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CANopen User Guide - Guillevin Industrial Automation Group

1. Manufacturer Objects in the following tables fall in the index range that CANopen reserves for Specific Objects manufacturer specific objects DS 301 These objects contain special modules and some manufacturer specific items including some diagnostic information Manufacturer specific objects are in the index range 2000h to SFFFh The CANopen NIM supports the following objects Index Subindex 2000h 2xxxh a list of special input objects that can not be identified by the NIM because they are not in DS 401 or DSP 402 supported object lists 3000h 3xxxh a list of special output objects that can not be identified by the NIM because they are not in DS 401 or DSP 402 supported object lists 4000h 4xxxh communication diagnostics support objects Those objects that can not be identified because they are not in DS 401 or DS 402 object lists are sorted according to object type and length according to the following algorithm Type Length Index Lists Data Type Attr input 1 byte 2000h unsigned8 ro input 2 byte 2200h unsigned16 ro input 3 byte 2400h unsigned24 ro input 4 byte 2600h unsigned32 ro input 5 byte 2800h unsigned40 ro input 6 byte 2A00h unsigned48 ro input 7 byte 2C00h unsigned56 ro input 8 byte 2E00h unsigned64 ro output 1 byte 3000h unsigned8 amp rw output 2 byte 3200h unsigned16 rw output 3 byte 3400h uns
2. 24 VDC The figure below shows how the 24 VDC signal is distributed to an extension segment across the island 24 VDC The logic power signal is terminated in the STB XBE 1000 module at the end of the segment EOS The built in power supply produces 1 2 A of current for the island bus Individual STB I O modules generally draw a current load of between 50 and 90 mA Consult the Advantys STB Hardware Components Reference Guide 890 USE 172 00 fora particular module s specifications If the current drawn by the I O modules totals more than 1 2 A additional STB power supplies need to be installed to support the load 40 890USE17600 September 2003 The STB NCO 2212 NIM Module Selecting a Source Power Supply for the Island s Logic Power Bus Logic Power An external 24 VDC power supply is needed as the source for logic power to the Requirements island bus The external power supply connects to the island s NIM This external supply provides the 24 V input to the built in 5 V power supply in the NIM The NIM delivers the logic power signal to the primary segment only Special STB XBE 1200 beginning of segment BOS modules located in the first slot of each extension segment have their own built in power supplies which will provide logic power to
3. Parameters 1600h through 161Fh This object contains the mappings for those PDOs that the device is able to receive Subindex 0 contains the number of valid entries within the mapping record Index Subindex Name Purpose Data Type Attr 1600h RxPDO mapping parameter for PDO1 0 number of entries 0 8 unsigned8 rw 1 mapped object index subindex bit length unsigned32 rw default 0x6200 0108 2 mapped object index subindex bit length unsigned32 rw default 0x6200 0208 8 mapped object index subindex bit length unsigned32 rw default 0x6200 0808 Note The NIM provides the default PDO mapping according to CANopen specification DS 401 for PDO1 through PDO4 Default entries depend on the island configuration and are dynamically entered to subindexes 1 through 8 When the appropriate objects are present in the object dictionary the default values are set accordingly Otherwise the default entries are 0000 74 890USE17600 September 2003 Fieldbus Communications Support TxPDO Communication Parameters TxPDO Mapping Parameter for PDO1 The TxPDO communication parameters COB contains the communication parameters for those PDOs that the device is able to transmit Index Subindex Name Purpose Data Type Attr 1800h 181Fh TxPDO comm parameter PDO1 TxPDO comm parameter PDO32 number of entries 3 unsigned8 COB ID of the TxPDO1 TxPDO32 d
4. Premium controller configuration TSX CPP 100 CANopen master PCMCIA card TSX CPP ACC1 CANopen tap junction CANopen network cable not supplied STB NCO 2212 CANopen NIM Advantys STB island O a A OO N 102 890USE17600 September 2003 Application Examples Putting the The following procedure describes the connections that you need to make to Network construct a physical CANopen network Together CAUTION UNINTENDED EQUIPMENT OPERATION Read and understand this manual and the Premium user s manual before installing or operating this equipment Installation adjustment repair and maintenance of this equipment must be performed by qualified personnel e Disconnect all power to the Premium PLC before making the network connection e Place aDO NOT TURN ON sign on the system power disconnect e Lock the disconnect in the open position You are responsible for conforming to all applicable code requirements with respect to grounding all equipment Failure to follow this precaution can result in injury or equipment damage Step Action Install the TSX CPP 100 CANopen master PCMCIA card in the desired slot on the Premium CPU The connection diagram above shows the card in slot 2 Plug the PCMCIA cable into the TSX CPP ACC1 CANopen tap junction Using the rotary switches See Rotary Switches Setting the Baud and Network Node Address p 27 on the
5. Mandatory There are objects that every CANopen node is required to support Mandatory CANopen COBs are specified in CiA DS 301 The following tables present detailed Objects descriptions and index addresses of those objects Server SDO The server SDO parameters COB uses CANopen s default Parameters Index Subindex Name Purpose Data Type Attr 1200h server SDO parameters unsigned8 0 number of entries 2 unsigned32__ ro 1 COB ID client server Rx unsigned32__ ro default 0x0000 0600 node ID 2 COB ID server client Tx unsigned32_ ro default 0x0000 0580 node ID RxPDO The RxPDO communication parameters COB contains the communication Communication parameters for those PDOs that the device is able to receive Parameters Index Subindex Name Purpose Data Type Attr 1400h RxPDO communication parameter PDO1 141Fh RxPDO communication parameter PDO32 0 number of entries 2 unsigned8 ro 1 COB ID of the RxPDO1 RXxPDO32 unsigned32 rw default 0x0000 0200 node ID for 1400 default 0x0000 0300 node ID for 1401 default 0x0000 0400 node ID for 1402 default 0x0000 0500 node ID for 1403 default 0x8000 0000 not used for 1404 141F 2 transmission type of RxPDO1 default 255 unsigned8 rw 890USE17600 September 2003 73 Fieldbus Communications Support RxPDO Mapping The RxPDO mapping parameters for PDO1 to PDO32 COBs can be found in
6. Extension Advantys STB I O modules that do not reside in the primary segment can be Segments installed in extension segments Extension segments are optional segments that enable an island to be a truly distributed I O system The island bus can support as many as six extension segments Special extension modules and extension cables are used to connect segments in a series The extension modules are e the STB XBE 1000 EOS module which is the last module in a segment if the island bus is extended e the STB XBE 1200 BOS module which is the first module in an extension segment The BOS module has a built in 24 to 5 VDC power supply similar to the NIM The BOS power supply also provides 1 2 A of logic power to the STB I O modules in an extension segment Extension modules are connected by lengths of STB XCA 100x cable that extend the island communication bus from the previous segment to the next BOS module TI vit 1 primary segment 2 NIM 3 STB XBE 1000 EOS bus extension module 4 1mlength STB XCA 1002 bus extension cable 5 first extension segment 6 STB XBE 1200 BOS bus extension module for the first extension segment 7 another STB XBE 1000 EOS extension module 8 4 5m length STB XCA 1003 bus extension cable 9 second extension segment 10 STB XBE 1200 BOS bus extension module for the second extension segment 11 STB XMP 1100 termination plate Bus extension cables are available in various lengths ranging from 0 3 m 1 ft to
7. of inputs 1 6 always 0 register 45401 STB DDI 3610 status 15 ja 13 12 14 10 als 7 6 5 afa 2 fi o presence absence of PDM short always 0 register 45402 STB DDO 3600 echo output data 15 14 SAR to 9 f8 7 6 54 sjef 0 echoes module output data always 0 158 890USE17600 September 2003 Advanced Configuration Features register 45403 STB DDO 3600 status 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 o presence absence of PDM or output short in group 1 presence absence of PDM or output short in group 2 presence absence of PDM or output short in group 3 always 0 register 45404 STB AVI 1270 channel 1 data 15 14 13 12 11 10 9 s8 7l6 5 E lalalo ignored 11 bit analog value sign bit register 45405 STB AVI 1270 channel 1 status 15 14 13 12 11 10 9 8 7 6 5 a 3 2 1 0 __ global status __ presence absence of a PDM short L over voltage warning ignored 11 bit analog value all Os over voltage error under voltage warning __ under voltage error register 45406 STB AVI 1270 cha
8. Stage Description 1 The NIM auto addresses See Auto Addressing p 46 the I O modules on the island and derives their factory default configuration values 2 The NIM overwrites the current configuration in Flash memory with configuration data that uses the factory default values for the I O modules 3 It resets the communication parameters on its CFG port to their factory default values See Port Parameters p 35 4 It re initializes the island bus and brings it into operational mode 890USE17600 September 2003 57 Configuring the Island Bus 58 890USE17600 September 2003 Fieldbus Communications Support 4 At a Glance Introduction This chapter describes how the CANopen master sets up communications between itself and an Advantys STB island bus The chapter describes the parameterization configuration and diagnostics services that are performed in order to configure the island bus as a node on a CANopen network To communicate with an Advantys STB island the CANopen master sends output data across its network to the STB NCO 2212 CANopen NIM The NIM transfers this output data from the master across the island bus to the destination output modules The NIM will collect input data from the island bus I O modules That data is transmitted in bit packed format over the CANopen network to the fieldbus master What s in this This chapter contains the foll
9. Word Byte Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 PDO 1 1 N2 status N2 echo output N1 status N1 data 1 data 2 N3 status N3 data 1 2 3 N4 status N4 echo output data 1 4 empty set to 0 N5 data 1 3 5 empty set to 0 N5 status 1 6 empty set to 0 N6 echo output data 1 4 7 empty set to 0 N6 status 1 8 N7 channel 1 status 1 5 9 N7 channel 2 status 2 10 N8 channel 1 status 2 6 11 N8 channel 2 status 2 12 empty set to 0 7 13 N7 channel 1 analog input data low byte 2 14 N7 channel 1 analog input data high byte 2 8 15 N7 channel 2 analog input data low byte 2 16 N7 channel 2 analog input data high byte 2 PLC data view outputs are shown in the following table Word Byte Bit8 Bit7 Bit Bit5 Bit4 Bit3 Bit2 Bit1 PDO 1 1 empty set N4 output data N2 output data 1 set to 0 2 empty set N6 output data 1 set to 0 2 3 N8 channel 1 analog output data low byte 2 4 N8 channel 1 analog output data high byte 2 3 5 N8 channel 2 analog output data low byte 2 6 N8 channel 2 analog output data high byte 2 108 890USE17600 September 2003 Application Examples Configuring a CANopen Master for Use with the STB NCO 2112 NIM Summary Before You Begin Importing the NIM s Basic EDS These instructions are for configuring the Premium PLC master for use with a CANopen NIM as the head of an Advantys STB island node To use this
10. Index Subindex Name Type Attr Default Description 6411 0 16 bitanalog unsigned8 ro none number of analog output output channels 1 1 channel unsigned16 rw none 1 analog 16 bit output output channels from left to right starting at the NIM 0x20 channel unsigned16 rw none 32 analog 16 bit output 890USE17600 September 2003 65 Fieldbus Communications Support Manufacturer Specific Objects Analog Global Interrupt Enable Mandatory CANopen Eniries Profiles for the manufacturer specific devices that the CANopen NIM supports are described in the following tables Analog TxPDO transmissions need to be enabled by object 6423 the object that determines the transmission of analog input values Since the default value is false no analog input objects are transmitted To enable transmission set this object to true by writing 7 to index 6423 Index Subindex Name Attr Default Description Type determines the transmission of analog input values 6423 O analog global boolean rw FALSE interrupt enable Note You will not be able to transmit an analog TxPDO unless you enable the transmission by writing 7 to index 6423 All nodes in a CANopen compliant network must support the mandatory entries in the following table Mandatory The table
11. 15 14 13 12 11 10 9 7 6 5 4 3 2 1 0 location 32 L location 17 location 31 L location 18 location 30 L location 19 location 29 location 20 location 28 L location 21 location 27 L_ location 22 location 26 L location 23 location 25 location 24 148 890USE17600 September 2003 Advanced Configuration Features Node Assembly The next eight contiguous registers registers 45367 through 45374 indicate the presence or absence of configured modules in locations on the island bus This information is stored in Flash memory At start up the actual locations of the modules on the island are validated by comparing them to the configured locations stored in memory Each bit represents a module e A value of 1 in a given bit indicates either that the configured module is not present or that the location has not been configured e A value of 0 indicates that the correct module is present in its configured location The first two registers shown below provide the 32 bits that represent the module locations in a typical island configuration The remaining six registers 45369 through 45374 are available to support island expansion capabilities Register 45367 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 module in 16 L module in 1 module in 15 _ module in 2 module in 14 L module in 3 module i
12. Setting the Baud Instructions for setting the baud are in the table Step Action Comment 1 Bring the power down on the island The NIM will detect the changes you are about to make only at the next power up With a small screwdriver set the bottom rotary switch to any position after 9 BAUD RATE Setting the switch to any of these unmarked positions prepares the NIM to accept a new baud Decide on the baud you will employ for fieldbus communications The baud setting is according to your system and network requirements Determine the upper switch position that corresponds to the selected baud Use the baud selection table below With a small screwdriver set the upper rotary switch to the position that corresponds to your selected baud Use the switch position you selected in the last step Power up your island to employ the new setting The NIM reads the rotary switch settings only during power up Baud Selection When the lower switch is turned to any one of its baud rate positions the baud is Table defined by the position on the upper switch Only positions 0 through 7 are used to set the baud Position Upper Switch Baud 0 10 000 bits s 1 20 000 bits s 50 000 bits s 125 000 bits s 250 000 bits s 500 000 bits s 800 000 bits s NIOJ AJOJN 1 Mbits s Note The default baud in Flash me
13. always 0 register 45395 STB DDO 3200 status 15 14 13 12 11 10 9 8 7 5 4 JIE 0 __ presence absence of PDM or output short on output 1 __ presence absence of PDM or output short on output 2 always 0 register 45396 STB DDI 3420 data 15 jia 13 12 fn 10 9 8 7 6 5 4 3 2 E 0 ON OFF conditions of inputs 1 4 always 0 register 45397 STB DDI 3420 status 15 14 13 12 11 10 9 8 TERE 3 2 i 0 presence absence of PDM short always 0 890USE17600 September 2003 157 Advanced Configuration Features register 45398 STB DDO 3410 echo output data 15 14 13 fiz n 1o 9 8 7 6 5 4 3 2 0 echoes module output data always 0 register 45399 STB DDO 3410 status 15 14 13 12 11 10 9 2 7 6 5 4 JAE 0 presence absence of PDM or output short in group 1 presence absence of PDM or output short in group 2 always 0 register 45400 STB DDI 3610 data 15 14 13 12 11 10 9 8 7 6 5 4 JAE 0 ON OFF conditions
14. Document Scope Validity Note This guide describes the specific functionality of the STB NCO 2212 the Advantys STB interface module to a CANopen network To assist you with setting up your Advantys STB island on a CANopen network extensive real world CANopen application examples are included These instructions assume the reader has a working familiarity with the CANopen fieldbus protocol This guide includes the following information about the STB NCO 2212 e role in a CANopen network role as the gateway to Advantys STB island external and internal interfaces flash memory and removable memory integrated power supply auto configuration saving configuration data island bus scanner functionality data exchange between the island and the master diagnostic messages specifications The data and illustrations found in this book are not binding We reserve the right to modify our products in line with our policy of continuous product development The information in this document is subject to change without notice and should not be construed as a commitment by Schneider Electric 890USE17600 September 2003 About the Book Related Documents Product Related Warnings User Comments Title of Documentation Reference Number The Advantys STB System Planning and Installation Guide 890USE17100 The Advantys STB Hardware Components Reference Guide 890USE17200 The Advantys STB Configuration Softwar
15. a 1 Automation Island CANo F rc aiar POO Contents Mapping _ Dal EEN 890USE17600 September 2003 115 Application Examples The PDO Contents Mapping Window The PDO Contents Mapping window in the figure shows the mapped inputs for the second TxPDO digital_inputs2 PDO Contents Mapping Object Index 1A01 8bit Input Block No 1 8bit Input Block No 2 8bit Input Block No 3 Sbit Input Block No 5 8bit Input Block No 6 Bbit Input Block No 7 8bit Input Block No 1 Object6000ldx1 Bbit Input Block No 2 Object6000 dx2 8bit Input Block No 3 Object6000 dx3 Sbit Input Block No 4 Object6000Idx4 116 890USE17600 September 2003 Application Examples Defining Digital Output PDOs You will now define and map digital output PDOs The sample island assembly See Sample Island Assembly p 104 uses three digital input modules one with two channels one with four channels and one with six channels Therefore you must account for all 12 bits of possible digital output data two blocks of data in one PDO in your configuration Step Action Comment 1 In the Node Configuration window See The Node Configuration Window p 115 click on Define new Receive PDO At the prompt provide a name for this PDO Call it
16. e Boolean AND or exclusive OR operations e comparisons of an analog input value to user specified threshold values e up or down counter operations e timer operations e the triggering of a latch to hold a digital value high or low e the triggering of a latch to hold an analog value at a specific value The island bus optimizes reflex response time by assigning the highest transmission priority to its reflex actions Reflex actions take some of the processing workload off the fieldbus master and they offer a faster more efficient use of system bandwidth How Reflex Reflex actions are designed to control outputs independently of the fieldbus master Actions Behave controller They may continue to turn outputs on and off even when power is removed from the fieldbus master Use prudent design practices when you use reflex actions in your application WARNING UNEXPECTED OUTPUT OPERATION For outputs that are configured to respond to reflex actions the output state represented in the island s network interface module NIM may not represent the actual states of the outputs e Turn off field power before you service any equipment connected to the island e For digital outputs view the echo register for the module in the process image to see the actual output state e For analog outputs there is no echo register in the process image To view an actual analog output value connect the analog output channel to an analog input
17. Node ID Heartbeat Time LSB unsigned8 unsigned16 The producer heartbeat time COB defines the cycle time of the heartbeat If it is not used the producer heartbeat time is 0 The time has to be a multiple of 1 ms Index Subindex Name Purpose Data Type Attr 1017h J0 producer heartbeat time default 0 unsigned16 rw unused The identity object index 1018h COB contains general information about the NIM Index Subindex Name Purpose Data Type Attr 1018h identity object contains general device NIM information number of entries 3 unsigned8 ro vendor ID code unsigned32 ro product code 33001546 Standard unsigned32 ro wi N o major and minor product revision number unsigned32 ro The vendor ID code subindex 1 contains the unique value allocated to Schneider Electric The product code subindex 2 is a unique number that determines the product within Schneider The revision number subindex 3 consists of a major revision number and a minor revision number The major revision number identifies a specific CANopen behavior When the CANopen functionality is expanded the major revision has to be incremented The minor revision number identifies different versions with the same CANopen behavior 72 890USE17600 September 2003 Fieldbus Communications Support
18. configuration software or hardware Bit Meaning of Value DO reserved D1 reserved D2 reserved D3 reserved D4 reserved D5 reserved D6 reserved D7 reserved D8 module failure Bit 0 is set to 1 if any module on the island bus fails D9 internal failure value of 1 At least one global bit was set except RESET When one of these bits is set bit D4 of object 1003h See Predefined Error Field p 70 is also set D10 external failure value of 1 The problem is on the fieldbus D11 configuration is protected 1 RST button is disabled and the island configuration requires a password to write to it 0 RST button is enabled and the island configuration is not password protected D12 The contents of the removable memory card is invalid value of 1 D13 reserved D14 reserved D15 island bus output data master 0 fieldbus master is controlling the output data of the island s process image 1 Advantys configuration software is controlling the output data of the island s process image fatal NIM errors The detection of these errors will result in the stopping of the island bus After a 5 second pause the NIM will initiate a restart 82 890USE17600 September 2003 Fieldbus Communications Support Device Specific Device specific objects contain the bulk of the process I O data These objec
19. eight receptacle HE 13 female nine receptacle SUB D female cable type multiconductor 36 890USE17600 September 2003 The STB NCO 2212 NIM Module Power Supply Interface Introduction The NIM s built in power supply requires 24 VDC from an external SELV rated power source The connection between the 24 VDC source and the Advantys STB island is the two receptacle connector illustrated below Physical Power from the external 24 VDC supply comes in to the NIM through a two Description receptacle connector located at the bottom left of the module TAM 1 receptacle 1 24 VDC 2 receptacle 2 common voltage 890USE17600 September 2003 37 The STB NCO 2212 NIM Module Connectors Use either e a screw type power connector available in a kit of 10 model STB XTS 1120 e a spring clamp power connector available in a kit of 10 model STB XTS 2120 The following illustrations show two views of each power connector type A front and back view of the STB XTS 1120 screw type connector is shown on the left and a front and back view of the STB XTS 2120 spring clamp connector is shown on the right 2 3 4 5 STBXTS 1120 screw type power connector STBXTS 2120 spring clamp power connector wire entry slot screw clamp access spring clamp actuation button Each entry slot accepts a wire in the range 0 14 to1 5 mm 28 to 16 AWG E
20. error 9 Internal triggering protocol error 10 Module data length error 11 Module configuration error 12 Reserved 13 Timeout error 890USE17600 September 2003 147 Advanced Configuration Features Node Configuration The next eight contiguous registers registers 45359 through 45366 display locations where modules have been configured on the island bus This information is stored in Flash memory At start up the actual locations of the modules on the island are validated by comparing them to the configured locations stored in memory Each bit represents a configured location e A value of 1 in a bit indicates that a module has been configured for the associated location e A value of 0 in a bit indicates that a module has not been configured for the associated location The first two registers shown below provide the 32 bits that represent the module locations in a typical island configuration The remaining six registers 45361 through 45366 are available to support island expansion capabilities Register 45359 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 location location 1 location 15 location 2 location 14 __ location 3 location 13 L location 4 location 12 L_ location 5 location 11 L location 6 location 10 L_ location 7 location 9 location 8 Register 45360
