the following window ode ID Index Hex 0001 Sub Index Hex 02 Data Type Word Figure 25 Add a SDO command Node ID Select the ID of the node you want to write SDO data to Index Input the index value Sub Index Input the sub index value Data Type Select SDO data type Byte
32. o delete all PDOs in the list There is an additional item Timeout Time at the bottom of the RPDO setup page as shown in Figure 9 Timeout Time This setting is used to indicate the deadline after the reception of an RPDO message If RPDO messages are received properly within this interval the corresponding bit of PLC internal register R3681 RPDO status will be set to 1 If not the bit will be set to O to indicate the RPDO timeout event The default value for this setting is 1 5 seconds 6 2 1 3 TPDO setup The TPDO setup is similar to the RPDO s this section only described the difference between TPDO and RPDO setup Please refer to the section 6 2 1 1 for those similar settings There is one additional item Transmission Type added to the TXPDO Edit page Transmission Type Async 255 Sync 0 ETime 5ync 0 Cydic 255 Figure 12 Transmission type Transmission Type It indicates the transmission type of the TPDO Async asynchronous transmission A TPDO is transmitted when the TPDO data is changed or event time is elapsed without any data change After TPDO messages are transmitted the end of the Inhibit Time must be reached before sending next TPDO message With this function users can prevent the communication bandwidth from being consumed by unexpected high frequency input signals Sync synchronous transmission Whenever the status change the TPDO message will be transmitted im
33. on to use PLC s node id as the CBCAN s CANope node id Baud Rate 250K e Mode ID Dynamic e Figure 47 Node ID configuration The Baud Rate setting is located next to the Node ID choose 125K to set up CBCAN serial communication speed to 125k bps Node ID Dynamic e Figure 48 Baud Rate configuration RxPDO Setting The network requires transmission type 255 in this application the PDO messages will only be transmitted whenever events are triggered The Timeout Time setting is not important for this application since the transmission interval between two consecutive PDO messages is not predictable The CBCAN only requires 1 RxPDO for exchanging 6 byte data with the CANopen slave node thus RxPDO2 RxPDO4 are not needed in this FATEK Automation Corporation 35 CBCAN User Manual application To remove them select them and choose the Delete on the mouse right click pop up menu COB ID Size Comment IL SNodefD 200h_ 2 R3S40 R 3643 5 90 1 ese eI EE EE 3 NodeD4400h 4 Edit Enter L NodeIp 500h 2 R Delete Del Insert Ins Add Ctrl Ins Up Etri Up Down Ctrl Down Delete Al Ctrl Del 1 mbia aeo m a R eee maba hiiia Timeout Time 1500 mg Figure 49 Removing RXPDOs There should be only RxPDO1 left in the list double click on it for further configuration Pig Ep 1 Selling LUS LD Age eyman Ey Thee Foki Aa Save kode Save Ane Pr Sankt ANG kong L
34. roller object directly or access multiple objects by batch operation The batch contents can also be saved in files to be re used in the future PLC remote access bridge The FBs PLC is usually connected to the Winproladder software via local serial port When this function is enabled the CBCAN can work as a remote programming gateway and Winproladder can connect to another FBs PLC at remote site through the CBCAN NMT service with a single operation users can send Start Remote Enter PRE OPERATIONAL Reset Node Reset Communication and Stop commands to one single node or all nodes on the network CBCAN firmware update Users can update the firmware of the CBCAN Board on the PLC via the serial port FATEK Automation Corporation 12 CBCAN User Manual 6 1 PLC connection Using this software to modify system settings of the PLC can only be done when the PLC is connected to the software via serial port except for some offline operations such as creating or modifying configuration and SDO batch files After the serial port is connected click the Comm Port Setup function key to set the serial port configuration as shown in the screen below Comm Setup Bea Baud Rate 115200 Le Com Port COM5 w OK E Cancel Test Figure 7 Comm setup After the configuration is done click the Test button to start the connection test 6 2 Configuration setup Click the Module Configuratio
