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1. 72 7 1 3 Monitor Setting 7 2 7 1 4 PLC Area 7 2 7 1 5 Output data setup in case of emergency 7 3 7 2 Error Control Setting 7 4 7 2 1 Heartbeat Protocol Setting ca 7 4 7 2 2 Slave Error Control 7 4 7 3 PDO Variable Table 7 7 7 31 Variable ame E 7 7 7 3 2 Device 7 8 7 3 3 Monitor 7 8 7 4 SDO Table
2. 8 5 8 3 1 Objects nnn nnn ence ence 8 5 8 3 2 Write SDO 8 6 8 3 3 NdEX 8 6 8 3 4 Format 8 6 8 3 5 Minimum MaX iMUM 8 6 8 3 7 Size Of SDOS 8 6 8 3 8 Writeable Object list when XBL CSEA is selected 8 6 8 4 SDO Command 8 10 8 4 1 GET TCOMM 8 10 8 4 2 PUTCOMDM
3. 6 21 6 4 2 Library Window 6 21 6 4 3 Library Manager nn nnn nnn nn nn naan nnn nnn nn nnn nnn 6 23 6 5 Online on n nnn nne neem nenne enc aeaa 6 26 6 5 1 Connection Setting 6 26 6 5 2 Write 6 26 6 5 3 Read 6 29 6 5 4 Monitor 6 31 6 5 5 Write SDO 6 33 6 5 6 Read SDO 6 34 6 5 7 Slave Error History 6 35 6 5 8 Slave Status by Service
4. 7 9 7 5 Diagnostic Variables 7 10 Chapter 8 Slave Setting using XG Net 8 1 Properties 8 1 8 1 1 Station Number 8 1 8 1 2 Name 8 2 8 1 3 Module 8 2 8 1 4 EDS a eee 8 2 8 1 5 Description 8 2 8 2 Error Control Setting 8 3 8 2 1 Node Guarding 8 3 8 2 2 Heartbeat n nnn none ne anon nen nnmnnn mannanna aaae 8 4 8 3 SDO Setting
5. 6 37 6 5 9 AULOSCAN 6 39 6 5 10 View Autoscan with project 6 41 6 5 11 Add Autoscan in project 6 42 6 5 12 Reset PLC 6 43 6 5 13 Enable Link 6 43 6 6 Print 6 44 6 5 14 Print Project nnn nnn nnn nnn nnn nn nnn nnn nnn nnn 6 44 LSis Contents CLES Chapter 7 Master Setting using XG Net 7 1 Properties 7 1 7 1 1 Node Setting 7 1 7 1 2 SYNC Setting
6. 8 15 8 4 3 Meanings of the Error Code for XBM XBC Series 8 20 8 4 4 Meanings of the Error Code for XEC Series 8 21 8 5 PDO Command 8 23 8 5 1 PDOs Defined in the EDS file 8 23 8 5 2 PDO Setting 8 24 8 6 PDO mapping 8 27 8 7 Add slave nn mann nnn nnn nnn nnn nnn e nen nn nnn nnnnnnnnnennennnnnnnnnnnnnannnannannnnnnannunnnanaenansnannansannnennenaesanmnas 8 28 LSis Contents a Chapter 9 Slave module XBL CSEA Setting using XG PD 9 1 Registration of Communication Module 9 1 9 1 1 Off line Registration 2 enone nnn ncn ccna nnnnc nnn canner name nnm
7. 3 5 3 4 1 Installation of XBL CMEA 3 5 3 4 2 Installation of XBL CMEA 3 6 3 5 Trial RUN ne en 3 6 3 5 1 Caution in Configure the System 3 6 Chapter 4 System Configuration 4 1 System Configuration 4 1 Contents Chapter 5 Using XG Net 5 1 Screen Configuration ee 5 1 5 1 1 Menu Structure 5 2 5 1 2 Toolbar 5 6 5 2 Setting up Shortcut Key sms cs a ee 5 8 Chapter 6 XG Net detail menu 6 1 PrOjeCt 6 1 6 1 1 Proj
8. AutoScan_CANopen_Master B00 S01 XB CANopen_Master B00 S01 XBL CMEA L CMEA ID 012 12_XBL CSEA_COPY_COPY 800 Kbit s ID 013 13_XBL CSEA_COPY_COPY Product code 31 CANopen_Master_01 B00 S03 XBL CMEA Revision 10000 amp ID 050 50_XBL_CSEA_COPY Device type 0 Hardware version 1 00 Software version 3 00 Activated 1 Parameterized 1 Up l _12_XBL_CSEA_COPY_COPY n XBL CSEA_V10 eds i a ae Exists in the only project window Gi Drives and motion control IG7 CANopen LSIS_S100_CANOPEN1_0 EDS IS CANopen LSIS_IS7_CANOPEN1_0 EDS _13_XBL_CSEA SV iG5A CANopen LSIS_IG54_CANOPENI_0 EDS XBL CSEA_V10 eds SV iG5A CANopen LSIS_IG54_CANOPEN2_0 EDS Product code 32 SV iP5A CANopen LSIS_IP5A_CANOPENO_5 EDS Revision 10000 S E Generic 1 0 modules 5 Device type 0 OTB ICO DMSLP OTB_ICO_DMSLP_V5 eds Hardware version 1 00 5 0 Unknown 0 Software version 1 50 XBL CSEA XBL CSEA_V10 eds Activated 1 4 XPO COEA XPO COEA eds Parameterized 1 a Vendor S E LS Industrial Systems XPO COEA XPO COEA eds S E LS Industrial Systems Co Ltd IG CANopen LSIS_S100_CANOPEN1_0 EDS 1S7 CANopen LSIS_IS7_CANOPENI_0 EDS SV iG5A CANopen LSIS_IGSA_CANOPENI_0 EDS 1 on PULCCA CAM An nn 1 OID ICCA CANODCMA OTDI EDS Library Y Favorite B AutoSca E CANopen AutoSca The background colors of the station number indicate followin
9. Word Bit Variable Function Description _SYS_STATE Mode and State Displays the Mode and Run State of PLC F0000 _RUN RUN Run State F0001 _STOP STOP Stop state F0002 _ERROR ERROR Error state F0003 _DEBUG DEBUG Debug State F0004 _LOCAL_CON LOCAL CONTROL Local Control Mode F0006 _REMOTE_CON REMOTE MODE Remote Control Mode F0008 _RUN_EDIT_ST CORRECTING WHILE RUN Downloading Correction Program while Run F0009 _RUN_EDIT_CHK CORRECTING WHILE RUN Internal Processing for Correction while Run FOOOA _RUNEDIT_DONE CORRECTION CONFLETED Correction Completed while Run F000B _RUN_EDIT_END CORRECTION END WHILE RUN Correction Ended while Run F000 1 F000C _CMOD_KEY OPERATION MODE Operation Mode Transformed by the Key FOOOD _CMOD_LPADT OPERATION MODE Operation Mode Transformed by the Local PADT FOOOE _CMOD_RPADT OPERATION MODE Operation Mode Transformed by Remote PADT FOOOF _CMOD_RLINK air var Mode Transformed by Remote Communication F0010 _FORCE_IN FORCIBLE ENTRY Forcible Entry State F0011 _FORCE_OUT FORCIBLE OUTPUT Forcible Output State F0014 _MON_ON MONITOR Executing Monitor F0015 _USTOP_ON STOP Stopped by Stop Function F0016 _ESTOP_ON ESTOP Stopped by EStop Function F0017 _CONPILE_MODE COMPILING Performing Compiling F0018 _INIT_RUN INITIALIZING Performing Initializing Task F001C _PB1 PROGRAM CODE 1 Program Code 1 Selected F001D _PB2 PROGRAM CODE 2 Program Code 2 Selected F001E _CB1 COMPILE CODE1 Compile Code 1 Selected F001F _CB2 CO
10. 2 6 2 5 Cable Specification 2 8 2 5 1 BUS cable and Terminal resistor 2 8 2 5 2 CAN Ground and Galvanic Isolation 2 9 2 5 1 Communication Connector 2 10 Chapter 3 Installation and Trial Run 3 1 Installation Environment 3 1 3 2 Cautions when Handling 3 2 3 3 The Order for Setting up Products till RUNNINg 3 3 3 3 1 Setting Sequence of Master module XBL CMEA 3 3 3 3 2 Setting Sequence of Slave module XBL CSEA 3 4 3 4 Installation of Products
11. Slave Status by Service Properties Allow Docking Hide Float In Main Window AQ Project 2 CANopen Slave _12_XBL_CSEA will be deleted Continue 1 In the project window select the slave module to be deleted 2 Select menu Edit Delete From the project window the selected slave module is deleted Or Slave module can be deleted in the network window LS Industrial Systems 6 17 Chapter 6 XG Net detail menu 6 3 5 Copy Paste Cut NewPLC XG Net CANopen_Master NewPLC XG Net CANopen_Master TR Project Edit View Online Tools Window Help Project Edit View Online Tools Window Help ECE S cuu EA E ipsa m ineax 6 malaa i Project ony Project a E New fl NewPLC a q X Delete Del kech CANopen Network XGB XBCH Open hem S01 XBL CMEA Og CANopen Master B00 S01 XBL CMEA Feat nT e nee SI A_COPY_COPY 1 e ID 013 13_XBL_CSEA_COPY_COPY gmo Open item Sg CANopen Master_01 B00 S03 XBL CMEA g CANoper Add Slave BID 050 _50_XBL_CSEA_COPY 8 DO Mca u Ba Copy X Delete Del Slave Error History Slave Status by Service Properties Allow Docking Hide Float In Main Window Q Project 1 Select the module to be copied Select menu Edit Copy Or select the slave and right click the mouse to select Copy NewPLC XG Net CANopen_Master am
12. Cascade XG Net windows are arranged in cascade form Title Horizontally XG Net windows are arranged horizontally Title Vertically XG Net windows are arranged vertically Arrange Icons XG Net icons are arranged Close All Help Instruction Close all the XG Net windows Description About XG Net Show XG Net information O 5 5 Chapter 6 XG Net detail menu Chapter 6 XG Net detail Menu 6 1 Project The project configuration items are as follows Project 1 ax NetProject 2 CANopen Network XGB XBCH Of Test B00 S01 XBL CMEA ID 001 Testi ID 002 Test2 ID 003 Test3 project 1 Project represents the project 2 CANopen Network represents the CANopen system respective to one CPU module 3 Master represents the master module 4 Slave represents the slaves connected to the master LS industrial Systems 6 1 Chapter 6 XG Net detail menu TS 6 1 1 Project File Management 1 Creating a New Project Create a new project At the same time a folder of the same name that of the project is created containing the project file New Project Project Name Directory C xG5000 Network Type CANopen Network CPU Type GB XBCH Creating a New Project Project Comment Select menu Project New Project Project name enter desired project name The name will be the name of the project Dire
13. Moules porduct name specified in the EDS file of the slave Automatically entered when the EDS file is selected and cannot be changed 8 1 4 EDS Shows the EDS file path selected by the user from library EDS file can be changed using the button to the right 8 1 5 Description Enter the description of the slave node Allowable length is 256 bytes C128 Korean letters 256 Alphabets of any character When registration information has been modified click the Apply button to apply the cahnge 8 2 Chapter 8 Slave Setting using XG Net 8 2 Error control setting Select error control method for the slave module When the slave error control setting button is clicked following screen will appear _20_XBL_CSEA Properties Error Control Setting Error control setting SDO Setting O Not Use PDO Setting PDO mapping Guard Time 100 10000 ms Life Time Factor 17100 Heartbeat Protocol Producer Time 300 100 10000 ms Apply The error control service is used to detect the error in the CAN based networks This is mainly implemented with the message sent from CANopen device on regular basis Two types of error control methods are available Node Guarding and Heartbeat protocols Since the XGB CANopen master supports both heartbeat and node guarding it can control error with the slaves supporting heartbeat by heartbeat method and with the slaves supporting node guarding by node guarding method 8
14. NBe careful Electric shock may occur gt The users manual even after read shall be kept available and accessible to any user of the product Safety Instruction Safety Instructions for design process gt Please install a protection circuit on the exterior of PLC so that the whole system may operate safely regardless of failures from external power or PLC Any abnormal output or operation from PLC may cause serious problems to safety in whole system Install protection units on the exterior of PLC like an interlock circuit that deals with opposite operations such as emergency stop protection circuit and forward reverse rotation or install an interlock circuit that deals with high low limit under its position controls If any system error watch dog timer error module installation error etc is detected during CPU operation in PLC all output signals are designed to be turned off and stopped for safety However there are cases when output signals remain active due to device failures in Relay and TR which can t be detected Thus you are recommended to install an addition circuit to monitor the output status for those critical outputs which may cause significant problems Never overload more than rated current of output module nor allow to have a short circuit Over current for a long period time maycause a fire Never let the external power of the output circuit to be on earlier than PLC power which may cause accidents fr
15. Paste Ctrl X Delete Del Autoscan Add Autoscan in Project View Autoscan with Project Properties Allow Docking Hide Float In Main Window Q Project 1 In the project window select the master module to be delete 2 Click select Delete or Select menu Edit Delete 6 16 LS industrial Systems Chapter 6 XG Net detail menu 6 3 4 Deleting Slave NewPLC XG Net CANopen_Master Project Edit View Online Tools Window Help ipa aqe c cmx OE E cow ac S iA A amp ajo viiag jaan Project a k News a g cle Delete Degch a a 1 501 XBL CMEA LSI CANopen_Master B00 501 XBL CMEA 1p wure zreo SEA_COPY_COPY L 800 Kuve sie amp ID 013 _13_XBL_CSEA_COPY_COPY g CANopen_Master_01 B00 S03 XBL CMEA le s _12_XBL_CSEA_COPY_COPY osooso XBL CSEA_V10 eds 8 ID 050 50_XBL CSEA COPY gt canopen be _13_XBL_CSEA_COPY_COPY pea XBLCSEA_VIO eds Project NewPLC XG Net E Project Edit View Online Tools Window Help iDEA B smax 6 i aa Project S fd NewPLC 5 CANopen Network XGB XBCH j 5 CANopen_Master B00 S01 XBL CMEA Deleting T E 8 ID a 12_XBL_ S54 CANY EAN 1D 013 13 XBL C Open Item Slave S2 CANopen_Master_Ol Add Slave 6 ID 050 50_XBL_C Cut Ctrl X Copy Ctrl C X Delete Del Slave Error History
16. Right choice for ultimate yield LSIS strives to maximize customers profit in gratitude of choosing us for your partner Programmable Logic Controller XGB CANopen I F Module XBL CMEA XBL CSEA A Safety Instructions eRead this manual carefully before installing wiring operating servicing or inspecting this equipment y eKeep this manual within easy reach for quick reference http www Isis biz Safety Instruction Before using the product For your safety and effective operation please read the safety instructions thoroughly before using the product gt Safety Instructions should always be observed in order to prevent accident or risk with the safe and proper use the product gt Instructions are divided into Warning and Caution and the meaning of the terms is as follows A Warning This symbol indicates the possibility of serious injury or death if some applicable instruction is violated g This symbol indicates the possibility of severe or slight injury and property Caution damages if some applicable instruction is violated Moreover even classified events under its caution category may develop into serious accidents relying on situations Therefore we strongly advise users to observe all precautions properly just like warnings gt The marks displayed on the product and in the user s manual have the following meanings Be careful Danger may be expected
17. Vik 0 Variable Type Device Description Channel information CHANNEL STATUS WORD BITO 1 master is not activated BIT1 1 1 or more slaves are not in Operational mode BIT2 1 1 or more slaves have configuration error Communication information BITO 1 CAN controller BUS Off status BIT1 1 CAN controller receiver buffer overflow COMM STATUS WORD BIT2 1 CAN controller in Error Passive status BIT3 1 internal transmission queue overflow BIT4 1 CAN controller in Error Warning status BIT5 1 received message exceeds CANID valid range error BIT6 1 internal reception queue overflow 7 10 LS industrial Systems Chapter 7 Master Setting using XG Net TT M Variable Type Device Description Master mode information 0x00 initializing or error 0x10 Reset Node 0x20 Reset Communication CANOPEN_STATUS WORD 0x30 Stop mode 0x40 Pre Operational mode 0x50 Operational mode Event information BITO 1 PUTCOMM GETCOMM read present screen only read all Reset if error occurs during Writing SDO and cleared if successful with the latest command EVENT_STATUS WORD BIT1 1 Error occurred during communication process BIT2 1 when the slaves set up with the parameter differ from those on the network BIT3 1 among the slaves set up with error control 1 or more nodes failed error control MASTER_CYCLE_MIN WORD Master cycle min value ms MASTE
18. Activated 1 1 Q Project Parameterized 1 Library x _12_XBL_CSEA Eind XBL CSEA_V10 eds zl ve Jenn Product code 32 CANopen a Revision 10000 B E Profile Fi Device type 0 S E Drives and motion control Hardware version 1 00 IG CANopen LSIS S100 CANOPEN1 0 EDS Software version 1 70 S CANopen LSIS IS7 CANOPEN1 0 EDS Activated 1 SV iG5A CANopen LSIS_IG54_CANOPEN1_0 EDS Parameterized 1 SV iG5A CANopen LSIS_IG54_CANOPEN2_0 EDS amp SV iP5A CANopen LSIS_IP54_CANOPEND_5 EDS S E Generic 1 0 modules 4 OTB 1CO DMSLP OTB_1CO_DMSLP_ 5 eds S Unknownt0 4 XBL CSEA XBL CSEA_V10 eds _13_XBL_CSEA XBL CSEA_V10 eds Product code 32 Revision 10000 Device type 0 Hardware version 1 00 Software version 1 50 Activated 1 Parameterized 1 XPO COEA XPO COEA eds B E Vendor B E LS Industrial Systems XPO COEA XPO COEA eds B E LS Industrial Systems Co Ltd 4 IG7 CANopen LSIS_S100_CANOPEN1_0 EDS IS7 CANopen LSIS_IS 7_CANOPENI_0 EDS SV iG5A CANopen LSIS_IG54_CANOPENI_0 EDS 2 SV IG5A CANopen LSIS_IG54_CANOPEN2_0 ED3 _SV iP5A CANopen LSIS_IP5A_CANOPENO_5 EDS EDS Library Favorite B AutoSca CANopen I AutoSca The slave name added to project is set up _ Station No _ Module name format The messages which can be generated when adding to a project are as follows 1 Master name is i
19. Library Eind S LS Industrial Systems Co Ltd IG7 CANopen LSIS_S100_CANOPENI_0 EDS IS CANopen LSIS_IS7_CANOPEN1_0 EDS E SV IG5A CANopen LSIS_IG5A_CANOPENI_0 EDS SV IG5A CANopen LSIS_IG5A_CANOPEN2_0 EDS i SV P5A CANopen LSIS IP5A_CANOPENO_5 EDS LSIS 5 XBL CSEA XBL CSEA_V10 eds EDS Library Y Favorite x Tenors _ _Owaming s Omessagels _ Message C Error st 33 output E Resut Ready 1 Add Slave dialog will appear As the default product name and EDS file path are displayed 2 Enter station No and name in the slave dialog and OK Confirm 6 20 LS industrial Systems Chapter 6 XG Net detail menu M 6 4 Library 6 4 1 Overview The library means the set of the EDS Electronic Data Sheet currently registered in the XG Net When the user registers the EDS via library administrator the XG Net automatically updates the library and the information is maintained until the EDS registration is revoked 6 4 2 Library Window 1 Library Window Configuration To activate the library window select menu View Library Window The library window consists of the EDS library tab which shows all the registered EDSs and the Favorite tab which shows desired EDS only The EDS registered by the user is classified into manufacturer information and profile information and registered in tree structure From the
20. OD Index 2000 Sub Index 0056 of slave Variable Description Variable Description High word OD index Low word Sub index 5 DATA write data of slave Data0 Data1 Variable Description Variable Description data 1 Length High data 0 Length Low data 3 DataO data 2 Data 6 SIZE Data length byte data length 2byte data 2byte 7 DONE Status of command Chapter 8 Slave Setting using XG Net TSF 8 4 3 Meanings of the Error Code for XBM XBC series Symbol Code Description COMM_ERR_SUCCESS 0x0000 Executed successfully COMM_ERR_IF_TIMEOQUT 0x8001 Timeout error no response for 5 s between the basic and link module COMM_ERR_NODEID 0x8002 The station No of the corresponding device is not within 1 127 COMM_ERR_LENGTH 0x8003 1 SIZE is small than 1 or bigger than 520 2 Receviced byte No for GETCOMM command is over max byte size COMM_ERR_SUBINDEX 0x8004 The sub index is bigger than 255 COMM_ERR_SDO_WRITE_FAIL 0x8005 In the PUTCOMM command failed to stack on the stack queue due to queue overflow Data overload adjust the communication load COMM_ERR_SDO_READ_FAIL 0x8006 In the GETCOMM command failed to stack on the stack queue due to queue overflow Data overload adjust the communication load COMM_ERR_NOT_READY 0x8007 The slave is not ready for service yet Check the install
21. Project fd NewPLC CANopen Network xGB XBCS Og CANopen_Master B00 S02 XRL CMEA Q Project amp ID 020 _20_XBL_CS Open Item Open Network View Add Slave Cut Copy X Delete E Autoscan Properties Allow Docking Hide Float In Main Window Ctrl x Ctrl C Del LSis CANonen MasterRNN SN XARI CMEA Add Slave CANopen T Ba Q Zoom In Zoom Out 1 Select the master module and right click the mouse to select Add Slave 2 Or in the edit window click the master module and select Add Slave Properties of slaves Properties Station No 1 Name Test Device EI Description 0 127 EDS List gy CANopen Profile 49 Drives and motion control amp G CANopen LSIS_S100_CANOPEN1_0 EDS amp IS CANopen LSIS_IS7_CANOPENI_0 EDS 4 SV iG5A CANopen LSIS_IGSA_CANOPEN1_0 EDS SV iG5A4 CANopen LSIS_IG5A_CANOPEN2_0 EDS 4 SV iP54 CANopen LSIS_IP5A_CANOPENO_5 EDS E Generic 1 0 modules OTB 1CO DMSLP OTB_1ICO_DMSLP_V5 eds 3 0 Unknown 0 XBL CSEA XBL CSEA_V10 eds XPO COEA xPO COEA eds 3 Vendor 3 LS Industrial Systems XPO COEA xPO COEA eds 59 LS Industrial Systems Co Ltd amp IG CANopen LSIS_S100_CANOPEN1_0 EDS IS CANopen LSIS_IS7_CANOPENI_0 EDS SV iG54 CANopen LSIS_IG5A_CANOPEN1_0 EDS SV iG54 CANopen LSIS_IG5SA_CANOPEN2_0 EDS 2 S
22. Station No Node name I Protocol Guarding Time Lifetime factor Producer time 1 12 12 XBL_CSEA Not use 200 5 300 2 13 13 XBL_CSEA Not use 200 Bi 300 7 2 1 Heartbeat Protocol Setting Note1 This means the producer time of the heartbeat protocol for the master module 1 When setting up the heartbeat producer time if the baudrate is 100kbps or less the producer times of the master and slave must be set to 500ms or above for normal operation 7 2 2 Slave Error Control This is activated only when the error control protocol is selected in the slave error control setting From the slave error control list select an error control protocol for each slave For heartbeat enter producer time only but for node guarding enter guard time and lifetime factor too Heartbeat Protocol Producer Time 200 100 10000 ms Slave Error Control Lifetime factor Producer time Node name Protocol Guarding Time _12_XBL_CSEA Station No _13_XBL_CSEA 200 5 300 Chapter 7 Master Setting using XG Net O 1 The error control service is used to detect the error in the CAN based networks This is mainly implemented with the message sent from CANopen device on regular basis Two types of error control methods are available Node Guarding and Heartbeat Since the XGB CANopen master supports both heartbeat and node guarding it can control error with the slaves supporting heartbeat by heartbe
23. XG Net CANopen_Master Project Edit View Online Tools Window Help X Disconnect i el Project NewPLC Module Synchronization om j B f CANopen Ne a Write Og CANopen 2 Re d LSis CANopen_Master B00 S01 XBL CMEA B ID 012 Fa Te 800 Kbit s B ID 013 Start Monitor CANopen e CANopen 8 ID 050 Slave Error History Slave Status by Service H canopen f _12_XBL_CSEA_COPY_COPY i L BS Autoscan goco XBL CSEA_Vi0 eds History m 84 Library End Reset PLC zi Download OS e _13_XBL_CSEA_COPY_COPY a CANopen Enable Link XBL CSEA_V10 eds S E Profile bi E Drives and motion control G CANopen LSIS_S100_CANOPEN1_0 amp 157 CANopen LSIS_IS7_CANOPEN1_0 E SV iG5A CANopen LSIS_IGSA_CANOPE SV iG5A CANopen LSIS_IGSA_CANOPE SV iP54 CANopen LSIS_IP54_CANOPEI a Generic 1 0 modules Slave Error 1 Select menu Online Connect to connect the PLC 2 From the project tree select the slave item for which error history is to be searched 3 Select menu Online Slave Error History Slave Error History Stati Error code hex Contents Manufacturer Eal 0x0 Error reset or no error 00 00 00 00 00 0x8120 CAN in error passive mode 00 00 00 00 00 0x0 Error reset or no error 00 00 00 00 00 Hl 0x8120 CAN in error passive mode 00 00 00 00 00 0x0 Error reset or no
24. it is recommended to control the My Favorite EDSs separately for Chapter 6 XG Net detail menu convenience To register an EDS in the My Favorites right click the mouse and select Register in Favorites The registered EDSs can be confirmed with the My Favorites tab of the library window Library ax Device Description IG CANopen LSIS S IG EDS File IS CANopen LSIS_IS 157 EDS File XBL CSEA XBL CSE XGB CANopen Slave Device lt gt EDS Library ja Favorite 4 View EDS Content To view the content of a registered EDS right click the mouse on the EDS and select View EDS menu A new window showing the whole content of the EDS will appear showing the following information XBL CSEA XBL CSEA_V10 eds 0x00010000 File Path IE XG5000 CANopenEDS XBL CSEA_V10 eds Test Up C Case sensitive C Whole word 2 CreatedBy LSIS Korea 3 Modi fiedBy LSIS Korea 4Description XGB CANopen Slave Device 5 CreationTime 10 58a 5 CreationDate 09 06 2011 7 ModificationTime 10 58AM ModificationDate 09 06 2011 FileName XBL CSEA_V10 eds FileVersion 0x01 11 FileRevision 0x02 12 EDSVersion 4 0 14 DeviceInfo 15 VendorName LSIs 6 VendorNumber 0x0000007D 17 ProductName XBL CSEA 18 ProductMumber 0x00000032 9 Revisionlumber 0x00010000 20 OrderCode XBL CSEA 21 BaudRate_10 1 22 BaudRate_20 1 3 BaudRate_50 1 24BaudRate_125 1 25 BaudRate_250 1 6 BaudRate_500 1 27 BaudRate_800 1 28
25. 00 Default Slot Module Comment Input Filter Emergency Outi Allocation amp 00 XBC DRBDS D CANopen Mast Default Default Default Default Default Default Default Default Default a f g af ajojn ala Master module registration w o 5 Project Window Items faa ag O main XBC DRE0S DC 24V 1 CANopen Master 3 Standard ms Default X Digital Module List Special Module List Communication Module List f FEnet f Cnet A RAPIEnet 8 EtherNet IP EE CANopen Master Al CANopen Slave etails JI Print Y l OK Cancel 32 XBC_test 3 NewPLC XGB XBCS Offline Variable Comment Parameter Basic Parameter T 1 0 Parameter TE CANopen Network TE Embedded Parameter Scan Program test i Project lt Example of master module registration by O parameter addition gt 1 Master module registration by I O synchronization 1 Connect XG5000 and select Online gt I O Information 2 Conduct I O synchronization and click Confirm to finish 2 Master module registration by I O parameter addition 10 4 3 Confirm that CANOpen Network is created in the XG5000 parameter 1 Execute XG5000 and double click the I O parameter in the project window 2 Select CANOpen Master in the slot where the module is mounted and click Confirm 3 Confirm that CANOpen Network is created in the XG5000 parame
