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User`s Manual of ISaGRAF Embedded Controllers

1. CANSTR_W must be Standard frame Please use CAN BY _W to send Remote frame Input parameters PORT_ Integer The RS 232 port No WP 8xx7 Can be 1 3 4 5 to 14 Max ten RS 232 ports W 8xx7 Can be 2 5 to 14 Max ten RS 232 ports uPAC 7186EG Can be 1 3 to8 Max three RS 232 ports iPAC 8xx7 Canbe 1 3 to 12 Max three RS 232 ports MODE _ Integer 0 frame is 2 0A frame ID has 11 bits 1 frame is 2 0B frame ID has 29 bits ID_ Integer frame s ID field MSG_ Message the sending string max length is 8 byte the 9th byte and other higher bytes will be useless Return Q_ Boolean True succeed False fail the fail reason can be 1 input parameter is not correct or 2 the related CAN PORT_ is not open successfully or 3 others Feb 2008 Copyright by ICP DAS 16 CANOP_ST PORT_ BOO_ ID_ TOUT_ c function Set a Boolean variable name to get the communication state of the specified CAN open Node ID This function is only for CAN open devices not for general CAN devices This function only works in the first PLC scan cycle Input parameters PORT_ Integer The RS 232 port No WP 8xx7 Can be 1 3 4 5 to 14 Max ten RS 232 ports W 8xx7 Can be 2 5 to 14 Max ten RS 232 ports uPAC 7186EG Can be 1 3 to 8 Max three RS 232 ports iPAC 8xx7 Canbe 1 3 to 12 Max three RS 232 ports BOO_ Boolean should be a Boolean variable name can not use c
2. 220 3RD 5 GND 5 GND WinPAC COM4 RS 232 i 7530 RS 232 9 Pin Dsub Female 9 Pin Dsub Male 2 RXD __ 2 TXD 3 TXD 3 RXD 5 GND 5 GND Please refer to Appendix E of the WinPAC ISaGRAF Getting Started Manual for using WinPAC 8xx7 s COM5 to COM 14 in i 8112iW i 8114iW i 8114W The complete manual resides at WinPAC 8xx7 CD ROM napdos isagraf wp 8xx7 english_manu WinPAC COM5 14 RS 232 i 7530 RS 232 9 Pin Dsub Male RXD see TXD TXD 3 RXD GND 5GND Feb 2008 Copyright by ICP DAS 1 2 Basic concepts of the CAN and the CANopen protocols To understand the basic concepts before going further into the section 1 3 is better for users CAN bus is one of the serial communication interfaces For easy understanding here we can image that CAN is similar to the RS 485 interface but the physical hardware and algorithm is different as RS 485 CAN bus has two branches one is CANopen the other is DeviceNet Then we know CANopen fits the spec of CAN bus For easy understanding user can image that CANopen is something similar to the RS 485 Modbus RTU protocol It is not really a good example but a better image for you to know about them Each CAN bus package or called frame shows as below ID RTR DLC Data field Max 8 bytes only for Standard frame The ID field is an identification number of the CAN frame If it is a CAN 2 0A frame the ID field has 11 bits So its value can be 0 7FF Hex While 29 bits f
3. End if For description of other sample programs wdmo_71b to wdmo_71e please refer to section 9 5 of the User s manual of the ISaGRAF PAC to restore them into ISaGRAF workbench first Then open each sample programs you will find detailed comments in each ST programs Feb 2008 Copyright by ICP DAS 13 1 4 Definitions of the CAN functions and function blocks CAN_R PORT_ _ c function block please declare FB instance if using in ST programs Test if any CAN frame coming Input parameters PORT_ Integer The RS 232 port No WP 8xx7 Can be 1 3 