21. select The master will appear in the topology TSX CPP 100 Then click Add and OK editor screen 3 From the Settings menu select Bus Ensure that your configured baud Parameters matches the rate previously selected for the NIM 4 Ensure that the SYNC COB ID is 128 For the example we will use a single for the single bus master master network On a multi master system 128 is the COB ID of the first master 5 Select the desired Auto clear mode Auto clear defines the behavior of the master if communication to a node breaks down or is interrupted 6 If there is only one master on the bus As the default Premium setting Enable check Enable Global Start Node Global Start Node is already checked 7 Click OK and save the file The Premium PLC is now the bus master 110 890USE17600 September 2003 Application Examples The Bus The Bus Parameters dialogue box should resemble the following figure after you ve Parameters entered parameters according to the above procedure Dialogue Box rl Unnamedi A lol x Master Master TSX CPP 100 Bus Parameter x Baudrate 1 Mbit s 7 SYNC COBD 128 Com cycle period fi 00 ms Auto clear mode OFF Auto clear mode ON I Enable Global Start Node 29 Bit Selection entries I Enable 29 Bit Selector Zone 0 Bit Acceptance Code o0 00 oo 00 Hex Acceptance Mask 00 00 oo oo Hex For Help press F1 CANopen Config Mode Abou
22. 0 Their Bit displayed as the rightmost bit in the register Structure MSB LSB 15 jia 13 12 11 10 9 8 7 6 5 4 s3 2 1 o The bits can be used to display operating data or device system status Each register has a unique reference number starting at 40001 The content of each register represented by its 0 1 bit pattern may be dynamic but the register reference and its assignment in the control logic program remain constant 140 890USE17600 September 2003 Advanced Configuration Features The Data Image The 9999 contiguous registers in the Modbus data image start at register 40001 The illustration below shows a graphical representation of the data image and how it is subdivided into nine distinct blocks 40001 Block 1 4096 registers 44096 H y 44097 i Block 2 512 registers 44608 mH i 44609 ae Block 3 1512 registers 45120 HHHH _ Pie Block 4 128 registers 45302 Block 5 H Y 34 registers 45303 i i 45356 FEE EEEPPRPEEE _ y 94 esisters 45357 45391 Block 7 35 registers 45392 Block 8 4096 registers 49487 SSA A 49488 i Block 9 512 registers 49999 y Block 1 output data process image 4096 registers available Block 2 fieldbus master to HMI output table 512 registers available Block 3 reserved 512 registers Block 4 128 register block reserved for future read write use Block 5 54 register block reserved for future read write use Block 6 54 register block reserved for future read only u
23. 0011 385 181h 511 1FFh 1800h PDO1 Rx 0100 513 201h 639 639h 1400h PDO2 Tx 0101 641 281h 767 2FFh 1801h PDO2 Rx 0110 769 301h 895 37Fh 1401h PDO3 Tx 0111 897 381h 1023 3FFh 1802h PDO3 Rx 1000 1025 401h 1151 47Fh 1402h PDO4 Tx 1001 1153 481h 1279 4FFh 1803h PDO4 Rx 1010 1281 501h 1407 57Fh 1403h SDO Tx 1011 1409 581h 1535 5FFh 1200h SDO Rx 1100 1537 601h 1663 67Fh 1200h NMT error control 1110 1793 701h 1919 77Fh 1015h 1017h The predefined connection set also reserves message identifiers for broadcast messages Object Function Code Binary COB ID Comm Parameters at Index NMT 0000 0 SYNC 0001 128 80h 1005h 1006h 1007h 86 890USE17600 September 2003 Fieldbus Communications Support PDO Mapping Table Predefined PDO mappings for different Advantys STB nodes are outlined in the following table PDO Description RxPDO1 asynchronously receives 8 bytes object index 6200 subindex 1 8 digital output data RxPDO2 asynchronously receives four 16 bit values object index 6411 subindex 1 4 analog output data RxPDO3 asynchronously receives four 16 bit values object index 6411 subindex 5 8 analog output data RxPDO4 asynchronously receives four 16 bit values object index 6411 subindex 9 12 analog output data TxPDO1 event driven transmission
24. 1 request 2 emergency error code 2 bytes 3 error register 1 byte 4 manufacturer specific error field 5 bytes 5 indication s The error register byte is presented in object 1001 Error Register Bit Description 0 generic error set when any error occurs 1 O not used 2 0 not used 3 0 not used 4 fieldbus communication error set when error status bit is set node guarding fails heartbeat fails 0 not used O not used manufacturer specific error set when any error except fieldbus communication error occurs 890USE17600 September 2003 97 Fieldbus Communications Support Manufacturer Specific Error Field The manufacturer specific error field is optional in CANopen The CANopen NIM uses these five bytes to provide more information about the error type The manufacturer specific error field is structured according to the following table received from island module Description Manufacturer Parameter 1 Parameter 2 Parameter 3 Parameter 4 Specific D5 D6 D7 D8 Error Code D4 island bus fatal 0x01 island bus global_bits global_bits 0x00 error state low byte high byte island bus state 0x02 island bus global_bits global_bits 0x00 exception state low byte low byte configuration mismatch stopped island bus error 0x03 island bus global_bits global_bits 0x00 passive 128 s
25. 14 0 m 45 9 ft 14 890USE17600 September 2003 Introduction Preferred Modules An island bus can also support those auto addressable modules referred to as preferred modules Preferred modules do not mount in segments but they do count as part of the 32 module maximum system limit Note If you want to include preferred modules in your island you need to configure the island using the Advantys configuration software A preferred module can connect to an island bus segment via an STB XBE 1000 EOS module and a length of STB XCA 100x bus extension cable Each preferred module has two IEEE 1394 style cable connectors one to receive the island bus signals and the other to transmit them to the next module in the series Preferred modules are also equipped with termination which must be enabled if a preferred module is the last device on the island bus and must be disabled if other modules follow the preferred device on the island bus Preferred modules can be chained to one another in a series or they can connect to Advantys STB segments As shown in the following figure a preferred module passes the island bus communications signal from the primary segment to an extension segment of Advantys STB I O modules il M COE primary segment NIM STB XBE 1000 EOS bus extension module
26. N OORA ON standard CANopen device with 120 Q termination The maximum length of an island bus the maximum distance between the NIM and Island Bus the last device on the island is 15 m 49 2 ft This length must take into account the extension cables between segments extension cables between preferred modules and the space consumed by the devices themselves 16 890USE17600 September 2003 Introduction About the CANopen Fieldbus Protocol Introduction CANopen a digital communications network is a defined set of instructions for transmitting data and services in an open CAN environment CANopen is a standard profile for industrial automation systems based on CAL the CAN application layer It is especially suited to real time automation because it is an efficient low cost solution for industrial embedded and portable applications CANopen specifies a communication profile DS 301 and a set of device profiles DS 401 DSP 402 etc General system features like synchronized data exchange event and error notification and system wide timing mechanisms are also defined Note For more on standard CANopen specifications and mechanisms refer to the CiA home page http www can cia de Physical Layer CAN employs a differentially driven common return two wire bus line A CAN signal is the difference between the voltage levels of the CAN high and CAN low wires See the figure below C
27. Name web page After the STB NIP 2212 is configured with a valid role name the DHCP server will use it to identify the island at power up resistive temperature detect An RTD device is a temperature transducer composed of conductive wire elements typically made of platinum nickel copper or nickel iron An RTD device provides a variable resistance across a specified temperature range reception For example ina CAN based network a PDO is described as an RxPDO of the device that receives it SAP SCADA SDO segment service access point The point at which the services of one communications layer as defined by the ISO OSI reference model is made available to the next layer supervisory control and data acquisition Typically accomplished in industrial settings by means of microcomputers service data object In CAN based networks SDO messages are used by the fieldbus master to access read write the object directories of network nodes A group of interconnected I O and power modules on an island bus An island must have at least one segment and may have as many as seven segments The first leftmost module in a segment needs to provide logic power and island bus communications to the I O modules on its right In the primary segment that function is filled by a NIM In an extension segment that function is filled by an STB XBE 1200 BOS module 174 890USE17600 September 2003 Glossary SELV SIM sing
28. Node 2 receives SDO 602h and replies with SDO 582h Node 3 Node 3 receives SDO 603h and replies with SDO 581th 890USE17600 September 2003 85 Fieldbus Communications Support PDO Mapping CANopen and PDOs PDO types Predefined Connection Set Transmitted as broadcast messages process data objects PDOs are unconfirmed messages used for real time data exchange of short blocks of high priority data A special feature of CANopen is that data contained in PDOs may be either predefined by the device manufacturer or configured by the application Each of the 8 bytes or fewer in a PDO is defined through mapping information stored in the object dictionary of its producer and consumer devices PDO usage is based on CANopen s producer consumer model A PDO s designation as either transmit or receive is relative to the nature of each device depending on how the same identifier signal value has been mapped by those devices If a device produces a PDO the PDO is a transmit PDO TxPDO of that device If a device consumes a PDO it is a receive PDO RxPDO of that device CANopen s predefined connection set allows for peer to peer communications between a master device and its nodes without requiring an identifier distribution process Object Function Code COB ID Comm Parameters at Binary Index emergency 0001 129 81h 255 2FFh 1014h 1015h PDO1 Tx
29. STB NCO 2212 NIM set the island to the desired CANopen network node address See Setting the Node Address p 29 The CANopen network cable and end connectors not supplied should be manufactured in accordance with CiA DRP 303 1 Place the island on the network by connecting the TSX CPP ACC1 CANopen tap junction to the STB NCO 2212 NIM with the CANopen cable 890USE17600 September 2003 103 Application Examples Sample Island Assembly The sample I O system implements a variety of analog and digital modules Note The example uses a Telemecanique Premium PLC master device with a TSX CPP 100 CANopen master card but the basic configuration of the NIM and the island I O is master independent when using the SyCon configuration software The following Advantys STB island modules are used in the example rk O N oa 10 11 STB NCO 2212 CANopen NIM STB PDT 3100 24 VDC Power Distribution Module STB DDI 3230 24 VDC 2 channel digital input module 2 bits of data 2 bits of status STB DDO 3200 24 VDC 2 channel digital output module 2 bits of data 2 bits of echo output data 2 bits of status STB DDI 3420 24 VDC 4 channel digital input module 4 bits of data 4 bits of status STB DDO 3410 24 VDC 4 channel digital output module 4 bits of data 4 bits of echo output data 4 bits of status STB DDI 3610 24 V
30. STB feature Note Network configuration data such as the fieldbus baud setting cannot be saved to the card The card measures 25 1 mm 0 99 in wide x 15 mm 0 59 in high x 0 76 mm 0 30 in thick It is shipped as a punch out on a credit card sized plastic card which measures 85 6 mm 3 37 in wide x 53 98 mm 2 13 in high Note Keep the card free of contaminants and dirt CAUTION LOSS OF CONFIGURATION MEMORY CARD DAMAGE OR CONTAMINATION The card s performance can be degraded by dirt or grease on its circuitry Contamination or damage may create an invalid configuration e Use care when handling the card e Inspect for contamination physical damage and scratches before installing the card in the NIM drawer e Ifthe card does get dirty clean it with a soft dry cloth Failure to follow this precaution can result in injury or equipment damage 50 890USE17600 September 2003 Configuring the Island Bus Installing the Use the following procedure to install the card Card Step Action 1 Punch out the removable memory card from the plastic card on which it is shipped 2 removable memory card Make sure that the edges of the card are smooth after you punch it out Open the card drawer on the front of the NIM If it makes it easier for you to work you may pull the drawer completely out from the NIM housing Align the chamfered edge
31. an external failure the problem is on the fieldbus 5 A value of 1 in bit 11 indicates that the configuration is protected the RST button is disabled and the configuration software requires a password before you can write A bit value of 0 indicates that the configuration is standard the RST button is enabled and the configuration software is not password protected 6 A value of 1 in bit 12 indicates that the configuration on the replaceable memory card is invalid 7 Reserved 8 Island bus output data master A value of 0 in bit 15 indicates that the fieldbus master device is controlling the output data of the island s process image a bit value of 1 indicates that the Advantys configuration software is controlling the output data of the island s process image 152 890USE17600 September 2003 Advanced Configuration Features An Example of a Modbus View of the Process Image Summary The following example shows what the output data process image and the input data and I O status process image might look like when it represents a specific island bus configuration The Sample The sample island comprises the following 10 modules and a termination plate Configuration network interface module 24 VDC power distribution module STB DDI 3230 24 VDC two channel digital input module STB DDO 3200 24 VDC two channel digital output module STB DDI 34
32. and I O status process image See nput Data and I O Status Process Image p 144 block registers 45392 through 49487 in the island s data image The HMI panel writes the input data to a specified number of registers in the HMI to fieldbus master block The NIM manages the transfer of the HMI data in these registers as part of the overall input data transfer it converts the 16 bit register data to a fieldbus specific data format and transfers it together with the standard input data and I O status process image to the fieldbus The fieldbus master sees and responds to HMI data as if it were standard input data 890USE17600 September 2003 161 Advanced Configuration Features HMI Output Data Exchange In turn output data written by the fieldbus master can be used to update enunciator elements on the HMI panel Enunciator elements might be e display indicators e buttons or screen images that change color or shape e data display screens for example temperature read outs To use the HMI panel as an output device you need to enable the fieldbus to HMI block in the island s data image See The Data Image p 141 and specify the number of registers in this block that you want to use You need to use the Advantys configuration software to make these adjustments to your configuration The fieldbus master to HMI block can comprise up to 512 registers ranging from register 44097 to 44608 This block follows immediately afte
33. and master slave models 18 890USE17600 September 2003 Introduction Message Prioriti zation and Arbitration At any given time only one node has write access to the CANopen bus If a node is transmitting on the bus all other nodes must wait for the bus to be free before attempting a transmission CAN data frames have an arbitration field that includes the message identifier field and a remote transmission request bit When two messages collide while attempting to access the physical layer at the same time the transmitting nodes perform bitwise arbitration on each other s arbitration fields The figure shows the arbitration of the two fields O 10110100100 0 0 0 1000 ae 00000001 01 1100100100 nmi 1 message with the dominant bit 0 2 message with the recessive bit 1 As long as the bits in the arbitration fields have matching values like the first six bits in the example they are transmitted on the fieldbus When the binary values differ as they do for the seventh bit the lower value 0 overrides the higher 1 Therefore message 1 is established as dominant and the transmitting node simply continues to send the remainder of the message data the shaded area on the bus When the bus is free after the complete transmission of message 1 the transmitting node for message 2 will attempt to access the bus again Note Message priority as a binary value is det
34. application example you should have a working familiarity with both the CANopen fieldbus protocol and the SyCon configuration software Before you begin make sure e your Advantys STB modules are fully assembled and installed according to your particular system application and network requirements e you have properly set the baud See Setting the Baud p 28 and node address See Setting the Node Address p 29 of the CANopen NIM e you have the basic EDS file that was supplied with the STB NCO 2212 CANopen NIM also available at www schneiderautomation com You need to import the NIM s basic EDS file to the SyCon tool Without access to the EDS file the NIM is unavailable for configuration by SyCon To import the EDS file Step Action 1 Start the SyCon configuration software 2 From the File File menu select New CANopen Click OK 3 From the File menu select CopyEDS Select the directory that contains the NIM s EDS file and when prompted accept its corresponding bitmaps With the EDS stored in SyCon s database you can now see Advantys in the Nodes pick list 890USE17600 September 2003 109 Application Examples Configuring the This procedure tells you how to establish the Premium PLC as the master for Premium PLC starting and maintaining the bus Step Action Comment 1 From the Insert menu select Master 2 From the Insert Master window
35. assembly fault 81 node configured 79 node error 80 node limitations 18 node operational 80 number of reflex blocks on an island 135 O object dictionary 20 66 index ranges 64 SDO access 84 182 890USE17600 September 2003 Index outputs from a reflex block 133 P parameterization 49 PDM 40 43 46 47 153 PDO 67 acyclic 95 asynchronous 93 95 120 configuring 106 cyclic 95 default mapping parameters 74 default transmission mode 95 defining 113 mapping 64 74 86 mapping variable 88 NIM support 62 size 67 synchronous 67 93 94 120 transmission modes 93 transmission type 120 physical layer 17 access priority 19 CAN bus line 17 PLC data exchange 124 126 predefined error field 70 preferred module 15 primary segment 11 13 40 42 prioritization 130 process image analog input and output module data 144 156 and reflex actions 156 diagnostic blocks 145 digital input and output module data 144 156 echo output data 156 fieldbus to HMI block 162 graphical representation 141 HMI blocks 161 HMI to fieldbus block 161 I O status image 140 144 156 161 input data image 144 156 161 output data image 148 155 162 overview 140 producer consumer model 18 67 86 protected mode 35 50 53 54 56 139 R reflex action and fallback 137 and the echo output data image area 144 156 overview 131 reflex block types 131 removable memory card 50
36. blink 1 CAN controller error status bit set error warning limit reached blink 2 Guardfail or heartbeat failure node not guarded within lifetime or heartbeat failure blink N Island bus error see next table off Reset or initialize island bus CAN RUN Steady blink Island bus is pre operational green on Island bus is operational blink 1 Island bus is stopped 32 890USE17600 September 2003 The STB NCO 2212 NIM Module Advantys STB The table that follows describes the island bus condition s communicated by the Communications LEDs and the colors and blink patterns used to indicate each condition LEDS RUN ERROR TEST Meaning green red yellow blink 2 blink 2 blink 2 The island is powering up self test in progress off off off The island is initializing it is not started blink 1 off off The island has been put in the pre operational state for example with the reset function in the Advantys STB configuration software it is not started blink 3 The NIM is reading the configuration on the removable memory card See Using the STB XMP 4440 Optional Removable Memory Card to Configure the Island Bus p 53 on The NIM is overwriting its Flash memory with the card s configuration data See 1 off blink 8 off The configuration on the removable memory card is invalid blinking off off The NIM is configuring See Configuring the Island st
37. channel Failure to follow this precaution can result in death serious injury or equipment damage 890USE17600 September 2003 131 Advanced Configuration Features Configuring a Reflex Action Inputs to a Reflex Action Each block in a reflex action must be configured using the Advantys configuration software Each block must be assigned a set of inputs and a result Some blocks also require that you specify one or more user preset values a compare block for example requires that you preset threshold values and a delta value for hysteresis The inputs to a reflex block include an enable input and one or more operational inputs The inputs may be constants or they may come from other I O modules on the island from virtual modules or outputs from another reflex block For example an XOR block requires three inputs the enable and two digital inputs that contain the Boolean values to be XORed enable operational input 1 T result operational input 2 Po Some blocks such as the timers require reset and or trigger inputs to control the reflex action The following example shows a timer block with three inputs enable timer trigger time unit x terminal count result reset The trigger input starts the timer at O and accumulates time units of 1 10 100 or 1000 ms for a specified number of counts The reset input causes the timer accumulator to be reset An input to a block may be a Boolean value
38. digital_outputs1 for this example The newly named object will appear in the Configured PDOs window 2 Double click on the new object inthe The PDO Contents Mapping window Configured PDOs window appears 3 Double click anywhere in the row for The object at index 6200 subindex 1 will the second object appear in the Mapped Object dictionary window 4 Double click anywhere in the row for The object at index 6200 subindex 2 will the second object appear in the Mapped Object dictionary window 5 Click OK to map the outputs You have now mapped one PDO with 2 bytes of digital output data 890USE17600 September 2003 117 Application Examples Defining Analog Now you will define and map analog input PDOs The sample island assembly See Input PDOs Sample Island Assembly p 104 uses one two channel analog input module You must map one PDO that accounts for both analog input channels Step Action Comment 1 In the Node Configuration window The newly named object will appear in the See The Node Configuration Window Configured PDOs window p 115 click on Define new Transmit PDO At the prompt provide a name for this PDO Call it analog_inputs for this example 2 Double click on the new object in the The PDO Contents Mapping window Configured PDOs window appears 3 Scroll to the object index 6401 The object will appear in the Mappe
39. error e island bus management error e receive transmit queue software overrun error on off off The island bus is operational on blink 3 off At least one standard module does not match the island bus is operational with a configuration mismatch on blink 2 off Serious configuration mismatch the island bus is now in pre operational mode because of one or more mismatched mandatory modules blink 4 off off The island bus is stopped no further communications with the island are possible off on off Fatal error internal failure any any on Test mode is enabled the configuration software or an HMI panel can set outputs See 2 1 The TEST LED is on temporarily during the Flash overwrite process 2 The TEST LED is on steadily while the device connected to the CFG port is in control 34 890USE17600 September 2003 The STB NCO 2212 NIM Module The CFG Interface Purpose Physical Description Port Parameters The CFG port is the connection point to the island bus for either a computer running the Advantys configuration software or an HMI panel The CFG interface is a front accessible RS 232 interface located behind a hinged flap on the bottom front of the NIM A The port uses a male eight pin HE 13 connector The CFG port supports the set of communication parameters listed in the following table If you want to apply any settings other than the factory default values you must use th
40. figure below shows the periodic transmission of SYNC messages and synchronous and asynchronous PDOs relative to the SYNC window 890USE17600 September 2003 93 Fieldbus Communications Support SYNC message synchronous PDO asynchronous PDO SYNC window a Ff O N communication cycle period the interval between the last synchronous PDO in the window to the next SYNC object In general the synchronous transmission of PDOs guarantees that devices may arrange to sample process variables from a process environment and apply their actuation in a coordinated fashion A device that consumes SYNC messages will provide synchronous PDO messages The reception of a SYNC message controls the application s interaction with the process environment according to the contents of a synchronous PDO The synchronous mechanism is intended to transfer commanded values and actual values on a fixed timely base PDO transmission types are described in the following table transmission type Cyclic Acyclic Synchronous Asynchronous RTR Only 0 xX xX 1 240 X X 241 251 reserved 252 X X 253 xX X 254 X 255 X Synchronous transmission types 0 to 240 and 252 use PDOs that are transmitted relative to the SYNC object Preferably devices using the SYNC object to trigger input or output data transmissions will use it in conjunction with the previous RXxPDO or TxPDO Details