26. 1 240 3 Transmit PDO parameter synchronous cyclic 1 240 4 Transmit PDO parameter synchronous cyclic 1 240 1 In the PDOs setting set up the transmission type and transmission type numbers for each TPOD and RPDO as suggested in the system configuration 1 Transmission type set to Synchronous cyclic type 2 Transmission type No for Synchronous cyclic data are transmitted after the master cycle periodic signal is generated set up with 1 After set up Synchronous cyclic if the transmission type No is 2 data communication starts after 2 cycle signals of the master XBL CSEA setting 2 PDO Mapping 1 Click the PDO mapping 2 Inthe POD type filter select RPDO and in the PDO contents select No 1 RECEIVE PDO PARAMETER 3 From the objects available for mapping double click the parameter of the index to be used or click to map the parameter Inthe example QW1 4 is selected for convenience 4 Inthe same methods as of above clauses 2 and 3 map the 2 4 RECEIVE PDO PARAMETER the entire mapping parameter is QW1 16 5 Inthe POD type filter select TPDO and in the PDO contents select No 1 TRANSMIT PDO PARAMETER 6 Inthe same method as of above clause 2 map the 1 4 TRANSMIT PDO PARAMETER the entire mapping parameter is IW1 16 Chapter 10 Examples Properties Error Control Setti PDOs Defined in EDS
27. 2 1 Node Guarding Node Guarding is conducted by NMT Network Management master sending guarding request RTR Remote Transmission Request The meanings of the guard time and node lifetime are as follows If a slave device fails to receive the RTR from NMT master within the node lifetime it judges that it is a remote node error NMT master and notices a life guarding event to the application When RTR is received after an error occurrence the error status is reset If the master device fails to receive the reply to RTR from the slave within the node lifetime or reply has been received but the state of the NMT slave in the response frame fails to meet the expectation it notices a node guarding event to the application Chapter 8 Slave Setting using XG Net When the reply to the RTR from the slave is received after a timeout error or the master has received expected NMT slave state after an error caused by NMT state the error status is reset gt Guard time or node guard time NMT master sends RTRs to check the state of slave at constant time intervals which is the guard time This can be set up differently for different slaves gt Node lifetime Calculated with the formula Guard time x Lifetime Factor This can be set up differently for different slaves 8 2 2 Heartbeat Heartbeat producers send heartbeat messages and heartbeat consumers receive heartbeat messages The heartbeat is different from guarding by that the roles of t
28. 31 0 20 654 1420 Fax 31 0 20 654 1429 e mail junshickp lsis biz m Wuxi LS Industrial Systems Co Ltd _ Wuxi China Address 102 A National High amp New Tech Industrial Development Area Wuxi Jiangsu 214028 P R China Tel 86 510 8534 6666 Fax 86 510 8534 4078 e mail caidx Isis com cn Dalian LS Industrial Systems Co Ltd _ Dalian China Address No 15 Liaohexi 3 Road Economic and Technical Development zone Dalian 116600 China Tel 86 411 273 7777 Fax 86 411 8730 7560 e mail cuibx Isis com cn m Homepage http eng sis biz 2012 04 information in this manual is subject to change without notice LSIS Co Ltd 2010 All Rights Reserved
29. BIT4 1 of the CAN controller is in error warning status This occurs when TEC Transmit Error Counter or REC Receive Error Counter is 96 or more f BIT5 1 if the CAN ID exceeds the range This occurs when the CAN ID of the received message is not extended id and h800 or above and not h801 error no event g BIT6 1 if internal reception queue overflow This occurs when other data is added to the receiver queue of the master before receiving the data 3 CANOPEN_STATUS masier status information a h0000 Master Init or Error Master stack s initial status or error status Chapter 7 Master Setting using XG Net EES b h0010 Reset Node Module reset after parameter downloading master status is changed to node reset status c h0020 Reset Communication After node reset completed Changed to communication reset status In this status Communication objects are initialized d h0030 Stop status e h0040 Pre Operational status f h0050 Operational status 4 EVENT_STATUS event status information a BITO 1 if the error occurred at SDO transmission exists otherwise set to 0 1 if error occurs during PUTCOMM GETCOMM read current screen only read all or writing SDO or 0 if the latest command succeeds b BIT1 error occurred during communication 1 if the slave is set up with mapping parameter or comes under anyone of the following cases during communication 0 otherwise Count 8 which is the maximum number for mappin
30. BaudRate_1000 1 9 SimpleBootUpMaster 0 0 SimpleBootUpSlave 1 31 Granularity 0 32 DynamicChannelsSupported 0 CompactPDO 0 34 GroupMessaging 0 35 NrOERXPDO 64 6 NrO TXPDO 64 gt File path shows the absolute path of the selected EDS gt Search content enter key word s to search EDS content The keyword is case sensitive and searches unit word basis Use check box 1 Unit word based search the search keyword is considered to be a complete word and searches exact matches only E g a If the search object is ObjectType 0x7 b If ObjectType is entered the search will succeed and fail if ObJect is entered c ObjectType 0x7 will succed and ObjectType 0 will fail 6 22 Chapter 6 XG Net detail menu 6 4 3 Library Manager The library administrator is used to register a new EDS or revoke one or to modify the image file registered together with the EDS 1 Register EDS file Library Manager Add the selected EDS file to the library Unregister EDS file Remove the selected EDS file from the library Register EDS file 1 O Change image Change the registered image file Select Tool Library Manager select Register EDS file and click Next button Library Manager EDS file CAWXG5000WCANopenEDSWXBL CSEA_V10 eds CYXGSO00WCANopenEDS HCANopen mage4 bmp Image file Preview a image Register EDS E file 2 e 80000808 l lt Back Nex
31. Configuration In XGB CANopen I F module and all other modules can be mounted up to two on one basic unit regardless of the module type Since the open protocol CANopen is used bus topology system configuration is available using other supplier PLC s CANopen module Inverter and HMI 1 Network Configuration Up to 127 CANopen slaves can be connected The maximum number may be limited by the number of the slaves allowed by the master see the technical document of the master Up to 32 XBL CMEA can be connected CANopen Slaves CANopen Configuration tool CANopen Master Speed driver Encoder 1 Make sure to connect the terminating resistor 120 Q 1 2 W 2 GND may be connected to the system as necessary LS Industrial Systems 4 1 Chapter 5 Using XG Net Chapter 5 Using XG Net 5 1 Screen Configuration The XG Net screen has 6 configurations as shown on the figure below XG Net Broject Edit View Online Tools Window Help lorala ex G salse a laa sanes Project EH NewPLc XBL_CSEA_50 SF CANopen Network XGB XBCH S Gg CANopen_Master B00 SOI XBL CM a 10 O01 XPO_COEA I XBL_CSEA_13 10 012 XBL_CSEA_I2 ID 013 XBL CSEA 13 XBL_CSEA_12 10 030 XBL_CSEA_20 ID 050 XBL_CSEA_S0 tt XPO_COEA_1 Error Control Settit Station No ax ve bo amp CANopen a 0 ASA Gy LS Industrial Systems XPO COEA OPO COEA e a LS Industrial Systems Co Lid 1G CANopen LSIS_S100_C
32. D00008 0001 T3121 _Iw_ 00 UNSIGNED16 D00009 0001 T3122 _IW_ 011 UNSIGNED16 D00010 0001_Tx3_12_3_IWw_O12 UNSIGNED16 D00011 19 MIAN NAA A Tranomit PAN naramatar lt gt 7 3 1 Variable Variables represent the mapping information per PDO object set up in the respective slave Variables are in the form of _Base and slot positions of master module_Transmission reception type _Sv station No _ Mapped order_ Parameter name Object name Variable 1 Receive PDO parameter _ 0001_Rx1_12_0_ OW_001 _0001_Rx1_12_1_ Ow_o02 _0001_Rx1_12_2 Ow_003 _0001_Rx1_12_3_ OwW_004 E g _0001_Rx1_12_0 QW_001 0001 No 0 base o 1 slot in the order of Base Slot Rx1 Receive PDO1 12 slave station No 0 mapped order _QW_001 name of the parameter declared in EDS LS Industrial Systems 77 Chapter 7 Master Setting using XG Net 7 3 2 Device This means allocating the mapping information of the objects set up in slave to the master devices To allocate devices automatically select menu View Build or execute Online Write menu mo w o e a B 0x1400 0x214 1 Receive PDO parameter 0002 Ari 20 0 Ow 00i UNSIGNED16 D00200 i 002 Rx1 201 QW 002 UNSIGNED16 D00201 ay 0002 Rx1_20 2 OW 003 UNSIGNED16 D00202 at 0002 Rix1_20 3 OW 004 UNSIGNED16 D00203 7 3 3 Monitor This is used to monitor the master device values Click online monitor execution to check the respective device value 0x
33. Master Setting using XG Net TTT In the above Note 8 14 the Emcy errors received from XBL CSEA are as presented in the table below Error Code Classification Error Code Remark Los of message occurred due to CAN controller receiver buffer 0x8110 overflow or internal transmission reception queue overflow 0x8120 CAN controller is in Error Passive status COMMUNICATION_ERR_CNT 0x8130 Heartbeat error has occurred 0x8140 CAN controller has recovered from Bus Off status Invalid COB ID has been received The message is not 0x8150 processed PDO was not processed as a length error Length of the received PDO is shorter than the initial mapping value Length of the received PDO is longer than the initial mapping 0x8220 value The PDO data are processed PROTOCOL_ERR_CNT SYNC data length error Since the CSEA does not support SYNC counter judges an error if the dic data length counter of the received SYNC message is not 0 and does not process the SYNC message Chapter 7 Master Setting using XG Net UM When the Error Clear button is selected in the Diagnosis Device following items are cleared 1 COMM_STATUS BIT3 1 internal transmission queue overflow BIT5 1 received message exceeds CANID valid range error BIT6 1 internal reception queue overflow 2 EVENT_STATUS BITO 1 error occurred during SDO transmission BIT1 1 Error occurred during c
34. ON Bit15 of D Complete 8 10 Chapter 8 Slave Setting using XG Net ee 1 This command is for reading the data of the corresponding device via communication module 2 In the communication module designated with sl slot No of the communication module send 6 byte command data from the internal device field designated with S to the communication module and save the return result of the communication module in the internal device field designated by operand D Here the maximum allowable reception byte is N 3 If there is no communication module at the position pointed by sl slot No of communication module or the GETCOMM command has failed to be executed properly the respective location bit of the PUTCOMM GETCOM M error flag F0015 WORD is set 4 Ths command is not processed in scan synchronous manner That is the response from the corresponding device may arrive after several scans the result cannot be known right after processing the command 5 Process result check can be confirmed with flag 6 sl slot No of communication module is set up with two digits in hexadecimal and if h0002 as shown in the figure below the h0002 refers to the slot No 7 S 8 Byte or D N Byte exceeds the range F110 and F115 bits are set Chapter 8 Slave Setting using XG Net a gt Exemplary application of GETTCOM The exemplary software program below reads 4 bytes of data from the index h2000 and h0072 sub index of the slave stati
35. Object The PDO communication is an unconfirmed type communication in Producer Consumer configuration Therefore it is used for the process data transmission which requires high speed communication Communication method and data are determined by PDO communication parameter and mapping Chapter 1 Overview U parameter According to the PDO communication parameter setting various types of transmission can be performed such as sync timer COS change of state The mapping parameter connects PDO and a certain area of the internal Object Dictionary so that the received data are stored in the mapped area and transmit the data in the mapped area The transmission and reception data in the mapping area are controlled by high level application gt Data transmission types Transmission Type i Description Synchronous acyclic Synchronous acyclic periodic transmission only when the data is changed Synchronous transmission periodically when the SYNC of the transmission type value is Synchronous cyclic 1 240 received Reserved 241 251 Reserved Synchronous RTR only 252 Only when RTR is received RTR only synchronous Asynchronous RTR only 253 Only when RTR is received RTR only event driven event driven 254 Event driven Manufacturer specific manufacturer specific event driven Event driven device profile and application profile are unique profile specific b SDO Service Data Object The
36. Saves Saves P2P parameter1 block 00 Save area device 3 Saves Saves P2P parameter block 00 Save area size 3 Saves Saves P2P parameter block 00 Save area device 4 Saves Saves P2P parameter block 00 Save area size 4 P2P parameter 1 block 01 Save area P2P parameter 1 block 02 Save area P2P parameter 1 block 03 31 Save area P2P parameter 2 Save area P2P parameter 3 Save area Appendix A 3 External Dimension Dimension Unit mm e XBL CMEA and XBL CSEA have the same dimension y O 58 a Wo Z ud Z A Z x O W O Q O GND CAN_H SHIELD CAN_L N C I MADE IN KOREA A A 1 ol LS industrial Systems Warranty and Environmental Policy UM Warranty 1 Warranty Period The product you purchased will be guaranteed for 18 months from the date of manufacturing 2 Scope of Warranty Any trouble or defect occurring for the above mentioned period will be partially replaced or repaired However please note the following cases will be excluded from the scope of warranty 1 2 3 AAAA ee ee N 5 6 Any trouble attributable to unreasonable condition environment or handling otherwise specified in the manual Any trouble attributable to others products If the product is modified or repaired in any other place not designated by the company Due to unintended purposes Owing to the reasons unexpected at the level of the contemporary scie
37. Tel 971 4 886 5360 Fax 971 4 886 5361 e mail jungyongl Isis biz LS Industrial Systems Shanghai Office _ Shanghai China Address Room E G 12FL Hiamin Empire Plaza No 726 West Yan an Road Shanghai 200050 P R China e mail liyong Isis com cn Tel 86 21 5237 9977 609 Fax 89 21 5237 7189 LS Industrial Systems Beijing Office _ Beijing China Address B Tower 17FL Beijing Global Trade Center B D No 36 East BeisanHuan Road DongCheng District Beijing 100013 P R China Tel 86 10 5825 6027 666 Fax 86 10 5825 6028 e mail xunmj Isis com cn a LS Industrial Systems Guangzhou Office _ Guangzhou China Address Room 1403 14FL New Poly Tower 2 Zhongshan Liu Road Guangzhou P R China Tel 86 20 8328 6754 Fax 86 20 8326 6287 e mail chenxs Isis com cn xX LSIS constantly endeavors to improve its product so that http eng sis biz 10310001245 m LS Industrial Systems Chengdu Office _ Chengdu China Address 12FL Guodong Buiding No 52 Jindun Road Chengdu 610041 P R China Tel 86 28 8612 9151 9226 Fax 86 28 8612 9236 e mail comysb Isis biz LS Industrial Systems Qingdao Office _ Qingdao China Address YinHe Bldg 402 Room No 2P Shandong Road Qingdao City Shandong province 266071 P R China Tel 86 532 8501 6068 Fax 86 532 8501 6057 e mail wangzy Isis com cn LS Industrial Systems Europe B V Netherlands Address 1st Floor Tupoleviaan 48 1119NZ Schiphol Rijk The Netherlands Tel
38. delete the entire error history Other values than 0 are not allowed to write in gt h1005 SYNC message COB ID COB ID SYNC message The SYNC COB ID can have two values of h40000080 at SYNC creation or hO0000080 when SYNC is not created Since SYNC creation exists only one on a network if there is a master only hO0000080 is allowed gt 1010 Store parameters The object enables storing parameters in non volatile memory To prevent saving parameter by mistake the object can be activated by a specific sign value gt h1011 Restore default parameters The parameter values stored in the flash memory are deleted and the default parameter values kept in the module are restored To prevent restoring to default parameter by mistake the object can be activated by a specific sign value The recognizable sign value is load as shown below Signature MSB LSB S08859 character gt h1014 EMCY COB ID COB ID EMCY The COB ID configured for emergency writing service Below is the structure of the EMCY identifier When the object uexists and the valid is 1 the bit 0 29 is not changed gt h1015 EMCY Inhibit time EMCY Even when an EMCY has occurred no message is transmitted until the inhibit time has not been elapsed after sending a previous EMCY message The default value is a multiple of 100US and 0 inactivates the inhibit time Allowable setting range is hO0O hF FFF gt h1016 Consumer heartbeat time The structure of the consume
39. describes the order of installing or setting up products Install the system and setting up the parameter so that they can operate in order 3 3 1 Setting Sequence of Master module XBL CMEA 1 Check functions and specifications 2 Mount the module 3 Check I F LED status of the communication module flashing after turning it on 4 Connect with XG 5000 5 Execute module synchronization 6 Double click on CANopen Network from XG5000 parameter window and execute XG Net 7 Set basic parameters of the master module XBL CMEA 8 Add slaves by directly inputting them or through auto scan 9 Set parameters of each slave 0 Execute Write Parameter 1 Implement link enable on the master module that sets parameters 2 1 1 12 Implement CANopen master s action Chapter 3 Installation and Trial Run 3 3 2 Setting Sequence of Slave module XBL CSEA 1 Check functions and specifications 2 Mount the module 3 Check I F LED status of the communication module flashing after turning it on 4 Connect with XG PD and execute Read I O Information 5 Select CANopen slave from the basic setting window 6 Set basic parameters station number communication speed readable area saving area 7 Download parameters 8 Implement CANopen slave s action 3 4 Chapter 3 Installation and Trial Run nnn M 3 4 Installation of Product 3 4 1 Installing CANopen I F Module N C CANH SHIELD CANL CANopen s maxi
40. error 00 00 00 00 00 Detail Slave Error History lt gt 1 Station No shows the station No of the slave 2 Error code shows the error code 3 Content shows the content of the error 4 Manufacturer error code shows the error code inscribed by the slave manufacturer 5 Refresh reread the slave error history 6 Clear History Clear the slave error histories 7 Close close the dialog LS industrial Systems 6 35 Chapter 6 XG Net detail menu TSS CiA CAN in Automation Standard defines error code as follows Chapter 6 XG Net detail menu rr 6 5 8 Slave Status by Service Shows the PDO SDO service statuses Procedure Status by service PDO Service SDO Service No Stat Kind Transmi 4 Address Length NMT Status Block Status Service cou RPDO 1 x2 D00200 8 OPERATIONAL JORMAL 1 D00000 8 OPERATIONAL NORMAL 10 Slave Status by Service PDO service gt Flag Clear__ Multiple Reading _Hefresh _ 1 Select menu Online Connect to connect the PLC 2 From the project tree select the slave item for which error history is to be searched 3 Select menu Online Slave Service by Status 4 The details of the system history are as follows 1 No order of parameter during downloading 2 Station No shows the station No of the slave Kind shows the type TPDO RPDO of the PDO Transmission type shows the transmission type of the PDO COB ID sho
41. mouse and select Add Slave Module Set up station No and name EDS path to register XBL CSEA and OTB1CODMOLP LS industrial systems 10 5 Chapter 10 Examples OO Procedure Properties Error Control Setting Node Setting PDO Variable Table Node Name CANopen Master SDO Table Diagnostic Variables Station No 1 s aaz Baud Rate 1 Mbit s SYNC Setting 7 COB4D 0x00000080 Cycle 200 20 5000 ms Master module Monitor Setting parameter setting SDO Receive Timeout 1000 200 5000 ms PLC Area WORD 1 Properties Receive CaO Ue Area D00000 M0000 00300 Size 200 200 Output data setup in case of emergency CPU Enor O Latch Clear CPU Stop O Latch Clear Apply 1 In the XG Net project window double click CANOpen_Master and select register information 2 Set up the station No baud rate cycle PLC reception transmission are as suggested in the system configuration 3 Make sure to click Apply after entering the setting values Properties Error Control Setting Heartbeat Protocol PDO Variable Table oo SDO Table Producer Time 100 10000 ms Master module Diagnostic Variables parameter setting Slave Error Control tation No jode name rotocol uarding Time Lifetime roducer time 2 Error Control Setting Senn es Paea i Guado timed epee a Pie 10 XBL_CSEA_10 Heartbeat 200 5 200 20 OTBICODMOLP_20 Heartbeat 200 5 200 1 Se
42. ms b Blinking 2 Chapter 2 Specification c Blinking 3 2 REC Receive Error Counter TEC Transmit Error Counter Chapter 2 Specification 2 5 Cable Specification The cables connectors and terminal resistors used in the CANopen network must be in compliance with the ISO 11898 specification 2 5 1 Bus cable and Terminal resistor According to the ISO 11898 specification the CAN bus network must be terminated with the 2 end resistors as shown in the figure below In most cases the wires with 0 25 0 34m of cross section area are recommended for the drop cables The actual resistance of the connector must be included in the voltage drop calculation in addition to the cable resistance The transmission resistance of the connector shall be between 2 5 10 Me The table below presents the lengths of the bus cables per baud rate Baud rate bit sec Length of BUS cable m 25 50 1 Recommended cable AC parameter 1200 impedance 5ns m Assuming that the following values are given the maximum wire length varies by the bus cable and the number of connected bus nodes 1 Min dominant value Vdiff out min 1 5 V 2 Min differential input resistance Rdiff min 20 kW 2 8 Chapter 2 Specification fn 3 Required differential input voltage Vth max 1 0 V 4 Min terminating resistance RT min 118 W Cross section m Maximum length m note1 Maxim
43. service abnormal end indicates error code Indicates P2P Parameter 1 block 0 service normal execution count Indicates P2P Parameter 1 block 0 service abnormal execution count L5180 LX8288 _P2P1_NDRO1 Bit P2P Parameter 1 block 1 service normal end L513 LW513 _P2P1_STATUSOO Word L514 LD257 P2P1_SVCCNTOO Double Word L516 LD258 _P2P1_ERRCNTO0O Double Word L5181 LX8289 _P2P1_ERR01 Bit P2P Parameter 1 block 1 service abnormal end When P2P Parameter 1 block 1 service abnormal end indicates error code Indicates P2P Parameter 1 block 1 service normal execution count Indicates P2P Parameter 1 block 1 service abnormal execution count L519 LW519 _P2P1_STATUSO1 Word L520 LD260 P2P1_SVCCNT01 Double Word L522 LD264 _P2P1_ERRCNTO1 Double Word oLW524 L524 L529 gt gt A W529 P2P parameter block 2 service LW530 L530 L535 5 gt A W535 P2P parameter block 3 service LW536 L536 L697 1 W697 P2P parameter block 4 30 service Y LWEIB P2P 1 block 31 j L698 L703 4 W708 parameter block 31 service A 8 Appendix nn A 2 2 Network Register N List This chapter describes on communication network register P2P parameter 1 3 P2P block 0 31 Device Nooo NWO000 Key word _P1BO0SN Description Saves P2P parameter1 block 00 s partner station number N0001 0004 NW0001 0005 _P1BOORD1 Saves Saves P2P parameter1 bl
44. slave information in list View As List form In the network setting window show the master and slave information in View As Table tabular form Properties View and modify the registered information of the selected master or slave Online Instruction Description Connect Connect or disconnect from PLC Connection Setting Set up connection method Module Synchronization Write Write the project in the PLC Read Read the project from the PLC Start Monitor Start stop monitoring PDO data or Device status Write SDO Write data in the designated SDO Slave Error History 5 3 Chapter 5 Using XG Net em O 5 4 Instruction Description Slave Status by Service Autoscan Show the information of the slave connected with the master Add to Autoscan in project View Autoscan with project Reset PLC Reset the PLC Download OS Used for upgrading the version of the XBL CMEA I F module If you need to Reserved upgrade for firmware please contact near service center Enable Link Tool Instruction Chapter 5 Using XG Net Description Library Manager Register or delete EDS file on from the library Update Library Update the library with the EDS files saved in the library folder Customize User can define the tools and instructions Shortcut Setting Window Instruction User sets up shortcut keys Description