4 5 to 14 Max ten RS 232 ports W 8xx7 Can be 2 5 to 14 Max ten RS 232 ports uPAC 7186EG Can be 1 3 to 8 Max three RS 232 ports iPAC 8xx7 Canbe 1 3 to 12 Max three RS 232 ports Return Q_ Boolean True at least one CAN frame coming False no frame coming The following return value has no meaning if Q_ returns False MODE _ Integer 0 frame is 2 0A frame ID has 11 bits 1 frame is 2 0B frame ID has 29 bits RTR_ Integer 0 frame is Standard frame with 0 to 8 data bytes 1 frame is Remote frame without data byte ID_ Integer frame s ID field DLC__ Integer byte amount of the data filed can be 0 to 8 BY1_ BY8_ Integer Byte data only Standard frame has BY1_ to BY8_ MSG_ Message byte data in string format Note if any of BY1_ to BY8_ s value is 0 it will become the string end For e
4. OPEN ID 2 16 282 16 282 If Can DLC gt 4 then AI 09 Byte sWD Can _By1 Can_By2 AL 10 Byte sWD Can_By3 Can_By4 End if End_case Else Can RTR 1 the coming CAN frame is Remote frame end_if else Can Mode 1 the coming frame is CAN 2 0B frame end_if End_While Feb 2008 Copyright by ICP DAS 11 Step 4 Writing ST program Can2_W handle sending frames to the 1 7530 wdmo_71a defines Period2 200 ms Interval2 20 ms It means one period time is 0 2 sec max 200 20 1 9 frames can be sent in one period frame interval is 0 02 second Step2 1 at 0 ms send Remote frame with ID 16 181 to request CANopen to send back D I Step2 2 at 20 ms send Remote frame with ID 16 281 to request CANopen 1 to send back A I Step2 3 at 40 ms send Remote frame with ID 6 381 to request CANopen to send back A I Step2 4 at 60 ms send Standard frame with ID 16 201 to CANopen 1 to control D O Step2 5 at 80 ms send Standard frame with ID 16 301 to CANopen 1 to control A O Step2 0 6 10 at between 80 ms to 200 ms send nothing Step2 can only be max at 9 in this sample program if user need larger value to send more frames please modify the initial value of Period2 and Interval2 and then re compile it Interval2 should be larger than or equal to 10 ms 0 or negative value will crush this program Period2 should be at least twic
5. gt 086 provides CAN and CANopen sample programs and document They should be at least 5 demo programs wpdmo71a to wpdmo71le And also the single IO definition file of CAN7530 CAN_R CAN BY W CANSTR_W CANOP _ ST If you don t want to re install the whole ISaGRAF IO library you may install the above 5 items separately please refer to the Appendix A 2 of user s manual of the IsSaGRAF PAC Sample programs The following wpdmo71a to wpdmo71e are for the WinPAC 8xx7 wpdmo7la WP 8xx7 COM4 connecting one i 7530 to link one CANopen device wpdmo71b WP 8xx7 i 8112iW COMS and COM6 connecting one 1 7530 to link one CANopen device respectively wpdmo7lc WP 8xx7 COM4 connecting one i 7530 to link one CAN device wpdmo71d WP 8xx7 i 8112iW COMS and COM6 connecting one 1 7530 to link one CAN device respectively wpdmo7le WP 8xx7 i 8112iW COM5 and COM6 connecting one 1 7530 respectively one is linking one CANopen device the other is linking one CAN device Note the sample wdemo_71a to wdmo_71le are for the Wincon 8xx7 1 wdmo_71la and wdmo_71c can also run in the uPAC 7186EG s COM1 or in iPAC 8447 8847 s COM1 please modify 1 IO connection window gt can7530 gt com_port s value to be 1 2 Initial value of the Integer variable Port2 to be 1 then re compile it once The COM1 port of the uPAC 7186EG and 1PAC 8447 8847 is default enabled as Modbus RTU