41. of 8 bytes object index 6000 subindex 1 8 digital input data TxPDO2 event driven transmission of four 16 bit values object index 6401 subindex 1 4 analog input data TxPDO3 event driven transmission of four 16 bit values object index 6401 subindex 5 8 analog input data TxPDO4 event driven transmission of four 16 bit values object index 6401 subindex 9 12 analog input data 890USE17600 September 2003 87 Fieldbus Communications Support Mapping to Application Objects PDO mapping information part of the object dictionary describes the arrangement of the application objects to a PDO PDO mapping information describes the arrangement of application objects to a PDO The NIM starts with default mapping corresponding to DS 401 Object Dictionary Application Object 1 oni fis ee ee le poten Toa E A I E Application Object 2 oa Application Object 3 WOS Application Object 2 Application Object 3 Application Object 1 Note Sub index 0 indicates the number of mapped objects that follow in the object list The STB NCO 2212 CANopen NIM also supports variable dynamic mapping With variable mapping users can instruct the master to reassign RxPDOs and TxPDOs implemented with the node s object dictionary entries In this way nodes can be configured to use specific CAN identifiers for TxPDOs while listening for specific CAN identifiers with RxPDOs You will have to conf
42. operational input py counter preset result 1 counter direction B action module STB DDO 3410 reset P gt channel none second nested action enable gt less than threshold compare g result 2 ti li t A SS resu 7 See GSN action module STB DDO 3410 channel 4 Result 2 from the compare block is the result that the nested reflex action will send to an actual output Because the result of a compare block needs to be mapped to a digital action module result 2is mapped to channel 4 on an STB DDO 3410 digital output module Result 1 is used only inside the module it provides the 16 bit operational input to the compare block It is mapped to the same STB DDO 3410 digital output module that is the action module for the compare block Instead of specifying a physical channel on the action module for result 1 the channel is set to none In effect you are sending result 7 to an internal reflex buffer where it is stored temporarily until it is used as the operational input to the second block You are not really sending an analog value to a digital output channel 134 890USE17600 September 2003 Advanced Configuration Features Number of Reflex Blocks on an Island An island can support up to 10 reflex blocks A nested reflex action consumes two blocks An individual output module can support up to two reflex blocks Supporting more than one block requires that
43. shows the object dictionary entries that the NIM is required to support as Object the island s interface to a CANopen network Dictionary Index Subindex Name Type Attr Default Description Entries 1000 O device type unsigned32 ro none device type information 1001 0 error register unsigned32 rw 0 error register 1018 identity object identity object 0 4 number of unsigned8 ro none number of subindex subindex entries entries 4 1 vendor ID unsigned32 ro none vendor ID 2 product code unsigned32 ro none product code 3 revision number unsigned32 ro none revision number 4 serial number unsigned32 ro none serial number 66 890USE17600 September 2003 Fieldbus Communications Support Object Descriptions and Index Addresses Introduction A COB is a unit of transportation or message in a CAN network Data on a CAN network must be sent in COBs A single COB can contain at most 8 bytes of data There are 2048 different COB IDs in a CAN network Descriptions and index addresses in the NIM s object dictionary of the most commonly used Advantys STB COB IDs follow e communications objects e manufacturer specific objects e device specific objects Communication There are various types of communications objects within the CANopen network Objects protocol CANopen specifies two mechanisms for data exchange e process data objects PDOs are transmitted as unconfirmed broadcast messages or sent from a producer devic
44. the following table Module Type Fallback Parameter Values discrete O off default 1 on analog 0 default not 0 in range of acceptable analog values Note In an auto configured system default fallback parameters and values are always used 890USE17600 September 2003 137 Advanced Configuration Features Saving Configuration Data Introduction How to Save a Configuration The Advantys configuration software allows you to save configuration data created or modified with this software to the NIM s Flash memory and or to the removable memory card See Physical Description p 50 Subsequently this data can be read from Flash memory and used to configure your physical island Note If your configuration data is too large you will receive a warning message when you attempt to save it The following procedure describes the general steps to use to save a configuration data file to either Flash memory directly or to a removable memory card For more detailed procedural information use the configuration software s online help feature Step Action 1 Connect the device running the Advantys configuration software to the CFG port See The CFG Interface p 35 on the NIM and launch the software 2 Download the configuration data that you want to save from the configuration software to the NIM Then use one of the following commands from the conf
45. the island Individual STB I O modules in an island segment generally draw a current load of between 50 and 90 mA Consult the Advantys STB Hardware Components Reference Guide 890 USE 172 fora particular module s specifications If the current drawn by the I O modules totals more than 1 2 A additional STB power supplies need to be installed to support the load The NIM delivers the logic power signal to the primary segment only Special STB XBE 1200 beginning of segment BOS modules located in the first slot of each extension segment have their own built in power supplies which will provide logic power to the STB I O modules in the extension segments Each BOS module that you install requires 24 VDC from an external power supply 890USE17600 September 2003 11 Introduction Structural The following figure illustrates the multiple roles of the NIM The figure provides a Overview network view and a physical representation of the island bus 1 fieldbus master 2 external 24 VDC power supply the source for logic power on the island 3 external device connecting to the CFG port a computer running the Advantys configuration software or an HMI panel 4 power distribution module PDM 5 island node 6 island bus terminator plate 7 other nodes on the fieldbus network 8 fieldbus network terminator if required 12 890USE176
46. unsigned16 ro 7 module 112 97 unsigned16 ro 8 module 127 113 unsigned16 ro Each bit represents one specific module node on the island bus After the master receives an emergency message not error free from a module the corresponding bit is set 80 890USE17600 September 2003 Fieldbus Communications Support Node Assembly The node assembly fault manufacturer specific object is a bit field Fault Index Subindex Name Purpose Data Type Attr 4005h node assembly fault 0 number of entries 8 unsigned8 ro 1 module 16 1 unsigned16 ro 2 module 32 17 unsigned16 ro 3 module 48 33 unsigned16 ro 4 module 64 49 unsigned16 ro 5 module 80 65 unsigned16 ro 6 module 96 81 unsigned16 ro 7 module 112 97 unsigned16 ro 8 module 127 113 unsigned16 ro Each bit represents one specific module node on the island bus If the configuration of a module mismatches the corresponding bit is set 890USE17600 September 2003 81 Fieldbus Communications Support NIM Status The NIM status COB describes the status of the STB NCO 2212 CANopen NIM Index Subindex Name Purpose Data Type Attr 4006h 0 NIM status unsigned16 ro Errors marked with an asterisk in the N M status table are fatal NIM errors They are caused by internal errors related to either the NIM or a failure in the island
47. which modules are installed and addresses them sequentially from left to right starting with the first addressable module after the NIM No user action is required to address these modules Addressable The following module types require island bus addresses Modules e Advantys STB I O modules e preferred devices e standard CANopen devices Because they do not exchange data on the island bus the following are not addressed e bus extension modules e PDMs such as the STB PDT 3100 and STB PDT 2100 e empty bases e termination plate 46 890USE17600 September 2003 Configuring the Island Bus An Example For example if you have an island bus with eight I O modules SS o eS M c E o o Eg NIM ON Oa Fr ON STB PDT 3100 24 VDC power distribution module STB DDI 3230 24 VDC two channel digital input module STB DDO 3200 24 VDC two channel digital output module STB DDI 3420 24 VDC four channel digital input module STB DDO 3410 24 VDC four channel digital output module STB DDI 3610 24 VDC six channel digital input module STB DDO 3600 24 VDC six channel digital output module 9 STB AVI 1270 10 VDC two channel analog input module 10 STB AVO 1250 10 VDC two channel analog output module 11 STB XMP 1100 island bus termination plate The NIM would auto address it as follows Note that the PDM and the termination pla
48. will continue as normal 100 890USE17600 September 2003 Application Examples At a Glance Introduction What s in this Chapter This chapter describes how to configure an Advantys STB island on a CANopen network The described master is a Telemecanique Premium PLC with a TSX CPP 100 CANopen master card We have used Sycon configuration software TLX L FBC 10 M by Hilshcer in the application example This chapter contains the following topics Topic Page Assembling the Physical Network 102 Data and Status Objects of Advantys STB I O Modules 106 Configuring a CANopen Master for Use with the STB NCO 2112 NIM 109 Configuring the STB NCO 2212 NIM as a CANopen Network Node 112 Saving the CANopen Configuration 121 890USE17600 September 2003 101 Application Examples Assembling the Physical Network Summary Connection Diagram Before describing the CANopen fieldbus master configuration process take a look at the required hardware connections The connection figure below shows the components involved in the application example An assembly procedure is then described The following diagram shows the connections between a Premium PLC and an STB NCO 2212 NIM over a CANopen network HU Ue L U
49. you manage your processing resources efficiently If you are not careful with your resources you may be able to support only one block on an action module Processing resources are consumed quickly when a reflex block receives its inputs from multiple sources different I O modules on the island and or virtual modules in the NIM The best way to preserve processing resources is to e use the always enabled constant as the enable input whenever possible e use the same module to send multiple inputs to a block whenever possible 890USE17600 September 2003 135 Advanced Configuration Features Island Fallback Scenarios Introduction Fallback Scenarios Heartbeat Message In the event of a communications failure on the island or between the island and the fieldbus output data is put into a safe fallback state In this state output data is replaced with pre configured fallback values ensuring that a module s output data values are known when the system recovers from a communications failure There are several scenarios in which Advantys STB output modules go into their fallback states e loss of fieldbus communications Communications with the PLC are lost e loss of island bus communications There is an internal island bus communications error indicated by a missing heartbeat message from either the NIM or a module e change of operating state The NIM may command the island I O modules to switch from a ru
50. 00 September 2003 Introduction What Is Advantys STB Introduction Island Bus I O The Primary Segment Advantys STB is an assembly of distributed I O power and other modules that function together as an island node on an open fieldbus network Advantys STB delivers a highly modular and versatile slice I O solution for the manufacturing industry with a migration path to the process industry Advantys STB lets you design an island of distributed I O where the I O modules can be installed as close as possible to the mechanical field devices that they control This integrated concept is known as mechatronics An Advantys STB island can support as many as 32 I O modules These modules may be Advantys STB I O modules preferred modules and standard CANopen devices STB I O modules on an island may be interconnected in groups called segments Every island has at least one segment called the primary segment t is always the first segment on the island bus The NIM is the first module in the primary segment The primary segment must contain at least one Advantys STB I O module and can support an I O load of up to 1 2 A The segment also contains one or more power distribution modules PDMs which distribute field power to the I O modules 890USE17600 September 2003 13 Introduction
51. 003 Glossary IEC type 1 input IEC type 2 input IEEE industrial I O input filtering input polarity input response time INTERBUS protocol IP Type 1 digital inputs support sensor signals from mechanical switching devices such as relay contacts push buttons in normal to moderate environmental conditions three wire proximity switches and two wire proximity switches that have e a voltage drop of no more than 8 V e a minimum operating current capability less than or equal to 2 mA e a maximum off state current less than or equal to 0 8 mA Type 2 digital inputs support sensor signals from solid state devices or mechanical contact switching devices such as relay contacts push buttons in normal or harsh environmental conditions and two or three wire proximity switches Institute of Electrical and Electronics Engineers Inc The international standards and conformity assessment body for all fields of electrotechnology including electricity and electronics An Advantys STB I O module designed at a moderate cost for typical continuous high duty cycle applications Modules of this type often feature standard IEC threshold ratings usually providing user configurable parameter options on board protection good resolution and field wiring options They are designed to operate in moderate to high temperature ranges The amount of time that a sensor must hold its signal on or off before the input module detects
52. 1 m length STB XCA 1002 bus extension cable preferred module 1 m length STB XCA 1002 bus extension cable extension segment of Advantys STB I O modules STB XBE 1200 BOS bus extension module for the extension segment STB XMP 1100 termination plate O On OD oO FF WO ND 890USE17600 September 2003 15 Introduction Standard CANopen Devices Length of the You may also install one or more standard CANopen devices on an island These devices are not auto addressable and they must be installed at the end of the island bus If you want to install standard CANopen devices on an island you need to use an STB XBE 2100 CANopen extension module as the last module in the last segment Note If you want to include standard CANopen devices in your island you need to configure the island using the Advantys configuration software Because standard CANopen devices cannot be auto addressed on the island bus they must be addressed using physical addressing mechanisms on the devices Because standard CANopen devices must be installed at the end of the island the last device on the island bus must be terminated with 120 Q TI ui Cc Ra primary segment NIM STB XBE 1000 EOS bus extension module 1 m length STB XCA 1002 bus extension cable extension segment typical CANopen cable
53. 13 12 11 io 9 8 7 6 5 4 EE o L_ 0 always 0 where e Normally a value of 1 in bit O indicates that output 1 is on e Normally a value of 0 in bit 1 indicates that output 2 is off e The remaining bits in the register are not used Some output modules such as the one in the example above utilize a single data register Others may require multiple registers An analog output module for example would use separate registers to represent the values for each channel and might use the 11 or 12 most significant bits to display analog values in IEC format Registers are allocated to output modules in the output data block according to their addresses on the island bus Register 40001 always contains the data for the first output module on the island the output module closest to the NIM 890USE17600 September 2003 143 Advanced Configuration Features Output Data Read Write Capabilities Input Data and I O Status Process Image Note The requirements of each output module in the Advantys STB family are described in the Advantys STB Hardware Components Reference Guide 890 USE 172 A detailed view of how the registers are implemented in the output data block is shown in the process image example The registers in the output data process image are read write capable You can read i e monitor the process image using an HMI panel or the Advantys configurati
54. 2 node assembly fault 81 node configured 79 node error 80 node operational 80 predefined error field 70 producer heartbeat time 72 restore default parameters 71 revision number 72 RxPDO communication parameters 73 RxPDO mapping parameters 74 server SDO parameters 73 store parameters 71 supported 68 TxPDO communication parameters 75 TxPDO mapping parameters 75 vendor ID code 72 communication objects broadcast 63 communications fieldbus 30 peer to peer 86 COMS main states 78 configurable parameters 124 accessing 124 configuration CANopen master 109 data 90 NIM 112 PDO 112 saving 121 configuration data restoring default settings 35 53 57 saving 53 57 configuration software EDS 60 custom configuration 49 50 53 56 128 138 139 cyclic redundancy check 99 D data exchange 10 32 33 46 67 161 162 data image 141 143 155 156 161 data object 106 data size reserved 126 default parameters 71 device model 61 64 device name 70 device profile supported objects 83 device profiles 64 device type 69 device specific objects 83 diagnostics communication diagnostics 78 diagnostics block in the process image 145 island communications 145 digital inputs 64 digital outputs 65 180 890USE17600 September 2003 Index E edit mode 50 53 54 56 electronic data sheet 20 60 emergency message 96 COB ID 71 error code 96 format 96 manufacturer speci
55. 20 24 VDC four channel digital input module STB DDO 3410 24 VDC four channel digital output module STB DDI 3610 24 VDC six channel digital input module STB DDO 3600 24 VDC six channel digital output module STB AVI 1270 10 VDC two channel analog input module 10 STB AVO 1250 10 VDC two channel analog output module 11 STB XMP 1100 island bus termination plate O On oO oO F WO DN 890USE17600 September 2003 153 Advanced Configuration Features The I O modules have the following island bus addresses See Addressable Modules p 46 I O Model Module Type Island Bus Address STB DDI 3230 two channel digital input 1 STB DDO 3200 two channel digital output 2 STB DDI 3420 four channel digital input 3 STB DDO 3410 four channel digital output 4 STB DDI 3610 six channel digital input 5 STB DDO 3600 six channel digital output 6 STB AVI 1270 two channel analog input 7 STB AVO 1250 two channel analog output 8 The PDM and the termination plate do not consume island bus addresses and are not represented in the process image 154 890USE17600 September 2003 Advanced Configuration Features The Output Data Lets look first at the register allocation required to support the output data process Process Image image See Output Data Process Image p 143 This is the data written to the island from the fieldbus master to update the output modules on the island bus The four output modules are a
56. 28 25 mm high A mounting device designed to seat an STB module hang it on a DIN rail and connect it to the island bus It is 28 1 mm wide and 128 25 mm high An I O module design that combines a small number of channels usually between two and six in a small package The idea is to allow a system developer to purchase just the right amount of I O and to be able to distribute it around the machine in an efficient mechatronics way state management_message periodic services The applications and network management services used for process control data exchange error reporting and device status notification on a Fipio network simple network management protocol The UDP IP standard protocol used to manage nodes on an IP network A circuit generally used to suppress inductive loads it consists of a resistor in series with a capacitor in the case of an RC snubber and or a metal oxide varistor placed across the AC load A load with a current directed into its input must be driven by a current source 890USE17600 September 2003 175 Glossary standard network interface STD_P stepper motor subnet surge suppression An Advantys STB network interface module designed at moderate cost to support the kind of configuration capabilities and throughput capacity suitable for most standard applications on the island bus standard profile On a Fipio network a standard profile is a fixed set of configuration and
57. 45382 are available to support island expansion capabilities Register 45375 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 module 16 error L module 1 error module 15 error L module 2 error module 14 error __ module 3 error module 13 error L module 4 error module 12 error L module 5 error module 11 error L module 6 error module 10 error module 7 error module 9 error module 8 error Register 45376 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 module 32 error L module 17 error module 31 error module 18 error module 30 error module 19 error module 29 error L module 20 error module 28 error L module 21 error module 27 error L module 22 error module 26 error L module 23 error module 25 error module 24 error 150 890USE17600 September 2003 Advanced Configuration Features Fault Detection The next eight contiguous registers registers 45383 through 45390 indicate the presence or absence of operational faults detected on the island bus modules Each bit represents a module e A value of 1 in a bit indicates that the associated module is operating and that no faults were detected e A value of 0 in a bit indicates that the associated module is not operating either because it has a fault or because it has not been configured The first two registers shown below provide the 32 bits that represent the module locations in a typical island configuration The remaini
58. 52 53 138 restore default parameters 71 revision number 72 rotary switches 27 baud setting 27 NIM node address 29 physical description 27 RST button and auto configuration 57 and Flash memory 55 57 caution 55 56 disabled 35 139 functionality 49 55 56 LED indications 33 physical description 55 RxPDO communication parameters 73 RxPDO mapping parameters 74 890USE17600 September 2003 183 Index S SDO 67 asynchronous 67 block data transfer 84 client SDO 84 data transfers 84 download 84 expedited 84 segmented 84 server parameters 73 server SDO 84 services 84 transfer 84 transmission and reception 85 upload 84 server SDO parameters 73 source power supply 37 considerations 42 logic power 11 41 recommendations 43 SELV rated 37 39 41 42 special function objects 67 specifications CFG port 35 STB NCO 2212 44 STB XCA 4002 programming cable 36 standard I O modules 128 state machine 91 state switching and transition 92 status NIM status 82 status object 106 STB NCO 2212 physical features 22 specifications 44 STB XCA 4002 programming cable 36 STB XTS 1120 screw type power connector 38 STB XTS 2120 spring clamp field wiring connector 38 STB NCO 2212 LEDs 31 STB XMP 4440 removable memory card and reset 35 installing 51 physical description 50 removing 52 storing configuration data 53 store parameters 71 storing configuration data and reset 5
59. 7 in Flash memory 49 128 138 to a removable memory card 50 53 128 138 SYNC messages 93 SYNC window 93 T termination plate 12 47 153 test mode 33 transmission modes 93 troubleshooting emergency messages 150 global bits errors 147 island bus 145 148 149 151 LEDs 32 using the Advantys STB LEDs 33 with the Advantys configuration software 145 with the HMI panel 145 TSX SUP 1011 Premium 24 VDC power supply 43 TSX SUP 1021 Premium 24 VDC power supply 43 TSX SUP 1051 Premium 24 VDC power supply 43 TSX SUP 1101 Premium 24 VDC power supply 43 TxPDO communication parameters 75 mapping parameters PDO1 75 V vendor ID code 72 184 890USE17600 September 2003