45. www lsis biz 2 XG5000 and XG Net can be programmed via the RS 232C port and USB of the CPU module Refer to the XGT catalog for the connecting cable specification USB 301A K1C 050A Chapter 1 Overview 1 4 2 XG Net The XG Net is dedicated software to the CANopen Master communication module with the functions for the operation of the CANopen master module including the basic parameter set up frame preparation module and network diagnostics The figure below is a snap shot of the initial screen of the XG Net Test XG Net Project Edit View Online Tools Window Help aBa Balse ax B Test S CANopen Network XGB XBCH Oe Masterl B00 S01 XBL CMEA Q project l a amp CANopen SG AAA 4 LS Industrial Systems 4 XPO COEA XPO COEA eds a LS Industrial Systems Co Ltd IG CANopen LSIS_S100_CANOPENI1_O E 1S7 CANopen LSIS_IS7_CANOPEN1_0 EDS SV iG5A CANopen LSIS_IG5SA_CANOPENI_Olw i gt g EDS Library Y Favorite x O error s I 0 warningls I O message s Message Ready 1 6 LS industrial Systems Chapter 1 Overview 1 4 3 XG PD The XG PD is dedicated software to the communication module with the functions for the operation of all the communication modules including the CANopen slave module providing the basic parameter set up frame preparation module and networ
46. 0 C201 10719 xfg rint Project rints the designated parameter Exit Print Setup Sets the print and print direction Undo x3 Return to the previous status Redo E Cancels the Undo Edit C zZ Saves the current file g Prai Pri reviews the contents to print ices CH a 4 Delete Connect Connects the PC with PLC Connection Sets the connection method Settings fey Connect Read O Reads the IO information of PLC amp Connection Settings i Writes the parameter edited in the XG PD Reads the parameter from the PLC Online Enable Link Enables the communication of communication module set by P2P or high speed link Write Parameter Read Parameter Upload Download fle his menu is not used by the user yConupload Reads the data set in the SyCon Reset Write to Memory module Read from Memory module ystem diagnosis Monitors the operation status of communication module Reset PLC Resets the PLC Reset R gets TEn ese individual Resets the individual module module Register EDS file egister EDS file Register EDS file for EtherNet IP EDS Delete EDS file elete EDS file iew EDS file _ Delete EDS file for EtherNet IP Customize ustomize dits the tool bar Tools i m View EDS file for EtherNet IP Shortcut Settings hortcut Settings dits the shortcut Options ptions ets the project option ee Chapter 9 Slave Module XBL CSEA S
47. 0 eds a m CANopen Ne Exists in the only autoscan information oe p kA Write Product code 32 Oe Test B00 Revision 10000 a Read Device type 0 s A 5 SI Hardware version 1 00 a Software version 1 70 dding a ave Activated 1 Parameterized 1 _13_XBL_CSEA XBL CSEA_V10 eds s Exists in the only autoscan information Autoscan Product coda 32 Add Autoscan in Project Revision 10000 5 Device type 0 v View Autoscan with Project Hardware version 1 00 Software version 1 70 Reset PLC Activated 1 Parameterized 1 Download OS Enable Link 1 Select Online Auto Scan 2 Select Online Add AutoScan in Project Project Test a g CANopen Network XGB XBCH E Og Test B00 501 XBL CMEA amp ID 012 _12_XBL_CSEA amp ID 013 _13_XBL_CSEA Check Slave Registration Q Project Check that the slaves are added in the project window Chapter 6 XG Net detail menu 6 3 3 Deleting Master Module Procedure Test XG Net AutoScan_Test Project Edit View Online Tools Window Help Dosa teex amp amp 2 Project fl aaa mmn n Te a CANopen Netwaork XGB XBCH st CA Gg Test B00 501 XBL CMEA Sa 8 ID 012 _12_XBL_CSEA Ba ID 013 _13_XBL_CSEA Test02 B00 S02 XBL CME 6 ID 001 Testi Open Item amp ID 002 Test Open Network View Add Slave Cut Ctrl x Copy Ctrl C Deleting Master
48. 00 8 14 56 Address data 4 BSAE base NO of master 0 SLOT slot NO of master 2 MADDR OD Index 2000 Sub Index 0056 of slave 1 2 3 NODE_ID station NO of slave 2 4 Variable Description Variable Description High word OD index Low word Sub index 5 DATA read data of slave Data0 Data1 Variable Description Variable Description data 1 Length High data 0 Length Low data 3 Data0 data 2 Data 6 SIZE Data length byte data length 2byte data 2byte 7 DONE Status of command Chapter 8 Slave Setting using XG Net M 8 4 2 PUTCOMM gt Using in the XBM XBC Series Device Flag Command Con Step error zero carry PMKIFILITIC IS Z D x R x i UINIDIR F110 F111 F12 sl f O0 S O O 0 0 0 0 PUTCOMM t ol ole eee ele leT ele oro 47 O 2 7 NI O O 0 0 0 0 0 A para TS TTP Field Setting Operand Description Data size No of the slot where communication module is installed set up with hexadecilmal sl WORD number S Station number of the slave to be read SDO index sub index WORD D Starting address of the device where the data read from slave is to be stored WORD Max bytes of the data to be read from communication module The actual data are N WORD from after N tota
49. 1400 0x214 1 Receive PDO parameter E a _0002_Rx1_20_0_ OWw_001 UNSIGNED16 D00200 21845 rd 0002 Rx1_20 1 Ow 002 UNSIGNED16 D00201 21845 rd 0002 Rx1_20 2 GW _003 UNSIGNED16 D00202 31845 E 0002 R1203 QW 004 UNSIGNED16 D00203 31845 7 8 LS industrial Systems Chapter 7 Master Setting using XG Net 7 4 SDO Table SDO table shows the entire list of the SDOs which are set up to be used by the slave Here only monitoring of the SDOs set up per slave is allowed and editing is not allowed If editing is required use the SDO setting tab of the respective slave Properties Error Control Setti PDO Variable Tab SDO Table Diagnostic Variabl 20_XBL_CSEA 20 XBL_CSEA 20 XBL_CSEA 20 XBL_CSEA 20 XBL_CSEA Format Hexadecimal v Station No Name Index Subindex 0x1005 01010 021011 01014 01015 0x0 0x1 0x1 0x0 0x0 Parameter name COB ID SYNC message Parameters that may be stored on the CANopen devi Restore all default parameters COB ID Emergency Object Inhibit time EMCY CS industrial systems 7 9 Chapter 7 Master Setting using XG Net 7 5 Diagnostic Variables This function enables to monitor the status information of the master module and slave modules In the Diagnosis Variable status select Online Start Monitoring to monitor current states where the meanings of the items are presented in the table below The variable names consist of Base Slot_Variable Address
50. 21 00221 0x2100 0x16 Z14022 0x2000 0x16 204022 00222 0x210 O7 SSSR 02000 0x17 204023 00223 0x2100 0x18 Z10024 0x200 0x16 x0wo24 00224 Ox2100 0x19 1025 02000 0x19 204025 D0225 0x210 Okla M02 02000 O Okia 0026 00226 0x2100 Ox1b 1027 0x2000 Oxlb 0027 00227 0x210 Oke gmo 02000 xc 204028 00228 0x2100 Oxld gyo 0x200 Oxld 0wo29 00229 0x2100 Oxle 1030 0x200 Okxle 0W030 9 2 3 Writing Parameters Apply the basic settings of the slave by selecting Online Write Parameter XBC_test XG PD i File Edit View Online EDS Tools Window Help w E Disconnect amp Connection Settings Project window a 3B XBCtest E Read 10 Information so NewPL Aa Write Parameter Standard Settings HS Link P2P ox Read Parameter Standard Settings HS Link P2P Sall amp Enable Link HS Link P2P Upload Download File EIP Tag Download EIP Tag Upload System Diagnosis Reset PLC Errors Warnings 9 6 LS industrial Systems Chapter 9 Slave Module XBL CSEA Setting using XG PD i 9 3 XG PD Menu 9 3 1 Relationship between XG PD Menu bar and shortcut icon The following is menu bar and short cut of XG PD ew Open from PLC pen Save Save As pen from PLC Close Save File Print Project ave As Print Setup rint 1 XBL EMTA 13 xfg 2 Dnett 0I ZAE DH E1 D24C0 xfg review 3 Set _XBCH xfg 4 B L B53010B 1 P 04
51. 3 _13_XBL_CSEA_COPY_COPY Gg CANopen_Master_01 B00 S03 XBL CMEA Project AutoScan_CANopen_Master B00 S01 XB L CMEA 800 Kbit s Product code 31 Revision 10000 Device type 0 Hardware version 1 00 Software version 3 00 Activated 1 Parameterized 1 Library ax Ena BA i CANopen iy Profile 9 Drives and motion control amp IG CANopen LSIS_S100_CANOPEN1_0 EDS IS CANopen LSIS_IS 7_CANOPEN1_0 EDS SV iG54 CANopen LSIS_IG5SA_CANOPENI_0 EDS SV iG5A CANopen LSIS_IGSA_CANOPEN2_0 EDS SV iIP5A CANopen LSIS_IPSA_CANOPEND_5 EDS 9 Generic 1 0 modules OTB ICO DMSLP OTB_1CO_DMSLP_V5 eds S E Unknown 0 4 XBL CSEA XBL CSEA_V10 eds XPO COEA XPO COEA eds 5 Vendor 0 LS Industrial Systems XPO COEA XPO COEA eds B E LS Industrial Systems Co Ltd IG CANopen LSIS_S100_CANOPEN1_0 EDS IS CANopen LSIS_IS7_CANOPEN1_0 EDS SV iG54 CANopen LSIS_IG5SA_CANOPEN1_0 EDS SV IG5A CANopen LSIS_IG54_CANOPEN2_0 ED3 2 _SV iP54 CANopen LSIS_IP54_CANOPENO_5 EDS a x lt EDS Library Y Favorite _12_XBL_CSEA XBL CSEA_V10 eds Product code 32 Revision 10000 Device type 0 Hardware version 1 00 Software version 1 70 Activated 1 Parameterized 1 _13_XBL_CSEA XBL CSEA_V10 eds Product code 32 Revision 10000 Device type 0 Hardware version 1 00 Software version 1 50 Activated 1 Parameter
52. 3 UNSIGNED16 16 Rw 042000 OxE ZOW 014 UNSIGNED16 16 Rw vi PDO Contents 1 RECEIVE PDO PARAMETI Down l Bottom Iop J Up 8 6 1 PDO Type Filter Select Receive PDO or Transmit PDO for setting up 8 6 2 PDO contents Mapped Objects Index Sub index Parameter 0x2000 Ox1 zow 001 UNSIGNED16 16 0x2000 Ox2 zow 002 UNSIGNED16 16 0x2000 0x3 zw 003 UNSIGNED16 16 0x2000 On4 0w 004 UNSIGNED16 16 The PDOs selected for used in the PDO setting are displayed Indicated PDOs are mapped with objects 8 6 3 PODs Map Show the object recorded in the EDS To start mapping select an object and click the downward arrow key For the meanings of the index sub index parameter and data type see the description of the section 8 3 SDO Setting 1 Object List Size refers to bit size For example UNSIGNED16 refers to 16 bit size 8 6 4 Mapped Objects The objects selected for mapping are displayed To cancel mapping select the object to delete from the mapped objects and click upward arrow key LS Industrial Systems 8 27 Chapter 8 Slave Setting using XG Net 8 7 Add slave Slaves can be added by two methods The first method is to add a slave directly to the master module and the second is using Auto Scan To use the Auto Scan function the slave must be connected to the network with the same baud rate and different station No 1 Adding at master module Add slave
53. 3741952 vs 128 CANopen_Master Properties Receive area size mismatches 100 vs 16 CANopen_Master Propetties Send area size mismatches 200 vs 16 CANopen_Master PDO Variable Table The number of variables in PDO variable table mismatches 160 vs 40 The numbers of items to compare are not same CANopen_Master_01 Properties Communication baud rate mismatches 800 Kbit s vs 800 Kbit s CANopen_Master_01 Properties COB ID mismatches 1073741952 vs 128 CANopen_Master_01 Properties Period mismatches 20 vs 100 CANopen_Master_01 Properties Receive offset mismatches 500 vs 0 CANopen_Master_01 Properties Send offset mismatches 600 vs 200 CANopen_Master_01 Properties Send area size mismatches 100 vs 200 CANopen_Master_01 Properties Diagnostic offset mismatches 800 vs 300 CANopen_Master_01 Error control setting The time of Heartbeat Producer mismatches 100 vs 200 CANopen_Master_O1 PDD Variable Table The number of variables in PDO variable table mismatches 145 vs 0 The numbers of items to compare are not same Result of Comparison Message Window G Error list LE Output E Result Click the Compare button The result of the comparison is displayed in the message window LS industrial Systems 6 9 Chapter 6 XG Net detail menu TTT 6 2 7 Other Functions Function Meaning Execution Method Export Save the contents of the XG Net pro
54. A OPO COEA eds AutoScan_CANopen_Masten B00 L OMEA 1 Mais Not match Station No Product code 31 Revision 10000 Device ype 0 Hardware version 1 00 Somwore version 310 Activated 1 Peramotwnzed 1 Zoom jp Zoom Out E Vew in Dotai View Beatty View As List View Ae Table B Aue Scan Ads Augoscan in Project E View Autoscan with Project Staye Eror History s aas s Boece aam visa jasn Slave Serice Situs Bont Break Displays the status by serdce of slave module service status 10 10 LS industrial Systems 1 Select Online Auto Scan 2 The entire network condition can be checked up with the report of the Auto Scan 3 To check the status of each slave select the slave right click the mouse to check specification error history and slave Appendix A 1 Terms CAN Controller Area Network The open type field bus specified in ISO11898 to enable communication between various heterogeneous devices of different manufacturers 2 CANopen A description language for communication on CAN bus independent of devices and manufacturers It is an application layer 3 CiA CAN in Automation a group conducting standardization of CAN and CANopen 4 COB The basic communication object on the CAN network All the data are communicated using COB COB ID The unique numbers designating the COBs on the CAN network consists of station number and functional cod
55. CAN ID CAN basic frame 1 stands for 29 bit CAN ID CAN expanded frame 4 The meanings of bit 0 28 differs by frame value as in the above structure 7 1 3 Monitor Setting Means SDO reception time out and the input range is 200 5000ms 7 1 4 PLC Area Set up the addresses and sizes of the devices to be allocated to the objects of the mapped RPDO TPDO parameters Available address types are P M and D for type K and I Q M and D for type IEC The areas are allocated to reception and transmission areas and 48 words XGB are allocated for the area for the diagnosis variables used for monitoring communication error and monitor information PLC Area WORD Receive Send Diagnostic Area D v D D v Size 100 200 1 2 Chapter 7 Master Setting using XG Net oe 7 1 5 Output data setup in case of emergency This function decides in case of CPU error or CPU is changed to stop whether the data is cleared initialized to Zero or latched maintain the last data value Chapter 7 Master Setting using XG Net TT 7 2 Error Control Setting Sets up the error control related values of the master nodes and slave nodes of the CANopen network in the current configuration XG Net supports Heartbeat protocol and Node Guarding protocol Newly set parameters are effective when Apply button is clicked Properties Error Control Setting PDO Variable Table SDO Table Diagnostic Variables Producer Time 200 100 10000 ms
56. E 1S7 CANopen LSISIS CA SV4G5A CANanen fi SIS IA Y gt i T Error ist D Oout Tres Ready Menu the main menu of the program Toolbar menu items can be selected and executed conveniently Project window shows the components of the currently active project Library window shows the slave module list where EDS file is registered Edit window network configuration master module and slave module can be configured Message window show the messages generated during XG Net operation LS industrial systems 5 1 Chapter 5 Using XG Net TTS 5 1 1 Menu Structure There are configured as following Project Instruction Description New Project Create a new project Open Project Open an existing project Open form PLC Upload the project and program in the PLC Save Project Save a project Save As Save the project under a different name Close Project Close a project Export Save the contents of the XG Net project in a file Import Upload the exported file from the XG Net Export as package Save the contents of the XG Net project and used EDS files Import from package Upload the exported file from the XG Net and used EDS files Compare projects Compare two project and show the result Print Print the content of the active window Print Preview Show the screen to be printed Project Pr
57. E Displays the Information on CPU Type F045 z _CPU_VER CPU VERSION Displays CPU Version F046 _OS VER O S VERSION Displays O S Version F048 _OS_DATE O S DATE Displays O S Distribution Date F050 _SCAN_MAX Reale Displays Maximum Scan Time F051 _SCAN_MIN MINIMUM SCAN TIME Displays Minimum Scan Time F052 _SCAN_CUR CURRENT SCAN TIME Displays Current Scan Time F0053 _MON_YEAR MONTH YEAR Month Year Data of PLC F0054 _TIME_DAY HOUR DATE Hour Date Data of PLC F0055 _SEC_MIN SECOND MINUTE Second Minute Data of PLC F0056 _HUND_WK 100 YEARS DAY 100 Years Minute Data of PLC _FPU_INFO Not used F00570 _FPU_LFLAG_ Not used F00571 _FPU_LFLAG_U Not used F00572 _FPU_LFLAG_O Not used F00573 _FPU_LFLAG Z Not used F00574 _FPU_LFLAG_V Not used En FOO57A _FPU_FLAG Not used F0057B _FPU_FLAG_U Not used F0057C _FPU_FLAG_O Not used F0057D _FPU_FLAG_Z Not used F0057E _FPU FLAG _V Not used F0057F _FPU_FLAG_E IRREGULAR VALUE ENTRY Reports when Entering Irregular Value F0058 _ERR STEP pales Stores Error Step F0060 _REF_COUNT REFRESH Increases if Module Refresh Performed F0062 _REF_OK_CNT REFRESH OK Increases if Module Refresh is in Normal State F0064 _REF_NG_CNT REFRESH NG Increases if Module Refresh in Abnormal State F0066 _REF_LIM_CNT REFRESH LIMIT Increases if Module Refresh in Abnormal State Timeout F0068 _REF_ERR_CNT REFRESH ERROR Increases if Module Refresh in Abnormal State F0070 _MOD_RD_ERR_CNT Not used F0072 _MOD_W
58. EDSs desired EDS can be find out easily using the manufacturer and profile information The library window tree consists of the product name and file name of the EDS Library ax 3 0 Profile a 3 0 Drives and motion control IG CANopen LSIS_S100_CANOPEN1_0 EDS IS CANopen LSIS_IS7_CANOPEN1_0 EDS 5V iG5A CANopen LSIS_IG5A_CANOPENI_0 EDS SV iG5A CANopen LSIS_IG54_CANOPEN2_0 EDS SV iP54 CANopen LSIS_IP54_CANOPENO_5 EDS 3 Generic 1 0 modules OTB 1CO DMSLP OTB_1ICO_DMSLP_ 5 eds Sj Unknown 0 XBL CSEA XBL CSEA_V10 eds XPO COEA XPO COEA eds 30 Vendor Sg LS Industrial Systems XPO COEA XPO COEA eds 3 0 LS Industrial Systems Co Ltd IG CANopen LSIS_S100_CANOPEN1_0 EDS IS CANopen LSIS_IS7_CANOPEN1_0 EDS is SV iG5A CANopen LSIS_IG54_CANOPEN1_0 EDS 5 SV iG5A CANopen LSIS_IG54_CANOPEN2_0 EDS SV iP54 CANopen LSIS_IP54_CANOPENO_5 EDS 30 LSIS XBL CSEA XBL CSEA_V10 eds 30 Telemecanique OTB 1CO DMSLP OTB_ICO_DMSLP_5 eds EDS Library Y Favorite 2 Find EDS From the EDSs desired EDS can be find out easily using the Find control at top of the library window Any character can be used in the search key word Use the Up Downlputions for search after entering the search key word The directions of the buttons are the directions of the search The ENTER key has the same function as that of the Down button 3 Registering favorite EDSs If many EDSs are registered
59. Error Control Setting PDO Variable Table beat a SDO Table Station No ne COBID Object name Variable Type Device Monitor ve Diagnostic Variables 12 01400 Ox20C T Receive PDO parameter E 0001 _Rx1_12_0_0w_001 UNSIGNED16 D00200 0001 _Ax1_12_1 Qw 002 UNSIGNED16 D00201 0001 _Rx1_12_2 aw 003 UNSIGNED16 D00202 0001 _Ax1_12_3 QW 004 UNSIGNED16 D00203 12 0x1401 030C 2 Receive PDO parameter E 0001_Rx2_12_0_QW_005 UNSIGNED16 D00204 0001_Rx2_12_1__GW_o06 UNSIGNED16 D00205 0001_Rx2_12_2_GW_007 UNSIGNED16 D00206 0001_Rx2_12_3_OW_o08 UNSIGNED16 D00207 12 0x1402 Ox40C 3 Receive PDO parameter 8 0001_Rx3_12_0_OW_o09 UNSIGNED16 D00208 0001_Rx3_12_1_OW_010 UNSIGNED16 000209 0001_Rx3_12_2_QW_O11 UNSIGNED16 D00210 0001_Rx3_12_3_OW_O12 UNSIGNED16 D00211 12 041403 Ox50C 4 Receive PDO parameter E _0001_Ax4_12_0_QW_013 UNSIGNED16 D00212 0001 _Rx4_12_1_0W_014 UNSIGNED16 D00213 0001_Rx4_12_2_OW_O15 UNSIGNED16 D00214 0001 Rx4_12_3_OW_016 UNSIGNED16 D00215 12 0x1800 0x18C 1 Transmit PDO parameter E 0001 Tx1_12_0_1w_001 UNSIGNED16 D00000 0001 T1121 IW 002 UNSIGNED16 D00001 0001_Tx1_12_2_lw_003 UNSIGNED16 D00002 0001 Tx1_12_3_lw_004 UNSIGNED16 D00003 12 0x1801 028C 2 Transmit PDO parameter 8 0001 T2120 1w 005 UNSIGNED16 D00004 0001_Tx2_12_1__Iw_006 UNSIGNED16 D00005 0001_Tx2_12_2_IW_007 UNSIGNED16 D00006 0001 T2123 1w 008 UNSIGNED16 D00007 12 0x1802 0x38C 3 Transmit PDO parameter _0001_Tx3_12_0 Iw _009 UNSIGNED16
60. File Sn eu Index PDO name TE E 0 1400 Receive PDO Parameter Digital 041401 Receive PDO Parameter Nicht genutzt OTB1CODMOLP setting a es 1 PDO Setting Add All Remove All PDOs Setting PDO name Receive PDO Parameter Digital COBD Transmission type type no time 100us timer ms Transmission Inhibit Event 0x214 synchronous cyclic 1 240 zji 1 In the XG Net project window double click the OTB1CODMOLP added in above paragraph 3 and select PDO set up for the case of the module only 8 bit output module is installed without adding I O 2 Inthe PDOs setting enter transmission type and transmission type No 1 Transmission type set to Synchronous cyclic type 2 Transmission type No as described in the clause 10 set the type No to 1 for operation at 100ms cycle time Properties Error Control Settil PDO Type Filter RPDO SDO Setting PDO Setting PDOs to Map PDO mapping Index Sub index Parameter Data Type Access properties 042302 Command Counter 0 Module 0 OTB 1C0 UNSIGNED16 RW 042302 Command Counter 1 Module 0 OTB 1C0 UNSIGNED16 042408 Command Fast counter 0 Module 0 OTB 1 UNSIGNED16 042408 Command Fast counter 1 Module 0 OTB 1 UNSIGNED16 042501 Command PLS PWM 0 Module 0 OTB 1C UNSIGNED16 042501 Command PLS PWM 1 Module 0 OTB 1C UNSIGNED16 OTB1CODMOLP setting ne CE aa 0x6300 Write Output 0 to 7 Module 0 OTB 1C0D UNSIGNED16 2 PDO
61. ICE_SPEC_ERR_CNT Device specific error count No of the received Emcy messages having the error codes of FFxxH 15 SLAVE_NUM No of the slaves set up in the parameter max 32 16 SLAVE_ID_n n th slave set up in the parameter ID 1 127 17 SLAVE_INFO_nistatus to SLAVE_ID_n a BITO slave configuration completed PDO mapping parameter and SDO default value downloading have been completed and SDO write read Auto Scan and XG5000 command execution are possible When the value is 0 SDO write read Auto Scan and XG5000 command request are processed as an error b BIT1 slave configuration error meaningful only when BITO is 1 When the BITO is 1 the value is 0 If the slave node status is Operational or 1 if it is not Operational and judged to be normal configuration has failed c BIT2 slave EMCY error occurred Referring to the slave history stored up to latest 5 per slave 1 if there is saved error s and the latest error code is neither OOXXh Error reset or no error nor h8140 0 if there is no saved error or the latest error code is either OOXXh Error reset or no error or h8140 d BITS Init status 1 if configuration has not been completed or the status is not Stop Pre Operational or Operational 0 otherwise e BIT4 Stop mode 1 if in Stop status 0 otherwise f BIT5 Pre Operational mode 1 if in Pre Operational status otherwise 0 g BIT6 Operational mode 1 if in Operational status otherwise 0 Chapter 7
62. MPILE CODE 2 Compile Code 2 Selected Appendix a Word Bit Variable Function Description _CNF_ER SYTEM ERROR Reports Serious Failure State of the System F0021 _IO_TYER MODULE TYPE ERROR Module Type does not corresponds F0022 _IO DEER MODULE REMOVAL ERROR Module Removed F0024 _IO_RWER MODULE IN OUTPUT ERROR Problems occurred in to Module In Output MODULE INTERFACE Problems occurred in the special communication F0025 _IP_IFER ERROR module interface F0026 _ANNUM_ER EXTERNAL DEVICE ERROR Serious Errors detected from External Devices F002 3 F0028 _BPRM_ER BASIC PARAMETER Errors in Basic Parameter F0029 _IOPRM_ER IO PARAMETER Errors with IO Configuration Parameter SPECIAL MODULE os F002A _SPPRM_ER PARAMETER Special Module Parameter is in Abnormal State COMMUNICATION MODULE a n F002B _CPPRM_ER PARAMETR Communication Module Parameter is in Abnormal State F002C _PGM_ER PROGRAM ERROR Errors in Program F002D _CODE_ER CODE ERROR Errors in Program Code F002E _SWDT_ER SYSTEM WATCH DOG Scan Watchdog Operated F0030 _WDT_ER SCAN WATCHDOG Scan Watchdog Operated _CNF_WAR SYSTEM WARNIGN Reports on the Light Errors of the System F00041 _DBCK_ER BACKUP ERROR Problem Occurred in Data Back Up OPERATION j F00043 _ABSD ER ERROR STOP Stops due to Abnormal Operation F00046 _ANNUM_WAR EXTERIAL DEVCIE ERROR The Light Error of the External Device Detected F00048 _H