6. slave port Please disable this Modbus RTU slave setting before connecting COM1 to one i 7530 Please refer to the Getting manual of the uPAC 7186EG section 3 6 2 wdmo_71b and wdmo_71d and wdmo_71e can also run in uPAC 7186EG X 5xx board or in iPAC 8447 8847 may plus i1 8112 8114 please modify 1 IO connection window gt can7530 gt com port s value 2 Initial value of Integer variables Port5 and Port6 then re compile it Feb 2008 Copyright by ICP DAS 8 Here shows four major steps of writing the wdmo_71a programs Step 1 connecting can7530 in the IO connection windows wu lsaGRAF WOMO_71A IYO connection WP 8xx7 can use COM1 3 4 5 to 14 max 10 ports File Edit Tools Options Help uPAC 7186EG can be COM1 COM3 8 max 3 2PBPO tl RA So iPAC 8xx7 can be COM1 COMB 12 max 3 aj gt a ref 22 mwa COM_port 2 ww baud_rate 115200_ Baud rate can be one of 115200 57600 38400 an data_bit 8 19200 and 9600 Recommend 115200 san parity 0 Other RS 232 parameters are fixed as 8 0 1 wa StOp_bit 1 Checksum can be 0 No or 1 Yes mwa Checksum 0 sous reserved 0 ams reserved 0 CANopen 01 32 should specify the connected am can7530 waj CANopen_01_32 1 CANopen Node ID number from 1 to 32 using 32 bit Com_port ne maj CANopen_33_64 0 Hex format Bit 1 specify if the CAN open Node ID 1 maj CANopen_65_96 0 connected or not bit v
7. AN open ID 1 s A I request 8 bytes TMP CAN_BY_W Port2 0 1 16 381 8 0 0 0 0 0 0 0 0 4 Step is 4 sending Standard frame to CAN open ID 1 to control D O send 1 byte convert 8 Boolean values to become 1 byte value Tmp_val Bit_WD DO_01 DO_02 DO_03 DO_04 DO_05 DO_06 DO_07 DO_08 False False False False False False False False then send it TMP CAN_BY_W Port2 0 0 16 201 1 Tmp_val 0 0 0 0 0 0 0 5 Step is 5 sending Standard frame to CAN open ID 1 to control A O send 8 bytes TMP CAN _BY_W Port2 0 0 16 301 8 MOD AO_ 01 256 AO_01 256 Lo_byte Hi byte MOD AO_ 02 256 AO_02 256 MOD AO_ 03 256 AO_03 256 MOD AO_ 04 256 AO_04 256 it there is other frames to send please insert them here Step2 can only be max at 9 in this sample program if user need larger value to send more frames please modify the initial value of Period2 and Interval2 and then re compile it Interval should be larger than or equal to 10 ms 0 or negative value will crush this program Period2 should be at least twice of Interval value and should be larger than or equal to 100 ms below shows requesting CAN open ID 2 s A I data request 4 bytes 6 TMP CAN BY W Port2 0 1 16 282 4 0 0 0 0 0 0 0 0 this sample program defines Period Interval2 as 200 20 so max step can be used is Only 200 20 1 9 End_case
8. G n WP 8147 iPAC347 P WP 8447 TT 88232 ipac ss47 WP 8847 2 l 7530 ji CAN NETWORK gt D T g i CANopen device sensor CAN device sensor More information at the following or visit www icpdas com gt Products ISaGRAF FAQ www icpdas com gt FAQ gt Software gt ISaGRAF gt 086 1 7530 http www icpdas com products Remote_JO can_bus i 7530 htm WP 8xx7 http www icpdas com products PAC winpac wp 8x47 html uPAC 7186EG http www icpdas com products PAC i 7188 _7186 uPAC 7186eg htm i 8112iW http www icpdas com products PAC i 8000 8000_IO_modules htm X board http www icpdas com products PAC i o_expansion x_list htm Feb 2008 Copyright by ICP DAS 1 1 1 Software and hardware installation