60. 8 ro none 1 digital input block 8 digital input channels from left to right starting at the NIM 2 input block unsigned8 ro none 2 digital input block next 8 digital input channels from left to right 0x20 input block unsigned8 ro none 32 digital input block 64 890USE17600 September 2003 Fieldbus Communications Support Digital Outputs Analog Inputs Analog Outputs The 8 bit digital output of a digital I O module is asynchronously received Index Subindex Name Type Attr Default Description 6200 0 8 bit digital unsigned ro none number of digital output output blocks 1 output block unsigned8 rw none 1 digital input block 8 digital output channels from left to right starting at the NIM 2 output block unsigned8 rw none 2 digital input block next 8 digital output channels from left to right 0x20 output block unsigned8 rw none 32 digital output block The 16 bit analog input default value is O no channels selected Index Subindex Name Type Attr Default Description 6401 0 16 bit unsigned8 ro none number of analog input analog input channels 1 channel unsigned16 ro none 1 analog 16 bit input input channels from left to right starting at the NIM 0x20 channel unsigned16 ro none 32 analog 16 bit input The 16 bit analog output default value is O no channels selected
61. A password must meet the following criteria e t must be between 0 and 6 characters in length e Only alphanumeric ASCII characters are permitted e The password is case sensitive If password protection is enabled your password is saved to Flash memory or to a removable memory card when you save the configuration data Note A protected configuration is inaccessible to anyone who does not know the password Your system administrator is responsible for keeping track of the password and the list of authorized users If the assigned password is lost or forgotten you will be unable to change the island s configuration If the password is lost and you need to reconfigure the island you will need to perform a destructive reflash of the NIM This procedure is described on the Advantys STB product Web site at www schneiderautomation com 890USE17600 September 2003 139 Advanced Configuration Features A Modbus View of the Island s Data Image Summary A block of Modbus registers is reserved in the NIM to hold and maintain the island s data image Overall the data image holds 9999 registers The registers are divided into nine contiguous groups or blocks each dedicated to a specific purpose Modbus Registers are16 bit constructs The most significant bit MSB is bit 15 which is Registers and displayed as the leftmost bit in the register The least significant bit LSB is bit
62. AN Bus Line The figure shows the physical layer components on a two wire CAN bus 1 CAN high wire CAN low wire difference between the CAN high CAN low voltage signals 120 Q termination a FF WO N node Bus wires can be routed in parallel or twisted or shielded depending on EMC requirements A single line structure minimizes reflection EMI The CAN physical layer is not highly susceptible to EMI because the difference in the two wires is unchanged when both wires are affected equally by interference 890USE17600 September 2003 17 Introduction Node Limitations Maximum Network Lengths Producer Consumer Model A CANopen network is limited to 128 nodes node IDs 0 to 127 The following table shows the range of bauds that the STB NCO 2212 CANopen NIM supports for CAN devices and the resulting maximum length of the CANopen network Baud CANopen Network Length 1 mbits s 25m 800 kbits s 50m 500 kbits s 100 m 250 kbits s 250 m 125 kbits s 500 m 50 kbits s 1000 m 20 kbits s 2500 m 10 kbits s 5000 m Like any broadcast communications network CANopen operates within a producer consumer model All nodes isten on the network for messages that apply to their functionality according to information in their own object dictionaries Messages sent by producer devices will be accepted only by particular consumer devices CANopen also employs the client server
63. Advantys STB CANopen Network Interface Applications Guide 890USE17600 Version 1 0 31003684 00 A brandet hnei i Sc te Telemecanique 890USE17600 September 2003 Table of Contents Chapter 1 Chapter 2 Chapter 3 Safety Information 0 cece eee eee eee 5 About the Books i iic e445 a A ES eG Pe eee ee Ss 7 Introduction ieda a eA ee SERA eee es 9 Ata Glance o eiea i sida ak doh Ee Sudha a a ob ist 9 What Is a Network Interface Module 0 20 00 e eee eee 10 What Is Advantys STB 0 0 00 13 About the CANopen Fieldbus Protocol 0200ce eee eeeeaee 17 The STB NCO 2212 NIM Module 20000eeeeeee 21 Ata Glace alc med eee O92 beeen 8 SO Saat da Mao duag athe aed alae 2 21 External Features of the STB NCO 2212 NIM 0c eee eee eee 22 CANopen Fieldbus Interface 1 0 0 0 cette 25 Rotary Switches Setting the Baud and Network Node Address 27 LED Indicators einai Feiss ae a aie a dae ae oP kta a ean ates Aa 31 The CRG Interface cennsa aegis ee Be ae Pe He eed ee 35 Power Supply Interface 2 0 0 cee tet ee 37 Logic POWEl 23 ocet cater ee idad ceed bite ae Phed tae 39 Selecting a Source Power Supply for the Island s Logic Power Bus 41 Module Specifications u aanas aaan 44 Configuring the Island Bus 000e eee e eee eee 45 Aba GIANCE A fh oe cc ce eit etd US cad oN Et A an eile lated tt eek s 45 AutO ACOr
64. BE 1200 BOS module is installed in the first position in each extension segment Its job is to carry island bus communications to and generate logic power for the modules in the extension segment A master on a Fipio network Cc CAN controller area network The CAN protocol ISO 11898 for serial bus networks is designed for the interconnection of smart devices from multiple manufacturers in smart systems for real time industrial applications CAN multi master systems ensure high data integrity through the implementation of broadcast messaging and advanced error mechanisms Originally developed for use in automobiles CAN is now used in a variety of industrial automation control environments CANopen An open industry standard protocol used on the internal communication bus The protocol protocol allows the connection of any standard CANopen device to the island bus Cl command interface 164 890USE17600 September 2003 Glossary CiA COB COMS configuration CAN in Automation CiA is a non profit group of manufacturers and users dedicated to developing and supporting CAN based higher layer protocols communication object A communication object is a unit of transportation a message in a CAN based network Communication objects indicate a particular functionality in a device They are specified in the CANopen communication profile island bus scanner The arrangement and interconnection of hardware components within
65. DC 6 channel digital input module 6 bits of data 6 bits of status STB DDO 3600 24 VDC 6 channel digital output module 6 bits of data 6 bits of echo output data 6 bits of status STB AVI 1270 10 VDC 2 channel analog input module 16 bits of data channel 1 16 bits of data channel 2 8 bits of status channel 1 8 bits of status channel 2 STB AVO 1250 10 VDC 2 channel analog output module 8 bits of status channel 1 8 bits of status channel 2 16 bits of data channel 1 16 bits of data channel 2 STB XMP 1100 termination plate 104 890USE17600 September 2003 Application Examples Before You Begin The I O modules in the above island assembly have the following island bus addresses O Model Module Type Island Bus Address STB DDI 3230 two channel digital input 1 STB DDO 3200 two channel digital output 2 STB DDI 3420 four channel digital input 3 STB DDO 3410 four channel digital output 4 STB DDI 3610 six channel digital input 5 STB DDO 3600 six channel digital output 6 STB AVI 1270 two channel analog input 7 8 STB AVO 1250 two channel analog output The NIM the PDM and the termination plate do not consume island bus addresses and they do not exchange data or status objects with the fieldbus master Before you start configuring the NIM e The Advantys STB modules should be assembled and installed e The baud See Setting the Baud p 28 and n
66. MI value is selected the range of available data sizes in words appears in the window see the above figure The maximum size includes both the data sent to the island modules and the PLC to HMI data Therefore space that you reserve for PLC to HMI data plus the output data for the island bus modules must not exceed the maximum value For example if your output modules consume three words of output data you can reserve only the remaining 117 words out of 120 maximum of the output data table for the PLC to HMI data 890USE17600 September 2003 125 Advanced Configuration Features Reserving Data Sizes CANopen Device Node IDs To transfer data to the PLC from a Modbus HMI you must reserve sizes for that data To reserve these data sizes Step Action Result 1 In the module editor window select the Parameters tab 2 In the Parameter name column expand The configurable NIM parameters the Additional Info Store list by clicking on become visible the plus sign 3 Double click in the Value column next to The value is highlighted the Reserved Size Words of HMI to PLC table 4 Enter a value that represents the data The value you enter plus the data size of size that will be reserved for data sent your island can not exceed the maximum from the HMI panel to the PLC value If you accept the default 0 no space will be reserved in the HMI table in the process image 5 Rep
67. N cabling and signaling specification used to connect devices within a defined area e g a building Ethernet uses a bus or a star topology to connect different nodes on a network 0 Ethernet Il A frame format in which the header specifies the packet type Ethernet II is the default frame format for STB NIP 2212 communications F fallback state fallback value A safe state to which an Advantys STB I O module can return in the event that its communication connection fails The value that a device assumes during fallback Typically the fallback value is either configurable or the last stored value for the device FED_P Fipio extended device profile On a Fipio network the standard device profile type for agents whose data length is more than eight words and equal to or less than thirty two words 166 890USE17600 September 2003 Glossary Fipio Flash memory FRD_P FSD_P full scale function block function code Fieldbus Interface Protocol FIP An open fieldbus standard and protocol that conforms to the FIP World FIP standard Fipio is designed to provide low level configuration parameterization data exchange and diagnostic services Flash memory is nonvolatile memory that can be overwritten It is stored on a special EEPROM that can be erased and reprogrammed Fipio reduced device profile On a Fipio network the standard device profile type for agents whose data length is two words or less Fipio standa
68. Nopen device model See The Device Model and Communication Objects p 61 because it is a map to the internal structure of CANopen devices according to CANopen profile DS 401 A given device s object dictionary is a lookup table that describes the data types COBs and application objects the device uses By accessing a particular device s object dictionary structure through the CANopen fieldbus you can predict its network behavior and therefore build a distributed application that implements it CANopen addresses the contents of the object dictionary using a16 bit index with an 8 bit subindex There are three object dictionary regions Index hex Object Function 1000 1 FFF communication profile area communication capabilities 2000 5FFF manufacturer specific area diagnostic information some I O data 6000 9FFF device specific profile area I O data Manufacturer specific objects and device specific objects are mappable to PDOs which are then sent along the CANopen fieldbus Profiles for the standard devices that the CANopen NIM supports are described in the following tables Digital Inputs When an 8 bit digital input for a digital I O module is changed a default TxPDO is transmitted Index Subindex Name Type Attr Default Description 6000 O 8 bitdigital unsigned8 ro none number of digital input blocks input 1 input block unsigned
69. O e client SDO A client SDO can read from and write to the object dictionary of a server device Each SDO has two message identifiers that indicate the direction of travel upload download in SDO transfers e SDOupload Messages transmitted from the client to the server are SDO upload messages e SDO download Messages transmitted from the server to the client are SDO download messages The SDO transfer procedure employs one of three domain protocols depending on the particular nature and size of the data transfer e The expedited download upload domain protocol is implemented for devices that support objects that are not larger than 4 bytes e The segmented download upload domain protocol is implemented for devices that support objects larger than 4 bytes The complete data is transferred in a series of confirmed 4 byte segments e The optional block data transfer can be implemented when large data blocks are to be transferred in either direction uploaded or downloaded 84 890USE17600 September 2003 Fieldbus Communications Support The implementation of SDO transmission and reception types on a CANopen network are shown in the following figure 1 CANopen master The master sequentially transmits SDO requests to nodes using CAN ID 600h node ID Expected replies use CAN ID 580h node ID 2 Node 1 Node 1 receives SDO 601h 600h node ID and replies with SDO 581h 580 node ID Node 2
70. PDO of this type is associated with an event with no immediate notification This PDO is only transmitted upon the reception of a remote transmission request e 252 This data is updated immediately after the reception of the SYNC message but it is not sent e 253 PDO data is updated upon the reception of a remote transmission request e 254 The PDO is associated with a manufacturer specific application event These values are automatically assigned when selecting the appropriate transmission and trigger modes To view these parameters select a PDO from the list of configured PDOs and click on the PDO Characteristics tab to view the object s transmission and triggering modes 120 890USE17600 September 2003 Application Examples Saving the CANopen Configuration Summary Saving your configuration ensures that your changes will be stored in the NIM s Flash memory Otherwise the object s default settings will be implemented at the next power cycle Setting Object If you changed any of the default values in your node configuration it will be 1010 necessary to set object 1010 to sub index 1 save all parameters Step Action Comment 1 From the Node Configuration screen The Object Configuration window opens click on the Object Configuration button 2 From the Object Configuration window Object 1010 will appear in the Configured scroll to object 1010 and d
71. Step Action Comment Parameters 1 Double click the NIM module in the The module editor window appears configuration workspace Select the Parameters tab Configurable parameters are on this tab In the Parameter name column The configurable NIM parameters become expand the Additional Info Store list by visible clicking on the plus sign 124 890USE17600 September 2003 Advanced Configuration Features Reserved Sizes HMI to PLC Reserved Sizes PLC to HMl The network interprets data from the HMI as input and reads it from the input data table in the process image This table is shared with data from all input modules on the island bus When the reserved size HMI to PLC value is selected the range of available data sizes in words appears in the window see the above figure The maximum size includes both the input data produced by the island modules and the HMI to PLC data Therefore space that you reserve for the HMI to PLC data plus the input data from the island bus modules must not exceed the maximum value shown For example if your input modules produce eight words of input data you can reserve only the remaining 112 words out of 120 maximum of the input data table for the HMI to PLC data The network transmits data to the HMI as output by writing it to the output data table in the process image This table is shared with data for all output modules on the island bus When the reserved size PLC to H
72. TB configuration software 78 890USE17600 September 2003 Fieldbus Communications Support The following high byte values are possible for the communication diagnostic manufacturer specific object Errors marked with an asterisk in the communication diagnostic tables are fatal NIM errors They are caused by internal errors related to either the NIM or a failure in the island configuration software or hardware Communication Diagnostic Meaning of Value D8 1 low priority receive queue software overrun error D9 1 NIM overrun error D10 1 island bus off error D11 1 error counter in NIM has reached the warning level and the error status bit has been set D12 1 NIM error status bit has been reset D13 1 low priority transfer queue software overrun error D14 1 high priority receive queue software overrun error D15 1 high priority transfer queue software overrun error fatal NIM errors The detection of these errors will result in the stopping of the island bus After a 5 second pause the NIM will initiate a restart Node Configured The node configured manufacturer specific object is a bit field Index Subindex Name Purpose Data Type Attr 4002h node configured 0 number of entries 8 unsigned8 ro 1 module 16 1 unsigned16 ro 2 module 32 17 unsigned16 ro 3 modul
73. a 2 byte obj 6401 channel 1 see 3 status 1 byte obj 6000 see 4 2 analog inputs data 2 byte obj 6401 channel 2 see 3 status 1 byte obj 6000 see 4 analog outputs status 1 byte obj 6000 see 4 data 2 byte object 6411 channel 1 see 3 analog outputs status 1 byte obj 6000 see 4 data 2 byte object 6411 channel 2 see 3 1 Data sizes are based on modules with 8 or fewer channels 2 Not available for every module Check The Advantys Hardware Components Reference Guide 890 USE 172 00 for relevant modules 3 Data sizes are based on 16 bit resolution 4 Because this object is mapped by default you must account for the size of the status data when you initially configure the digital input PDOs in object 6000 See Device Specific Objects p 83 106 890USE17600 September 2003 Application Examples Bit packing Rules PLC Data and Status Object View Bit packing allows bits associated with the objects for each I O module to be combined in the same byte whenever possible The following rules apply e Bit packing follows the addressing order of the island bus I O modules from left to right starting with the primary segment e The data object or echo output data object for a specific module precedes the status object for that module e Status objects and data objects for the same or different I O module may be packed in the same byte if the si
74. a block is usually mapped to an individual channel on an output module Depending on the type of result that the block produces this action module may be an analog channel or a digital channel When the result is mapped to a digital or analog output channel that channel becomes dedicated to the reflex action and can no longer use data from the fieldbus master to update its field device The exception is when a reflex block is the first of two actions in a nested reflex action 890USE17600 September 2003 133 Advanced Configuration Features Nesting The Advantys configuration software allows you to create nested reflex actions One level of nesting is supported i e two reflex blocks where the result of the first block is an operational input to the second block When you nest a pair of blocks you need to map the results of both to the same action module Choose the action module type that is appropriate for the result of the second block This may mean that in some cases you will need to choose an action module for the first result that does not seem to be appropriate according to the table above For example say you want to combine a counter block and a compare block in a nested reflex action You want the result of the counter to be the operational input to the compare block The compare block will then produce a Boolean as its result first nested action enable Br falling edge counter
75. a system and the hardware and software selections that determine the operating characteristics of the system CRC cyclic redundancy check Messages that implement this error checking mechanism have a CRC field that is calculated by the transmitter according to the message s content Receiving nodes recalculate the field Disagreement in the two codes indicates a difference between the transmitted message and the one received D DeviceNet DeviceNet is a low level connection based network that is based on CAN a serial protocol bus system without a defined application layer DeviceNet therefore defines a layer for the industrial application of CAN DHCP dynamic host configuration protocol A TCP IP protocol that allows a server to differential input digital O DIN assign an IP address based on a role name host name to a network node A type of input design where two wires and are run from each signal source to the data acquisition interface The voltage between the input and the interface ground are measured by two high impedance amplifiers and the outputs from the two amplifiers are subtracted by a third amplifier to yield the difference between the and inputs Voltage common to both wires is thereby removed Differential design solves the problem of ground differences found in single ended connections and it also reduces the cross channel noise problem An input or output that has an individual circuit connectio
76. a word value or a constant depending on the type of reflex action it is performing The enable input is either a Boolean or a constant always enabled value The operational input to an block such as a digital latch must always be a Boolean whereas the operational input to an analog latch must always be a 16 bit word You will need to configure a source for the block s input values An input value may come from an I O module on the island or from the fieldbus master via a virtual module in the NIM Note All inputs to a reflex block are sent on a change of state basis After a change of state event has occurred the system imposes a 10 ms delay before it accepts another change of state input update This feature is provided to minimize jitter in the system 132 890USE17600 September 2003 Advanced Configuration Features Result of a Reflex Block Depending on the type of reflex block that you use it will output either a Boolean or a word as its result Generally the result is mapped to an action module as shown in the following table Reflex Action Result Action Module Type Boolean logic Boolean value digital output integer compare Boolean value digital output counter 16 bit word first block in a nested reflex action timer Boolean value digital output digital latch Boolean value digital output analog latch 16 bit word analog output The result from
77. ach connector has a 3 8 mm 0 15 in pitch between the receptacles 38 890USE17600 September 2003 The STB NCO 2212 NIM Module Logic Power Introduction Logic power is a 5 VDC power signal on the island bus that the I O modules require for internal processing The NIM has a built in power supply that provides logic power The NIM sends the 5 V logic power signal across the island bus to support the modules in the primary segment External Source Input from an external 24 VDC power supply See Characteristics of the External Power Power Supply p 41 is needed as the source power for the NIM s built in power supply The NIM s built in power supply converts the incoming 24 V to 5 V of logic power The external supply must be rated safety extra low voltage SELV rated CAUTION IMPROPER GALVANIC ISOLATION The power components are not galvanically isolated They are intended for use only in systems designed to provide SELV isolation between the supply inputs or outputs and the load devices or system power bus You must use SELV rated supplies to provide 24 VDC source power to the island Failure to follow this precaution can result in injury or equipment damage 890USE17600 September 2003 39 The STB NCO 2212 NIM Module Logic Power Flow Island Bus Loads The figure below shows how the NIM s integrated power supply generates logic power and sends it across the primary segment
78. ach node has two dedicated error count registers Receive errors are accumulated in the receive error counter and are given a value of 1 Transmit errors are accumulated in the transmit error counter and are given a value of 8 Error free messages decrement the appropriate receive or transmit error registers The values in the registers dictate the error confinement states of network nodes CAN networks define three states in the fault confinement state machine e error active state An error active node one operating normally will transmit error active flags when it detects errors on the bus so that all nodes can abort the offending message In this state the error active node assumes it is not the source of the errors e error passive state lf either error count register exceeds 127 the node enters the error passive state An error passive node transmits error passive flags when it detects errors These nodes can transmit and receive information but they may not be able to flag the errors they detect on the fieldbus Successful operations will decrement the appropriate error registers eventually returning the node to the error active state e bus off state lf a node s transmit error counter exceeds 255 the node assumes itis faulty and enters the bus off state In this way a repeatedly or permanently faulty device will not be active on the bus until the user addresses the issue Communications between other nodes on the fieldbus