63. Mapping PDO Contents RECEIVE PDO PARAMETER Mapped Objects Index Sub index Parameter Data Type 06200 0x1 Write Output 0 to 7 Module 0 OTB 1C0 DMSLP UNSIGNED8 06200 0x2 Wiite Output reserved Module 0 OTB 1C0 DMSL UNSIGNED8 1 Click the PDO mapping 2 In the POD type filter select RPDO and in the PDO contents select RECEIVE PDO PARAMETER 3 From the objects available for mapping double click the parameter of the index to be used or click to map the parameter Since OTB1CODMOLP uses only 8 bit output select b bit write parameter which is the No 1 of the sub index of the index No 6200 for the RPDO Receive PDO 10 8 Chapter 10 Examples Writing Parameters Feed CANopen Network XGB XBCS vie 2 CANopen_Master B00 S02 XBL CMEA Writing Parameter 1 Select Online Writing 2 Select the CANOpen master set up with parameter and click Confirm Enable Link Enable Link 1 Select Online Enable Link 2 Check the No of the link set up with parameter and click Write The link No must be selected in the order to the communication module installation Ex If another communication module is installed before CANOpen master module set up the link No with 3 Chapter 10 Examples 10 1 4 Operation Check 1 Network sta
64. R_CYCLE_CUR WORD Master cycle current value ms MASTER_CYCLE_MAX WORD Master cycle max value ms Count of generic errors GENERIC_ERR_CNT WORD Count of the received emergency messages having codes 10xxH DEVICE HARD ERR_C Count of device hardware errors WORD NT Count of the received emergency messages having codes 50xxH Count of device software errors DEVICE_SOFT_ERR_C WORD Count of the received emergency messages having codes 60xxH NT 61xxH 62xxH 63xxH COMMUNICATION _ER Communication error count WORD R_CNT Count of the received emergency messages having codes 81xxH Protocol error count PROTOCOL_ERR_CNT WORD Count of the received emergency messages having codes 82xxH Chapter 7 Master Setting using XG Net Variable Type Device Description Count of external errors EXTERNAL_ERR_CNT WORD Count of the received emergency messages having codes 90xxH DEVICE _SPEC_ERR_C Count of device specific errors WORD NT Count of the received emergency messages having codes FFxxH SLAVE_NUM BYTE No of the slaves set up in parameter max 32 Reserved 3 BYTE Reserved SLAVE_ID_O n BYTE ID of the slaves set up in parameter 1 127 BITO 1 slave configuration progress completed BIT1 1 slave configuration error BIT2 1 when slave EMCY error exists Cleared if the latest recorded Emcy is h8140 0x00xx SLAVE_INFO_0 n BYTE BIT3 1 Init status BIT4 1 Stop mode BIT5 1 Pre Opera
65. R_ERR_CNT Not used F0074 _CA CNT Not used F0076 _CA LIM CNT Not used F0078 _CA_ERR_CNT Not used A 6 Appendix TT O M Word Bit Variable Function Description F0080 _BUF_FULL_CNT BUFFUR FULL Increases if CPU Internal Buffer FULL F0082 _PUT_CNT PUT COUNT Increases if Performing PUT F0084 _GET_CNT GET COUNT Increases if Performing GET F0086 _KEY CURRENT KEY Displays the Current State of Local Key F0088 _KEY_PREV PREVIOUS KEY Displays the Previous State of Local Key F0090 _IO TYERN INCONSISTENT SLOT Displays Module Type Inconsistent Slot No F0091 _IO DEER N REMOVAL SLOT Displays Slot No where Module Removal Occurred F0093 _IO_ RWER_N RW ERROR SLOT Displays Module Read Write Error Slot No F0094 _IP_IFER_N VF ERROR SLOT Displays Interface Error Slot No F0096 _IO_TYERO MODULE TYPE 0 ERROR Main Base Module Type Error F0104 _IO_DEERO MODULE REMOVALO ERROR Main Base Module Removal Error F0120 _IO_RWERO MODULE RW 0 ERROR Main Base Module Read Write Error F0128 _lO_IFER_0 MODULE IFO ERROR Main Base Module Interface Error F0140 _AC_FAIL_CNT said Stores the Frequency that Power has been Shut out F0142 _ERR_HIS_CNT E NCE Stores the Frequency that Error s were Made F0144 _MOD_HIS_CNT pet ia Stores the Frequency that the Mode has been Converted F0146 _SYS_HIS_CNT are ee Stores the Frequency th
66. SDO communication is a confirmed type communication in Client Server configuration SDO communication is used to access the entries of the Object Dictionary of the CANopen devices by which the device parameters can be set up stored and monitored SDO communication is not conducted periodically but whenever necessary SDO download expedited SDO upload expedited Server Client SDO upload initiate e 1 Example of SDO transmission using Server Client configuration Client Server SDO download initiate e 1 Chapter 1 Overview TTT SF 1 3 Production Configuration 1 3 1 Type Indication The product configuration of the XGB CANopen I F module is described hereinbelow Type name Description Remarks XBL CMEA CANopen Master I F Module XBL CSEA CANopen Slave I F Module Chapter 1 Overview 1 4 Software for using products This section describes the major programming tools and other software for using the CANopen module For further details of the programming and communication application refer to the following descriptions 1 4 1 Software check up Type name Component Product Communication Set up tool XBL CMEA Communication module for XGB XG Net XBL CSEA Communication module for XGB XG PD 1 The above software can be downloaded from out Website If necessary please visit your nearest distributor to obtain respective installation manual in CD ROM Internet Website http
67. S_WAR1 oh tae High Speed Link abnormal F004 F00049 _HS_WAR2 a T High Speed Link abnormal P2P F0054 _P2P_WAR1 PARAMETER 1 P2P abnormal P2P F0055 _P2P_WAR2 PARAMETER 2 P2P abnormal P2P F0056 _P2P_WAR3 PARAMETER 3 P2P abnormal FIXED F005C _CONSTANT_ER PERIOD Fixed Period Errors ERROR F A 4 nn Appendix Word Bit Variable Function Description _USER_F USER CONTACING POINT User Usable Timer F0090 _T20MS 20ms 20ms Periodic Clock F0091 _T100MS 100ms 100ms Periodic Clock Fo092 _T200MS 200ms 200ms Periodic Clock F0093 _T1S 1s 1s Periodic Clock F0094 _T2S 2s 2s Periodic Clock F0095 _T10S 10s 10s Periodic Clock ica F0096 _T20S 20s 20s Periodic Clock F0097 _T60S 60s 60s Periodic Clock F0099 _ON ALWAYS ON Always On State Bit FOO9A _OFF ALWAYS ON Always Off State Bit F009B 10N 1 SCAN ON 1 Scan Only On State F009C _10FF 1 SCAN OFF 1 Scan Only Off State F009D _STOG ANTI CLOCK Every Scan Anti Clocked _USER_CLK USER CLOCK User Set up Available Clock F0100 _USR_CLKO DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 0 F0101 _USR_CLK1 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 1 F0102 _USR_CLK2 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 2 F0010 F0103 _USR_CLK3 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Sca
68. UB3 BIT D00303 3 0 1 Error information related to any error control mechanisms Guarding He 0002_MASTER_CYCLE_MIN WORD D00304 1 Master cycle minimum value 0002_MASTER_CYCLE_CUR WORD 000305 2 Master cycle Current value 0002_MASTER_CYCLE_MAX WORD D00306 104 Master cycle maximum value 0002_GENERIC_ERR_CNT WORD D00307 O Error number E 1 1 1 1 0002_DEVICE_HARD_ERR_CNT WORD D00308 0 Hardware error number 0002_DEVICE_SOFT_ERR_CNT WORD D00309 O Software error number 0002_COMMUNICATION_ERR_CNT WORD D00310 0 Communication error number 0002_PROTOCOL_ERR_CNT WORD D00311 0 Protocol error number 0002_EXTERNASL_ERR_CNT WORD D00312 0 Extension error number 0002_DEVICE_SPEC_ERR_CNT WORD D00313 0 Special error number 0002_SLAVE_NUM WORD D00314 1 Slave number S _0002_SLAVE00 WORD D00316 16660 Slave 0 information Slave OID 0002_001_SLAVE_IDOO BYTE DO0316 0 20 Slave 01D 0002_001_SLAVE_INFOOO_SUBO BIT D00316 8 1_1 Slave configuration completed 0002_001_SLAVE_INFOOO_SUB1 BIT D00316 9 0 1 Slave configuration error 0002_001_SLAVE_INFOOO_SUB2 BIT DOOSIE A 0 1 Slave EMCY error 0002_001_SLAVE_INFOOO_SUB3 BIT D00316 B 1 Slave is on Init status 0002_001_SLAVE_INFOOO_SUB4 000316 C Slave on Stop mode 0002_001_SLAVE_INFOOO_SUBE BIT D00316 E Slave is on operational mode Slave 1 information Slave 1 ID E B 0002_SLAVEO1 D00317 AANA AAA AL AVI INAT nana A 0 01 0002_001_SLAVE_INF000_SUBS D00316 D 0 1 Slave on pre operational mode
69. V iP54 CANopen LSIS_IP54_CANOPENO_5 EDS a LSIS a e 8 28 1 Enter following items in the slave window 1 Station No enter the slave node ID 2 Name enter name of the slave node 4 EDS enter the EDS file path of the slave node 2 Click EDS call up button and add the desired EDS 3 Click OK button 3 Device enter the EDS product name of the slave node Chapter 8 Slave Setting using XG Net LSis CANopen_Master B00 502 XBL CMEA 1 Mbit s CANopen Select Add to Master qo Te o e 00008 XBL CSEA_V10 eds 1 Inthe network window the slave is added beneath the master module CS industrial Systems 8 29 Chapter 8 Slave Setting using XG Net 2 Adding slave in Auto Scan AutoScan_CANopen_Master B00 S02 XB L CMEA 1 Mbit s CANopen Product code 31 Revision 10000 Device type 0 Hardware version 1 00 Software version 3 10 Activated 1 Parameterized 1 _20_XBL_CSEA XBL CSEA_V10 eds Exists in the only autoscan information Product code 32 Revision 10000 Device type 0 Hardware version 1 00 Software version 1 90 Activated 1 Parameterized 1 Add Slave NewPLC XG Net AutoScan_CANopen_Master iE Project Edit View Online Tools Window Help loealal x By Disconnect dh amp lay a Module Synchronization 5 CANopen Nej z e CANopen a Write 2 Read a Autoscan Add Autoscan in Project View A
70. andard Error Field_2 UNSIGNED32 0x00000000 RO E 0x1003 0x3 Standard Error Field_3 UNSIGNED32 0x00000000 RO ja 041003 Ox4 Standard Error Field_4 UNSIGNED32 Ox00000000 RO ja 0x1003 0x5 Standard Error Field_5 UNSIGNED32 0x00000000 RO E 0x1003 0x6 Standard Error Field_6 UNSIGNED32 O0x00000000 RO ja 0x1003 Ox Standard Error Field_ UNSIGNED32 0x00000000 RO ju 0x1003 0x8 Standard Error Field_8 UNSIGNED32 0x00000000 RO E 0x1003 0x9 Standard Error Field_9 UNSIGNED32 0x00000000 RO E 0x1003 Ox Standard Error Field_A UNSIGNED32 0x00000000 RO E 0x1005 0x0 COB ID SYNC message UNSIGNED32 Ox00000080 Rw O 0x1008 0x0 Manufacturer Device Name VISIBLE_STRING XBL CSEA CONST a 0x1009 0x0 Manufacturer Hardware Version VISIBLE_STRING CONST ja 0 1004 0x0 Manufacturer Software Version VISIBLE_STRING CONST Ja 0x1010 Store parameters le manda AN Alabes af olac ents UMAICMEAN ALNI an i Minimum l Maximum Number of SDOs 0 480 Size of SDOs 0 bytes 760 bytes Read All SDOs Read Displayed SDOs z lt a 8 3 1 Objects Shows all the object information recorded in the EDS For each cell the Setting Value and Use cells are activated for editing when the access attribute is RW and inactive otherwise If the user checks the check box of the Use cell and setup the current value the setting value is transferred to the respective object when the slave starts operation 1 Index the objects in the Obj
71. are as follows 1 Baud rate B baud rate 2 Transmission period T ms 3 Data size S if the mapping data size is 8 byte 10 byte including overhead 4 Bits to transmit 1 byte 10 bits including overhead The number of PDOs which can be transmitted is as follows 1 Number of transmitted bytes per s N B 10 bit 2 Number of PDOs that can be transmitted per s at the communication speed B PB N 10 byte 3 Number of PDOs that can be transmitted per s at the transmission period T PT 1000 ms T ms 4 Number of PDOs that can be transmitted per s at the communication speed B transmission period T PBT PB PT The exemplary number of PDOS that can be transmitted according to the values of T and B are as follows transmission period T ms 10 000 20 1 000 10 000 50 1 000 10 000 1 000 10 000 1 000 10 000 1 000 20 000 2 000 20 000 2 000 20 000 2 000 20 000 2 000 50 000 5 000 50 000 5 000 50 000 5 000 100 000 10 000 100 000 10 000 125 000 12 500 125 000 12 500 250 000 25 000 500 000 50 000 800 000 80 000 1 000 000 100 000 Transmission speed B baud rate Transmitted bytes per second N 2 4 Chapter 2 Specification nnn 2 4 Component Names The names of the module components are as follows Fixing lever Connector Description Remark Fixing lever Extension module fixing part the upper Display statuses of modu
72. at method and with the slaves supporting node guarding by node guarding method 2 Node Guarding Node Guarding is conducted by NMT Network Management master sending guarding request RTR Remote Transmission Request The meanings of the guard time and node lifetime are as follows If a slave device fails to receive the RTR from NMT master within the node lifetime it judges that it is a remote node error NMT master and notices a life guarding event to the application When RTR is received after an error occurrence the error status is reset If the master device fails to receive the reply to RTR from the slave within the node lifetime or reply has been received but the state of the NMT slave in the response frame fails to meet the expectation it notices a node guarding event to the application When the reply to the RTR from the slave is received after a timeout error or the master has received expected NMT slave state after an error caused by NMT state the error status is reset gt Guard time or node guard time NMT master sends RTRs to check the state of slave at constant time intervals which is the guard time This can be set up differently for different slaves gt Node lifetime calculated with the formula Guard time x Lifetime Factor This can be set up differently for different slaves 3 Heartbeat Heartbeat producers send heartbeat messages and heartbeat consumers receive heartbeat messages The heartbeat is diffe
73. at the System History Occurred F0148 _LOG_ROTATE LOG ROTATE Stores Log Rotate Information F0150 _BASE_INFOO SLOT INFORMATION 0 Main Base Slot Information _USER_WRITE_F USABLE CONTACTING POINT Contacting Point Usable in Program F2000 _RTC_WR RTC RW Writes and Read Data to RTC F200 F2001 _SCAN_WR SCAN WR Scan Value Initialization F2002 _CHK_ANC ERR E Tee aes Requires Serious Failures from External Devices F2003 _CHK_ANC_WAR EXTERNAL WARNING REQUEST Requests to Detect Light Failures from External Devices _USER_STAUS_F USER CONTACTING POINT User Contacting Point a F2010 _INIT_DONE INTIALIZATION COMPLETED Displays Initialization Task Performance Completed F202 _ANC_ERR salar NEURE Displays Serious Failures Information of External Devices F203 _ANC_WAR a rie as Displays the Light Failures Information of External Devices F210 _MON_YEAR_DT MONTH YEAR Clock Information Data Month Year F211 _TIME_DAY_DT HOUR DAY Clock Information Data Hour Day F212 _SEC_MIN_DT SECOND MINUTE Clock Information Data Second Minute F213 _HUND_WK DT 100 YEARS DAY Clock Information Data 100 Years Day Appendix 2 Common area Communication flag according to P2P service setting In case of XGB P2P parameter 1 3 P2P block 0 31 Key word Description L5120 LX8192 _P2P1_NDROO Bit P2P Parameter 1 block 0 service normal end L5121 LX8193 _P2P1_ERROO Bit P2P Parameter 1 block 0 service abnormal end When P2P Parameter 1 block 0
74. ata setup in case of emergency CPU Error O Latch Clear CPU Stop O Latch Clear CANopen 7 1 1 Node setting 1 Node name enter name of the master node master module The restrictions are as follows 1 Shorter than 256 Alphabet letters 2 The first letter must be an Alphabet or a Korean letter or _ 3 The following letters can be Alphabets or Korean letters figures or _ 2 Station No Enter station No to the modules operating as a master within the range of 1 127 3 Baud rate Enter the communication speed within the range of 10kops 1Mbps 7 1 Chapter 7 Master Setting using XG Net 7 1 2 SYNC Setting 1 SYNC messages are received only when SYNC is checked If not checked the data which need to be synchronized to SYNC for transmission cannot be transmitted In other words if the PDO transmission type is 0 240 or 252 transmission cannot be carried out 2 The value of COB ID is SYNC h0000080 when SYNC is set up or h00000080 when SYNC is not set up and cannot be changed 3 Cycle period must be entered within the range of 20 5000ms The structure of SYNC COB ID is as follows 31 30 29 28 1141 10 0 0 0000 11 bit CAN ID X Gen Frame 29 bit CAN ID MSB The meanings of bits of the SYNC COB ID is as follows 1 x not in use 2 Gen 0 CANopen device does not generate SYNC message 1 CANopen device generates SYNC messages 3 frame 0 stands for 11 bit
75. ation DS 301 Chapter 1 Overview TTT SKF 1 2 Features The XGB CANopen I F module has following features 1 Satisfies CANopen CiA s DS301 specification 2 Up to 2 sets can be installed on one unit 3 For XBL CMEA up to 32 slaves can be connected 4 8 communication speeds are provided 5 For XBL CMEA various diagnosis functions and module and network status information is provided gt Provide the communication statuses of the master and slave are provided via device diagnosis function gt The Auto Scan function which provides the information of the modules including from other suppliers connected on the network gt Display latest 5 error histories 6 For XBL CSEA up to 10 latest error histories can be stored 1 2 1 CANopen protocol 1 Overview 1 On the CAN Controller Area Network standard the application protocol CANopen is built in 2 Designed for mobility oriented industrial control systems 3 International standard specification gt CAN ISO 11898 gt CANopen EN 50325 4 CiA DS 301 The CiA 301 specification describes about the overall features of the CANopen including CANopen protocol and Object Dictionary 2 Message classification and communication entities 1 Communication service model If classified by communicating entities Producer Consumer and Server Client models are used 2 Message types CANopen sends data in two methods of PDO and SDO a PDO Process Data
76. cial Relay F List onan ne nnn nn mnanaa A 5 A 2 2 Network Register N List A 9 A 3 External Dimension A 10 LS Chapter 1 Overview Chapter 1 Overview 1 1 Introduction This user manual describes the CANopen I F module hereinafter CANopen module of XGB PLC system network The CANopen network is an open type network used for industrial control devices It is driven by CiA CAN in Automation and supported by more than 400 companies across the world On the CAN Controller Area Network standard the application protocol CANopen is built in and is defined as an international standard The transmission method is CSMA BA Carrier Sense Multiple Access Bitwise Arbitration and all the stations on the network can send messages whenever the network is in free state If multiple stations desire to send messages the station having the highest priority has the right to send its message In the programming work please refer to following documents in addition e XG5000 User s Manual e XGK Instruction List e XGR User s Manual Following basic specifications apply to the construction of a XGB CANopen module system e XGT PLC XG5000 Programming Tool V3 64 or newer e XG Net V1 0 or newer e XG PD V3 64 or newer e XBC CPU V2 03 or newer XBC xxxH V3 1 or newer XBM xxS V1 2 or newer XBC xxSU 1 International standard specification CAN ISO 11898 CANopen CiA CAN in Autom
77. count per second shows No of services per one second 5 Service count shows No of all the services 6 Error count shows No of all the errors 7 Flag clear initializes the values of the No of services per s No of services and No of errors 8 Multiple reading reads SDO service status continuously 9 Refresh reads PDO service status again 6 5 9 Autoscan Chapter 6 XG Net detail menu From a real CANopen network whose device configuration is unknown collect slave information via master module and investigate the network configuration to create a configurable topology screen Result of Autoscan is displayed in the network configuration screen The list of the slaves to the master which has conducted Auto Scan is created The display window varies by the View mode of the network window If Autoscan menu is clicked again during Auto Scanning the Autoscan information is read to update the screen Order 1 Select menu Online Connect 2 Select the master which will conduct Auto Scan 3 Select menu Online Autoscan NewPLC XG Net AutoScan_CANopen_Master EZ Project Edit View Online Tools Window Help intalnire xla malae Project E NewPLC aaam e Qjo Yiag Zane PR CANopen Network XGB XBCH amp ID 050 _50_XBL_CSEA_COPY E oe CANopen_Master B00 S01 XBL CMEA amp ID 012 12_XBL_CSEA_COPY_COPY amp ID 01
78. ct Window Items SB test 1_0208 a NewPLC XGB XBCH Stop 3 Variable Comment LG Parameter Basic Parameter W 0 Parameter E CANopen Network H E Embedded Parameter Scan Program NewProgram Executing XG Net al Project Double click CANOpen Network to confirm execution of XG Net LS industrial Systems 6 7 Chapter 6 XG Net detail menu ST 6 2 2 Saving a Project When the XG Net is executed in connection with XG5000 saving the project in XG5000 will save the setting of the XG Net too 6 2 3 Variable Allocation PLC devices are allocated to the PDO set up in the XG Net When the XG Net is opened via XG5000 the variables allocated in the XG Net can be used in the XG5000 6 2 4 Allocating Variables in XG Net PLC devices are allocated to the set up PDO Procedure Select menu View Build 6 2 5 Importing the variable allocated in the XG5000 The variables allocated in the XG Net can be imported to XG5000 to use the variables in the PLC program Procedure 1 Select XG5000 menu Edit Automatic allocation of network variables 2 Network variables are added to the global variables or variables description window Variable allocation is carried out in the following cases 1 Menu Build of the XG Net is executed 2 Project is saved in the XG Net 3 XG5000 menu Automatic allocation of network variables is selected 6 8 Chapter 6 XG Net detail menu 6 2 6 Compare Project
79. ctory a folder with the entered project name is created and the project file is created in the folder Searching box looking up the existing folders allocate the project file location Network type select the network type CPU type select the CPU type Project comment enter project description text Chapter 6 XG Net detail menu 6 1 2 Opening a Project Look in My Computer O xG5000 A aw CANopenEDS My Recent Drivers Documents Ses mS Cl eng C31 kor Desktop PROFICON Sources Open Project xem 9xG SIM My Documents bed est netoroi File name Test netproj o My Network Files of type XG Net files netproj 1 Select menu Project Open Project 2 Select the file and click Open 6 1 3 Open from PLC Read the memory stored in the PLC and create a new project If a project is open in the XG Net close the project and create a new project Open from PLC Online Settings Connection settings Type v General Timeout interval 5 Retrial times 1 Read Write data size in PLC run mode ONomal Maximum Send maximum data size in stop mode 1 Select menu Project Open From PLC 2 Select the connect option and click Connect LS industrial Systems 6 3 Chapter 6 XG Net detail menu TTT 6 1 4 Other Functions Function Meaning Execution Method Save Project Save the modified project S
80. d NNT ARRAY of BYTE SIZE Data size 1 512 byte Output DONE If normal response is received from the corresponding communication module the bit turns ON STAT Error code Flag Set Flag Description Device No PUTCOMM If no communication module the bit of the slot turns ON F0015 GETCOMM If the PUTCOMM GETCOMM command failed to be executed properly the bit Bit14 of D Error turns ON PUTCOMM If normal response is received from the corresponding communication module F0023 GETCOMM the bit turns ON Bit15 of D Complete 1 This command is for reading the data of the corresponding device via communication module 2 Inthe communication module designated base and slot No send designed command to module and save the return data from the communication module Then the maximum allowable reception byte is SIZE 3 This command is not processed in scan synchronous manner That is the response from the corresponding device may arrive after several scans the result cannot be known right after processing the command 4 If SIZE is over the data array length do not execute the command Chapter 8 Slave Setting using XG Net TT gt Exemplary application of GETCOMM The exemplary software program below reads 4 bytes of data from the index h2000 and h0056 sub index of the slave station 1 CANOpen master module installed in slot No 2 and save the data in data array variable 16 01 t DONE 16 00
81. d in the edit Chapter 6 XG Net detail menu 2 Adding Slaver modules Slaves can be added by two methods The first method is to add a slave directly to the master module and the second is using Auto Scan To use the Auto Scan function the slave must be connected to the network with the same baud rate and different station No 1 Adding at Master module Project fi Test CANopen Network XGB XBCH ee L LSis TestRNN Sf XAL CME A Se Test B00 501 XBL CME onan e Add Slave Open Network View Add Slave Cut Ctrl x Be Copy Ctrl C Add Slave X Delete Del E View In Detail ml View Briefly E Autoscan Sl View As List Ges View As Table Auto Scan Properties a v Allow Docking Q Project Hide Library Float In Main Window ax or Module Property 1 Select the master module and right click the mouse to select Add Slave 2 Or in the edit window click the master module and select Add Slave Properties gj CANopen a y Profile Station No 1 1 127 a 0 Drives and motion control E IG CANopen LSIS_S100_CANOPENI_0 EDS IS CANopen LSIS_IS7 CANOPENI_0 EDS Names est SV iG5A CANopen LSIS_IG5A_CANOPENI_0 EDS Deven SV iG5A CANopen LSIS_IG5A_CANOPEN2_0 EDS Bevice SV iP5A CANopen LSIS_IP54_CANOPENO_5 EDS s Generic 1 0 modules EDS 5 OTB 1CO DMSLP OTB_ICO_DMSLP_V5 eds Slave Sy Unknown 0 D