35. t PLO ka 1 By vale Cobidf ex Sucdelc Oh N cancel Figure 38 RXPDO setting page Since the CBCAN node id was configured Dynamic the Dynamic option on this page remains checked to use FBs PLC node id as the slave id The CBCAN is used to connect to a CANopen master device in this application choose As Slave Node mode to set up the RxPDO s role as slave The default setting SNodeld should then be selected for using CBCAN node id as the Slave Node ID In general the CANopen master and slave use slave node id 200h as the slave s RxPDO1 s COB ID thus the setting SNodeld 200h should be chosen for Cobld Hex setting unless otherwise specified The CBCAN uses the PLC internal register one word size as the base unit for calculating the PDO size thus the actual size of Size 4 is 8 bytes As described in the beginning of this section the CANopen master only FATEK Automation Corporation 30 CBCAN User Manual exchanges 6 byte data with CBCAN in this application the Size setting of RxPDO1 shall be configured as 3 EE REPEAT setting man 11 H Asami i El Dane By Fulz Role As Sane Kode Savs hode it 24cderd PD Dy value Cocker Solar e Size 3 XS tad i GENEE Figure 39 RXPDO1 configuration for this application TxPDO Setting As described above the CANopen master only uses one TxPDO TxPDO 2 4 shall be removed as well Rxeragy P2001 Mer
36. ta ma re tem Count stu R 2 7 Ladder software version sau R Ladder software version is decided by R3696 of the PLC Electron board Version Objects Data a Item tem Count o S as lees FATEK Automation Corporation 42
37. tion window will pop up Input the name of the file to be saved and click the Save button to save the configurations 6 2 3 Open old configuration files Click the Open button The open configuration file window will pop up Click the button and select the configuration files that have been saved Click the OK button to open the selected configuration file 6 2 4 Read CBCAN Board configurations Click the Read button The Comm Setup window as shown below will pop up Comm Setup Baud Rate 115200 Com Port COMMS Node ID LocalNode Scan Figure 15 Read configuration comm setup The Baud Rate and Comm Port are the parameters for the PC serial communication port Node ID This presents the ID 1 127 of the CBCAN node to be read If Local Node is selected the system will read the contents of the CBCAN which mounted on the local PLC connected to the PC directly Scan button Click this button to scan nodes on the network The screen is shown below FATEK Automation Corporation 19 CBCAN User Manual Hege Scan x Lea LE ma scar argc Ster Meder Figure 16 Node scan page Search Range By setting the search range users can narrow the scan range to save more time Start Node The ID of the start node for the scan End Node The ID of the end node for the scan Click the Start Scan button to start scanning By clicking the Stop Scan button users can end the scan immediately
38. ure 30 Firmware update FATEK Automation Corporation 26 CBCAN User Manual Note The CBCAN firmware version can be read from object index 4000H sub index 1 File Name Input the file name of the firmware to be updated 6 6 1 Select firmware files Click the ES button to open the file selection window After selecting the firmware file press the OK button The following confirmation dialog box will pop up Firmware Information x i CBCAN V1 0 Figure 31 Firmware information The information of the corresponding firmware file will appear in this dialog box 6 6 2 Start firmware update Click the Start button to start the firmware update 6 7 End operations Click the Exit button on the main page to close EasyCANOpener utility FATEK Automation Corporation 27 CBCAN User Manual Appendix A 1 1 Application Notes CBCAN is a CANopen communication interface which can be plugged into the FBs series PLC for connecting the PLC with external CANopen devices Most of CBCAN CANopen objects are configurable via EzCANopener utility and shall be configured properly according to field network requirements The purpose of this section is to provide a quick configuration reference for users to set up CBAN modules connected to a CANopen network 1 1 1 Connect CBCAN to a CANopen master device In this application the FBs PLC with CBCAN is used as the CANopen slave node on the network CANopen Master Figure 32 Examp
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