79. alue represented in register 40004 is in the range 10 to 10 V with 11 bit resolution plus a sign bit in bit 15 2 The value represented in register 40005 is in the range 10 to 10 V with 11 bit resolution plus a sign bit in bit 15 The digital modules use the LSBs to hold and display their output data The analog module uses the MSBs to hold and display its output data 890USE17600 September 2003 155 Advanced Configuration Features The Input Data and I O Status Process Image Now let s look at the register allocation required to support the input data and I O status process image See nput Data and I O Status Process Image p 144 This is the information that the NIM collects from the island modules so that it can be read by the fieldbus master or by some other monitoring device All eight I O modules are represented in this process image block The modules are assigned registers in the order of their island bus addresses starting at register 45392 Each digital I O module uses two contiguous registers e Digital input modules use one register to report data and the next to report status e Digital output modules use one register to echo output data and the next to report status Note The value in an echo output data register is basically a copy of the value written to the corresponding register in the output data process image Generally this is the value written to the NIM by the fieldbus master and its ec
80. anages the exchange of input and output data between the island and the fieldbus master Input data stored in native island bus format is converted to a fieldbus specific format that can be read by the fieldbus master Output data written to the NIM by the master is sent across the island bus to update the output modules and is automatically reformatted configuration services Custom services can be performed by the Advantys configuration software These services include changing the operating parameters of the I O modules fine tuning island bus performance and configuring reflex actions The Advantys configuration software runs on a computer attached to the NIM s CFG port human machine interface An HMI panel can be configured as an input and or output HMI operations device on the island bus As an input device it can write data that can be received by the fieldbus master as an output device it can receive updated data from the fieldbus master The HMI can also monitor island status data and diagnostic information The HMI panel must be attached to the NIM s CFG port 10 890USE17600 September 2003 Introduction Integrated Power Supply The NIM s built in 24 to 5 VDC power supply provides logic power to the I O modules on the primary segment of the island bus The power supply requires a 24 VDC external power source It converts the 24 VDC to 5 V of logic power providing 1 2 A of current to
81. ard Time The user can adjust the guard time with the COB at index 100Ch Index Subindex Name Purpose Data Type Attr 100Ch 0 guard time default 0 unused unsigned16 rw 70 890USE17600 September 2003 Fieldbus Communications Support Life Time Factor Store Parameters Restore Default Parameters COB ID Emergency Message The user can adjust the ife time with the COB at index 100Dh Index Subindex Name Purpose Data Type Attr 100Dh 0 life time factor default 0 unused unsigned8 rw By writing the ASCII string save hex code 0x65766173 to the store parameters COB all NIM parameters are stored in Flash memory not the removable memory card See Installing the STB XMP 4440 Optional Removable Memory Card p 50 Index Subindex Name Purpose Data Type Attr 1010h store parameters 0 largest subindex 2 unsigned8 ro 1 store all parameters unsigned32_ rw Subindex 1 refers to index 1000h through 1FFFh and 6423h This is allowed only in the pre operational state Otherwise SDO access is aborted As a consequence the micro controller is busy for a few seconds with Flash programming an exclusive action During this time there is no communication on either the fieldbus or island bus By writing the ASCII string load hex code 0x64616F6C to the restore default parameters COB the NIM s default parameters are restored Default para
82. cal network based on a shielded two wire line or an optical network based on a fiber optic cable DP transmission allows for high speed cyclic exchange of data between the controller CPU and the distributed I O devices R reflex action The execution of a simple logical command function configured locally at an island bus I O module Reflex actions are executed by island bus modules on data from various island locations like input and output modules or the NIM Examples of reflex actions include compare and copy operations 890USE17600 September 2003 173 Glossary repeater reverse polarity protection rms role name RTD Rx An interconnection device that extends the permissible length of a bus Use of a diode in a circuit to protect against damage and unintended operation in the event that the polarity of the applied power is accidentally reversed root mean square The effective value of an alternating current corresponding to the DC value that produces the same heating effect The rms value is computed as the square root of the average of the squares of the instantaneous amplitude for one complete cycle For a sine wave the rms value is 0 707 times the peak value A customer driven unique logical personal identifier for an Ethernet Modbus TCP IP NIM A role name is created either as a combination of a numeric rotary switch setting and the STB NIP 2212 part number or by modifying text on the Configure Role
83. cation object COB is a unit of transpor tation a message in a CAN based network Data must be sent across a CAN network inside a COB A COB can contain at most 8 bytes of data CANopen COBs indicate a particular functionality in a device and are specified in the CANopen communication profile e application objects Application objects represent device specific functionality such as the state of input or output data Application objects are specified in the device profile DS 301 890USE17600 September 2003 61 Fieldbus Communications Support Advantys STB NIM Supported Objects Device objects are accessed through the object dictionary in which they reside The Advantys STB CANopen NIM supports these objects 32 TxPDOs 32 RxPDOs 512 device specific objects 512 manufacturer specific objects node guarding NMT objects 256 transmit objects The bytes an SDO can obtain limited to 20 Limitations if the default mapping is used 1 RxPDO for digital out data 8 bytes 3 RxPDOs for analog out data 24 bytes 1 TxPDO for digital in data 8 bytes 3 TxPDOs for analog in data 24 bytes Every CANopen device has a CANopen object dictionary in which parameters for all associated CANopen objects are entered 62 890USE17600 September 2003 Fieldbus Communications Support Communication Objects The tables below show the communications objects that CANopen supports The COB IDs communications object id
84. cribes several island configuration scenarios that use the removable memory card The scenarios assume that a removable memory card is already installed in the NIM e initial island bus configuration e replace the current configuration data in Flash memory in order to e apply custom configuration data to your island e temporarily implement an alternative configuration for example to replace an island configuration used daily with one used to fulfill a special order e copying configuration data from one NIM to another including from a failed NIM to its replacement the NIMs must run the same fieldbus protocol e configuring multiple islands with the same configuration data Note Whereas writing configuration data from the removable memory card to the NIM does not require use of the optional Advantys configuration software you must use this software to save write configuration data to the removable memory card in the first place Your island bus must be in edit mode to be configured In edit mode the island bus can be written to as well as monitored Edit mode is the default operational mode for the Advantys STB island e Anew island is in edit mode e Edit mode is the default mode for a configuration downloaded from the Advantys configuration software to the configuration memory area in the NIM 890USE17600 September 2003 53 Configuring the Island Bus Initial Configuration and Recon figuration Scenario
85. d e Restore factory default parameters and values to an island including to the I O modules and the CFG port See Port Parameters p 35 e Add anew I O module to a previously auto configured See Auto Configuration p 49 island If a new I O module is added to the island pressing the RST button will force the auto configuration process The updated island configuration data is automatically written to Flash memory 56 890USE17600 September 2003 Configuring the Island Bus Overwriting Flash Memory with Factory Default Values The Role of the NIM in this Process The following procedure describes how to use the RST function to write default configuration data to Flash memory Follow this procedure if you want to restore default settings to an island This is also the procedure to use to update the configuration data in Flash memory after you add an I O module to a previously auto configured island bus Because this procedure will overwrite the configuration data you may want to save your existing island configuration data to a removable memory card before pushing the RST button Step Action 1 If you have a removable memory card installed remove it See Removing the Card p 52 Ensure that your island is in edit mode Hold the RST button See The RST Button p 55 down for at least two seconds The NIM reconfigures the island bus with default parameters as follows
86. d Object subindex 1 and double click dictionary window You now need to map an anywhere in its row object for the other analog input channel to complete the PDO 4 Scroll to the object index 6401 The object will appear in the Mapped Object subindex 2 and double click dictionary window anywhere in its row 5 Click OK to map the inputs You have now mapped one PDO that accounts for 2 channels of possible analog input data 118 890USE17600 September 2003 Application Examples Defining Analog Output PDOs Now you will define and map analog output PDOs The sample island assembly See Sample Island Assembly p 104 uses one two channel analog output module You must map one PDO that accounts for both analog output channels Step Action Comment 1 In the Node Configuration window The newly named object will appear in the See The Node Configuration Configured PDOs window Window p 115 click on Define new Receive PDO At the prompt provide a name for this PDO Call it analog_outputs for this example 2 Double click on the new object in The PDO Contents Mapping window appears the Configured PDOs window 3 Scroll to the object index 6411 The object will appear in the Mapped Object subindex 1 and double click dictionary window You need to continue to map anywhere in its row an object for the other analog output channel 4 Double click on the new object in The PDO Contents Mappin
87. dcast periodically on the network by a synchronization device Using the SYNC message devices on the CANopen network can be synchronized to implement coordinated data acquisition mechanisms Whether an object uses the SYNC event dictates its transmission mode A PDO s transmission type is dictated by the nature of the event that triggered its transmission There are two configurable transmission modes for PDOs e synchronous objects Transmission time is relative to the SYNC message e asynchronous objects Transmission time is relative to the message s defined priority The CANopen communication profile recognizes three modes of message triggering e object specific event A transmission of this type is triggered according to an event specified in the device profile e remote request reception Asynchronous PDO transmission can be triggered upon receipt of a remote request from another device e SYNC window expiration Reception of the SYNC object can trigger synchronous PDO transmission before the expiration of the SYNC window Synchronous PDOs are transmitted within the SYNC window that follows the SYNC object The interval between SYNC objects is specified by the communication cycle period parameter The SYNC object and its associated device functionality are represented by three different entries in the object dictionary e COB ID SYNC message index 1005h e communication cycle period e SYNC window length The
88. e 48 33 unsigned16 ro 4 module 64 49 unsigned16 ro 5 module 80 65 unsigned16 ro 6 module 96 81 unsigned16 ro 7 module 112 97 unsigned16 ro 8 module 127 113 unsigned16 ro Each bit represents one specific module node on the island bus When a module is configured the corresponding bit is set 890USE17600 September 2003 79 Fieldbus Communications Support Node The node operational manufacturer specific object is a bit field Operational Index Subindex Name Purpose Data Type Attr 4003h node operational 0 number of entries 8 unsigned8 ro module 16 1 unsigned16 ro 2 module 32 17 unsigned16 ro 3 module 48 33 unsigned16 ro 4 module 64 49 unsigned16 ro 5 module 80 65 unsigned16 ro 6 module 96 81 unsigned16 ro 7 module 112 97 unsigned16_ ro 8 module 127 113 unsigned16 ro Each bit represents one specific module node on the island bus If a module is set to operational the corresponding bit is set Node Error The node error manufacturer specific object is a bit field Index Subindex Name Purpose Data Type Attr 4004h node error 0 number of entries 8 unsigned8 ro module 16 1 unsigned16 ro 2 module 32 17 unsigned16 ro 3 module 48 33 unsigned16 ro 4 module 64 49 unsigned16 ro 5 module 80 65 unsigned16 ro 6 module 96 81
89. e Advantys configuration software Parameter Valid Values Factory Default Settings bit rate baud 2400 4800 9600 19200 9600 38400 57600 data bits 7 8 8 stop bits 1 2 1 parity none odd even even Modbus communications mode RTU ASCII RTU Note To restore all of the CFG port s communication parameters to their factory default settings push the RST button See The RST Button p 55 on the NIM Be aware however that this action will overwrite all of the island s current configuration values with factory default values You can also password protect a configuration thereby putting the island in protected mode See Protecting Configuration Data p 139 If you do this however the RST button will be disabled and you will not be able to use it to reset the port parameters 890USE17600 September 2003 35 The STB NCO 2212 NIM Module Connections An STB XCA 4002 programming cable must be used to connect the computer running the Advantys configuration software or a Modbus capable HMI panel to the NIM via the CFG port The following table describes the specifications for the programming cable Parameter Description model STB XCA 4002 function connection to device running Advantys configuration software connection to HMI panel communications protocol Modbus either RTU or ASCII mode cable length 2 m 6 23 ft cable connectors
90. e Quick Start User Guide 890USE18000 The Advantys Reflex Actions Reference Guide 890USE18300 Schneider Electric assumes no responsibility for any errors that may appear in this document If you have any suggestions for improvements or amendments or have found errors in this publication please notify us No part of this document may be reproduced in any form or by any means electronic or mechanical including photocopying without express written permission of Schneider Electric All pertinent state regional and local safety regulations must be observed when installing and using this product For reasons of safety and to assure compliance with documented system data only the manufacturer should perform repairs to components We welcome your comments about this document You can reach us by e mail at TECHCOMM modicon com 890USE17600 September 2003 Introduction At a Glance Introduction What s in this Chapter This chapter describes the STB NCO 2212 Advantys STB CANopen network interface module NIM and its roles on both the island bus and a CANopen network The chapter begins with an introduction of the NIM and a discussion of its role as the gateway to the Advantys STB island There is a brief overview of the island itself followed by a description of the major characteristics of the CANopen fieldbus protocol Some information in this chapter is specific to the STB NCO 2212 and some is commo
91. e to a consumer device The TxPDO from the producer device has a specific identifier that corresponds to the RxPDO of the consumer devices These messages have a maximum of 8 bytes per PDO They are used for real time data exchange A special feature of CANopen is that data contained in synchronous PDOs may either be predefined by the device manufacturer or configured with the application e service data objects SDOs are used by the CANopen master to access read write the object dictionaries of network nodes In some networks asynchronous SDOs can be used to alter the identifier allocation with configuration software CANopen specifies two services for network management e special function objects These protocols provide application specific network synchronization and emergency message transmission e network management NMT protocols provide services for network initialization error control and device status control 890USE17600 September 2003 67 Fieldbus Communications Support Supported The following table lists those objects that the Advantys STB CANopen NIM Communication supports ject Objects Index Object Name Type Acct M O 1000 variable device type unsigned32 ro M See Device Type p 69 1001 variable error register unsigned8 ro M See Error Register p 69 1003 See Predefined Error array predefin
92. eSSING iira tisna na Eanan ate ee ke hae pete Pn ed 46 Auito Configuration r eae tx aed a Pe SORE eee ee ee 49 Installing the STB XMP 4440 Optional Removable Memory Card 50 Using the STB XMP 4440 Optional Removable Memory Card to Configure the Island BUS creden rain a Waa wed wae de ede ee ee 53 The RST Butt ei ee ed et eh wkd ee ada eg erica bee ed ahah 55 RST Functionality ii Gen cee ee ee Mee dae eee ee 56 890USE17600 September 2003 Chapter 4 Chapter 5 Chapter 6 Fieldbus Communications Support 0 20008 59 Ata Glance eaa st tence Sts Sate rose Ge Ale ol dec shay cee See ee 59 The Advantys STB Electronic Data Sheet EDS 000000 60 The Device Model and Communication Objects 0000 eee ae 61 The CANopen NIM s Object Dictionary 0 c eee eee 64 Object Descriptions and Index Addresses 000 cece eee eeee 67 PDO Mapping ia see te idee ie ee ed ee Sa es ee 86 Network Management 2 c cece eet teenies 90 SYNC MessageS 1 0 eee ete tees 93 CANopen Emergency Message S 0 0 ec cence eens 96 Error Detection and Confinement for CAN Networks 2 0000 99 Application Examples 20000e eee eee e eee 101 At a Glance asien Pace tata oe phe te wa eae 101 Assembling the Physical Network 2 0000 ee eee eee ees 102 Data and Status Objects of Advantys STB I O Modules 106 Conf
93. eady Bus p 45 or auto configuring See Auto Configuration p 49 the island bus the bus is not started blink 3 off off Initialization is complete the island bus is configured the configuration matches and the bus is not started on Auto configuration data is being written to Flash memory See 1 off blink 6 off The NIM detects no STB I O modules on the island bus blink 3 blink 3 off Configuration mismatch non mandatory or unexpected modules in the configuration do not match the island bus is not started blink 3 blink 2 off Configuration mismatch at least one mandatory module does not match the island bus is not started off blink 2 off Assignment error the NIM has detected a module assignment error the island bus is not started blink 5 Internal triggering protocol error 890USE17600 September 2003 33 The STB NCO 2212 NIM Module RUN ERROR TEST Meaning green red yellow off blinking off Fatal error Because of the severity of the error no steady further communications with the island bus are possible and the NIM stops the island The following are fatal errors e significant internal error e module ID error auto addressing See Auto Addressing p 46 failure mandatory module See Configuring Mandatory Modules p 128 configuration error process image error auto configuration configuration See Auto Configuration p 49
94. eat the above steps to select a Value for the Reserved Size Words of PLC to HMI table row 6 Press OK when you have entered the desired data sizes On the Parameters tab you can set the maximum node ID of the last module on the island bus Standard CANopen devices follow the last segment of STB I O modules CANopen modules are addressed by counting backwards from the value you enter here The ideal node ID sequence is sequential For example if you have an island with five STB I O modules and three CANopen devices a maximum node ID of at least 8 5 3 is required This will result in node IDs of 1 through 5 for STB I O modules and 6 through 8 for standard CANopen devices Using the default ID of 32 the maximum number of modules the island can support will result in node IDs of 1 through 5 for STB I O modules and 30 through 32 for standard CANopen devices Those unnecessarily high addresses are not desirable if any of your standard CANopen devices have a limited address range 126 890USE17600 September 2003 Advanced Configuration Features Assigning the To enter the highest node ID used by a CANopen device on the island bus CANA ID Step Action Comment Devices 1 In the module editor window select the Configurable parameters are on this tab Parameters tab 2 In the box next to Max node ID on the This node ID represents the last CANopen extension enter a node ID CANopen modu
95. ed error unsigned32 ro O Field p 70 field 1004 reserved for compatibility 1005 See COB ID SYNC variable COB ID SYNC unsigned32 rw O Message p 70 message 1008 See Manufacturer variable manufacturer vis string c O Device Name p 70 device name 1009 variable manufacturer vis string c O hardware version 100B reserved for compatibility 100C variable guard time unsigned32 rw O See Guard Time p 70 100D variable life time factor unsigned32 rw O See Life Time Factor p 71 100E reserved for compatibility 100F reserved for compatibility 1010 See Store Parameters variable store parameters unsigned32 rw O p 71 1011 See Restore Default variable restore default unsigned32 rw O Parameters p 71 parameters 1014 See COB ID variable COB ID unsigned32 rw O Emergency Message p 71 emergency 1016 See Consumer array consumer unsigned32 rw O Heartbeat Time p 72 heartbeat time 1017 See Producer variable producer unsigned16 rw oO Heartbeat Time p 72 heartbeat time 1018 record identity object identity ro M See Identity Object p 72 11FF reserved M mandatory O optional Detailed descriptions of the individual COBs in the above table follow 68 890USE17600 September 2003 Fieldbus Communications Support Device Type Error Register The device type COB describes the type of device and its functionality It is composed of a 16 bit field that describes the employed device profile Inde
96. efault node 0x0000 0180 node ID for 1800 default node 0x0000 0280 node ID for 1801 default node 0x0000 0380 node ID for 1802 default node 0x0000 0480 node ID for 1803 default node 0x8000 0000 not used for 1804 through 181F unsigned32 transmission type of TxPDO1 default 255 unsigned8 inhibit time default 0 unsigned16 The TxPDO mapping parameter for PDO1 COB contains mappings for those PDOs that the device is able to transmit The subindex 0 contains the number of valid entries within the mapping record Default PDO mapping according to CANopen specification DS 401 is provided by the NIM for PDO1 through PDO4 The default entries depend on the island configuration and are dynamically entered into subindexes 1 through 8 When the appropriate objects are present in the object dictionary the default values are set accordingly Otherwise the default entries are 0000 Index Subindex Name Purpose Data Type Attr 1A00h TxPDO mapping parameter for PDO1 0 number of entries 0 8 unsigned8 rw 1 mapped object index subindex bit length unsigned32 rw default Ox6000 0108 2 mapped object index subindex bit length unsigned32 rw default Ox6000 0208 8 mapped object index subindex bit length unsigned32 rw default Ox6000 0808 890USE17600 September 2003 75 Fieldbus Communications Support
97. empt to hot swap a The NIM stops the island bus The island enters fallback mandatory module mode I O modules and preferred devices assume their fallback values You are hot swapping a standard When power is restored the NIM attempts to address the I O module that resides to the left island modules but must stop at the empty slot where the of a mandatory module on the standard module used to reside Because the NIM is now island bus and the island loses unable to address the mandatory module it generates a power mandatory mismatch error and the island fails to restart 128 890USE17600 September 2003 Advanced Configuration Features Recovering from a Mandatory Stop Pushing the RST button See The RST Button p 55 while recovering from a mandatory stop will load the island s default configuration data WARNING UNINTENDED EQUIPMENT OPERATION LOSS OF CONFIGURATION RST BUTTON WHILE RECOVERING FROM MANDATORY STOP Pushing the RST button See The RST Button p 55 causes the island bus to reconfigure itself with factory default operating parameters which do not support mandatory I O status e Do not attempt to restart the island by pushing the RST button e f a module is unhealthy replace it with the same module type Failure to follow this precaution can result in death serious injury or equipment damage If the NIM has stopped island bus operations because it can