82. e This determines the communication priority of the COB DCF Device Configuration File The file in EDS structure containing the configuration information baud rate station No PDO mapping etc determined by project EDS Electronic Data Sheet The standardization file containing the communication method of the device and parameter description Heartbeat The message transmitted from a device at preset cycles to notice other devices of the connection NMT Network Management A component of the CANopen communication profile which conducts the initialization of the network and device start up termination and monitoring of the device 10 Node guarding the periodic action of the master monitoring the communication connection of slave 11 OD Object Dictionary The list of all the values and functions of the parameters of the device Each entry can be accessed using index 16 bit and sub index 8 bit 12 Parameter the data and value of device which can be set up by users 13 PDO Process Data Object A practical means for transmitting process data It is a communication object having high priority transmitted by 1 producer and received by 1 or more stations of consumers One PDO can have up to 8 bytes and unique COB ID and does not require the acknowledgement from the receiver station The meaning of the transmitted data is determined by COB ID and PDO Mapping The PDO priority and operating mode are determined by communication paramet
83. eartbeat Heartbeat Heartbeat Produce time 200ms 200ms 200ms Device allocation TPU MO Ne RPDO DO RPDO DO 10 1 2 Description Operation 1 CANOpen master I F Module XBL CMEA 1 16 words M49 M64 data are sent to 10 station 2 Receive 16 word of data from 10 station and store them in the DO D15 area 3 Send 1byte which is No zero in the M65 area to 20 station 2 CANOpen slave I F module XBL CSEA 1 Receive 16 word of data from 1 master station and store them in the D0 D15 area 2 Send the data of MO M15 to the 1 master station 3 Schneider slave module OTB1CODMOLP 1 Receiver 1 byte data from the 1 master station Chapter 10 Examples 10 1 3 Parameter Setting 1 CANOpen Slave setting XBL CSEA OTB1CODMOLP XBL CSEA parameter setting 1 Execute XG PD 2 Set up the project name and applied PLC type and click OK button Communication Module Sett 5 XBL CSEA Te OEE Base parameter setting 1 Basic Setting Slot l ot 1 Offline setting 1 Select the base and select add module by right click of the mouse 2 in the communication module set up select the CANOpen Slaver and mounted slot and click OK 2 Online mode setting 1 Select File Open form PLC or execute XG PD create a new project and select Online Read I O Information Standard Settings Settings Station Number Speed 1 Mbit s XBL CSEA Read area TPDO A
84. ect lt gt Property MGs spo PDO Preview ID 013 _13_xXBL_CSEA lt gt Property MILs spo PDO Slave Status by o Pi CANopen_Master_01 B00 S03 XBL CMEA Service Network iew In Detail PDO Service Master Setting ME Properties Error control A PDO Table A SDO Table 7 Diagnosis Variables ID 050 _50_ BL_CSE4_COPY lt gt Property MLS spo PDO Close Setting 1 Select menu Project Print Projects 2 Print Project dialogue appears 3 Select the items to be printed and click Print button 6 44 LS industrial Systems Chapter 7 Master Setting using XG Net Chapter 7 Master Setting using XG Net Edit windows of the master module XBL CMEA will be displayed when double click of project widow master module is executed 7 1 Properties With the master registration information tab the basic data of the master are set up Registration information can be coarsely classified into node setting SYNC setting monitor setting and PLC reception transmission area setting Properties as Error Contral Setting Node Setting al PDO Variable Table Node Name SDO Table F Diagnostic Variables Station No 127 1 127 Baud Rate 800 Kbit s v SYNC Setting v COB D 000000080 Cycle 100 20 5000 ms Monitor Setting SDO Receive Timeout 1000 200 5000 ms PLC Area WORD Receive Send Diagnostic Area D v D v D v Offset 0 200 400 Size 100 200 Output d
85. ect Dictionary are searched using 16 bit indexes 3 4 Data type a Table presents the types of all the data gt The data types used in the XBL CSEA are 4 type of 5 UNSIGNED8 6 UNSIGNED 16 7 UNSIGNED32 and 9 VISIBLE_STRING 5 Setting value enter the value of the object item checked for use Entered values are stored in the parameter when the project is saved 2 Sub index the 8 bit values used for searching the records in the objects Parameter name the text string describing an object LS Industrial Systems 8 5 Chapter 8 Slave Setting using XG Net 6 Access attribute the attribute of the object accessibility For example writing is allowed by W Write attribute Access Attribute Description RW Read Write access allowable WO Write Only RO Read Only Read Only constant value Read Write accessibility to process output Read Write accessibility to process input 8 Use select use or no use If checked registered with the SDO table of the master module 8 3 2 Write SDO Write SOD can be conducted in the 3 methods as follows 1 Write after module initialization The value entered into the setting value is downloaded at the time of parameter writing and the n downloaded to slave device from the master when the slave id initialized At this time the setting value can be entered both online and offline 2 Writing in operation this function enables SDO parameter writin
86. ect File Management 6 2 6 1 2 Opening Project 6 3 6 1 3 Open from PLC 6 3 6 1 4 Other FUNCtIONS 6 4 6 2 Interconnection with XG5000 6 5 6 2 1 Opening XG Net in XG5000 65 6 2 2 Saving a Project 68 6 2 3 Variable Allocation 6 8 6 2 4 Allocating Variables in XG5000 6 8 6 2 5 Importing the variable allocation in the XG5Q00 68 6 2 6 Compa
87. elect menu Project Save Project Save the project in a different file 1 Save the project in a different file 2 Enter the project name and click Confirm button Export as Package Save the project contents in a file archive Exporting file archive also saves the EDS file information used in the project 1 Select menu Project Export as Package 2 Enter the name for saving and click Save button Import from Package 6 4 Import the project archive file Importing file archive also loads the EDS file information used in the project 1 Select menu Project Import from Package 2 Enter the name of the archive file and click Open button Chapter 6 XG Net detail menu M 6 2 Interconnection with XG5000 XG Net supports interconnection with XG5000 If XG Net is opened via XG5000 the project file and Write PCL functions are interlocked with the XG5000 project To use the devices allocated by the XG Net in XG5000 run XG Net in the XG5000 6 2 1 Opening XG Net in XG5000 To run XG Net in XG5000 the CANOpen master module XBL CMEA must be registered in the I O parameter Master module can be added in I O parameter by two methods 1 Master module registration by I O synchronization IZO information Base module information Slot 1 0 information Module DC 24V INPUT TR OUTPUT 32points CANopen Master TR OUTPUT 32points CANopen Master VO Synchron
88. en powered Electric shock or abnormal operation may occur Prior to cleaning or tightening the terminal screws let all the external power off including PLC power If not electric shock or abnormal operation may occur Don t let the battery recharged disassembled heated short or soldered Heat explosion or ignition may cause injuries or fire Caution Do not make modifications or disassemble each module Fire electric shock or abnormal operation may occur Prior to installing or disassembling the module let all the external power off including PLC power If not electric shock or abnormal operation may occur Keep any wireless equipment such as walkie talkie or cell phones at least 30cm away from PLC If not abnormal operation may be caused When making a modification on programs or using run to modify functions under PLC operations read and comprehend all contents in the manual fully Mismanagement will cause damages to products and accidents Avoid any physical impact to the battery and prevent it from dropping as well Damages to battery may cause leakage from its fluid When battery was dropped or exposed under strong impact never reuse the battery again Moreover skilled workers are needed when exchanging batteries Safety Instruction Safety Instructions for waste disposal Product or battery waste shall be processed as industrial waste The waste may discharge toxic materials or explode itself Revisio
89. er setting PDO producer and consumer must have the same data structure to process PDO The data structure of the Producer and consumers are determined by TPDO and RPDO respectively 14 PDO Mapping Means allocation of application object to the data field of PDO Mapping has two methods of static and dynamic In the static mapping the objects of the PDO must be continuous and cannot be omitted or allocated with a dummy object 15 Predefined Connection Set The COB ID pre allocated with reference to the station No and function code The communication object by such predefined connection set are Node guarding heartbeat emergency object sync message time stamp server SDO 1 RPDO1 4 and TPDO1 4 o oO N 0 0 o Appendix 16 RPDO Receive PDO PDO used for reception 17 SDO Service Data Object Acommunication object used to initialize CANopen device set up parameters or to transmit long data records e g domain data and has low priority The entries in the object dictionary can be written and read using SDO and the entry designation is performed with index and sub index 18 Producer an entity crating information 19 Consumer an entity receiving and consuming information 20 Server the subject providing information on request Client the subject requesting information nn Appendix A 2 Flag List A 2 1 Special Relay F List
90. es 254 and 255 equally and transmits when device value is changed Transmission Description Type Value 0 Synchronous acyclic Synchronous transmission periodically when the SYNC of the transmission type value oe is received 241 251 Reserved 252 Only when RTR is received RTR only synchronous 253 Only when RTR is received RTR only event driven 254 Event driven Manufacturer specific Event driven Manufacturer specific si Device profile and application profile specific 8 25 Chapter 8 Slave Setting using XG Net TT 4 RPDO transmission type In the table below the term synchronous means that the CANopen device applies the received data to the reception of the next SYNC object Event driven means that PDO can be received whenever and that the CANopen device applies received data immediately Transmission Type Value Description 0 240 Synchronous 241 253 Reserved 254 Event drive manufacturer specific 255 Event drive device profile and application profile specific 2 Transmission type No Activated only when synchronous cyclic 1 240 is selected as the transmission type and the PDO transmission period is master side cycle period x transmission type No gt Example master side cycle period is 100ms and the transmission type No is set to 3 Synchronous cyclic period 100x3 300ms l e data communication at every 3 Inhibit time Used when the transm
91. es are allocated sequentially starting from the offset address of the diagnosis variable area of the master 96 bytes are used for each master jt CANopen_Master Properties Error Control Setting v PDO Variable Table ees SDO Table Variable Type Device Monitor value Description Diagnostic Variables 0002_001_CHANNEL_STATUS_SUBO BIT 000300 0 1 Master does not operate 0002_001_CHANNEL_STATUS_SUB1 BIT D00300 1 1 Slave does not operate 0002_001_CHANNEL_STATUS_SUB2 BIT D00300 2 1 Configuration error 5 _0002_COMM_STATUS WORD D00301 0002_001_COMM_STATUS_SUBO BIT D00301 0 0002_001_COMM_STATUS_SUB1 BIT D00301 1 0002_001_COMM_STATUS_SUB2 BIT D00301 2 Communication CANopen Controller is at BUS Off state Controller FIFO Overflow Error Passive state Transmit Queue Overflow Error Warming state Receive Error CANID Overflow Receive Queue Overflow CANopen vent Errors that can occur in the transfer of SDDs Errors that were found in the communications process 0002001 _COMM_STATUS SUB3 BIT D00301 3 0 0 0 0 01 01 01 i 01 0002_001_COMM_STATUS_SUB4 BIT D00301 4 01 0002_001_COMM_STATUS_SUB5 BIT D00301 5 01 0002_001_COMM_STATUS_SUB6 BIT D00301 6 01 0002_CANOPEN_STATUS WORD D00302 80 _0002_EVENT_STATUS WORD D00303 0 0002_001_EVENT_STATUS_SUBO BIT D00303 0 01 0002_001_EVENT_STATUS_SUB1 BIT D00303 1 01 0002_001_EVENT_STATUS_SUB2 BIT D00303 2 0 1 Errors occurring during Network Settings 0002_001_EVENT_STATUS_S
92. es not operate 0 1 Configuration error 0 Communication 0 1 CANopen Controller is at BUS Off state 0 1 Controller FIFO Overflow 0 1 Error Passive state 0 1 Transmit Queue Overflow 0 0 1 Receive Error CANID Overflow 0 10 0 0 0 0 1 Error Warning state 1 Receive Queue Overflow Errors that can occur in the transfer of SDOs Errors that were found in the communications process Errors occurring during Network Settings 0 1 Error information related to any error control mechanisms 1 Master cycle minimum value 1 Master cycle Current value 69 Master cycle maximum value 0 Error number 0 Hardware error number 0 Software error number 0 Communication error number 0 Protocol error number 0 Extension error number 0 Special error number 1 Slave number FAAEA Bie A eoa uL VALLI ATA 1 Double click the master module of the XG Net 2 Click the diagnosis variable table 3 Select Online Start Monitor 4 Check up the states of the master module and slave module referring to the monitor values and explanation Auto Scan Service f Broject Ede View Online Tools Window Help s N Newt CANopen Network XGB XBCS Sig CANopen Master BON SOP XBL CMEA 10 010 xBL_CSEA10 20 OTEICEDMALP_20 6 im ae ANopen LSIS_S100 C ANopen LSIS CANopen QS 2 SVIG5A CANopen Ls SVHPSA CANopen L Gy Generic O modules OTB ICO DMSLP OTB_1CO_DMSLP_v ca Unknownid XBL CSEA OBL CSEAVIQ eds 2 XPO COE
93. escription Test of XGB CANOpen XBL CSEA XBL CSEA_VI0 eds XPO COEA XPO COEA eds s s Vendor Properties 3 0 LS Industrial Systems te XPO COEA XPO COEA eds 3g LS Industrial Systems Co Ltd G CANopen LSIS_S100_CANOPEN1_0 EDS 2 IS CANopen LSIS_IS7_CANOPEN1_0 EDS 2 SVG5A CANopen LSIS_IG5SA_CANOPEN1_0 EDS 2 SV iG5A CANopen LSIS_IGSA_CANOPEN2_0 EDS SV iP5A CANopen LSIS_IP54_CANOPENO_5 EDS _ LSIS v m EE C Cee 1 Enter following items in the slave window Station No enter the slave node ID Name enter name of the slave node Device enter the EDS product name of the slave node EDS enter the EDS file path of the slave node 2 Click EDS call up button and add the desired EDS 3 Click OK button 6 13 Industrial Systems Chapter 6 XG Net detail menu Test BOO S01 XBL CMEA 1 Mbit s Select Add to Master In the network window the slave is added beneath the master module 6 14 LS industrial Systems Chapter 6 XG Net detail menu 2 Adding Slaver in the AutoScan AutoScan_Test B00 S01 XBL CMEA 1 Mbit s Product code 31 Revision 10000 Test XG Net AutoScan_Test Device type 0 Heras scion 00 Project Edit View Online Tools Window Help B Disconnect Ds el a Software version 3 00 Activated 1 Parameterized 1 Project 3 _12_XBL_CSEA aE Tet Module Synchronization XBL CSEA_V1
94. etting using XG PD Project Window Project Window eq Activates the project window Message Window Message Window es Activates the message window v EDS Information Sta Heider seater ad Indicates whether system diagnosis is activated or not Sauser Activates the status bar eed Davee UsedDewe Indicates the device area used in the parameter Ascii Table Ascii Table o Indicates the Ascii table Cascade Arranges the window Tile Horizontally ps Arranges the window Close All Tile Vertically Arranges the window Arrange Icon This menu is not used by the user Close All Closes all window About XG PD About XG PD C Indicates the version information of the XG PD Chapter 10 Examples M Chapter 10 Examples 10 1 Examples of System Configuration 10 1 1 System Configuration The following example is for a configuration with the CANOpen master module XBL CSEA and slave module XBL CSEA and the slave module from another manufacturer Schneider OTB1CODMOLP The layout is shown in the figure below Product settings are presented in the table below Slave 10 XBL CMEA 1 XBL CSEA 1 0 Type XBL CMEA XBL CSEA OTB1CODMOLP Station No 1 10 20 Baud rate 1Mbps 1Mbps 1Mbps RPDO 4 No of PODs TPDO 4 RPDO 1 1byte Transmission period ms 100 100 100 Transmission type Synchronous cyclic Synchronous cyclic Synchronous cyclic Error control setting H
95. etween the basic and link module 0x8002 The station No of the corresponding device is not within 1 127 1 Size is small than 1 or bigger than 520 0x8003 2 Recevice byte No for GETCOMM command is over max byte size 0x8004 The sub index is bigger than 255 In the PUTCOMM commana failed to stack on the stack queue due to queue overflow 0x8005 Data overload adjust the communication load In the GETCOMM command failed to stack on the stack queue due to queue overflow 0x8006 Data overload adjust the communication load The slave is not ready for service yet 0x8007 Check the installment of slave The master module is not ready for service yet 0x8008 Check the Link Enable of master module or master module is initializing parameter Edit program lt need to execute command just few second ago 1 SDO Write error occurred at stack limited for PUTCOMM Station No error of slave module or NAK response from slave 0xF001 NAK response occurrences unsupported index sub index of the slave or data length is in discard with object length of the slave 8 21 Chapter 8 Slave Setting using XG Net TTT SFSZ5 Status Description SDO Read error occurred at stack limited for GETCOMM OxF002 Station No error of slave module or NAK response from slave NAK response occurrences unsupported index sub index of the slave OxF003 Reached to the communication module but time out occu
96. ewPLC 5m CANopen Network XGB XBCH g CANopen_Master B00 S01 XBL CMEA LS CANopen _Master B00 501 XBL CMEA ID 012 12 XBL CSEA COPY COPY is 800 Knives i ID 013 13 XBL CSEA_COPY COPY Sg C Nopen_Master_01 B00 S03 XBL CMEA 8 ID 050 50_XBL_CSEA COPY laa sans HH cAnopen Bi _12_XBL_CSEA_COPY_COPY 19000086 BL CSEA_V10 eds kEm 13 xBL_CSEA_copy_copy 1900008 BL CSEA_V10 eds Q Project Library x Sci E LS Industrial Systems Co Ltd E IG CANopen LSIS_S100_CANOPEN1_0 EDS 187 CANopen LSIS_IS7_CANOPENI_0 EDS SV IG5A CANopen LSIS_IG5SA_CANOPENI_0 EDS SV iG5A CANopen LSIS_IG5SA_CANOPEN2_0 EDS SV iP5A CANopen LSIS_IP54_CANOPENO_5 EDS Gi Lsis lt CANopen EDS Library 9 Favorite 1 Select EDS file from the library window 2 Drag the file and drop it in the network window A NewPLC XG Net CANopen_Master 12 Project Edit View Online Tools Window Help losa a S27 am Qaim VilagiZene i CANopen Network XGB XBCH Sg CANopen_Master B00 S01 XBL CMEA L S CANopen_Master B00 501 XBL CMEA ID 012 _12_XBL CSEA_COPY_COPY 5 800 Kis i _XBL_CSEA_COPY_COPY ter_01 B00 S03 XBL CMEA _XBL_CSEA_COPY CANopen _12_XBL_CSEA_COPY_COPY XBL CSEA_V10 eds Properties Station No A_COPY_COPY eds eae Name
97. f currently set up SDOs The maximum SDO capacity is the largest capacity that can be set up in the master module 8 3 8 Writeable Object list when XBL CSEA is selected Index ben Parameter name Data type teed Min Max h1003 hoo Number of elements UNSIGNED8 RW hoo hoo h1005 hoo COB ID SYNC message UNSIGNED32 RW h1010 h01 Parameters that may be stored UNSIGNED32 RW i i on the CANopen device h1011 h01 Restore all default parameters UNSIGNED32 RW h1014 hoo COB ID Emergency Object UNSIGNED32 RW h1015 hoo Inhibit time EMCY UNSIGNED16 RW h1016 h01 Consumer heartbeat time 1 UNSIGNED32 RW h1017 hoo Producer Heartbeat Time UNSIGNED16 RW h0000 hFFFF h2000 h01 h80 QW 001 QW 128 UNSIGNED16 RWW h0000 hFFFF h2010 h01 h80 RQW 129 QW 256 UNSIGNED16 RWW h0000 hFFFF H2100 h01 h80 IW 001 IW 128 UNSIGNED16 RO h0000 hFFFF h2110 h01 h80 AIW 129 IW 256 UNSIGNED16 RO h0000 hFFFF Chapter 8 Slave Setting using XG Net TSF gt h1003 Pre defined error field This object provides the error occurred in the CANopen device The sub index 0 present the number of error stored from sub index 1 XBL CSEA can store up to 10 errors Only the sub indexes whose values are stored in the sub index 0 can be read For example if the value is O which means there has been no error reading sub index value of 1 or higher gives an error message Wrting O into the sub index 0 will
98. g output expansion modules system configuration and built in 10310000926 XGB Analog output temperature input module system configuration and built 10310000920 User s Manual in PID control for XGB basic unit XGB Position It describes how to use built in positioning function for XGB unit 10310000927 User s Manual XGB Cnet I F It describes how to use built in communication function for XGB 10310000816 User s Manual basic unit and external Cnet I F module XGB Fast Ethernet It describes how to use XGB FEnet I F module 10310000873 I F User s Manual Contents nnn Contents Chapter 1 Overview 1 1 INtroduCtiON 1 1 1 2 FEatUreS ee ee ee 1 2 1 2 1 CANopen protocol 1 2 1 3 Production Configuration 1 4 1 3 1 Type Indication 1 4 1 4 Software for Using Products 15 1 4 1 S
99. g aN Writing completed Complete When writing is completed finish window is created 6 26 i S f dustrial Systems Chapter 6 XG Net detail menu M 2 Write in XG5000 When the XG Net is called in the XG5000 the XG Net is synchronized with the XG5000 Therefore if writing is conducted in the XG5000 and if the CANopen module has been set up CANopen parameters are also written Procedure Al Base SetBave 6 Base 00 Default Slot Module omme Input Filter Emergency Out amp 00 DC 24V INPUT Omain DC 24V INPUT TR O 3 Standard ms Default s 01 CANopen Mast TE corer Master P0040 02 TR OUTPUT 3 fal f Digital Module List POLIF amp 3 CANopen Masti le Lis POLE n Moc J DE w ofaa a 10 Default ajo krais Pinn w OK _ Cancel Adding Module lt Adding CANOpen Master using I O parameter gt 1 0 information Base module information Slot 1 0 information fia Base 00 Slot Module 0 DC 24V INPUT TR OUTPUT 32points CANopen Master TR OUTPUT 32points CANopen Master 7 2 3 4 5 6 7 8 3 10 Z Show Existing Base Only i0 Sync _ Detais ox Cancel lt Adding CANOpen Master by I O synchronization gt 1 Add master module to create the CANOpen Network menu in the XG5000 project window 1 In the XG5000 project wind
100. g during normal operation SDO writing window appears when Online Write SDO is selected or right click the mouse on the setting value and select Write SDO from the context menu Check the object index and sub index enter value and click Write after Input Write SDO is completed The result of writing can be checked by selecting Read All Screens or Read Current Screen menu Writing in operation is applicable in online mode only Write SDO Object Index 0 2000 Sub Index 0x1 Value Hex 0001 3 Write SDO using instruction GETCOMM and PUTCOMM commands are used to write and read SDO For further details see section 8 4 SDO Command 8 6 Chapter 8 Slave Setting using XG Net a 8 3 3 Index The function to search the index presented in the object list of the EDS Write the index to be searched and select GO to button 8 3 4 Format Select decimal or hexadecimal system to express object list and minimum and maximum values 8 3 5 Minimum Maximum Refer to the minimum and maximum values of the object selected from the object list When editing the value in the Current Value cell if the value exceeds the min max value range an error message is triggered 8 3 6 Number of SDOs Show the maximum number of available SDOs and the number of currently set up SDOs The maximum number is the maximum that can be set up in the master module 8 3 7 Size of SDOs Show the maximum size of available SDOs and the size o
101. g information 1 Green the project window and Auto Scan information are identical 2 Red EDS cannot be found or the station number read by Auto Scan exists on the project but the EDS information is different 3 Orange exists in the Auto Scan information only and no parameter exists 4 Gray exists only in the project window LS industrial systems 16 41 Chapter 6 XG Net detail menu 6 5 11 Add Autoscan in Project Although not actually registered with the master not registered project window in XG Net as a slave the EDS information acquired from the Auto Scan is added in the project window Order 1 Select menu Online Connect 2 Select the master which will conduct Auto Scan 3 Select menu Online Autoscan 4 Select menu Online Add Autoscan in Project Delete the slave information added in the existing project window and configure the project window with the data obtained from the Autoscan NewPLC XG Net AutoScan_CANopen_Master E Project Edit View Online Tools Window Help sa ex 4 maga c Bi qd Seem e ejo viaa sens Project fd NewPLc BR CANopen Network XGB XBCH AutoScan_CANopen_Master B00 S01 XB g CANopen_Master B00 S01 XBL CMEA L CMEA ID 012 _12_XBL CSEA_COPY_COPY 800 Kbit s ID 013 _13_XBL CSEA_COPY_COPY Product code 31 Sg CANopen_Master_01 B00 S03 XBL CMEA Revision 10000 ID 050 50_XBL_CSEA_COPY Device type 0 Hardware version 1 00 Software version 3 00