Below table shows the RS 232 port No and amount that each ISaGRAF PAC can connect W 8347 W 8747 RS 232 Port No can be used Max i 7530 amount that one PAC can connect one i 7530 for each RS 232 port Recommended max amount of CAN devices and sensors linked by one i 7530 Note WP 8147 WP 8447 WP 8847 COMI or COM3 14 COMS 14 resides at i 8112iW or i 8114iW the RS 232 expansion card in slot 0 thru 3 COM2 or COMS COM14 COMS 14 resides at i 8112 1 8114 the RS 232 expansion card in slot 1 thru 5 Max 10 ports to connect max ten i 7530 60 pcs the more devices connected the slower scan rate and longer PLC sca
9. RS 232 i 7530 RS 232 9 Pin Dsub Female 9 Pin Dsub Male 2 RXD 2 TXD 3 TXD 3 RXD 5 GND 5 GND 2 Cable of uPAC 7186EG COM1 amp iPAC 8447 8747 COM1 i 7530 uPAC 7186EG iPAC 8447 8847 COM1 RS 232 i 7530 RS 232 9 Pin Dsub Male 9 Pin Dsub Male 2 TXD 2 TXD 3RXD oo 3 RXD 5 GND 5 GND 3 Cable of iPAC 8447 8747 COM3 i 7530 iPAC 8447 8847 COM3 RS 232 i 7530 RS 232 9 Pin Dsub Female 9 Pin Dsub Male 2 TXD 2 TXD 3RXD 3 RXD 5 GND _ 5 GND 4 Cable of i 8112 8114 RS 232 expansion port i 7530 i 8112 8114 RS 232 i 7530 RS 232 9 Pin Dsub Male 5 TXD oe TXD 6 RXD RXD 7 GND GND If i 8112 8114 is plugged in W 8xx7 user should run Wincon aa utility to setup the RS 232 ports once Please refer to POA A En Appendix E of the Wincon Getting Started ISaGRAF PAC 5 Cable of X 5xx expansion RS 232 port in uPAC 7186EG i 7530 X 5xx RS 232 i 7530 RS 232 9 Pin Dsub Male For detailed pin assignment of the X 5xx RS 232 ports please refer to section 3 14 of the Getting started uPAC 7186EG Feb 2008 Copyright by ICP DAS 5 6 Cable of WinPAC 8147 8447 8447 1 7530 Note The WP 8147 doesn t have COM3 and COM4 The WP 8447 8847 have them WinPAC COM1 RS 232 i 7530 RS 232 9 Pin Dsub Male 9 Pin Dsub Male 2 TXD 2 TXD 3RXD SR 5 GND 5 GND WinPAC COM3 RS 232 i 7530 RS 232 9 Pin Dsub Female 9 Pin Dsub Male 2 TXD 2 TXD
10. The WinPAC 8xx7 uPAC 7186EG and iPAC 8447 8847 connecting one or several i 7530 to link many CAN or CANopen devices and sensors by chun icpdas com ISaGRAF PAC since their following driver version support i1 7530 the RS 232 to CAN converter to link CAN devices and CAN sensors or CAN open devices or CAN open sensors WinPAC 8xx7 since it is released around 2009 Q1 W 8347 W 8747 since driver version 3 43 2008 Feb or later version uPAC 7186EG since it is released around 2008 Mar iPAC 8447 iPAC 8847 since it is released around 2009 Q1 New released PAC driver at www icpdas com gt ISaGRAF SoftLogic PAC gt Driver Advantages 1 Cost effective CAN solution supports both of the CAN 2 0A and 2 0B specifications 2 Provided with proper sample programs All above PACs support ISaGRAF ver 3 software to easy edit easy design and debug ISaGAF supports six PLC like languages Ladder FBD ST IL SFC and Flow Chart and supports on line monitoring control and debugging 3 Each PAC can connect one or several 1 7530 to link many CAN and CANopen devices and sensors 4 When linking with CAN devices the IsSaGRAF PAC can also integrate its some other functions and applications together For example the Hot Swap RU 87P4 8 base plus I 87K high profile I O cards Modbus RTU RS 232 485 422 devices linking other RS 232 485 422 devices Data Logger sending email with one attached data file etc Let uPAC 7186E