98. en standard CiA DR 303 1 There should not be an interruption to any wire in the bus cable This allows for a future specification for use of reserved pins 26 890USE17600 September 2003 The STB NCO 2212 NIM Module Rotary Switches Setting the Baud and Network Node Address Summary The rotary switches on the STB NCO 2212 CANopen NIM are used to set the Advantys STB island s node address and baud Physical The two rotary switches are located on the front of the CANopen NIM below the Description fieldbus connection port Each switch has sixteen positions 7 l ADDRESS 1 NOT 2 USED 12 1 LA 11 8 TENS 01 __ ve 2 L RATE 3 4 Se 6 987 ONES i The Baud The NIM detects a new baud selection in the rotary switches only during power up The baud is written to nonvolatile Flash memory It is overwritten only if the NIM detects a change in the baud selection switches during a subsequent power up In all likelihood you will rarely change this setting because your system s baud requirements are not likely to change over the short term On the lower switch BAUD RATE positions 0 through 9 are labeled incrementally on the housing Setting the lower switch to any of the last six unmarked positions allows you to set a particular baud with the upper switch ADDRESS 890USE17600 September 2003 27 The STB NCO 2212 NIM Module
99. entifiers in the third column are used according to the predefined I O connection set DS 301 This table describes the supported broadcast communications objects Broadcast Object Function Code Resulting Communication Binary COB ID Parameters at Index NMT 0000 0 SYNC See Synchronous 0001 128 80h 1005h 1006h 1007h Objects p 93 This table describes the supported peer to peer COBs Peer to Peer Function Resulting COB ID Communication Object Code Binary Parameters at Index Emergency 0001 129 81h 255 FFh 1014h 1015h PDO1 Tx 0011 385 181h 511 1FFh 1800h PDO1 Rx 0100 513 201h 639 27Fh 1400h PDO2 Tx 0101 641 281h 767 2FFh 1801h PDO2 Rx 0110 769 301h 895 37Fh 1401h PDO Tx 0111 897 381h 1023 3FFh 1802h PDO3 Rx 1000 1025 401h 1151 47Fh 1402h PDO4 Tx 1001 1153 481h 1279 4FFh 1803h PDO4 Rx 1010 1281 501h 1407 57Fh 1403h SDO Tx 1011 1409 581h 1535 5FFh 1200h SDO Rx 1100 1537 601h 1663 67Fh 1200h NMT Error Control 1110 1793 701h 1919 77Fh 1016h 1017h 890USE17600 September 2003 63 Fieldbus Communications Support The CANopen NIM s Object Dictionary About the Object Dictionary Index Ranges Standard Device Profiles The object dictionary is the most important part of the CA
100. ermined during system design Identifiers must be unique to avoid the risk of identical identifiers being associated with different data 890USE17600 September 2003 19 Introduction Data Frame Identification Object Dictionary Electronic Data Sheet A CANopen data frame can comprise 46 to 110 bits o 2 99 CA ES G en 2S identifier 11 bits low value high priority 0 highest priority start 1 bit remote transmission request RTR 1 bit identifier extension IDE 1 bit first bit of 6 bit control field rO 1 bit reserved data length code DLC 4 bits data length for code in field 7 data field 0 64 bits 0 8 bytes application data of the message on oOo a A WOW N cyclic redundancy check including CRC delimiter 15 bits high recessive checksum for preceding message bits 9 ACK field 2 bits including ACK delimiter high recessive 10 end of frame EOF and inter frame space IFS 10 bits The object dictionary See The CANopen NIM s Object Dictionary p 64 is the most important part of the device model See The Device Model and Communication Objects p 61 because it is a map to the internal structure of a particular CANopen device according to CANopen profile DS 401 The EDS electronic data sheet See The Advantys STB Electronic Data Sheet EDS p 60 is an ASCII file that contains information about a device s communications functionality and
101. ffected the three digital output modules at addresses 2 4 and 6 and the one analog output module at address 8 The three digital output modules utilize one Modbus register apiece for data The analog output module requires two registers one for each output channel A total of five registers registers 40001 through 40005 are used for this configuration register 40001 STB DDO 3200 data 15 14 13 12 11 10 9 8 7 6 5 HE 2f 0 ON OFF conditions of outputs 1 and 2 always 0 register 40002 STB DDO 3410 data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ON OFF conditions of outputs 1 4 not used always 0 register 40003 STB DDO 3600 data 15 14 13 12 11 10 9 8 7 6 5 4 3 21 0 ON OFF conditions of outputs 1 6 always 0 register 40004 STB AVO 1250 channel 1 data EHAR 10 9 8 7 6 5 a 3 2 o ignored 11 bit analog value see 1 L sign bit see 1 STB AVO 1250 channel 2 data register 40005 15 14 13 12 11 10 9 8 7 6 5 4 3 2 o 11 bit a alog value see 2 L__ sig bit see 2 1 The v
102. fic 98 recovery 96 structure 97 EMI 17 error confinement 100 error active state 100 error confinement 100 bus off state 100 error active state 100 error count 100 error passive state 100 error count register 100 error detection 77 79 82 99 ACK check 99 bit level 99 bit monitoring 99 bit stuffing 99 CRC check 99 frame check 99 message level 99 error flag 99 error passive state 100 error register 69 96 error register byte 97 extension cable 14 40 extension module 11 14 39 40 41 42 46 extension segment 11 14 40 41 42 F factory default settings 35 49 53 57 fallback state 128 136 fallback value 128 137 fieldbus address 29 address setting 27 communications support 59 fieldbus interface 25 pin out 25 fieldbus master and the output data image 144 155 fieldbus to HMI block 162 HMI to fieldbus block 161 LED 32 Flash memory Advantys configuration software 138 and reset 55 57 overwriting 53 57 139 saving configuration data 49 frame check 99 G general information 124 global bits 77 global bits errors 147 guard time 70 H HE 13 connector 36 heartbeat message 136 heartbeat time consumer 72 producer 72 HMI data exchange 124 126 HMI panel data exchange 10 142 161 162 functionality 161 process image blocks 161 hot swapping modules 48 128 129 housing 24 identity object 72 initial configuration 53 54 inputs to a ref
103. for a reflex action In this case the fieldbus master can see the bit value in the echo output data register even though the output channel is being updated inside the island bus e Each analog output module uses two registers in the input data and I O status block to report status Status in an analog output channel is usually represented by a series of status bits that report the presence or absence of an out of range value in a channel Analog output modules do not report data in this block A detailed view of how the registers in the input data and I O status block are implemented is shown in the process image example 144 890USE17600 September 2003 Advanced Configuration Features Predefined Diagnostics Registers in the Data Image Summary Thirty five contiguous registers 45357 through 45391 in the island bus data image See The Data Image p 141 are provided for reporting diagnostic information These registers have predefined meanings that are described below The numerical values associated with each message can be accessed and monitored with an HMI panel The messages themselves appear in the log window and in other displays in the Advantys configuration software Island Register 45357 describes the state of communications across the island bus The Communications _ low byte bits 7 through 0 displays one of 15 possible eight bit patterns that Status indicates the current state of communication Each bit in the h
104. g window appears the Configured PDOs window 5 Scroll to the object index 6411 The object will appear in the Mapped Object subindex 2 and double click dictionary window anywhere in its row 6 Click OK to map the inputs You have now mapped one PDO that accounts for 2 channels of possible analog output data 890USE17600 September 2003 119 Application Examples Defining Transmission Types You need to define a transmission type operating mode for each PDO in your configuration There are several transmission types and triggering modes available in the PDO Characteristics window For digital inputs and outputs we will use the default types for this example View the default types by selecting a PDO from the list of configured PDOs and clicking on the PDO Characteristics tab Synchronous PDOs are those in which the transmission is related to the SYNC message that the master sends cyclically An asynchronous PDO is one in which transmission is not related to the SYNC message transmission is dictated by the message s priority The values listed as Resulting CANopen specific transmission types in the PDO Characteristics window are e 0 This message will be transmitted synchronously with respect to the SYNC message e 1 to 240 A PDO of this type is transmitted synchronously and cyclically The value indicates the number of SYNC messages between two transmissions of the PDO e 252 to 253 A
105. ho is of not much interest When an output channel is configured to perform a reflex action See What Is a Reflex Action p 131 however the echo register provides a location where the fieldbus master can look to see the current value of the output The analog input module uses four contiguous registers e the first register to report the data for channel 1 e the second register to report status for channel 1 e the third register to report the data for channel 2 e the fourth register to report status for channel 2 The analog output module uses two contiguous registers e the first register to report status for channel 1 e the second register to report status for channel 2 156 890USE17600 September 2003 Advanced Configuration Features In total 18 registers registers 45392 through 45409 are used to support our configuration register 45392 STB DDI 3230 data 15 14 13 12 11 fio 9 E 7 6 5 a 3 2 0 ON OFF conditions of inputs 1 and 2 always 0 register 45393 STB DDI 3230 status 15 14 1312 11 to 9 s 7 6 5 4 J E 0 presence absence of PDM short always 0 register 45394 STB DDO 3200 echo output data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 E 0 echoes module output data
106. ield voltage to a power distribution module PDM you must add the field load to your wattage calculation For 24 VDC loads the calculation is simply amps x volts watts The external power supply is generally enclosed in the same cabinet as the island Usually the external power supply is a DIN rail mountable unit For installations that require 72 W or less from a 24 VDC source power supply we recommend a device such as the ABL7 RE2403 Phaseo power supply from Telemecanique distributed in the United States by Square D This supply is DIN rail mountable and has a form factor similar to that of the island modules If you have room in your cabinet and your 24 VDC power requirements are greater than 72 W summable power supply options such as Schneider s Premium TSX SUP 1011 26 W TSX SUP 1021 53 W TSX SUP 1051 120 W or TSX SUP 1101 240 W can be considered These modules are also available from Telemecanique and in the United States from Square D 890USE17600 September 2003 43 The STB NCO 2212 NIM Module Module Specifications Overview Specifications Detail This information describes general specifications for the NIM The following table lists the system specifications for the STB NCO 2212 CANopen NIM General Specifications RS 232 port for configuration software or HMI panel dimensions width 40 5 mm 1 59 in height 130 mm 5 12 in depth 70 mm 3 15 i
107. igh byte bits 15 through 8 is used to signal the presence or absence of a specific error condition Register 45357 high byte low byte 15 14 13 12 11 10 9 8 7 6 5 4 3 see 23 see 22 N 4 oO see 1 see 2 see 3 see 4 see 21 see 20 see 5 see 6 see 7 see 8 see 9 see 10 see 11 see 12 see 13 see 14 see 15 see 19 see 18 see 17 see 16 e oa aun an un OOO o E a N a E 00000 O0OO0O a aaao O 0000 lt a 00 ooo o 00 00 C00 0 0000 oooo oo oO 0 0oO0 0 0000 ooooooo oOo a00 CO 000 oroortrest OO 07 020000 oo ortoerft0O0 t0 000 1 The island is initializing 2 The island has been put in the pre operational state for example with the reset function in the Advantys STB configuration software The NIM is configuring or auto configuring communication to all modules is reset 4 The NIM is configuring or auto configuring checking for any modules that are not auto addressed 5 The NIM is configuring or auto configuring Advantys STB and preferred modules are being auto addressed 890USE17600 September 2003 145 Advanced Configuration Features 10 11 12 13 14 15 16 17 18 19 20 21 22 23 The NIM is configuring or auto configuring boot up is in progress The process image is being set up Initialization is complete the island b
108. igned24 rw output 4 byte 3600h unsigned32 rw output 5 byte 3800h unsigned40 rw output 6 byte 3A00h unsigned48 rw output 7 byte 3C00h unsigned56 rw output 8 byte 3E00h unsigned64 rw These lists are set up dynamically at startup depending on the availability of special objects Objects of the same type are listed at subindex 0 of a subsequent index Two byte data sent from the HMI to the PLC will be put in the 2200 object list Two byte data sent from the PLC to the HMI will be put in the 3200 object list 76 890USE17600 September 2003 Fieldbus Communications Support Global Bits Each of the 16 bits in the global bits manufacturer specific object indicates a specific error on the island bus Index Subindex Name Purpose Data Type Attr 4000h global bits unsignedi6 rO Errors marked with an asterisk in the global bits table are fatal NIM errors They are caused by internal errors related to either the NIM or a failure in the island configuration software or hardware Bit Meaning DO fatal error Because of the severity no further communications are possible on the island bus D1 module ID error A standard CANopen device is using a module ID reserved for the Advantys STB modules D2 Auto addressing has failed D3 Mandatory module configuration error D4 process image error Either the process image configuration
109. iguration software s Online menu e To save to the NIM s Flash memory use the store to Flash command e To save to a removable memory card first install the card See Installing the Card p 51 in the host NIM then use the store to removable memory card command 138 890USE17600 September 2003 Advanced Configuration Features Protecting Configuration Data Introduction Protection Feature Password Characteristics As part of a custom configuration you can password protect an Advantys STB island This protection restricts write privileges to authorized personnel and prevents unauthorized users from overwriting the configuration data currently stored in Flash memory You must use the Advantys configuration software to password protect an island s configuration If a configuration is protected access to it is restricted in the following ways e An unauthorized user is unable to overwrite the current configuration data in Flash memory e The presence of a removable memory card See Installing the STB XMP 4440 Optional Removable Memory Card p 50 is ignored The configuration data currently stored in Flash cannot be overwritten by data on the card e The RST button See The RST Button p 55 is disabled and pushing it has no effect on island bus operations The island runs normally when it is in protected mode All users have the ability to monitor read the activity on the island bus
110. igure the corresponding TxPDOs and RxPDOs for the intended objects in the object dictionary mapping table 88 890USE17600 September 2003 Fieldbus Communications Support Variable PDO mapping among theoretical objects X Y and Z is shown in the following figure Object Y RxPDO Y REO RxPDO Y 2 4 Pp Obie Pp Y 5 RxPDO X 1 RxPDO X2 4 10 0 faa 4 7 RxPDO Z 1 RxPDO Z 2 RxPDO X 3 IF Siar TXPDO Z 1 QE 2 2 890USE17600 September 2003 89 Fieldbus Communications Support Network Management Summary CANopen uses a node oriented NMT structure that follows a master slave model This structure requires one device on the network to function as the NMT master with other nodes acting as its slaves CANopen NMT provides these functionality groups e module control services initialization of those NMT slaves that will be implemented in the distributed application e error control services supervision of nodes and the network s communication status e configuration control services uploading downloading configuration data to or from a module on the network An NMT slave represents that part of a node that is responsible for its NMT functionality The NMT slave is identified by its unique module ID 90 890USE17600 September 2003 Fieldbus Communications Support State Machine CANopen NMT slave devices use the commission
111. iguring a CANopen Master for Use with the STB NCO 2112 NIM 109 Configuring the STB NCO 2212 NIM as a CANopen Network Node 112 Saving the CANopen Configuration 0 0 0 0 0 cece e ee eee 121 Advanced Configuration Features 000 0085 123 AtaiGlanee 5 ves cites orks oe eee eats Ao a od neice 123 STB NCO 2212 Configurable Parameters 000 eee eee ee 124 Configuring Mandatory Modules 0 000 e ee eee eee 128 Prioritizing a Module 0 cee ee tte 130 What Is a Reflex Action 0 0 0 eect tees 131 Island Fallback Scenarios 0 0 00 c eect tee 136 Saving Configuration Data 0 cece eee 138 Protecting Configuration Data 0 0 0 cee eee 139 A Modbus View of the Island s Data Image 0 eee ee ee 140 The Island s Process Image BlockS 00 e eee eee eee ees 143 Predefined Diagnostics Registers in the Data Image 145 An Example of a Modbus View of the Process Image 153 The HMI Blocks in the Island Data Image 00 e eee eee eee 161 Cav tivG iets hee e wave wi ees Ke iv ech canara eees 163 Awe 0a E gale aled Re We ee eet wate 179 890USE17600 September 2003 Safety Information Important Information NOTICE Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following s
112. image i e the island must be in test mode 142 890USE17600 September 2003 Advanced Configuration Features The Island s Process Image Blocks Summary Two blocks of registers in the island s data image See The Data Image p 141 are the focus for this discussion The first block is the output data process image which starts at register 40001 and goes to register 44096 The other block is the input data and I O status process image which also consumes 4096 registers 45392 through 49487 The registers in each block are used to report island bus device status and to dynamically exchange input or output data between the fieldbus master and the island s I O modules Output Data The output data block registers 40001 through 44096 handles the output data Process Image process image This process image is a Modbus representation of the control data that has just been written from the fieldbus master to the NIM Only data for the island s output modules is written to this block Output data is organized in 16 bit register format One or more registers are dedicated to the data for each output module on the island bus For example say you are using a two channel digital output module as the first output module on your island bus Output 1 is on and output 2 is off This information would be reported in the first register in the output data process image and it would look like this register 40001 output data 15 14
113. in Do not use a sharp object that might damage the RST button nor a soft item like a pencil that might break off and jam the button 890USE17600 September 2003 55 Configuring the Island Bus RST Functionality Introduction RST Configuration Scenarios The RST function allows you to reconfigure the operating parameters and values of an island by overwriting the current configuration in Flash memory RST functionality affects the configuration values associated with the I O modules on the island the operational mode of the island and the CFG port parameters The RST function is performed by holding down the RST button See The RST Button p 55 for at least two seconds The RST button is enabled only in edit mode In protected mode See Protecting Configuration Data p 139 the RST button is disabled pressing it has no effect Note Network settings such as the fieldbus baud and the fieldbus node ID remain unaffected CAUTION UNINTENDED EQUIPMENT OPERATION CONFIGURATION DATA OVERWRITTEN RST BUTTON Do not attempt to restart the island by pushing the RST button Pushing the RST button See The RST Button p 55 causes the island bus to reconfigure itself with factory default operating parameters Failure to follow this precaution can result in injury or equipment damage The following scenarios describe some of the ways that you can use the RST function to configure your islan
114. in a CAN based network a PDO is described as a TxPDO of the device that transmits it 176 890USE17600 September 2003 Glossary U UDP user datagram protocol A connectionless mode protocol in which messages are delivered in a datagram to a destination computer The UDP protocol is typically bundled with the Internet Protocol UPD IP V varistor A two electrode semiconductor device with a voltage dependant nonlinear voltage group resistance that drops markedly as the applied voltage is increased It is used to suppress transient voltage surges A grouping of Advantys STB I O modules all with the same voltage requirement installed directly to the right of the appropriate power distribution module PDM and separated from modules with different voltage requirements Never mix modules with different voltage requirements in the same voltage group WwW watchdog timer A timer that monitors a cyclical process and is cleared at the conclusion of each cycle If the watchdog runs past its programmed time period it generates a fault 890USE17600 September 2003 177 Glossary 178 890USE17600 September 2003 en Index A bit stuffing 99 bit packing 107 ABL7 RE2403 Telefast 24 VDC power bus off state 100 supply 43 ACK check 99 action module 133 addressable module 15 46 47 154 Advantys configuration software 35 128 130 132 134 138 139 142 144 agency approvals 44 analog global inte
115. ing Mandatory Modules 128 Prioritizing a Module 130 What Is a Reflex Action 131 Island Fallback Scenarios 136 Saving Configuration Data 138 Protecting Configuration Data 139 A Modbus View of the Island s Data Image 140 The Island s Process Image Blocks 143 Predefined Diagnostics Registers in the Data Image 145 An Example of a Modbus View of the Process Image 153 The HMI Blocks in the Island Data Image 161 890USE17600 September 2003 123 Advanced Configuration Features STB NCO 2212 Configurable Parameters Functional Characteristics This topic discusses the configuration of CANopen NIM parameters using the Advantys configuration software The following operating parameters are user configurable e data size in words of PLC output data transmitted to the HMI panel and HMI input data sent to the PLC e maximum node ID for the last CANopen device General To get general information about the NIM module model name version number Information vendor code etc Step Action Comment 1 Open your configuration with the The NIM is the leftmost module in your island Advantys configuration software assembly 2 Double click on the NIM in the The module editor window appears configuration workspace 3 Select the General tab The General tab gives general information about the NIM Accessing To access the NIM values that are configurable Configurable
116. ing state machine to describe the sequence for powering up and initializing devices to their preoperational operational or support states INITIALIZATION STOPPED OPERATIONAL At power up the node s initialization state is entered autonomously After initialization the preoperational state is entered automatically START_REMOTE_NODE indication Enter_PRE OPERATIONAL_ State indication STOP_REMOTE_NODE indication RESET_NODE indication RESET_COMMUNICATION indication N Oo OO FP WO ND After initialization the device can be in one of three states e preoperational state In this state you can configure the node with an SDO although PDO communication is not allowed e operational state In this state all COBs are active SDO access to the object dictionary is possible e stopped state When the device is switched to this state SDO and PDO communications cease Each state indicates those commands the node will accept from the NMT master 890USE17600 September 2003 91 Fieldbus Communications Support State Switching The figure below shows the structure of a state transition message sent from the NMT master to all nodes COB ID 0 NMT NMT MASTER SLAVES BYTE 0 BYTE 1 URH URH NODE IP COB ID 0 92 890USE17600 September 2003 Fieldbus Communications Support SYNC Messages Introduction Transmission Modes Triggering Modes Synchronous Objects SYNC messages are broa
117. ion are described briefly in the following table Feature Function 1 fieldbus interface See CANopen Fieldbus Interface p 25 A nine pin SUB D connector used to connect the NIM and the island bus to a CANopen fieldbus upper rotary switch lower rotary switch The two rotary switches See Rotary Switches Setting the Baud and Network Node Address p 27 are used together to specify the NIM s node ID on the CANopen fieldbus and to set the fieldbus baud value at the NIM 4 power supply interface A two receptacle connector for connecting an external See Power Supply 24 VDC power supply to the NIM Interface p 37 5 LED array See LED Colored LEDs that use various patterns to visually indicate Indicators p 31 the operational status of the island bus 6 release screw A mechanism used for removing the NIM from the DIN rail See the Advantys STB System Planning and Installation Guide for details 7 removable memory card A plastic drawer in which a removable memory card See drawer Installing the STB XMP 4440 Optional Removable Memory Card p 50 can be seated and then inserted into the NIM 8 CFG port cover A hinged flap on the NIM s front panel that covers the CFG interface See Physical Description p 35 and the RST button See Physical Description p 55 890USE17600 September 2003 23 The STB NCO 2212 NIM Module Housing Shape The L shaped exte