102. g is exceeded 64 bits which is the entire mapping size is exceeded Set up object cannot be mapped Access right is illegal Object type or size is different Object does not exist c BIT2 0 if the nodes set up in the parameter and network coincide 1 otherwise d BITS 1 if guarding or heartbeat error has occurred 0 otherwise 5 MASTER_CYCLE_MIN min scan cycle time in the master module ms 6 MASTER_CYCLE_CUR current scan cycle time in the master module ms 7 MASTER_CYCLE_MAX max scan cycle time in the master module ms Under 8 14 at each reception of Emcy event from slave the respective error count is increased according to the error code range 8 GENERIC_ERR_CNT generic error count No of the received Emcy messages having the error codes of 10xxH 9 DEVICE_HARD_ERR_CNT device hardware error count No of the received Emcy messages having the error codes of 50xxH 7 14 Chapter 7 Master Setting using XG Net 10 DEVICE_SOFT_ERR_CNT device software error count No of the received Emcy messages having the error codes of 60xxH 61xxH 62xxH and 63xxH 11 COMMUNICATION _ERR_CNT communication error count No of the received Emcy messages having the error codes of 81xxH 12 PROTOCOL_ERR_CNT protocol error count No of the received Emcy messages having the error codes of 82xxH 13 EXTERNAL_ERR_CNT external error count No of the received Emcy messages having the error codes of 90xxH 14 DEV
103. h promotes internationally cooperated standardization in electric electronic field publishes international standards and manages applicable estimation system related with 2 Pollution degree An index indicating pollution degree of the operating environment which decides insulation performance of the devices For instance Pollution degree 2 indicates the state generally that only non conductive pollution occurs However this state contains temporary 2 Chapter 2 Specification TT 2 2 Performance Specification The following table describes the specification of system configuration in accordance with CANOpen I F module s media When you configure systems refer to the below table Item Standard XBL CMEA XBL CSEA Baud rates kbops 10 20 50 100 125 250 500 800 1000 kops Number of communication Port 1 The number of maximum Installments 2 The number of maximum connection nodes 32 The number TPDO of supported PDOs Bro Total 32 Maximum data length per a PDO 8Byte Transmission type of PDOs synchronous acyclic 0 synchronous cyclic 1 240 RTR 252 253 time event trigger 254 255 Supported SDO Client 127 Server 1 Server 1 Transmission type of SDOs Expedited Normal Communication Zone Excess Method CSMA BA Carrier Sense Multiple Access Bitwise Arbitration Topology BUS SYNC Service Producer Co
104. he device profile or application profile or unique to the manufacturer Or transmitted after a certain time event time without an event b Remotely requested The event driven transmission of PDO starts on receiving the RTR initiated by PDO consumer c Synchronously triggered Message transmission is triggered by generation of SYNC object The trigger conditions are No of SYNC and selective internal event 8 24 Chapter 8 Slave Setting using XG Net 3 TPDO transmission type a The term synchronous means that the PDO is transmitted after the SYNC object On receiving SYNC the CANopen devices starts data sampling If acyclic sampling begins at the next SNC after triggering of CANopen device internal event followed by PDO transmission In case of cyclic sampling begins when receiving from 1 to 240 SYNC according to the transmission type value followed by PDO transmission b Only when RTR is received RTRPDO is not transmitted in normal situation except when RTR has been received If the transmission type is 252 the CANopen devices begins sampling at each reception of SYNC to buffer the PDO If the transmission type is 253 the CANopen device begines sampling on receiving RTR and transmits PDO immediately c Event drive PDO can be transmitted every time when CANopen device internal event occurrence Event definition can be specified in the devide profile and application profile The XGB CANopen module process
105. he master and slave are not divided and the heartbeat producers send heartbeat messages by broadcasting Therefore the messages transmitted from a producer is received by multiple consumers If heartbeat message is not received for a given time period the device acting as the heartbeat producer determines an error The error status is reset when a heartbeat message is received gt Producer time the period at which a heartbeat producer transmits heartbeat messages Error control setting of our CANopen slave module XBL CSEA supports only heartbeat protocol 8 4 Chapter 8 Slave Setting using XG Net 8 3 SDO setting SDO Service Data Object transmission is mainly used to set up the initial values of the devices in the CANopen network The priority level is low and non periodic The objects are classified into 16 bit indexes and 8 bit sub indexes t _20_XBL_CSEA Properties r Error Control Setting Index Ox Goto Format Hexadecimal v SDO Setting Objects PDO Setting PDO mapping Index Sub index Parameter name Data Type Setting value Access properties Use Hon mrg s 0x1000 Ox0 Device Type UNSIGNED32 0x00000000 RO ja 01001 0x0 Error Register UNSIGNEDS 0x00 RO r 0x1003 Pre defined Error Field o 0x1003 0x0 Number of elements UNSIGNED8 0x00 RW D 041003 0x1 Standard Error Field_1 UNSIGNED32 0x00000000 RO ja 0x1003 0x2 St
106. ich Write SDO will be executed and carry out write SDO 3 Inthe Write SDO dialog edit the object index and sub index values and select the Write button Here Write SDO is allowed only when the access attribute of the object list is RW Chapter 6 XG Net detail menu 6 5 6 Read SDO The current value of the SDO in the slave module can be read Select Read All or Read Current Screen Only from the SDO setting tab in the slave edit window NewPLC XG Net L 13_XBL_CBEA_COPY_COPYI x a laas loa laane Propert f Dua pe UNSIGNED ED UNSIGNEDS UNSIGNEDS UNSIGNED 2 UNSIGNED UNSIGNED UNSIGNED UNSIGNED 12 UNSIGNED Select SDO E Paeet UNSIGNED VISBLE_STRING MBLCSEA CONST const const 999999 99 999999 9 99 9 992999 UNSIGNEDB 0 Fo Mamm 1 Double click the slave item in the project tree open the specification edit window 2 In the slave edit window select SDO Setting Read SDO m 999999999999999999294 1 Select menu Online Connect to connect the PLC 2 Select Read All SDOs or Read Displayed SDOs button 3 The SDO value read from the object list in the SDO setting tab is displayed in the monitoring value 6 34 LS industrial Systems Chapter 6 XG Net detail menu 6 5 7 Slave Error History Shows the latest 5 errors of the individual slave which is conducting CANopen communication aaya NewPLC
107. int Select and print project item Print Setup Set up printer options End Edit Instruction Terminate XG Net Description Cut Delete a block and copy the content to the clip board Copy Copy the content of the block to the clip board Paste Copy the content of the clip board to the edit window Delete Delete a block or selected item Open Item 5 2 Open the item selected in the project window View Instruction Chapter 5 Using XG Net Description Build Perform parameter inspection and allocate variables Status Bar Show or hide the status bar at the bottom screen of XG Net Project Window Show or hide project window Library Window Show or hide library window Message Window Show or hide message window nn M For each master module activate a window where slave can be added or View Network deleted Shift the project window library window and message window to the initial Default Window Position positions Zoom In Enlarge the network setting screen Zoom Out Reduce the network setting screen size In the network setting window show the master and slave information in View In Detail detail portrait configuration In the network setting window show the master and slave information in View Brief simple form landscape configuration In the network setting window show the master and
108. ission type is 254 or 255 The time is the minimum time interval for PDO transmission When data exchange occurs frequently and irregularly PDO transmission within this time from the previous PDO transmission is inhibited The value is not changed as long as PDO exists in valid status 4 Event Time Applied when the transmission type is 254 or 255 The time is the maximum time interval for PDO transmission When data exchange occurs infrequently and irregularly PDO is transmitted after this time from the previous PDO transmission forcedly The XGB CANopen module processes 254 and 255 equally and transmits when device value is changed Our own COB ID starts from 0x681 8 6 PDO mapping Objects can be mapped on the set up PDOs Chapter 8 Slave Setting using XG Net Properties Error Control Setting PDO Type Filter Rioo D SDO Setting PDO Setting PDOs to Map PDO mapping Index Sub index Parameter Data Type Lenath Access properties A 042000 zow 001 UNSIGNED16 042000 Ox2 zow 002 UNSIGNED16 16 Aww 042000 0x3 zow 003 UNSIGNED16 16 Rw 042000 Oxd zow 004 UNSIGNED16 16 Aww 042000 0x5 xow 005 UNSIGNED16 16 Aww 042000 0x6 ZOW 006 UNSIGNED16 16 RWW 0x2000 Ox OW 007 UNSIGNED16 16 RWW 0x2000 0x8 ZOW 008 UNSIGNED16 16 RWW 0x2000 0x9 0w 009 UNSIGNED16 16 RWW 042000 Ox4 20 W 010 UNSIGNED16 16 Rw 042000 OxB 0W 011 UNSIGNED16 16 RWW 0x2000 OxC zow 012 UNSIGNED16 16 Rw 042000 OxD zow 01
109. ization Show Existing Base Only 1 0 Sync Details OK Cancel 1 Select menu Online Change Mode Stop to switch to CPU stop mode 2 Select menu Online V O Information and select I O Sync in the I O information window 3 When the module has been synchronized click OK button 4 CANOpen Network item is created in the project window Chapter 6 XG Net detail menu Project Window Items B test 1_0208 5 NewPLC XGB XBCH Stop 4 Variable Comment G4 Parameter Basic Parameter w 1 0 Parameter E CANopen Network E Embedded Parameter Scan Program NewProgram Executing XG Net al Project Double click CANOpen Network to confirm execution of XG Net 6 6 LS industrial Systems Chapter 6 XG Net detail menu 1 Master module registration by I O parameter setting All Base setBase BD Base 00 Default ot Module Input Fiter Emergency Out amp 00 DC 24V INPUT jain DC 24V INPUT TR O 3 Standard ms Defaut 01 CANopen Mast MEET CANopen Mas E ae TR QUTPUT 3 G Dt efai P0080 P011F P0120 PO15F I O Parameter Setting 10 Default e pais Pint w C 0K canca f 1 In the XG5000 project window select menu Parameter I O Parameter 2 In the XG5000 I O parameter window select CANopen Master 3 CANOpen Network item is created in the project window Proje
110. ized 1 il AutoSca 2 CANopen Beseanf LS industrial systems 6 39 Chapter 6 XG Net detail menu At Auto Scan only the information of the slaves whose baud rate is the same as that of the master can be obtained Following information can be obtained in Auto Scan 1 Product code information in the EDS file 2 Revised version information in the EDS file 3 Device type information in the EDS file 4 Hardware version information in the EDS file 5 Software version information in the EDS file 6 Operating state shows the operating state of the module 7 Parameter existence shows the existence inexistence of module parameter 6 40 Chapter 6 XG Net detail menu 6 5 10 View Autoscan with Project The data obtained from Auto Scan are compared with the project window and displayed in network configuration screen Order 1 Select menu Online Connect 2 Select the master which will conduct Auto Scan 3 Select menu Online Autoscan 4 Select menu Online View AutoScan with Project The operating conditions of the View Autoscan with Project menu are as follows Checked the information on the project window and Auto Scan information are displayed in comparison Unchecked only the existing Auto Scan information is displayed NewPLC XG Net AutoScan_CANopen_Master ER Project Edit View Online Tools Window Help gt mex s ies ile iag iRaene
111. ject in another file Select menu Project Export Enter the name for saving and click Save button Load the contents of the XG Net project saved in another file Select menu Project Import Enter the file name and click Open button Export as Package Save the project contents in a file archive Exporting file archive also saves the EDS file information used in the project 1 Select menu Project Export as Package 2 Enter the name for saving and click Save button Import from Package Import the project archive file Importing file archive also loads the EDS file information used in the project 1 Select menu Project Import from Package 2 Enter the name of the archive file and click Open button Chapter 6 XG Net detail menu 6 3 Edit Network Window Add Delete Master and Slave Master and slave nodes can be added or deleted to configuration the network Detail set up can be conducted by calling up the registration information window of the nodes 6 3 1 Conditions Following functional restrictions are imposed when configuring a network Item Description Max No of masters Max No of the masters allowed to be mounted on a PLC Max No of slaves Max No of the slaves allowed to be mounted on a PLC Slave station No Slave ID Max No of copy nodes Max No of the nodes which can be copied at once Max No of pas
112. k diagnostics The figure below is a snap shot of the initial screen of the XG PD Eile Edit View Online EDS Tools Window Help joss j2cse Project window EDS information window EDS List i EtherNet IP Hardware Vendor a Generic Generic Device Generic EtherNet B LS Industrial Systems Cc Communications Ada XBL EIPT XGL EIPT B LS Industrial Systems Cq Communications Ada EL BSSB Device S Generic Device l Generic EtherNet IP fF Communications Ada XBL EIPT XEL BSSB XGL EIPT Bl Standard settings E High speed Link al P2P E1P LS industrial Systems l 1 7 Chapter 1 Overview 1 4 4 Version check Before using the XGB CANopen I F module please check the version of the module 1 Check up via XG5000 If normally interfaced with the CPU following information can be obtained 1 Run XG5000 2 Connect to the CPU via online access 3 Select I O information from the online menu Double click or select the respective communication module and click the Details button Module Info CANopen Master 7 Module Info CANopen Slave Deas Content Details Content Module Name CANopen Master Module Name CANopen Slave Communication mode OS action Communication mode OS action Normal HW Version A HAW Version Ver 1 00 ae DS Version Ver 1 00 2012 01 19 OS Date 2012 02 17 Fig 1 4 3 Checking Module Version with XG5000 2 Checking
113. l size 8 Flag Set Flag Description Device No PUTCOMM If no communication module the bit of the slot turns ON GETCOMM If the PUTCOMM GETCOMM command failed to be executed properly the bit turns ca Bit14 of D Error ON PUTCOMM If normal response is received from the corresponding communication module the F0023 GETCOMM bit turns ON Bit15 of D Complete Chapter 8 Slave Setting using XG Net Me 1 This command is for writing data in the corresponding device via communication module 2 In the communication module designated with sl slot No of the communication module send 6 byte command data from the internal device field designated with S to the communication module and save the return result of the communication module in the internal device field designated by D 3 If there is no communication module at the position pointed by sl slot No of communication module or the PUTCOMM command has failed to be executed properly the respective location bit of the F0015 WORD is set 4 The command is not processed in scan synchronous manner That is the response from the corresponding device may arrive after several scans the result cannot be known right after processing the command 5 Process result check can be confirmed with flag 6 sl slot No of communication module is set up with two digits in hexadecimal and if h0002 as shown in the figure below the 0002 refers to the sl
114. le and communication ED Display In the next page descript each LED statuses Connector CANopen Connector DIN rail holder DIN rail fixing part Chapter 2 Specification 2 4 1 LED Name and Description XBL CMEA 1 Common Display Operation On Description Operational state Blinking 200ms On 200ms Off Preoperational state Only XBL CMEA Blinking 200ms On 1000ms Off Stopped Off Not set parameters or connect the cable XBL CSEA Follow CiA303 3 standard Blinking Normal operation of a CPU and CANOpen module On or Off Abnormal operation of a CPU and CANOpen module In case of Abnormal state Stop On or Off Blinking Transmission state Off Transmit data frame Blinking Receiving state Off Receive data frame Onor Blinking Error occurrence 2 Error Details Operation Off Off Normal operation Description Follow CiA303 3 standard Normal operation XBL CMEA XBL CSEA Blinking 1 note1 Not equal a number of slaves having setting parameter and connected slaves Blinking 2 note1 Error Passive state TEC gt 128 or REC gt 128 Not equal baud rates or error cable connection Blinking 3 note1 Error control event occurrence heartbeat error On 2 6 not connected 1 Blinking details a Blinking 1 200 200 lt gt 44 gt ms
115. mal operation Safety Instruction Safety Instructions for wiring process Prior to wiring works make sure that every power is turned off If not electric shock or damage on the product may be caused After wiring process is done make sure that terminal covers are installed properly before its use Fail to install the cover may cause electric shocks N Caution Check rated voltages and terminal arrangements in each product prior to its wiring process Applying incorrect voltages other than rated voltages and misarrangement among terminals may cause fire or malfunctions Secure terminal screws tightly applying with specified torque If the screws get loose short circuit fire or abnormal operation may be caused Securing screws too tightly will cause damages to the module or malfunctions short circuit and dropping Be sure to earth to the ground using Class 3 wires for FG terminals which is exclusively used for PLC If the terminals not grounded correctly abnormal operation or electric shock may be caused Don t let any foreign materials such as wiring waste inside the module while wiring which may cause fire damage on the product or abnormal operation Make sure that pressed terminals get tighten following the specified torque External connector type shall be pressed or soldered using proper equipments Safety Instruction Safety Instructions for test operation and maintenance Don t touch the terminal wh
116. ment of slave COMM_ERR_MASTER_NOT_READY 0x8008 The master module is not ready for service yet Check the Link Enable of master module or master module is initializing parameter Edit program It need to execute command just few second ago SDO_ERR_WRITE_FAIL OxF001 1 SDO Write error occurred at stack limited for PUTCOMM Station No error of slave module or NAK response from slave NAK response occurrences unsupported index sub index of the slave or data length is in discard with object length of the slave SDO_ERR_READ_FAIL OxF002 SDO Read error occurred at stack limited for GETCOMM Station No error of slave module or NAK response from slave NAK response occurrences unsupported index sub index of the slave SDO_ERR_TIMEOUT 0xF003 Reached to the communication module but time out occurred Chapter 8 Slave Setting using XG Net 8 4 4 Meanings of the Error Code for XEC series Status Description 0x0000 Executed successfully Base No setting error 0x0001 Check the base In case of XGB series Base No is always 0 0x0003 The slave No is over 0x0004 Set module at slot is not installed 0x0005 Installed module is not matched 0x0006 Size is over about Data Array size Next command is executed despite existing uncompleted command 0x000A Command of CANopen is possible to run one command per 1 scan 0x8001 Timeout error no response for 5 s b
117. modules installed in the product is created in the project window Project window x 3 3 sampel NewPLC XGB XBCS Basell 00 Embedded Cnet ee Ol CANopen Slave amp 02 CANopen Master amp 03 Output module XBE TN TP324 TR OUTPUT 32poir 9 2 Chapter 9 Slave Module XBL CSEA Setting using XG PD 9 1 3 Reading Parameters from PLC The default parameters stored in PLC can be loaded with following procedures 1 From file menu select Open from PLC Online Settings Connection settings Type MMMM v Seto General F a Timeout interval 5 2 Retrial times 1 amp Read Write data size in PLC run mode Nomal Maximum Send maximum data size in stop mode 2 Set up access method and step click Connect or OK Project Project name RBC test File location C AXGSO00 XBC_test Select Folder PLC Series CPU kind Project comment 3 Enter the project name and folder path for save click OK 4 The default parameters stored in the PLC is loaded PLC Project window x sampel NewPLC XGB xBCS Basell 00 Embedded Cnet sa Ol CANopen Slave amp 02 CANopen Master amp 03 Output module XBE TN TP324 TR OUTPUT 32poir LS Industrial Systems 9 3 Chapter 9 Slave Module XBL CSEA Setting using XG PD MT 9 2 Basic Parameter Setting 9 2 1 Basic Parameter Setting The method and procedures of setting up the basic parame
118. mum segment length may vary depending on speed Use shielded cables Signal Description GND Ground CAN_L CAN_L bus line dominant low SHIELD Optional CAN Shield CAN_H CAN_H bus line dominant high N C Not Connected Recommended cable AC parameter 1200 impedance 5ns m Chapter 3 Installation and Trial Run 3 4 2 Transfer distance by communication speed The transfer distance by communication speed specified in the CANopen specification is as follows Bit rate Bus Length 1 Mbit s 25m 800 kbit s 50m 500 kbit s 100 m 250 kbit s 250 m 125 kbit s 500 m 50 kbit s 1 000 m 20 kbit s 2 500 m 10 kbit s 5 000 m 3 5 Trial Run 3 5 1 Caution in Configure the System 1 All station numbers in CANopen device including the master module should be different 2 Use a designated cable for communication If you use other cables it may cause serious communication problems Inspect whether the cable is disconnected or short circuited before installing the communication cable Firmly tighten the communication cable connector to make sure the cable is completely connected If the connection is loose it will cause serious communication problems If the length of the communication cable is longer keep the cable away from power line or inductive noise 3 4 5 6 wee Te a 3 6 Chapter 4 System Configuration Chapter 4 System Configuration 4 1 System
119. n select menu Online Read to connect the PLC via online 2 Select menu Online Read 3 If there are two masters in the open project select Master Chapter 6 XG Net detail menu 2 Read in XG5000 If reading is carried out in the XG5000 and if CANopen master module is installed CANopen parameters are read too Open from Reading completed PLC 1 Select menu Project Open From PLC 2 Enter connection setting and click the Confirm button 3 When reading has been completed finish window appears t Reading completed e 1 With the project open select menu Online Read to connect the PLC via online 2 Select menu Online Read Only when the CANopen module is set up in the base slot information of the I O parameter CANopen parameter information is read from the CANopen master module 6 30 Chapter 6 XG Net detail menu M 6 5 4 Monitor XG Net monitor displays PDO variable device values and diagnosis variable values PDO variable values can be viewed in the PDO variable table in the master set up window and the values of the diagnosis variables can be viewed in the system configuration diagram window Order 1 Select menu Online Connect to connect the PLC via online 2 Select Master module executed Monitor function 3 Select menu Online Start Monitor to start monitor 4 If the PDO variable tab and diagnosis variable tab are active mo