11. alue 0 means not connected 1 aus CANopen_97_127 0 means connected Bit 2 32 specify CANopen ID maj reserved 0 number 2 to 32 respectively For ex setting as FO sum reserved 0 means only connecting CANopen ID No 5 6 7 and 8 If _ _ awl reserved 0 setting as 0 it means no CANopen device is LL 17530_0K2 Senn connected only connecting CAN device If value is f serie 1C only connecting CANopen ID 3 4 and 5 If value i iii y E o is 3 only connecting CANopen ID 1 and 2 If value is FFFFFFFF then ID 1 to 32 is connected Other ID 33 127 follows the similar setting way This D I channel returns the comm state of connected i 7530 True Ok False fail Step 2 Writting ST program Scan1 if INIT then INIT is declared as initial value at True so this block will run only once in the Ist PLC scan INIT False TMR2 T 0s Tstart TMR2 start ticking Timer variable TMR2 Max _Step2 Period2 Interval2 Set a Boolean variable name to get the comm state of the CAN open ID 1 timeout is 5 sec TMP CanOp st Port2 CAN OPEN ID1 1 5 name is CAN OPEN2 ID1 If connecting other CANopen ID please insert them here Like TMP CanOp_st Port2 CAN OPEN2 ID2 2 5 ID2 5 seconds Like TMP CanOp st Port2 CAN OPEN2 ID3 3 10 ID3 10 seconds Note 1 please enable the co
12. e of Interval2 value and should be larger than or equal to 100 ms TMR2 val ANA TMR2 convert Timer to become Integer value unit is ms TMR2_val MOD TMR2_val Period2 get rest value Send2 False reset as False no requesting to send any frame here divided as 200 20 10 Steps Interval is 20 ms value of Max _Step2 is calculated in Ist scan in Scan1 program Its value is 200 20 10 if Step2 gt 0 and Step2 lt Max Step2 1 then if TMR2_val gt Interval2 Step2 then Step2 Step2 1 Send2 True reach time point of each step set as True to request to send 1 frame end_if else value of Step reach maximum step value if TMR2 gt TMR Period2 then If the time is over one Period Step2 0 reset Step as 0 TMR2 T 0s reset Timer as 0 end_ if end_if The following code is for sending frame at each Step2 value If Send2 then Send2 False reset as False CASE Step2 Of 0 Step is 0 DO NOT send any frame at Step 0 Feb 2008 Copyright by ICP DAS 12 1 Step is 1 sending Remote frame to request CAN open ID 1 s D I request 1 byte TMP CAN_BY_W Port2 0 1 16 181 1 0 0 0 0 0 0 0 0 2 Step is 2 sending Remote frame to request CAN open ID 1 s A I request 8 bytes TMP CAN_BY_W Port2 0 1 16 281 8 0 0 0 0 0 0 0 0 3 Step is 3 sending Remote frame to request C
13. n time uPAC 7186EG COM 1 or COM3 COM8 COM3 COM8 resides at X 5xx RS 232 expansion card in the X socket like the X 503 504 505 506 508 Max 3 ports to connect max three 1 7530 30 pes the more devices connected the slower scan rate and longer PLC scan time iPAC 8447 8847 COMI or COM3 COM12 COM5 COM12 resides at i 8112 i 8114 the RS 232 expansion card in slot 0 and 1 Max 3 ports to connect max three i 7530 30 pcs the more devices connected the slower scan rate and longer PLC scan time 1 The COM port of the uPAC 7186EG and iPAC 8447 8847 is default enabled as Modbus RTU slave port Please disable this Modbus RTU slave setting before connecting COM1 to one 1 7530 Please refer to the Getting Started manual of the uPAC 7186EG section 3 6 2 WP 8xx7 W 8xx7 uPAC 7186EG and iPAC 8447 8847 can support only RS 232 baud rate setting of 115200 57600 38400 19200 and 9600 to link i 7530 the other setting should be No Parity 8 bit size 1 stop bit The Checksum setting can be No or Yes 3 Default setting of the i 7530 RS 232 115200 N 8 1 No Checksum recommended setting CAN 125K 2 0A CAN spec should be the same as all connected CAN device Built in one CAN BUS terminal resistor default is ON with 120 Q by JP3 ISO 118982 spec two terminal 120 resistors in one CAN BUS network Dev ice0 0Q A Feb 2008 Copy