118. is inconsistent or it could not be set during auto configuration D5 auto configuration error A module has been detected out of order and the NIM can not complete auto configuration D6 Island bus management error detected by the NIM D7 assignment error The initialization process in the NIM has detected a module assignment error D8 internal triggering protocol error D9 module data length error D10 module configuration error D11 reserved D12 timeout error D13 reserved D14 reserved D15 reserved fatal NIM errors The detection of these errors will result in the stopping of the island bus The only ways to get out of this error state are to cycle the power reset the island or clear the error with the Advantys configuration software 890USE17600 September 2003 77 Fieldbus Communications Support Communication The communication diagnostic object represents the main states of the island bus Diagnostics scanner which is the firmware that drives the island bus This word is divided into a low byte DO D7 representing the main communication state and a high byte D8 through D15 that contains the actual diagnostics Index Subindex Name Purpose Data Type Attr 4001h 0 communication diagnostics unsigned16 r0 The following low byte values are possible for the communication diagnostic manufacturer specific
119. l is energized normally open contact A relay contact pair that is open when the relay coil is de energized and closed when the coil is energized National Electrical Manufacturers Association The time that a master requires to complete a single scan of all of the configured O modules on a network device typically expressed in microseconds network interface module This module is the interface between an island bus and the fieldbus network of which the island is a part The network interface module s built in power supply provides 5 V logic power to the Advantys STB I O modules as well as 24 V source power as needed to the support I O modules The NIM also has an RS 232 interface that is the connection point for the Advantys configuration software network management NMT protocols provide services for network initialization error control and device status control 0 object dictionary open industrial communication network output filtering Sometimes called the object directory this part of the CANopen device model is a map to the internal structure of CANopen devices according to CANopen profile DS 401 A given device s object dictionary is a lookup table that describes the data types communications objects and application objects the device uses By accessing a particular device s object dictionary structure through the CANopen fieldbus you can predict its network behavior and therefore build a dis
120. le ended inputs sink load size 1 base size 2 base size 3 base slice I O SM_MPS SNMP snubber source load safety extra low voltage A secondary circuit designed and protected so that the voltage between any two accessible parts or between one accessible part and the PE terminal for Class 1 equipment does not exceed a specified value under normal conditions or under single fault conditions subscriber identification module Originally intended for authenticating users of mobile communications SIMs now have multiple applications In Advantys STB configuration data created or modified with the Advantys configuration software can be stored on a SIM and then written to the NIM s Flash memory An analog input design technique whereby a wire from each signal source is connected to the data acquisition interface and the difference between the signal and ground is measured Two conditions are imperative to the success of this design technique the signal source must be grounded and the signal ground and data acquisition interface ground the PDM lead must have the same potential An output that when turned on receives DC current from its load A mounting device designed to seat an STB module hang it on a DIN rail and connect it to the island bus It is 13 9 mm wide and 128 25 mm high A mounting device designed to seat an STB module hang it on a DIN rail and connect it to the island bus It is 18 4 mm wide and 1
121. le on the island bus 890USE17600 September 2003 127 Advanced Configuration Features Configuring Mandatory Modules Summary Specifying Mandatory Modules Effects on Island Bus Operations As part of a custom configuration you can assign mandatory status to any I O module or preferred device on an island The mandatory designation indicates that you consider the module or device critical to your application If the NIM does not detect a healthy mandatory module at its assigned address during normal operations the NIM stops the entire island Note The Advantys configuration software is required to designate an I O module or a preferred device as a mandatory module By default the Advantys STB I O modules are in a non mandatory standard state Mandatory status is enabled by clicking on the mandatory checkbox on a module or preferred device s parameters property sheet Depending on your application any number of modules that your island will support can be designated as mandatory modules The following table describes the conditions under which mandatory modules affect island bus operations and the NIM s response Condition Response A mandatory module fails during The NIM stops the island bus The island enters fallback normal island bus operations mode See Island Fallback Scenarios p 136 O modules and preferred devices assume their fallback values You att
122. lex block 132 890USE17600 September 2003 181 Index island bus address 29 communications 10 configuration data 50 53 57 139 153 extending 14 40 fallback 136 LEDs 33 mastery of 32 maximum length 16 node address 29 30 operational mode 33 53 56 overview 12 13 status 31 145 termination 12 15 153 island bus assembly sample 104 island bus example 47 153 island bus password 139 L LEDs and COMS states 33 and reset 33 CAN ERR 32 CAN RUN 32 ERROR 33 island bus 33 overview 31 POWER LED 32 RUN 33 TEST 32 33 life time factor 71 logic power considerations 11 14 39 40 42 integrated power supply 10 11 39 41 42 signal 40 source power supply 11 41 M mandatory I O modules 128 mandatory objects 73 mandatory OD entries 66 manufacturer device name 70 manufacturer specific objects 66 76 mapping application object 88 variable 88 mapping parameters PDO default 74 master inserting 109 message prioritization 19 Modbus protocol 35 36 140 143 155 161 module editor window 124 modules multiple device modules 84 multiple device modules 84 N nested reflex actions 134 network connection 25 network considerations 10 54 network management 67 90 NIM configurable parameters 124 external features 24 housing 24 node address 29 status 82 NIM status 82 NIM supported object 62 NMT services 67 node address setting 27 node
123. mber of built in power Requirement supplies installed on the island The external supply needs to provide 13 W of power for the NIM and 13 W for each additional STB power supply like an STB XBE 1200 BOS module For example a system with one NIM in the primary segment and one BOS module in an extension segment would require 26 W of power For example the figure below shows an extended island Q TUT s CEE EEE CEE ET SEE EEE z 6 s B LERNTEN BERERE EEEE 7 AULD PEELE goon unuk 24 VDC source power supply NIM PDM primary segment I O modules BOS module first extension segment I O modules second extension segment I O modules island bus terminator plate OnNOa PWN 42 890USE17600 September 2003 The STB NCO 2212 NIM Module Suggested Devices The extended island bus contains three built in power supplies e the supply built into the NIM which resides in the leftmost location of the primary segment a power supply built into each of the STB XBE 1200 BOS extension modules which reside in the leftmost location of the two extension segments In the figure the external supply would provide 13 W of power for the NIM plus 13 W for each of the two BOS modules in the extension segments for a total of 39 W Note If the 24 VDC source power supply also supplies f
124. meters are also restored after any reset action Index Subindex Name Purpose Data Type Attr 1011h restore default parameters 0 largest subindex 1 unsigned8 ro 1 store all parameters unsigned32_ rw Subindex 1 refers to index 1000h through 1FFFh and 6423h This is allowed only in the pre operational state Otherwise SDO access is aborted As a consequence the micro controller is busy for a few seconds with Flash programming an exclusive action During this time there is no communication on either the fieldbus or island bus The COB ID emergency message COB uses CANopen s default Index Subindex Name Purpose Data Type Attr 1014h O COB ID emergency message default unsigned32 rw 0x0000 0080 node ID 890USE17600 September 2003 71 Fieldbus Communications Support Consumer Heartbeat Time Producer Heartbeat Time Identity Object The consumer heartbeat time COB defines the expected heartbeat cycle time and therefore has to be longer than the corresponding time configured for the heartbeat of the producing device Index Subindex Name Purpose Data Type Attr 1016h consumer heartbeat time 0 number of entries 1 unsigned8 ro see below default 0 not used unsigned32 rw Monitoring starts after the reception of the first heartbeat The heartbeat time has to be a multiple of 1 ms Reserved MSB
125. mory for a new STB NCO 2212 CANopen NIM is 1 Mbits s 28 890USE17600 September 2003 The STB NCO 2212 NIM Module The Node Because the CANopen fieldbus master sees the Advantys STB island as one Address network node the island has a single fieldbus network address Unlike the baud the node address is not stored in Flash memory The NIM reads the node address from the rotary switches each time the island powers up The address can be any numeric from 1 to 127 that is unique with respect to other nodes on the network The fieldbus master and the island bus can communicate over the CANopen network only while the NIM s rotary switches are set to a valid address See Valid CANopen Node Addresses p 30 Setting the Node Instructions for setting the node address are in the table Address Step Action Comment 1 Be sure you have set the desired baud with the procedure above before setting the node address If you set the baud after setting the node address the system will not read a node address from the rotary switches at the next startup Bring the power down on the island The changes you are about to make will be detected only at the next power up Select a node address that is currently available on your fieldbus network Your list of active fieldbus nodes indicates whether a particular address is available With a small screwdriver set the lower rotary switch to the po
126. n interface to the CANopen network nine pin SUB D connector connectors eight receptacle HE 13 to the external 24 VDC power supply two receptacle built in power supply input voltage 24 VDC nominal input power range 19 2 30 VDC input current 400 mA 24 VDC output voltage to the island 5 VDC 1 2 A bus 2 variation due to temperature drift intolerance or line regulation 1 load regulation lt 50 mQ output impedance up to 100 kHz output current rating 1 2A 5VDC isolation no internal isolation isolation must be provided by a SELV rated external 24 VDC source power supply noise immunity EMC IEC 1131 2 addressable I O modules supported 32 maximum island segments primary required one supported extension optional six maximum standards CANopen conformance CiA DS 301 MTBF 200 000 hours GB ground benign 44 890USE17600 September 2003 Configuring the Island Bus At a Glance Introduction What s in this Chapter The information in this chapter describes the auto addressing and auto configuration processes An Advantys STB system has an auto configuration capability in which the current actual assembly of I O modules on the island bus is read every time that the island bus is either powered up or reset This configuration data is saved to Flash memory automatically The removable memor
127. n 13 L module in 4 module in 12 L module in 5 module in 11 L module in 6 module in 10 L module in 7 module in 9 module in 8 Register 45368 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 module in 32 module in 17 module in 31 L module in 18 module in 30 4 __ module in 19 module in 29 module in 20 module in 28 module in 21 module in 27 L module in 22 module in 26 L module in 23 module in 25 module in 24 890USE17600 September 2003 149 Advanced Configuration Features Emergency The next eight contiguous registers registers 45375 through 45382 indicate the Messages presence or absence of newly received emergency messages for individual modules on the island Each bit represents a module e A value of 1 in a given bit indicates that a new emergency message has been queued for the associated module e A value of 0 in a given bit indicates that no new emergency messages have been received for the associated module since the last time the diagnostic buffer was read The first two registers shown below provide the 32 bits that represent the module locations in a typical island configuration The remaining six registers 45377 through
128. n at the module corresponding directly to a data table bit or word that stores the value of the signal at that I O circuit It allows the control logic to have discrete access to the I O values Deutsche industrial norms A German agency that sets engineering and dimensional standards and now has worldwide recognition 890USE17600 September 2003 165 Glossary E EDS electronic data sheet The EDS is a standardized ASCII file that contains information about a network device s communications functionality and the contents of its object dictionary The EDS also defines device specific and manufacturer specific objects EIA Electronic Industries Association An organization that establishes electrical electronic and data communication standards EMC electromagnetic compatibility Devices that meet EMC requirements can operate within a system s expected electromagnetic limits without error EMI electromagnetic interference EMI can cause an interruption malfunction or disturbance in the performance of electronic equipment It occurs when a source electronically transmits a signal that interferes with other equipment EOS end of segment When more than one segment of I O modules is used in an island an STB XBE 1000 EOS module is installed in the last position in every segment except the final segment on the island Its job is to extend island bus communications and send 24 VDC for logic power to the next segment Ethernet ALA
129. n to all Advantys STB NIMs This chapter contains the following topics Topic Page What Is a Network Interface Module 10 What Is Advantys STB 13 About the CANopen Fieldbus Protocol 17 890USE17600 September 2003 Introduction What Is a Network Interface Module Purpose The Fieldbus Network Communications Roles Every island requires a network interface module NIM in the leftmost location of the primary segment Physically the NIM is the first leftmost module on the island bus Functionally it is the gateway to the island bus all communications to and from the island bus pass through the NIM The NIM also has an integrated power supply that provides logic power to the island modules An island bus is a node of distributed I O on an open fieldbus network and the NIM is the island s interface to that network The NIM supports data transfers over the fieldbus network between the island and the fieldbus master The physical design of the NIM makes it compatible with both an Advantys STB island and your specific fieldbus master Whereas the fieldbus connector on each NIM type may differ the location on the module front panel is essentially the same Other NIM connectors such as the power supply interface and the CFG interface See The CFG Interface p 35 are identical for all NIM types NIM supported communications include Function Role data exchange The NIM m
130. ng six registers 45385 through 45390 are available to support island expansion capabilities Register 45383 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 module a L module 1 module 15 L module 2 module 14 __ module 3 module 13 L module 4 module 12 L module 5 module 11 L module 6 module 10 module 7 module 9 module 8 Register 45384 15 14 13 12 11 10 9 8 7 6 5 4 3 21 0 module 32 L module 17 module 31 L module 18 module 30 __ module 19 module 29 L module 20 module 28 L module 21 module 27 L module 22 module 26 4 L module 23 module 25 module 24 890USE17600 September 2003 151 Advanced Configuration Features NIM Status The eight LSBs bits 8 through 15 in register 45391 report the status of the CANopen NIM The eight MSBs bits 7 though 0 are always zeros Register 45391 high byte low byte OH 2 11 10 9 e 7 e s 4 sf2 i o see 1 see 8 see 2 see 7 _see 3 reserved L see 4 see 6 see 5 1 Fieldbus dependent 2 Module failure bit 8 is set to 1 if any module on the island bus fails 3 A value of 1 in bit 9 indicates an internal failure at least one global bit is set 4 Abit value of 1 in bit 10 indicates
131. nnel 2 data 15 14 13 12 11 to 9 e 6 5 4 3 2 1 0 sign bit 890USE17600 September 2003 159 Advanced Configuration Features STB AVI 1270 channel 2 status register 45407 15 14 13 j2 n JAE aa 5 4 JAE 0 global status all Os L presence absence of a PDM short over voltage warning L_ over voltage error L under voltage warning 4__under voltage error register 45408 STB AVO 1250 channel 1 status 15 14 13 12 i 10 9 8 7 6 5 4 3 AE 0 global status l all __ presence absence aros of a PDM short L over voltage warning over voltage error L under voltage warning _under voltage error register 45409 STB AVO 1250 channel 2 status 15 ha ishe 11 io 9 e 7 e s 4 JAE 0 all Os global status presence absence of a PDM short over voltage warning over voltage error under voltage warning L under voltage error 160 890USE17600 September 2003 Advanced Configuration Features The HMI Blocks in the Island Data Image Summary HMI Panel Configuration HMI Input Data Exchange An HMI panel that communicates using the Modbus protocol can be connected to the CFG port See The CFG Interface p 35 on the NIM Using the Advantys configuration sof
132. nning to a non running stopped or reset state e missing or failed mandatory module See Configuring Mandatory Modules p 128 The NIM detects the absence or failure of a mandatory island module Note If a mandatory or any other module fails it needs to be replaced The module itself does not go into its fallback state In all of these fallback scenarios the NIM disables the heartbeat message The Advantys STB system relies on a heartbeat message to ensure the integrity and continuity of communications between the NIM and the island modules The health of island modules and the overall integrity of the Advantys STB system are monitored through the transmission and reception of these periodic island bus messages Because island I O modules are configured to monitor the NIM s heartbeat message output modules will go into their fallback states if they do not receive a heartbeat message from the NIM within the defined interval 136 890USE17600 September 2003 Advanced Configuration Features Fallback States for Reflex Functions Configured Fallback Fallback Parameters Only an output module channel to which the result of a reflex action See What Is a Reflex Action p 131 has been mapped can operate in the absence of the NIM s heartbeat message When modules that provide input for reflex functionality fail or are removed from the island the channels that hold the result of those reflex acti
133. not available because CANopen supports only 128 node addresses 0 to 127 Also 00 is never used as a CANopen node address The NIM will only communicate with the fieldbus network while the rotary switches are set to a valid CANopen node address See Valid CANopen Node Addresses p 30 If the bottom switch is in the baud rate position or if both switches represent an invalid CANopen address the NIM will wait for you to set a node address before it begins to communicate on the fieldbus Therefore configure the desired baud before assigning the island s node address to avoid having to reset the address switches later If the island has an invalid node address it cannot communicate with the master To establish communication set the switches to a valid address and cycle power on the island 30 890USE17600 September 2003 The STB NCO 2212 NIM Module LED Indicators Introduction Description Six LEDs on the STB NCO 2212 NIM visually indicate the operational status of the island bus on a CANopen network The LED array is located at the top of the NIM front bezel e LED 4 CAN ERR and LED 5 CAN RUN See CANopen Communications LEDs p 32 indicate the status of data exchange between the CANopen fieldbus master and the Advantys STB island bus e LEDs 1 2 3 7 See Advantys STB Communications LEDs p 33 indicate activity and or events on the NIM e LED 6 is not used The illustration shows the six LEDs u
134. not detect a healthy mandatory module you can recover island bus operations by installing a healthy module of the same type The NIM automatically configures the replacement module to match the removed module Assuming that other modules and devices on the island bus are correctly configured and conform to their configuration data as written to Flash memory the NIM will start restart normal island bus operations 890USE17600 September 2003 129 Advanced Configuration Features Prioritizing a Module Summary Using the Advantys configuration software you can assign priority to digital input modules in your island assembly Prioritization is a method of fine tuning the NIM s I O scan of the island bus The NIM will scan modules with priority more frequently than other island modules Limitations You can prioritize digital input modules only You cannot prioritize digital output modules or analog modules of any kind You can prioritize only 10 digital input modules for a given island 130 890USE17600 September 2003 Advanced Configuration Features What Is a Reflex Action Summary Reflex actions are small routines that perform dedicated logical functions directly on the Advantys island bus They allow output modules on the island to act on data and drive field actuators directly without requiring the intervention of the fieldbus master A typical reflex action comprises one or two function blocks that perform
135. object Byte Value Meaning 00h The island is initializing 40h The island bus has been set to pre operational mode for example by the reset function in the Advantys STB configuration software 60h NIM is configuring or auto configuring Communication to all modules is reset 6ih NIM is configuring or auto configuring Checking the module ID 62h The NIM is auto addressing the island 63h NIM is configuring or auto configuring Bootup is in progress 64h The process image is being set up 80h Initialization is complete the island bus is configured the configuration matches and the island bus is not started 81ih configuration mismatch Non mandatory or unexpected modules in the configuration do not match and the island bus is not started 82h configuration mismatch At least one mandatory module does not match and the island bus is not started 83h serious configuration mismatch The island bus is set to pre operational mode and initialization is aborted AOh The configuration matches and the island bus is operating Ath Island is operational with a configuration mismatch At least one standard module does not match but all the mandatory modules are present and operating A2h serious configuration mismatch The island bus was started but is now in pre operational mode because of one or more mismatched mandatory module s Coh Island has been set to pre operational mode for example the stop function in the Advantys S
136. ode address See Setting the Node Address p 29 of the CANopen NIM should be set e You should have the basic EDS See The Advantys STB Electronic Data Sheet EDS p 60 file that was supplied with the CANopen NIM 890USE17600 September 2003 105 Application Examples Data and Status Objects of Advantys STB I O Modules Introduction When configuring PDOs the size of the data objects and status objects must be known The status data of the digital I O and analog I O is mapped by default to object 6000 See Device Specific Objects p 83 as digital input data Therefore there must already be enough blocks selected in the PDO for this purpose Care must also be taken to determine the manner in which the PLC will view the data and status objects to facilitate the proper addressing for application use Note The discussion in this topic makes reference to the island assembly See Sample Island Assembly p 104 described elsewhere Data Objects Data object sizes for Advantys STB island modules are shown in the following table Type of I O module Input direction from island Output direction from PLC digital inputs see 1 data lt 1 byte obj 6000 status lt 1 byte obj 6000 see 2 digital outputs see 1 echo output data lt 1 byte obj data lt 1 byte object 6200 6000 status lt 1 byte obj 6000 see 2 analog inputs dat
137. of this mechanism depend on the device type and are defined in the device profile Functions for different transmission types are e O A message of this type is transmitted according to the reception of the SYNC message e 1to240 These values represent PDOs that are transferred synchronously and cyclically The transmission type indicates the number of SYNC objects required for triggering PDO transmission or reception e 252 to 253 PDOs of this type are sent by remote transmission request only At transmission type 252 the data is updated but not sent immediately after the reception of the SYNC object At transmission type 253 the data is updated at the reception of the remote transmission request hardware and software restrictions may apply These values are only possible for TxPDOs 94 890USE17600 September 2003 Fieldbus Communications Support Cyclic and Acyclic PDOs Asynchronous Transmission Default Transmission Mode e 254 TxPDOs of this type are associated with manufacturer specific application event listed in the object dictionary as manufacturer specific objects The application event for example a changed digital input is defined in the device profile Synchronous PDOs are either cyclic or acyclic Cyclic PDOs are transmitted upon the reception of some designated number of SYNC objects For instance a cyclic PDO may be transmitted after the reception of every third SYNC object Acyclic PDOs a