120. n 3 F0104 _USR_CLK4 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 4 F0105 _USR_CLK5 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 5 F0106 _USR_CLK6 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 6 F0107 _USR_CLK7 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 7 _LOGIC_RESULT LOGIC RESULTS Displays Logic Results F00110 _LER CALCULATION ERROR On during 1 Scan when Errors made to Calculation F00111 _ZERO ZERO FLAG On if Calculation Result is 0 om F00112 _CARRY CARRY FLAG On if Carry occurred during Calculation F00113 _ALL_OFF ALLOUTPUT OFF On if All Outputs are OFF F00115 _LER_LATCH paare ERROR On Maintained when Errors made to Calculation _CMP_RESULT COMPARISION RESULTS Display Comparison Results F0120 LT LT FLAG On if Less Than F0121 _LTE LTE FLAG On if The Same or Less Than F0012 F0122 _EQU EQU FLAG On if The Same F0123 GT GT FLAG On if Larger Than F0124 _GTE GTE FLAG On Larger Than or The Same F0125 _NEQ NEQ FLAG On if Not The Same F014 _FALS NUM FALS NUMBER Displays the Number of FALS Appendix WEO Word Bit Variable Function Description F015 _PUTGET_ERRO PUT GET ERROR 0 Main Base PUT GET ERROR F023 _PUTGET_NDRO PUT GET COMPLETED 0 Main Base PUT GET COMPLETED F044 _CPU_TYPE CPU TYP
121. n History Ps Revision History Version Date Contents Revised position V1 0 12 4 First edition X The number of User s manual is indicated right part of the back cover 2010LSIS Co Ltd All Rights Reserved About User s Manual About User s Manual Congratulations on purchasing PLC of LSIS Co Ltd Before use make sure to carefully read and understand the Users Manual about the functions performances installation and programming of the product you purchased in order for correct use and importantly let the end user and maintenance administrator to be provided with the User s Manual The User s Manual describes the product If necessary you may refer to the following description and order accordingly In addition you may connect our website http www lsis biz and download the information as a PDF file Relevant User s Manuals ve No of User s Title Description Manual It describes how to use XG5000 software especially about online XG5000 User s Manual debugging by using XGT series products XGK XGB Series It describes how to use the instructions for programming using Instruction amp XGK XGB series 10310000510 Programming It describes how to use the specification of power input functions such as programming printing monitoring and 10310000512 XGB Hardware User s Manual High speed counter for XGB basic unit It describes how to use the specification of analog input analo
122. n the project after Auto Scan master name changed thus cannot be added to the project 2 Data obtained from previous Auto Scan are deleted from the memory no Auto Scan data thus cannot be added to the project 3 Slave station No exceeds the range of 1 127 the slave station No is invalid thus cannot be added to the project 6 42 LS industrial Systems Chapter 6 XG Net detail menu 6 5 12 Rest PLC PLC can be reset PLC can be reset with the reset dip switch of the PLC too Order 1 Select menu Online Connect to connect the PLC 2 Select menu Online Reset PLC 3 Select reset type and click Confirm button to reset the PLC t Reset PLC e Remember that PLC is energized again after reset 6 5 13 Enable Link Link Enable starts CANopen communication in accordance with the downloaded parameter If not checked CANopen communication doesn t operate Order 1 Select menu Online Connect to connect the PLC 2 Select menu Online Link Enable 3 Select the module to conduct link enable click the Write button Enable Link a DEH Link D Link 1 MAE Link 2 O Link 3 LS industrial Systems 6 43 Chapter 6 XG Net detail menu 6 6 Print 6 6 1 Print Project This function prints the whole content of the project in order The function can select the items to be printed and set up and preview the setting required for te printing and perform print function Print Proj
123. nager EDS file lt G5000WCANopenEDS LSIS_S100_CANOPEN1_0 EDS _ Imagefile C WXG5000H CANopenEDSWCANopen image bmp Change Image Preview a image lt Back II Next gt Cancel 1 Select the EDS file and image file to be changes and click Next button The selected image can be viewed in the Image Preview in square form 2 Click Finish button to complete the change into the selected image LS industrial Systems 6 25 Chapter 6 XG Net detail menu TTT 6 5 Online The functions available only when connected with PLC are described below 6 5 1 Connection Setting The connection method of XG Net can be classified into RS 232C USB modem and Ethernet according to the connection media Local and remote connection are supported For further details see Chapter 10 Online of the XG5000 User s Manual 6 5 2 Write This function writes the CANopen parameter set up in the XG Net to the CANopen master module The CANopen parameter can be written in the XG Net or via XG5000 1 Write in XG Net Transmit the set up master and slave information to the CANopen master module Writing Parameters 2 OZ CANopen Network XGB xBCH az o CANopen_Master B00 501 XBL CMEA g CANopen_Master_01 800 503 XBL CMEA Write in XG Net 1 Select menu Online Connect to connect the PLC via online 2 Select menu Online Write 3 Select the master to which write parameter Writin
124. nce and technology when delivered Not attributable to the company for instance natural disasters or fire 3 Since the above warranty is limited to PLC unit only make sure to use the product considering the safety for system configuration or applications Environmental Policy LSIS Co Ltd supports and observes the environmental policy as below Environmental Management LSIS considers the environmental preservation as the preferential management subject and every staff of LSIS use the reasonable endeavors for the pleasurably environmental preservation of the earth About Disposal LSIS PLC unit is designed to protect the environment For the disposal separate aluminum iron and synthetic resin cover from the product as they are reusable LS values every single customers Quality and service come first at LSIS Always at your service standing for our customers LS a HEAD OFFICE LS Tower 127 LS ro Dongan gu Anyang si Gyeonggi do 431 848 Korea Tel 82 2 2034 4870 Fax 82 2 2034 4648 e mail cshwang lsis biz a LS Industrial Systems Tokyo Office _ Tokyo Japan Address 16FL Higashi Kan Akasaka Twin Tower 17 22 Akasaka Monato ku Tokyo 107 8470 Japan Tel 81 3 3582 9128 Fax 81 3 3582 2667 e mail jschuna Isis biz a LS Industrial Systems ME FZE _ Dubai U A E Address Jafza View Tower Lob 19 Room 205 Along Sheikh Zayed Road Jebel Aali Free Zone Dubai United Arab Emirates
125. nel status is 1 c When the common status is error if any one or more of the common status is 1 d When the event status is error if any one or more of the event status is 1 3 About the slave node a No monitor value in the monitor mode monitor value has yet not been read after starting up the monitor Momentarily appeared and then disappeared soon Slave status not allocated to the master b If the slave status is error no monitor value is available configuration error or EMCY error If not in operational mode 4 Color indication a if in monior mode Green normal Red Error For master node refer to master status error For slave node refer to slave stauts error b If not in monitor mode edit mode white 6 32 Chapter 6 XG Net detail menu 6 5 5 Write SDO The SDO value of slave module can be modified The changed value after SDO writing can be checked using the SDO setting tab in the slave edit window by viewing all or viewing current screen only Write SDO Object Index 0x1003 Sub Index 0x0 Value Hex 1234 Project Properties A NewPLC 3 CANopen Network XGB XBCS Suh eo Setti Sg CANopen Master B00 502 XBL CMEA sung ID 010 XBL_CSEA_10 PDO Setting 6 ID 020 OTBICODMOLP_20 PDO mapping 1 Select menu Online Access to connect the PLC 2 Select menu Online Writing SDO or click SDO setting in slave side and right click the mouse at the object with wh
126. ng jobs 2 Install the places where it is easy to control 3 Do not install into the same panel as high press machine 4 Make sure the distance to the duct and the surrounding module is maintained to be more than 50mm 5 Put to earth where surrounding noise environment is good Over 100mm Over 50mm Over 50mm 3 1 Chapter 3 Installation and Trial Run Eo 3 2 Cautions when Handling Observe the following directions when you configure the system using CANopen I F module 1 Do not drop or impose strong impact 2 Do not separate PCB from the case It may cause malfunctions 3 Make sure foreign objects are not put into the upper area of the module while you do wiring jobs 4 If foreign objects are entered remove them 5 Do not remove the module when light is On 6 Use standard cables and install within maximum distance 7 Make sure communication lines are not affected by surges and inductive noises that may occur from alternating current or current parts 8 In case the machinery or the substances that may generate high temperature are nearby you or when wires directly come into contact oil and other things for a long time when you do wiring jobs it may cause a short cut damage or malfunctions 9 When you do wirings during pipe arrangement it is necessary to put to earth to pipes 3 2 Chapter 3 Installation and Trial Run BR 3 3 The Order for Setting up Products till Running The following
127. nitor mode is activated 5 Select menu Online End Monitor to stop the monitor 1 Monitor function in the View Network Order 1 In the monitor mode select View View Network CANopen_Master B00 501 XBL CMEA 800 Kbit s Channel status Normal CANopen Communication status Normal CANopen status Network Operational mode Event status Normal Minimum CYCLE value O ms Current CYCLE value 2 ms Maximum CYCLE value 70 ms General error no 0 Hardware error no 0 Software error no 0 Communication error no 0 Protocol error no 0 External error no 0 Device specific error no 0 _12_XBL_CSEA_COPY_COPY XBL CSEA_V10 eds ssccocss Parameter status Configuration Setting Slave mode Operational mode 13_XBL_CSEA_COPY_COPY 4 s XBL CSEA_V10 eds leecoococes Parameter status Configuration Setting Slave mode Operational mode For the monitor function accurate monitoring of the current status is possible only when the error control setting of the slave is selected In the default network view the meanings of the states are as follows 1 No monitor value in the monitor mode monitor value has yet not been read after starting up the monitor Momentarily appeared and then disappeared soon 6 31 Chapter 6 XG Net detail menu EE 2 If the master status is error a When no monitor value is available b When the channel status is error if any one or more of the chan
128. nn canna nnnmnn nnn nnn canna nnn 9 1 9 1 2 On line Registration 9 2 9 1 3 Reading Parameters from PLC nnn nnn nnn nen ene cnn enn 9 3 9 2 Basic Parameter Setting 9 4 9 2 1 Basic Parameter Setting non nnn enna nnn inn nn merce nner enn 9 4 9 2 2 Relationship between PLC Address and CANopen Object 9 5 9 2 3 Writing Parameters n nano nnn n eneee 9 6 9 3 XG PD Menu onan nn nnn nnn nnn enn nme cme ten nema nnmennnennnnnanean neem 9 7 9 3 1 Relationship between XG PD Menu bar and shortcut icon 9 7 Chapter 10 Examples 10 1 Example of System Configuration soo nonnnnnnn ncn cnn nnnne cnn cnc nnn nnnnnmne nnn nnnnnnnnnmnnnnas 10 1 10 1 1 System Configuration 2 nano mannanna 10 1 10 1 2 Description Operation 10 1 10 1 3 Parameter Setting 2 nano nena enn neem ncn nnn 10 2 10 1 4 Operation check no n ne nnn ene nen nena nnmnnne enna 10 10 Appendix a Tems mmea A 1 A2 Flag List A 3 A 2 1 Spe
129. nsumer cycle 20 5000ms a NMT Node Control NMT Master NMT Slave NMT Error Control Heartbeat Life Guarding Heartbeat Network Scan Supported Dimension mm 90 H X 27 W X 60 D Consumption Current mA 211 Weight 9 1 SDOs services 78 At the initialization the object set up can be done in the XG Net SDO Set up After initialization SDO services can be used during module operation in the two methods as set forth below a Using XG Net In the SDO set up window Read All SDOs or Read Displayed SDO to read the object value of the slave Write SDO to modify the object value of the slave b XG5000 Command GETCOM to read the object value of the slave PUTCOMM to modify the object value of the slave 2 2 Chapter 2 Specification 2 2 1 CANOpen Service For the supportability of the XGB CANopen module CANopen service please refer to the table below Supportability CANopen Service XBL CMEA XBL CSEA CAN 2 0A CAN 2 0B Frame tructure PDO SDO SYNC TIME STAMP EMCY NMT ERROR CONTROL LSS Later Setting Service FLYING MASTER xix OlOlO xiIOlOlIOlOJO lt lt O O O X lt O O O O O 2 3 Chapter 2 Specification SS 2 3 Load Specification The specification to transmit PDO without loss is defined with the following formula Assuming that the communication setting variables
130. o of Slot installed with the communication REQ DONE module BASE STAT SLOT NODE _ID Station No of Slave 1 127 NODE_ D MADDR SDO index sub index of the slave to be read MADOR DATA Writing data ARRAY of BYTE SIZE Data size 1 512 byte DATA SIZE Output DONE If normal response is received from the corresponding communication module the bit turns ON STAT Error code 1 This command is for reading the data of the corresponding device via communication module 2 Inthe communication module designated base and slot No send designed command to module and save the return data from the communication module Then the maximum allowable reception byte is SIZE 3 This command is not processed in scan synchronous manner That is the response from the corresponding device may arrive after several scans the result cannot be known right after processing the command 4 If SIZE is over the data array length do not execute the command Chapter 8 Slave Setting using XG Net nn M gt Exemplary application of PUTCOMM The exemplary software program below writes 2 bytes of data from the index h2000 and h0056 sub index of the slave station 1 CANOpen master module installed in slot No 2 INST3 DONE PUTCOMM EK REQ DON E 16 0000 JBS STAT E SLO 16 200000 56 datal 4 1 BSAE base NO of master 0 2 SLOT slot NO of master 2 3 NODE_ID station NO of slave 2 4 MADDR
131. ock 00 Read area device 1 NO05 Y NWO06 _P1BOORS1 Saves Saves P2P parameter1 block 00 Read area size 1 N0006 0009 NW0007 0011 _P1BOORD2 Saves Saves P2P parameter1 block 00 Read area device 2 NO10 NWO12 _P1BOORS2 Saves Saves P2P parameter1 block 00 Read area size 2 N0011 0014 NW0013 0017 _P1B00RD3 Saves Saves P2P parameter1 block 00 Read area device 3 N015 NWO018 _P1BO0RS3 Saves Saves P2P parameter1 block 00 Read area size 3 N0016 0019 NW0019 0023 _P1BOORD4 Saves Saves P2P parameter1 block 00 Read area device 4 N020 NWO024 _P1BO0RS4 Saves Saves P2P parameter1 block 00 Read area size 4 N0021 0024 N025 N0026 0029 NO030 N0031 0034 NO035 N0036 0039 N040 N0041 0081 N0082 0122 N0123 1311 N1312 2623 N2624 3935 Network register is Read Only device in the XGB NW0025 0029 NWO030 NW0031 0035 NWO36 NW0037 0041 NWO042 NW0043 0047 NWO0048 NW0049 0097 NW0098 0146 NW0147 1567 NW1568 3135 NW3136 4703 _P1BOOWD1 _P1BOOWS1 _P1BOOWD2 _P1BOOWS2 _P1BOOWD3 _P1BOOWS3 _P1BOOWD4 _P1BOOWS4 Word Word Word Word Word Word Word Word Word Word Word Saves Saves P2P parameter1 block 00 Save area device 1 Saves Saves P2P parameter1 block 00 Save area size 1 Saves Saves P2P parameter1 block 00 Save area device 2 Saves Saves P2P parameter block 00 Save area size 2
132. oftware check Up 1 5 1 4 2 XG Net 22222222 2222 22a 16 1 4 3 XG PD n nn nnnnn nano nen nn nn ne nen ncn nnn nne nnn n nnn nnnnnn canner nannnannannannnnnnnnnannnnnnannnnnnannennnnnnannnnnnannannnnnnnn 1 7 1 4 3 Version check 1 8 Chapter 2 Product Specification 2 1 General Specification 2 1 2 2 Performance Specification 2 2 2 1 1 CANopen Service 2 3 2 3 Load Specification 2 4 2 4 Component Names 2 5 2 4 1 LED Name and Description
133. om abnormal output oroperation Please install interlock circuits in the sequence program for safe operations in the system when exchange data with PLC or modify operation modes using a computer or other external equipments Read specific instructions thoroughly when conducting control operations with PLC Safety Instruction Safety Instructions for design process I O signal or communication line shall be wired at least 100mm away from a high voltage cable or power line Fail to follow this Safety Instructions on installation process Use PLC only in the environment specified in PLC manual or general standard of data sheet If not electric shock fire abnormal operation of the product may be caused Before install or remove the module be sure PLC power is off If not electric shock or damage on the product may be caused Be sure that every module is securely attached after adding a module or an extension connector If the product is installed loosely or incorrectly abnormal operation error or dropping may be caused In addition contact failures under poor cable installation will be causing malfunctions as well Be sure that screws get tighten securely under vibrating environments Fail to do so will put the product under direct vibrations which will cause electric shock fire and abnormal operation Do not come in contact with conducting parts in each module which may cause electric shock malfunctions or abnor
134. ommunication process 3 MASTER_CYCLE_MIN MASTER_CYCLE_CUR MASTER_CYCLE_MAX 4 GENERIC_ERR_CNT DEVICE_HARD_ERR_CNT DEVICE_SOFT_ERR_CNT COMMUNICATION_ERR_CNT PROTOCOL_ERR_CNT EXTERNAL_ERR_CNT DEVICE_SPEC_ERR_CNT Chapter 8 Slave Setting using XG Net Chapter 8 Slave Setting using XG Net The slave setting window consists of registration information error control setting SDO setting PDO setting and PDO mapping Edit windows of the Slave module will be displayed when double click of project widow Slave module is executed 8 1 Properties With the slave Properties tab the basic data of the slave are set up The Properties consist of station No name module name EDS and description _20_XBL_CSEA Properties a Error Control Setti Station No 120 g 1 127 SDO Setting PDO Setting Name _20_XBL_CSEA PDO mapping Module EDS Description Figure 8 1 1 Slave Setting 8 1 1 Station No Aslaves must have a unique station number ranging from 1 to 127 within the network 8 1 2 Name Name of the slave assigned by the user The name must be unique to identify the slave Like the master node Slave names have restrictions It length must not exceed 20 Alphabets with the first letter in an Alphabet or Korean alphabets or _ followed by Alphabets or Korean alphabets figures or LS Industrial Systems 8 1 Chapter 8 Slave Setting using XG Net TTT SF 8 1 3 Module
135. on 1 CANOpen master module installed in slot No 2 and save the data in D6300 ETCOMM h0002 D01000 D06300 MoV 1 D01000 MOY h2000 D01001 Moy h0072 D01002 MOY 0 Station No of Slave Index of Slave Sub index of Slave D01003 Reserved gt Meanings of the operands 1 sl h0002 base No 00 slot No 02 2 S D1000 D1003 slot and object index Address Allocation 0 Station No of Slave D1000 Device Bit 15 8 Bit 7 0 S 1 Slave side object index High Slave side object index Low D1001 2 Slave side object sub index D1002 3 Reserved Reserved D1003 3 D 6300 D6304 Address Allocation D 0 NDR Bit15 ERR Bit14 D6300 Device Bit 15 8 Bit 7 0 D 1 Length High Length Low D6301 D 2 Error Code High Error Code Low D6302 D 3 Reserved Reserved D6303 D 4 DataO Data1 D6304 4 N 10 total data length Pure data length is 2 bytes of N 8 Chapter 8 Slave Setting using XG Net OO M gt Using in the XEC Series REQ BASE STAT SLOT SIZE Input REQ executes the function in case of 1 BASE No of Base installed with the communication module GETCOMM SLOT No of Slot installed with the communication DONE module NODE ID Station No of Slave 1 127 MADDR SDO index sub index of the slave to be read NODE_1D DATA Address of the device where the data read MADOR from slave is to be store
136. ot No 7 S N Byte or D 8 Byte exceeds the range F110 and F115 bits are set Chapter 8 Slave Setting using XG Net M gt Exemplary application of PUTCOMM The exemplary software program below writes 2 bytes of data from the index h2000 and h0072 sub index of the slave station 1 CANOpen master module installed in slot No 2 TIS Jp PUTCOMM h0002 D01000 D07000 _ON D010 Station No of Slave Index of Slave MOY h0072 D01002 Sub index of Slave Reserved Data gt gt Meanings of the operands 1 sl h0002 Base No 00 Slot No 02 2 S D1000 D1004 slot and object index data Adddress Device Bit 15 8 Bit 7 0 Allocation 0 Station No of corressponding device D1000 S 1 Slave side object index High Slave side object index Low D1001 2 Slave side object sub index D1002 3 Reserved Reserved D1003 4 DataO Data1 D1004 3 D 7000 D7003 Result of command Adddress Device Bit 15 8 Allocation D 0 NDR Bit15 ERR Bit14 D7000 D 1 Length High Length Low D7001 D 2 Error Code High Error Code Low D7002 D 3 Reserved Reserved D7003 4 N 10 total data length Pure data length is 2 byte by N 8 Chapter 8 Slave Setting using XG Net TT gt Using in the XEC Series Input REQ executes the function in case of 1 BASE No of Base installed with the communication module PUTCOMM SLOT N
137. ow double click I O parameter to add CANopen module or 2 Select Online V O Information menu of XG5000 and select I O sync To execute I O synchronization the CPU must be in stop state 2 Confirm that CANOpen Network is created in the XG5000 project window when the module has been added cmn Ve Comment VIL Parameter W on v a Program riting Program Upload Prohibit Parameter Geer PLC 1 Double click the CANopen Network added in the project window 2 The XG Net will start up and edit parameter for CANOpen 3 Save project in the XG5000 4 Conduct XG5000 menu Online Write 6 27 Chapter 6 XG Net detail menu TTT The content edited in the CANopen in connection with the XGB CPU module is saved in the CANopen master module When replacing the CANopen master module backup the parameter setting using the XG5000 or XG Net 6 28 Chapter 6 XG Net detail menu 6 5 3 Read This function reads CANopen parameters from the CANopen master module Reading can be conducted in the XG Net or XG5000 1 Read in XG Net Read the parameters stored in the CANopen master module Read form PLC Y Reading completed 1 Select menu Project Open From PLC 2 Enter connection setting and click the Confirm button 3 When reading has been completed finish window appears Reading completed 1 With the project ope
138. p Broject Edit View Online Tools Window Help XBL CMEA COPY COPY Properties Station No a 1 127 Name _12_XBL_CSEA_COPY_COPY_COPY Device EDS Description Cancel 1 Select a slave and select menu Edit Paste 2 Add Slave dialogue will appear 3 Suffix COPY is attached to the end of the name of the copied slave 4 Enter basic entries for the slave 6 18 LS industrial Systems Chapter 6 XG Net detail menu Procedure NewPLC XG Net CANopen_Master Project Edit View Online Tools Window Help inea u sexs je Project a NewPLC a CANopen Network XGB XBCH oe CANopen_Master BO0 S01 XBL CMEA 8 ID 012 _12_XBL_CSe4 coov CADS B ID 013 13 XBL Open Item Se CANopen_Master_01 iD 60 s0_xeL c_ _ 904 Slave amp Cut Copy X Delete Del Slave Error History Slave Status by Service Properties Allow Docking Hide Float In Main Window Q Project 1 Select the slave to be cut off 2 Select menu Edit cut Or select the slave and select Cut from the context menu 3 The cut slave can be pasted with the method described in the above Clause 2 LS Industrial Systems 6 19 Chapter 6 XG Net detail menu 6 3 6 Drag and Drop Slave modules can be added by drag and drop NewPLC XG Net CANopen_Master S Project Edit View Online Tools Window Help ipsa a 8 M Project E N
139. r heartbeat time is as shown below When XBL CMEA is used as a master enter the node ID of the master as the Node ID The setting range of the heartbeat time is a h0000 hF FFF and a multiple of 1ms If h0000 is set the consumer heartbeat becomes inactive 31 24 23 16 15 0 ce meee MSB LSB h1017 Producer heartbeat time 8 8 Chapter 8 Slave Setting using XG Net The setting value is a multiple of 1ms and h0000 inactivates the producer heartbeat gt h2000 h2010 equivalent to the storage field RPDO of our slave module When the settings are as shown in the dialog shown below the sub index 1 of the object h2000 corresponds to the word address D00000 field and the sub index h80 corresponds to D00127 The sub index 1 of the object h2010 points at the word address D00128 and the sub index h80 points at D00255 Standard Settings Settings Station Number 800 Kbit s Read area TPDO Area Size Word POPP e UPC I IIIT Titi iii iti i titi i i tiie Write area RPDO Area Size Word gt Object h2000 h2010 equivalent to the storage field TPDO of our slave module When the settings are as shown in the dialog shown below the sub index 1 of the object h2100 corresponds to the word address M00000 field and the sub index h80 corresponds to M00127 The sub index 1 of the object h2110 points at the word address M00128 and the sub index v h80 points at M00255 LS industrial Systems 8 9 Chap
140. re Project 6 9 6 2 7 Other FUNCHONS 6 10 6 3 Edit Network Window Add Delete Master and Slave 6 11 6 3 1 COnditonS 6 11 6 3 2 Edit Note 6 11 6 3 3 Deleting Master Module 6 16 6 3 4 Deleting Slave 6 17 6 3 5 Copy Paste Cut 6 18 6 3 5 Drag and Drop 6 20 6 4 Library nnn nnn nnn nnn nnn nnn nce 6 21 6 4 1 OVEIVIGW