14. n_Mode 0 then if the coming frame is CAN 2 0A frame if Can_RTR 0 then if it is Standard frame Case Can_ID Of 16 181 D I Function code 16 180 CAN OPEN ID 1 16 181 If Can_DLC gt 0 then data byte amount must gt 0 DI_01 Byte_Bit Can_By1 1 get D I value of Ch 1 DI 02 Byte_Bit Can_Byl 2 DI 03 Byte_Bit Can_Byl 3 DI 04 Byte_Bit Can_Byl 4 DL_05 Byte_Bit Can_Byl 5 DI 06 Byte_Bit Can_Byl 6 DI 07 Byte_Bit Can_Byl 7 DI_08 Byte_Bit Can_Byl1 8 Ch 8 End if Feb 2008 Copyright by ICP DAS 10 16 281 A I Function code 16 280 CAN OPEN ID 1 16 281 If Can DLC gt 8 then here assumes 16 281 frame contains 4 Ch of A I AI 01 Byte_sWD Can_By1 Can_By2 each A I has 2 bytes AI 02 Byte_sWD Can_By3 Can_By4 LoByte HiByte AI 03 Byte_sWD Can_By5 Can_By6 AI 04 Byte_sWD Can_By7 Can_By8 End if 16 381 A I Function code 16 380 CAN OPEN ID 1 16 381 If Can DLC gt 8 then here assumes 16 381 frame contains 4 Ch of A I AL_05 Byte_sWD Can_Byl Can_By2 each A I has 2 bytes AI 06 Byte_sWD Can_By3 Can_By4 LoByte HiByte AI 07 Byte_sWD Can_By5 Can_By6 AI 08 Byte_sWD Can_By7 Can_By8 End if If there is other CANopen ID frames please insert them here For example Function code 16 280 CAN
15. nnected CANopen ID No in Step can7530 or CanOp_st will not work If no CAN open device is connected you don t need to call CanOp_st 2 CanOp_st only works in Ist PLC scan end if Feb 2008 Copyright by ICP DAS 9 Step 3 Writing ST program Can2_r handle coming frames from the connected i 7530 num_frame 0 reset as 0 at the beginning While num frame lt 10 Do max run only 10 loops to avoid scan time increasing a lot test if any CAN frame coming here CanR is declared as a FB instance of CAN_R CanR Portz2 if True means CAN frame is coming if it is False the following value has no meaning Can_Coming CanR Q_ If Can_Coming False then return no CAN frame exit this ST program to run next program end_if Can_Mode CanR MODE_ CAN frame s MODE value 0 2 0A or 1 2 0B Can_RTR CanR RTR_ CAN frame s RTR value 0 Standard frame or 1 remote Can_ID CanR ID_ CAN frame s ID value Can_DLC CanR DLC_ CAN frame s data byte amount 0 8 Can_Byl CanR BY1_ Data field max 8 Bytes Can_By2 CanR BY2_ Can_By3 CanR BY3_ Can_By4 CanR BY4_ Can_By5 CanR BY5_ Can_By6 CanR BY6_ Can_By7 CanR BY7_ Can_By8 CanR BY8_ Can_str CanR MSG_ Data filed in string format num _ frame num_frame 1 frame is coming plus if Ca
16. onstant or True or False ID_ Integer the related CAN open device Node ID No value can be to 127 TOUT_ Integer unit is second Can be 3 to 120 If no frame is coming from the related CANopen device in this TOUT_ seconds value of the Boolean Variable will be set as False It means that device is communication broken If value is True it means always receiving frames from that device in every TOUT seconds Return Q_ Boolean True succeed False fail The fail reason can be 1 input parameter is not correct or 2 This CANopen ID is not enabled in the IO connection gt can7530 or 3 this CANOP_ST is not called in the first PLC scan cycle or 4 others Feb 2008 Copyright by ICP DAS 17
17. or CAN 2 0B frame so its value can be 0 to FFFFFFF Hex CANopen belongs to 2 0A Sepc The RTR field has only 1 bit If its value is 1 it means the frame is using as Remote transmit requests or called Remote frame It is for requesting the other CAN device to send proper data back There is no Data field for Remote frame If RTR is 0 then the frame is called Standard frame It is for sending data to other CAN devices So Standard frame must have Data field The DLC indicates the byte amount of the following Data field Its value can be 0 to 8 CANopen frame has same format as CAN bus However it divides the ID filed into 2 sub fields Function Code 4 bits Node ID 7 bits Bit 1 to 7 indicates the CANopen Node ID or called CANopen Station No This value can be 1 to 7F Hex its decimal value is 1 to 127 Value 0 has special usage For example to switch one CANopen device to be in operational state is using Node ID as 0 So here we know one CANopen network can connect max 127 CANopen devices The Function Code field has 4 bits bit 8 to 11 It defines the function of the CANopen frame For example some function code is for requesting Application Data some is for sending Application Data to others We will not talking more about the CAN and CANopen protocols please refer to the user s manual of each 3rd party CAN products Note Plea
18. r i 7530 manual RS 232 connection diagram between the 1 7530 and PC PC Host l 7530 COM1 COM2 RS 232 GND GND 9 O TxD RxD RxD TxD Note 1 There is one Dip switch on the back of i 7530 To properly run 17530 exe to modify the setting of i 7530 please 1 Shut down 1 7530 s 24V power 2 Turn Dip switch to Init position 3 Power on i 7530 again Then this 17530 exe is possible to modify the RS 232 and CAN port setting Please remember to turn this Dip switch back to Normal position and then reset 1 7530 power once Or it will not work 1 7530 can only link CAN CANopen devices in Normal mode 2 More detail about using the 17530 exe and command format please refer to 1 7530 pdf View of operating i17530 exe fe l 7530 Utility head File Actions Help fe 4 anne G i 7530 should be in INIT mode connect to modify its RS 232 and CAN Seltings Test Settings port setting Remember to switch j PEAR E S rE the Dip back to Normal RS 232 Parameters COM Port COM1 X i eT me TAa mode or it will not work with ae Aan other CAN CANopen devices Timeout 500 ae Cancel Feb 2008 Copyright by ICP DAS 4 Cable pin assignment between the ISaGRAF PAC and the 1 7530 1 Cable of W 8347 8747 COM2 amp iPAC 8447 8847 COM4 1 7530 Wincon COM2 iPAC 8447 8847 COM4
19. right by ICP DAS Cl OO CN2 JP3 JP3 oea oN eae OFF RS 232 Pin assignment of i 7530 RS 232 DB9 Female Connector CN1 3 wire RS 232 1 Not Connected TXD RXD l 6 OoOo 4 Not Connected E O 6 O 7 8 Not Connected 9 CAN Pin assignment of i 7530 CAN DB9 Male Connector CN2 2 wire CAN 1 Not Connected CAN Low OO00 Not Connected eoee35e O o 9 Not Connected Connecting diagram of the i 7530 CAN port to other CAN devices or CANopen devices CAN l 7580 DEVICE CAN Feb 2008 Copyright by ICP DAS Before ISaGRAF PAC connecting i 7530 to link to CAN device please make sure following items 1 CAN port setting should be the same as all connected CAN devices default setting of the i 7530 is 125K CAN 2 0A 