141. rea parameter setting Size Word 2 Basic Setting Write area RPDO Area D00000 Size Word 32 1 Double click CANOpen Slave 2 As suggested in the system configuration enter the station No baud rate TPDO RPDO area and size 10 2 LS industrial Systems Chapter 10 Examples Write parameter standard settings HS link k Write Parameter 1 Select Online Write Parameter 2 Click OK button 1 Set up parameters referring to OTB1CODMOLP datasheet and user manual 1 Station No set up open the front cover of OTB1CODMOLP and set the Address switch to OTB1CODMOLP No 20 2 baud rate set up Set the BAUD RATE rotary switch to No 7 No 7 1000kbps Chapter 10 Examples 9 2 CANOpen master I F module XBL CMEA Procedure 1 0 information Base module information Slot 1 0 information Base 00 Slot 0 Module XBC DN DP20S DC 24V INPUT 12poi CANopen Master co s olon oo E a Show Existing Base Only __ Details OK Cancel All Base SetBase Project Window Items 4 Variable Comment G4 Parameter Basic Parameter w 1 0 Parameter CANopen Network Embedded Parameter Scan Program test 23 v E Project lt Example of master module registration by I O synchronization gt 2 ix 9 Base
142. rent from guarding by that the roles of the master and slave are not divided and the heartbeat producers send heartbeat messages by broadcasting Therefore the message transmitted from a producer is received by multiple consumers Chapter 7 Master Setting using XG Net eel If heartbeat message is not received for a given time period the device acting as the heartbeat producer determines an error The error status is reset when a heartbeat message is received gt Heartbeat producer time The period at which a heartbeat producer transmits heartbeat messages gt Heartbeat consumer time A heartbeat consumer judges error if it fails to receive a heartbeat message within the heartbeat consumer time In the XGB CANopen master the consumer time is not set up as a parameter but as 1 5 times of the producer time internally That is all the slaves set the consumer time by 1 5 times of the producer time The master also sets up with 1 5 times of the producer time set up in the slaves The consumer time of master can be set up differently for different slaves 7 6 Chapter 7 Master Setting using XG Net 7 3 POD Variable Table The POD Variable Table shows the names of the PDO mapping object variables set up at the slave These variables can be used by XG5000 E CANopen_Master Properties
143. rred Chapter 8 Slave Setting using XG Net 8 5 PDO Setting All the nodes slaves have the PDOs Process Data Objects containing the actual process data In the CANopen classified into Receive PDO and Transmit PDO In the view point of node slave the Transmit PDO are the data generated by nodes and Receive PDO are the data consumed by nodes In the view point of the master the Receive PDO contains the process output data transmitted to the nodes and the Transmit PDO contains the input process data received from the nodes In PDO setting the PDOs used by the slaves are set up Properties Error Control Setti PDOs Defined in EDS File eat ine se PP name o O a ctoa 1 Receive PDO parameter PDO mapping 2 Receive PDO parameter 3 Receive PDO parameter 4 Receive PDO parameter 5 Receive PDO parameter 6 Receive PDO parameter 7 Receive PDO parameter 8 Receive PDO parameter 9 Receive PDO parameter 10 Receive PDO parameter 11 Receive PDO parameter 12 Receive PDO parameter 13 Receive PDO parameter 14 Receive PDO parameter 15 Receive PDO parameter v Add All Remove All PDOs Setting oe Transmission Inhibit Event cosa ina A D aa Sa a da Sa Sa TT AT E LEKE 0x140E 0 214 synchronous cyclic 1 240 1 0x314 synchronous cyclic 1 240 1 0x414 synchronous cyclic 1 240 1 0x514 synchronous cyclic 1 240 1 0x194 event driven manufacturer specific 254 0 200 0x294 event dri
144. s Two projects can be compared item by item The result of the comparison is displayed in the message window Compare Project Current project NewPLC 2 CANopen Network xGB XBCH a oe CANopen_Master BO00 S01 XBL CM ID 001 1_XPO_COEA_COPY_C amp ID 012 12_XBL_CSEA_COPY_C amp ID 013 13_XBL_CSEA_COPY_C amp ID 030 _30_XBL_CSEA_COPY_C amp ID 050 50_XBL_CSEA_COPY_C oe CANopen_Master_01 B00 S03 XBL amp ID 050 50_XBL_CSEA_COPY Project to compare Execute Compare Projects 1 Open Project Compare Close Select menu Project Compare Projects Compare Project Current project Project to compare a fa NewPLC 5 CANopen Network XGB XBCH g CANopen Master B00 501 XBL CM a k NewPLC CANopen Network XGB XBCH Og CANopen Master B00 501 XBL CM ID 001 _1_XPO_COEA_COPY_C ID 012 12_XBL_CSEA_COPY_C ID 012 XBL_CSEA_12 amp ID 013 _13_XBL_CSEA_COPY_C amp ID 013 XBL_CSEA_13 amp ID 030 _30_XBL_CSEA_COPY_C amp ID 030 XBL_CSEA_30 amp ID 050 50_XBL_CSEA_COPY_C amp ID 050 XBL_CSEA_50 e CANopen_Master_01 B00 S03 XBL 6 ID 050 50_XBL_CSEA_COPY amp ID 001 XPO_COEA_1 Opening the file to be compared E gt ipen Project Compare Close 1 Click the Open Project button in the dialog box 2 Select the file to compare with and click Open button z Comparing Project CANopen_Master Properties COB4D mismatches 107
145. t gt Cancel The selected image can be viewed in the Image Preview in 1 Select the EDS file and image file and click Next button square form Can proceed to the next step without selecting an image 2 Click OK button to complete the EDS registration Chapter 6 XG Net detail menu Eo O 2 Unregister EDS file Library Manager O Register EDS file Add the selected EDS file to the library Remove the selected EDS file from the library Unregister EDS file 1 O Change image Change the registered image file Select Tool Library Manager select revoke EDS file registration and click Next button Library Manager EDS file CAWXG5000WCANopenEDSWXPO COEA eds Image file U n reg ister Preview a image EDS file 2 l F 1 Select the EDS file to be deleted and click Next button The image if any registered with the EDS will appear at the same time 2 Click Finish button to complete the EDS revocation 3 The revoked EDS file is stored in the Deleted EDS folder of the XG5000 folder 6 24 LS Industria Systems Chapter 6 XG Net detail menu 3 Change Image Library Manager O Register EDS file Add the selected EDS file to the library Unregister EDS file Remove the selected EDS file from the library Change Image 1 Select Tool Library Manager select Change Image and click Next button Library Ma
146. t up the master side Heartbeat producer type and slave producer type 2 Select Heartbeat as the protocol from the slave error control list Properties Error Control Setti PDOs Defined in EDS File SDO Setting i PDO name PDO Setting 0 1400 1 Receive PDO parameter PDO mapping 0x1401 2 Receive PDO parameter 0x1402 3 Receive PDO parameter XBL CSEA setti ng 0x1403 4 Receive PDO parameter 1 PDO Setting Properties Error Control Setti PDOs Defined in EDS File SDO Setting i PDO name PDO Setting 0 1800 1 Transmit PDO parameter PDO mapping 041801 2 Transmit PDO parameter 041802 3 Transmit PDO parameter 0 1803 4 Transmit PDO parameter 1 In the XG Net project window double click the XBL CSEA added in above paragraph 3 and select PDO set up 2 Select 4 TPOD and 4 RPDO suggested in the system configuration The T RPDO of the XBL CSEA are arranged in the order of TPDO1 64 after P RPOD1 64 10 6 Chapter 10 Examples Procedure W A riaa Transmission Inhibit Event type no time 100us timer ms PDOs Setting PDO name Transmission type XBL CSEA setting 1 1 Receive PDO parameter synchronous cyclic 1 240 2 Receive PDO parameter synchronous cyclic 1 240 PDO Setting 3 Receive PDO parameter synchronous cyclic 1 240 4 Receive PDO parameter synchronous cyclic 1 240 1 Transmit PDO parameter synchronous cyclic 1 240 2 Transmit PDO parameter synchronous cyclic
147. te check using diagnosis function Diagnosis Variable Properties Error Control Setting PDO Variable Table Decimal M Eror Clear SDO Table Variable Type Device Monitor value Description Diagnostic Variables _0002_CHANNEL_STATUS WORD 0002_001_CHANNEL_STATUS_SUBO BIT 0002_001_CHANNEL_STATUS_SUB1 BIT 0002_001_CHANNEL_STATUS_SUB2 BIT _0002_COMM_STATUS WORD 0002_001_COMM_STATUS_SUBO BIT 0002_001_COMM_STATUS_SUB1 BIT 0002_001_COMM_STATUS_SUB2 BIT 0002_001_COMM_STATUS_SUB3 BIT 0002_001_COMM_STATUS_SUB4 BIT 0002_001_COMM_STATUS_SUB5 BIT 0002_001_COMM_STATUS_SUB6 BIT 0002_CANOPEN_STATUS WORD _0002_EVENT_STATUS WORD _0002_001_EVENT_STATUS_SUBO BIT 0002_001_EVENT_STATUS_SUB1 BIT 0002_001_EVENT_STATUS_SUB2 BIT 0002_001_EVENT_STATUS_SUB3 BIT 0002_MASTER_CYCLE_MIN WORD 0002_MASTER_CYCLE_CUR WORD 0002_MASTER_CYCLE_MAX WORD 0002_GENERIC_ERR_CNT WORD 0002_DEVICE_HARD_ERR_CNT WORD 0002_DEVICE_SOFT_ERR_CNT WORD 0002_COMMUNICATION_ERR_CNT WORD 0002_PROTOCOL_ERR_CNT WORD 0002_EXTERNAL_ERR_CNT WORD 0002_DEVICE_SPEC_ERR_CNT WORD 0002_SLAVE_NUM WORD Tana et aran sean D00300 D00300 0 D00300 1 D00300 2 D00301 D00301 0 D00301 1 D00301 2 D00301 3 D00301 4 D00301 5 D00301 6 D00302 D00303 D00303 0 D00303 1 D00303 2 D00303 3 D00304 D00305 D00306 D00307 D00308 D00309 D00310 D00311 D00312 D00313 D00314 Rane 0 Channel D 1 Master does not operate D 1 Slave do
148. te nodes Max No of the nodes which can be pasted at once 6 3 2 Edit Node 1 Entering master module name Procedure Test XG Net Project Edit View Online Tools Window Help loeau 5 jaa Project d Test CANopen NetvortyaR vecHy Open Item Master C hMs additional selection eee Library Find Properties Allow Docking Hide ue Jour i CANopen Float In Main Window a Ga AZAR EDS Library 1 Enter master node in the CANopen Network 2 In the project window select CANopen Network and right click the mouse to select Add Master Chapter 6 XG Net detail menu Add Master Entering Detail Contents Name Test Module XBL CMEA he Base Slot comment as follows 1 Name enter name of the master node 2 Module select master module type 1 Select Add Master to pop up add master module dialogue 2 Enter following information in the master module window and click Confirm The meanings of the items are 3 Base select the base on which the master module is to be mounted 4 Slot select the slot in which the master module is to be inserted 5 Comment enter other information of the master module Test XG Net Test Check Edit Window Creation 2a window 6 12 After finishing the entry and select View View Network the network window of the master module is create
149. ter Chapter 10 Examples Project Window Items S38 XBC_test 5 6 NewPLC XGB XBCS Offline Variable Comment B L Parameter T Basic Parameter fe 1 0 Parameter w E Embedded Parameter f Scan Program test Lin Project lt CANOpen Network gt Executing asi o ooo ie axial iasa XG Net Ta e s GM NewPLc SH CANopen Network XB XBCS Og CANopen_Master B00 S02 XBL CMEA Ubrery Eine CANopen Ga Profile Drives and motion control 197 CANopen LSIS_S100 CANOPENI 0 EDS S7 CANopen LSIS_IS7 CANOPEN 0 EDS S S iG5A CANopen LSIS_IG5A_CANOPEN _0 E0S S SY IG5A CANopen LSIS_IG5A CANOPEN2_0 EDS SV 4P5A CANopen LSIS JP5A_CANOPENO 5 EDS S i Generic 0 modules OTB ICO DMSLP OTB_ICO_DMSLP_V5 eds a IloknawnM EDS Library F Fevonte b Osnos 0 waring O messagels lt XG Net Window gt 1 In the project window click CANOpen Network to execute XG Net Properties Properties Station No 10 1 127 Station No 20 ES Name XBL_CSEA_10 1 127 OTBICODMOLP_20 Name Device BL CSEA Device EDS CANopenEDS XBL CSE Adding slave a module Description OTB 1C0 DMSLP EDS CANopenED 3 OTB_1CO_DMSLP Test of CANOpen slave module Description Test of CANopne I F slave 1 In the XG Net project window select CANOpen_Master right click the
150. ter 8 Slave Setting using XG Net TTT 8 4 SDO Command The SDO command can be classified into GETCOMM and PUTCOMM which are for reading and writing respectively The commands canbe set up for only one sub index 8 4 1 GETCOMM gt Using in the XBM XBC Series Device Flag Command Con Step error zero carry PMK F L T C S Z Dx Rx ex UINIDJR F10 F1 F112 sli O S O O 0 0 0 0 ETCOMM 471 O z SECOM T O 0 0 77 0 0 NI O O 0 0 0 0 0 sercom a s o n Field Setting Operand Description Data size No of the slot where communication module is installed sl WORD set up with hexadecilmal number S Station number of the slave to be read SDO index sub index WORD D Starting address of the device where the data read from slave is to be stored WORD Max bytes of the data to be read from communication module The actual data are N WORD from after N total size 8 Flag Set Flag Description Device No PUTCOMM If no communication module the bit of the slot turns ON F0015 GETCOMM If the PUTCOMM GETCOMM command failed to be executed properly the bit Biti 4 of D Error turns ON PUTCOMM lf normal response is received from the corresponding communication module the F0023 GETCOMM bit turns
151. ters of the CANopen slave are as follows 1 In the project window select CANopen Slave and double click it Standard Settings Settings Station Number Speed 800 Kbit s Read areal TPDO Area D00200 Size Word 32 Write areal RPDO Area Size Word 2 Enter station No Available station numbers are 1 127 3 Enter communication speed Same as the XGB CANopen masier following 9 baud rates are supported 10K 20K 50K 100K 125K 250K 500K 800K 1 Mbit s 4 Set up the starting address and size of the area to be read The starting address and size are all word size 5 Set up the starting address and size of the storage area The starting address and size are all word size Available size are 8 256 words In the slave EDS 256 objects can be set up Therefore all 256 objects can be set up when setting up the master However the basic unit and communication module exchanges data by the size set up in the basic parameter As such when the setting is less than 256 the master and slave can conduct PDO mapping and exchange data properly However in case of RPDO it is not reflected on the device of the basic unit and in the case of TPDO the value changed in the basic unit is not transferred to the slave module and not reflected on the master 9 4 Chapter 9 Slave Module XBL CSEA Setting using XG PD 9 2 2 Relationship between PLC Address and CANopen Object If the basic parameters are set up as follo
152. the position of the CANopen I F module to be registered and set up the slot and communication module type by right click of the mouse Project window x Sample NewPLC XGB XBMS Basell 4 00 Embedded Cnet at x Type CANopen Slave Base Slot ot Cancel 9 1 Chapter 9 Slave Module XBL CSEA Setting using XG PD 9 1 2 Online Registration To register communication module using XG PD in online status conduct the steps No 1 and 2 of the off line registration and conduct following steps 1 Enter project name in the project name field select PLC series type and select the PLC CPU type in the CPU type 2 If unable to connect check the connectivity with the PLC select Online Connect Setting or click amp icon to select connection method Available connection methods are RS 232C cable USB cable Ethernet module and EtherNet IP module 3 When normally connected the submenus of the online menus are enabled 4 Tocheck up the module currently mounted in the basic unit select Online gt Read IO Information or click the icon Z And all the communication modules are searched and displayed in the project window If the modules registered offline differ from the information of the currently connected PLC or differ from the type of the communication module worked in the previous project check the change in addition with the above message 5 The list of the communication
153. the version with product case label The label on the outer package case of each communication module contains module information If the version cannot be checked up via online because no external access devices such as a PC is available you can check the version by disconnecting the module The information label is attached on the backside of the product printed with type and version information 1 8 LS industrial Systems Chapter 2 Specification Chapter 2 Specification 2 1 General Specification The general specification of XGT series is as follows St 25 70 C an temperature Ambient RH N Storage humidity 5 95 R fF 5 95 RH Norvcondensing Occasionalvibraion vibration eee ee Verein See ee resistance Continuousviraion OE ee IEC61131 2 X YandZ 50Hz Wet lt oe ee ines sd e Peak acceleration 147 m s 15G e Duration 11ms IEC61131 2 resistance e Half sine 3 times each direction per each axis a NAR 1 500 V LSIS standard a noise La IEC61131 2 V Contact discharge La IEC61000 1 2 Radiated IEC61131 2 Moseressiane electromagnetic 80 1 000 MHz 10V m ee field noise Power supply Digital analog input output Fast transient oust communication interface IEC61131 2 ose Fws w oo o y ao Free fom corosive gasses and excessive dust oo Pollution IEC61000 1 3 1 IEC International Electrotechnical Commission An international nongovemmental organization whic
154. tional mode BIT6 1 Operational mode BIT7 Reserved Chapter 7 Master Setting using XG Net Note 1 CHANNEL_STATUS master module s channel information a BITO 1 if stack initialization error 0 if initialization normal Set to 1 at reset link inactive or parameter downloading then set to 0 after parameter download success or link becomes active after stack initialization b BIT1 1 if 1 or more slaves set up in the parameter have non operational modules or 0 when all the slaves set up in the parameter are operational If the BIT6 of SLAVE_INFO_nis 1 the status is Operational c BIT2 1 if 1 or more slaves set up in the pmt have modules having configuration errors O otherwise If the BIT1 of SLAVE_INFO_nis 1 the status is Configuration error 2 CHANNEL_STATUS master module s communication status information a BITO 1 ifthe CAN controller is Bus Off status Occurs when TEC Transmit Error Counter is 256 or more b BIT1 1 if CAN controller receiver buffer overflow This occurs when another message is received before the received message in the CAN controller buffer is read c BIT2 1 if the CAN controller is in error passive status This occurs when TEC Transmit Error Counter or REC Receive Error Counter is 128 or more d BITS 1 if internal transmission queue overflow This occurs when other data is added to the transmission queue of the master before transmitting data e
155. um length m n 64 n 100 n 64 n 100 0 25 170 150 200 170 0 5 310 270 360 320 0 75 470 410 550 480 1 Safety margin for 0 2 2 Safety margin for 0 1 2 5 2 CAN Ground and Galvanic Isolation In general CAN ground has to be connected However in a perfectly galvanic isolated CANopen network the CAN ground may not be connected 2 9 Chapter 2 Specification SS 2 5 3 Communication Connector XGB CANopen uses open type connectors See CiA 303 1 for other connectors recommended by CiA CANH SHIELD CANL Description GND Ground CAN L CAN _L bus line dominant low SHIELD Optional CAN Shield CAN_H CAN _H bus line dominant high N C Not Connected CiA 303 1 Cabling and Connector Pin Assignment provides the recommendations for various types of cables and connectors Chapter 3 Installation and Trial Run M Chapter 3 Installation and Trial Run 3 1 Installation Environment This product is very reliable regardless of installation environments but to guaranty the reliability and stability of the system pay attention to the following items 1 Environment Conditions 1 Install in the control board where waterproof and dustproof are possible 2 Installation Constructions 1 Make sure wiring leavings are not inserted inside the PLC when you process screw holes or do wiri
156. utoscan with Project Reset PLC Download OS Enable Link J Q Project 1 Select Online Auto Scan 2 Select Online Auto Scan Add Project Project g NewPLC Check Slave a CANopen Network XGB xBCS Registration 92 CANopen_Master B00 S02 XBL CMEA amp ID 020 _20_XBL_CSEA 1 Check that the slaves are added in the project window 8 30 CS industrial Systems Chapter 9 Slave Module XBL CSEA Setting using XG PD ee Chapter 9 Slave Module XBL CSEA Setting using XG PD 9 1 Registration of Communication Module To used the XGB CANopen slave I F module XBL CSEA make out the communication parameters with XG PD Before preparing the parameters register the slot of the module mounted in XG PD The registration procedures of the CANopen I F modules are as follows according to the online or off line status 9 1 1 Off line Registration This method applies for communication module setting and preparing communication related parameters while not in connection with PLC 1 Run XG PD select File New File or click LD icon 2 Enter project name in the project name field select PLC series and CPU type of the selected PLC in the PLC type New Project Project name Sample File location C XG50004S ample Select Folder PLC Series CPU kind XGB XBMS Project comment 3 In the Default Setting Window of the XG PD select
157. ven manufacturer specific 254 0 200 0 394 synchronous cyclic 1 240 1 0x494 synchronous cyclic 1 240 1 8 5 1 PDOs Process Data Objects defined in the EDS file Shows all the PDOs recorded in the EDS To set up PDO select the check box or click the arrow key LS industrial Systems 8 23 Chapter 8 Slave Setting using XG Net TT 8 5 2 PDO Setting The PDOs to be used are displayed Transmission type and transmission type NO Inhibit time Event timer are set up here 1 Transmission type Transmission Description Type Synchronous acyclic periodic transmission only when the data is Synchronous acyclic changed Synchronous transmission periodically when the SYNC of the Synchronous cyclic 1 240 transmission type value is received Reserved 241 251 Reserved Synchronous RTR only 252 Only when RTR is received RTR only synchronous Asynchronous RTR only 253 Only when RTR is received RTR only event driven event driven N 254 Event driven Manufacturer specific manufacturer specific event driven Note Event driven device profile and application profile are unique profile specific 1 PDO Transmission mode PDO transmission modes are classified as follows a Synchronous transmission b Event driven transmission 2 PDO start up mode are as follows a Event and time driven Messages are transmitted by the events unique to the application as specified in t
158. ws the relationship between the PLC address and XGB CANopen slave object can be checked up with the Detail View of Basic Setting Standard Settings Settings Station Number Speed 800 kbit s Read area TPDO Area bo00200 Size Word 32 l Write areal RPDO Area pooo Size Word 32 CLS industrial systems 9 5 Chapter 9 Slave Module XBL CSEA Setting using XG PD Detailed View Object Object Object Object PLC Address Index Hex Subindex Hex Parameter Name PLC Address Index Hex Subindex Hex Parameter Name pogo 0x200 Oxi XWo Poo 02000 Oxi zwoor 00201 0x2100 0x2 gwo 0x2000 0x2 sown D0202 0x210 O3 SSC 0x2000 0x3 Z04003 00203 0x2100 0x4 Z14004 042000 Oxd s0wo04 00204 ox2100 iS Ox2000 0x5 0W005 po205 O2i00 o O6 0 gmo o0 o g Z0VO06 D0206 0x2100 On smo L 0x200 Ox sooo 00207 0x210 0 O8 gmo Ox2000 0x8 0W008 00208 0x2100 0x9 1009 042000 0x9 sowoog 00209 ox2100 Oxa m00 0x200 Oxa 204010 D210 O21000 Ob awon T 02000 Oxb s0W0T1 D0211 Ox2100 Oc amz 0x2000 Oxc 204012 00212 0x210 Od Sti TC 0x2000 Oxd 204013 00213 0x2100 Oe W014 0x2000 Oxe s0W014 D24 O21000 0 Of sts 042000 Oxf 204015 D25 2100 0 O0 goe O20 0x10 Z0O16 00216 0x2100 Oo IMO 0x2000 Ox11 0017 00217 02100 Okl2 gmo 02000 x2 204018 00218 0x2100 0x13 STO 0x2000 0x13 200019 00219 0x210 0 O4 gmon 0x2000 0x14 204020 D0220 02100 0 O5 gmo 02000 0x15 z0
159. ws the COB ID of the PDO Address shows the starting address of the device mapped on the PDO Length shows the entire size of the object mapped on the PDO NMT status shows the status of NMT The NMT status can be INIT PREOPERATIONAL OPERATIONAL or STOPPED 7 Block status shows the status of PDO block The block status can be INIT NORMAL or ABNORMAL 8 Service count shows No of services per one second 9 Flag clear initializes the values of the No of services per s No of services and No of errors 10 Multiple Reading reads PDO service status continuously 11 Refresh reads PDO service status again Chapter 6 XG Net detail menu Sc Procedure Status by service PDO Service SDO Service No Station No NMT Status Service cou Service count Error count 0 12 OPERATIONAL 0 Slave Status by Service SDO Service Flag Clear Multiple Reading Refresh Close 1 Select menu Online Connect to connect the PLC 2 From the project tree select the slave item for which error history is to be searched 3 Select menu Online Slave Service by Status 4 In the status by service dialog select SDO Service tab 5 The details of the system history are as follows 1 No order of parameter during downloading 2 Station No shows the station No of the slave 3 NMT status shows the status of NMT The NMT status can be INIT PREOPERATIONAL OPERATIONAL or STOPPED 4 Service

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