2 RS 232 port setting of the i 7530 should be the same as the connected ISaGRAF PAC The default setting is 115200 8 N 1 and No checksum for both Recommend to use it directly To modify the CAN or RS 232 port setting of the i 7530 please run the 17530 exe software tools in PC This software tools can be found in the CD ROM delivered with the i 7530 Or please visit ftp ftp icpdas com pub cd fieldbus_cd can converter i 7530 utility to download it For more information about i 7530 please refer to its user s manual i 7530 pdf It resides at the same CD ROM or visit ftp ftp icpdas com pub cd fieldbus_cd can converte
20. se don t mix CAN devices and CANopen devices in the same CAN bus network That is because the CAN ID field may conflict with each other If all devices in the same CAN bus are all CANopen devices there will be no problem if they has different CANopen Node ID number can be 1 to 127 Feb 2008 Copyright by ICP DAS 7 1 3 Writing ISaGRAF programs to link to CAN or CANopen devices Before you can run the program well in the ISaGRAF PAC make sure its driver version is correct WinPAC 8xx7 since it is released around 2009 Q1 W 8347 W 8747 since driver version 3 43 2008 Feb or later version uPAC 7186EG since it is released around 2008 Mar iPAC 8447 iPAC 8847 since it is released around 2009 Q1 New released PAC driver at www icpdas com gt ISaGRAF SoftLogic PAC gt Driver Then also make sure your ISaGRAF software in PC has installed the following ISaGRAF IO library You may visit http www icpdas com products PAC i 8000 isagraf htm to download the ICP DAS Utilities For ISaGRAF Then run setup exe to remove it first and then re install it once Please refer to the section 1 4 for detailed description about the following ISaGRAF c functions and c function blocks CAN7530 T O complex equipment in the IO connection window CAN R ISaGRAF C function block CAN BY W ISaGRAF C function CANSTR W ISaGRAF C function CANOP ST ISaGRAF C function www icpdas com gt FAQ gt Software gt ISaGRAF
21. xample if receiving one frame with 8 data bytes in hex is 41 42 43 4A 0 4B 4C 4D then MSG_ will be ABCJ only Standard frame s MSG_ is meaningful Feb 2008 Copyright by ICP DAS 14 CAN_BY_W PORT_ MODE_ RTR_ ID_ DLC_ BY1 BY2 BY3 BY4 BYS5 BY6 BY7_ BY8 c function Send CAN frame to other CAN CANopen devices Input parameters PORT_ Integer The RS 232 port No WP 8xx7 Can be 1 3 4 5 to 14 Max ten RS 232 ports W 8xx7 Can be 2 5 to 14 Max ten RS 232 ports uPAC 7186EG Can be 1 3 to 8 Max three RS 232 ports iPAC 8xx7 Canbe1 3 to 12 Max three RS 232 ports MODE _ Integer 0 frame is 2 0A frame ID has 11 bits 1 frame is 2 0B frame ID has 29 bits RTR__ Integer 0 frame is Standard frame with 0 to 8 data bytes 1 frame is Remote frame without data bytes ID_ Integer frame s ID field DLC_ Integer byte amount of the data filed can be 0 to 8 BY1_ BY8_ Integer Byte data only Standard frame s BY1_ to BY8_ is meaningful If RTR_ is 1 please set BY1_ to BY8_ to0 Return Q_ Boolean True succeed False fail the fail reason can be 1 input parameter is not correct or 2 the related CAN PORT_ is not open successfully or 3 others Feb 2008 Copyright by ICP DAS 15 CANSTR_W PORT_ MODE_ ID_ MSG_ c function Send CAN frame to other CAN CANopen device the data is a string All frames sending by

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