138. og DC input signals to digital values that can be manipulated by the processor By implication these analog inputs are usually direct i e a data table value directly reflects the analog signal value A module that contains circuits that transmit an analog DC signal proportional to a digital value input to the module from the processor By implication these analog outputs are usually direct i e a data table value directly controls the analog signal value In CAN based networks application objects represent device specific functionality such as the state of input or output data 890USE17600 September 2003 163 Glossary ARP auto baud auto addressing auto configuration address resolution protocol P s network layer protocol uses ARP to map an IP address to a MAC hardware address The automatic assignment and detection of a common baud rate as well as the ability of a device on a network to adapt to that rate The assignment of an address to each island bus I O module and preferred device The ability of island modules to operate with predefined default parameters A configuration of the island bus based completely on the actual assembly of I O modules BootP BOS bus arbitrator bootstrap protocol A UDP IP protocol that allows an internet node to obtain its IP parameters based on its MAC address beginning of segment When more than one segment of I O modules is used in an island an STB X
139. on software The data content that you see when you monitor the output data image registers is updated in near real time The island s fieldbus master also writes updated control data to the output data process image The input data and I O status block registers 45392 through 49487 handles the input data and I O status process image Every I O module on the island bus has information that needs to be stored in this block e Each digital input module reports data the on off status of its input channels in one register of input data and I O status block then reports its status e g the presence or absence of errors in the next register e Each analog input module uses four registers in the input data and I O status block It represents the analog data for each channel in separate registers and the status of each channel in separate registers Analog data is usually represented with 11 or 12 bit resolution in the IEC format status in an analog input channel is usually represented by a series of status bits that report the presence or absence of an out of range value in a channel e Each digital output module reports an echo of its output data to a register in the input data and I O status block Echo output data registers are essentially copies of the register values that appear in the output data process image This data is usually not of much interest but it can be useful in the event that a digital output channel has been configured
140. ons parameter emergency and other objects that reside on the individual island modules An EDS that describes the island s basic functionality and objects is included with the STB NCO 2212 CANopen NIM product Using the basic EDS you will need to define PDOs See Defining PDOs p 113 to access those objects defined within it If you wish you can generate a configuration specific EDS for your particular island using the optional Advantys configuration software 60 890USE17600 September 2003 Fieldbus Communications Support The Device Model and Communication Objects Summary The interchangeability and interoperability of standard devices in a CANopen system require that the functionality of each device be described to the network ina specific device profile that is based on the CANopen device model Different manufacturers have agreed to standard device profiles for separating industrial automation devices into classes like encoders drives and generic I O The Device The CANopen specification is composed of a set of device profiles that are Model developed using the device model Communication Object Dictionary Application Entry 1 4 Entry 2 ONG Application Object Application Object CAN bus Application Object Entry n Application Object Device Model In CANopen s object oriented approach there are basically two types of objects Components e communication objects A communi
141. ons go into their fallback states In most cases an output module that has one of its channels dedicated to a reflex action will go to its configured fallback state if the module loses communication with the fieldbus master The only exception is a two channel digital output module that has both of its channels dedicated to reflex actions In this case the module may continue to solve logic after a loss of fieldbus communication For more information about reflex actions refer to the Reflex Actions Reference Guide 890 USE 183 To define a customized fallback strategy for individual modules you are required to use the Advantys configuration software Configuration is done channel by channel You can configure a single module s multiple channels with different fallback parameters Configured fallback parameters implemented only during a communications failure are part of the configuration file stored in the NIM s non volatile Flash memory You can select either of two fallback modes when configuring output channels with the Advantys configuration software e hold last value In this mode outputs retain the last values they were assigned before the failure e predefined value tn this default mode you can select either of two fallback values e O default e some value in acceptable range The permissible values for fallback parameters in the predefined value mode for discrete and analog modules and reflex functions appear in
142. operating parameters for an agent device based on the number of modules that the device contains and the device s total data length Three types of standard profiles are available Fipio reduced device profile FRD_P Fipio standard device profile FSD_P and the Fipio extended device profile FED_P A specialized DC motor that allows discrete positioning without feedback A part of a network that shares a network address with the other parts of a network A subnet may be physically and or logically independent of the rest of the network A part of an internet address called a subnet number which is ignored in IP routing distinguishes the subnet The process of absorbing and clipping voltage transients on an incoming AC line or control circuit Metal oxide varistors and specially designed RC networks are frequently used as surge suppression mechanisms T TC thermocouple A TC device is a bimetallic temperature transducer that provides a temperature value by measuring the voltage differential caused by joining together two different metals at different temperatures TCP transmission control protocol A connection oriented transport layer protocol that provides reliable full duplex data transmission TCP is part of the TCP IP suite of protocols telegram A data packet used in serial communication TFE transparent factory Ethernet Schneider Electric s open automation framework based on TCP IP Tx transmission For example
143. or detection mechanisms are implemented at the message level e frame check CAN based networks must implement predefined bit values in certain fields of transmitted messages When the CAN controller detects an invalid value in a bit field a frame form error is signaled e acknowledgement check When a CAN node receives a message it returns a dominant bit in the message s ACK slot to the transmitter Otherwise the transmitter reads the recessive bit in the ACK slot and determines that the message was not received by the intended node s An acknowledgement error is signaled e cyclic redundancy check Each CAN message has a 15 bit CRC cyclic redundancy check that is calculated by the transmitter according to the message s content The receiving nodes recalculate the CRC field Disagreement between the two codes indicates a difference between the transmitted message and the one received In this case a CRC error flag is signaled 890USE17600 September 2003 99 Fieldbus Communications Support Error Confinement The first CAN controller on the bus to detect one of the described errors will transmit the appropriate error flag Owing to their high priority only the emergency message is higher error flags disrupt bus traffic Other nodes detect the flag or the original error and discard the message CAN s error confinement mechanism distinguishes between temporary errors and permanent failures The CAN controller on e
144. ouble click Objects window anywhere in the row 3 From the predefined supported objects It should appear in the configured objects screen double click on object 1010 window subindex 1 save all parameters 4 Enter 00 in the chosen value line of the The 00 value is for the example only configured objects window 5 Click OK to save the changes Saving the Saving the configuration from this point is similar to any computer application After Configuration startup you can reference and use the I O data you have configured in your CANopen system Step Action Comment 1 From the File menu select Save The Save As dialogue box appears 2 Give the configuration a unique name You may want to save the configuration and direct it to the folder of your co file to the PL7 user directory in choice which the Premium PLC resides 3 Click Save The configuration is written to the NIM s flash memory during the next startup sequence 890USE17600 September 2003 121 Application Examples 122 890USE17600 September 2003 Advanced Configuration Features 6 At a Glance Introduction What s in this Chapter This chapter describes the advanced and or optional configuration features that you can add to an Advantys STB island This chapter contains the following topics Topic Page STB NCO 2212 Configurable Parameters 124 Configur
145. ount for 12 bits of input channel data The remainder of the configuration s 2 bytes of digital input data is allocated for status and feedback data See Data and Status Objects of Advantys STB I O Modules p 106 from all modules Step Action Comment 1 In the Node Configuration window See The newly named object will appear in the The Node Configuration Window p 115 Configured PDOs window click on Define new Transmit PDO At the prompt provide a name for this PDO Call it digital_inputs1 for this example 2 Double click on the new object in the The PDO Contents Mapping window Configured PDOs window appears 3 Double click anywhere in the row for the The object at index 6000 subindex 1 will first object appear in the Mapped Object dictionary window 4 Double click anywhere in the row for the Repeat the above step for all subindexes first object 2 through 8 in the Mapped Object dictionary window 5 Click OK to map the inputs You have now mapped 8 bytes of digital input to account for the first 8 byte PDO of possible digital input data 6 Repeat the steps above defining a Your total 2 byte digital input data second transmit PDO called requires two 8 byte PDOs digital_inputs2 114 890USE17600 September 2003 Application Examples The Node The following figure shows the Node Configuration window after one TxPDO Configuration for node 1 has been named and mapped Window Node Configuration
146. owing topics Chapter Topic Page The Advantys STB Electronic Data Sheet EDS 60 The Device Model and Communication Objects 61 The CANopen NIM s Object Dictionary 64 Object Descriptions and Index Addresses 67 PDO Mapping 86 Network Management 90 SYNC Messages 93 CANopen Emergency Messages 96 Error Detection and Confinement for CAN Networks 99 890USE17600 September 2003 59 Fieldbus Communications Support The Advantys STB Electronic Data Sheet EDS Introduction What s an EDS Basic and Configured EDS Files As with any CANopen network node your Advantys STB island needs to export an electronic data sheet EDS to the fieldbus master The NIM s EDS describes the island configuration as a single node on the CANopen network By exporting its EDS file to the CANopen master a node reveals its object dictionary entries to the controlling device The EDS is a standardized ASCII file that contains information about a network device s communications functionality and the contents of its object dictionary as defined in DS 301 The EDS also defines device specific and manufacturer specific objects according to DS 401 and DSP 402 Using the EDS you can standardize tools to e configure CANopen devices e design networks for CANopen devices e manage project information on different platforms The parameters of a particular island configuration depend on those objects application communicati
147. pecial messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure The addition of this symbol to a Danger or Warning safety label indicates A that an electrical hazard exists which will result in personal injury if the instructions are not followed This is the safety alert symbol It is used to alert you to potential personal A injury hazards Obey all safety messages that follow this symbol to avoid possible injury or death A DANGER DANGER indicates an imminently hazardous situation which if not avoided will result in death serious injury or equipment damage A WARNING WARNING indicates a potentially hazardous situation which if not avoided can result in death serious injury or equipment damage A CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in injury or equipment damage 890USE17600 September 2003 5 Safety Information PLEASE NOTE Electrical equipment should be serviced only by qualified personnel No responsi bility is assumed by Schneider Electric for any consequences arising out of the use of this material This document is not intended as an instruction manual for untrained persons 2003 Schneider Electric All Rights Reserved 890USE17600 September 2003 About the Book At a Glance
148. preferred module or back into a standard island segment If it is the last device on the island it must be terminated with a 120 Q terminator An Advantys STB network interface module designed at a relatively high cost to support high module densities high transport data capacity e g for web servers and more diagnostics on the island bus Prioritization is an optional feature that allows you to selectively identify digital input modules to be scanned more frequently during the NIM s logic scan of the island bus An Advantys STB I O module designed for operation at extended temperature ranges in conformance with IEC type 2 thresholds Modules of this type often feature high levels of on board diagnostics high resolution user configurable parameter options and higher levels of agency approval A part of the NIM firmware that serves as a real time data area for the data exchange process The process image includes an input buffer that contains current data and status information from the island bus and an output buffer that contains the current outputs for the island bus from the fieldbus master In networks that observe the producer consumer model data packets are identified according to their data content rather than by their physical location All nodes listen on the network and consume those data packets that have appropriate identifiers Profibus DP Profibus Decentralized Peripheral An open bus system that uses an electri
149. r 24 VDC 115 VAC or 230 VAC process data object In CAN based networks PDOs are transmitted as unconfirmed broadcast messages or sent from a producer device to a consumer device The transmit PDO from the producer device has a specific identifier that corresponds to the receive PDO of the consumer devices protective earth A return line across the bus for fault currents generated at a sensor or actuator device in the control system In peer to peer communications there is no master slave or client server relationship Messages are exchanged between entities of comparable or equivalent levels of functionality without having to go through a third party like a master device PLC programmable logic controller The PLC is the brain of an industrial manufacturing process It automates a process as opposed to relay control systems PLCs are computers suited to survive the harsh conditions of the industrial environment 172 890USE17600 September 2003 Glossary preferred module premium network interface prioritization process I O process image producer consumer model An I O module that functions as an auto addressable node on an Advantys STB island but is not in the same form factor as a standard Advantys STB I O module and therefore does not fit in an I O base A preferred device connects to the island bus via an STB XBE 1000 EOS module and a length of STB XCA 100x bus extension cable It can be extended to another
150. r history Index Subindex Name Purpose Data Type Attr 1003h predefined error field error history 0 number of errors unsigned8 rw 1 actual error unsigned32 rw 2 10 standard error field unsigned32 rw The entry at subindex 0 contains the number of actual errors that are recorded in the array starting at subindex 1 Every new error is stored at subindex 1 pushing older errors down the list Writing 0 to subindex O will empty the array deleting the entire error history Errors numbers of type unsigned32 are composed of 16 bit error codes and an additional manufacturer specific 16 bit error information field The error code is contained in the lower 2 bytes LSB and the additional information is included in the upper 2 bytes MSB Additional Information MSB Error Code LSB The COB ID SYNC message COB at index 1005h defines the COB ID of the synchronization object SYNC It does not generate SYNC messages It also defines whether the device generates the SYNC Index Subindex Name Purpose Data Type Attr 1005h 0 COB ID SYNC message unsigned32 rw The default value is Ox0000 0080 The manufacturer device name COB represents the strings for STB NCO 2212 Standard NIMs Index Subindex Name Purpose Data Type Attr 1008h 0 manufacturer device name ASCII string c Gu
151. r the standard output data process image See Output Data Process Image p 143 block registers 40001 through 44096 in the island s data image The fieldbus master writes output update data in native fieldbus format to the HMI data block concurrent with writing this data to the output data process image area The output data is placed in the fieldbus master to HMI block Upon request by the HMI via a Modbus read command the role of the NIM is to receive this output data convert it to16 bit Modbus format and send it over the Modbus connection at the CFG port to the HMI panel Note The read command enables all Modbus registers to be read not just those in the block reserved for fieldbus master to HMI data exchange 162 890USE17600 September 2003 Glossary 10Base T 802 3 frame An adaptation of the IEEE 802 3 Ethernet standard the 10Base T standard uses twisted pair wiring with a maximum segment length of 100 m 328 ft and terminates with an RJ 45 connector A 10Base T network is a baseband network capable of transmitting data at a maximum speed of 10 Mbit s A frame format specified in the IEEE 802 3 Ethernet standard in which the header specifies the data packet length A agent analog input analog output application object 1 SNMP the SNMP application that runs on a network device 2 Fipio a slave device on a network A module that contains circuits that convert anal
152. rd device profile On a Fipio network the standard device profile type for agents whose data length is more than two words and equal to or less than eight words The maximum level in a specific range e g in an analog input circuit the maximum allowable voltage or current level is at full scale when any increase beyond that level is over range A function block performs a specific automation function such as speed control A function block comprises configuration data and a set of operating parameters A function code is an instruction set commanding one or more slave devices at a specified address es to perform a type of action e g read a set of data registers and respond with the content G gateway global_ID GSD A program or hardware that passes data between networks global_identifier A 16 bit integer that uniquely identifies a device s location ona network A global_ID is a symbolic address that is universally recognized by all other devices on the network generic slave data file A device description file supplied by the device s manufacturer that defines a device s functionality on a Profibus DP network 890USE17600 September 2003 167 Glossary HMI HMI hot swapping HTTP human machine interface An operator interface usually graphical for industrial equipment human machine interface An operator interface usually graphical for industrial equipment Replacing a component
153. re the intervention of the optional Advantys configuration software Auto configuration occurs when e You power up an island for the first time e You push the RST button See The RST Button p 55 As part of the auto configuration process the NIM checks each module and confirms that it has been properly connected to the island bus The NIM stores the default operating parameters for each module in Flash memory You can customize the operating parameters of the I O modules create reflex actions add preferred modules and or CANopen standard devices to the island bus and customize other island capabilities 890USE17600 September 2003 49 Configuring the Island Bus Installing the STB XMP 4440 Optional Removable Memory Card Introduction Physical Description The STB XMP 4440 removable memory card is a 32 kbyte subscriber identification module SIM that lets you store See Saving Configuration Data p 138 distribute and reuse custom island bus configurations If the island is in unprotected edit mode See Protection Feature p 139 and a removable memory card containing a valid island bus configuration is inserted in the NIM the configuration data on the card overwrites the configuration data in Flash memory and is adopted when the island starts up If the island is in protected mode the island ignores the presence of a removable memory card The removable memory card is an optional Advantys
154. re transmitted after the reception of every SYNC object but only when an internal designated event like a change of state has occurred within the device Unlike synchronous PDOs an asynchronous PDO s transmission is triggered by events not related to the SYNC object possibly within the device itself Asynchronous PDO and SDO messages can be transmitted at any time according to their priority Therefore asynchronous messages can be transmitted within the SYNC window Application events that trigger asynchronous PDO transmissions can be device specific as described in the device profile or manufacturer specific as described in the manufacturer s documentation For the CANopen NIM the default transmission mode for default PDOs is asynchronous at an event driven base transmission type 255 in accordance with DS 401 This means the PDO will be transmitted on the fieldbus if there is any change of value Value changes are determined by the module s configured transmission type on the island bus 890USE17600 September 2003 95 Fieldbus Communications Support CANopen Emergency Messages Introduction Emergency Message Format Emergency messages are the messages of highest priority on CANopen networks When a device experiences an internal failure it transmits an emergency message available to all network nodes on the fieldbus An emergency message is transmitted only once per error event If no new error
155. rnal housing of the NIM is designed to accommodate the attachment of a fieldbus connector without raising the depth profile of the island 1 space reserved for the network connector 2 NIM housing 24 890USE17600 September 2003 The STB NCO 2212 NIM Module CANopen Fieldbus Interface Summary The fieldbus interface on the front of the module is the point of connection between the Advantys STB I O modules and the CANopen network The interface is a nine pin SUB D male connector Fieldbus Port The fieldbus interface is located on the front of the module at the top Connections It is recommended that you use a 9 pin SUB D male connector compliant with DIN 41652 or corresponding international standard The pin out should be according to the table below Pin Signal Description 1 Unused Reserved 2 CAN_L CAN low bus line 3 CAN_GND CAN ground 4 Unused Reserved 5 CAN_SHLD optional CAN shield 6 GND optional ground 7 CAN_H CAN high bus line 8 Unused Reserved 9 Unused Reserved Note Pin numbers correspond to callouts in the figure above 890USE17600 September 2003 25 The STB NCO 2212 NIM Module CANopen Networking Cable and Connectors The drop cable from the fieldbus to the island must have a female connector that observes the above pin assignment scheme The CANopen networking cable is a shielded twisted pair electrical cable compliant with CANop
156. rrupt enable 66 analog inputs 65 analog outputs 65 application object defined 61 mapping 88 auto clear mode 110 111 auto addressing 15 46 57 auto configuration and reset 49 56 57 defined 49 initial configuration 49 baud CFG port 35 56 default 28 fieldbus interface 56 range for devices 18 selecting 28 setting 27 28 bit monitoring 99 C CAN bus cable length 18 CAN bus line 17 CAN high 17 CAN low 17 CANopen bit packing 107 data exchange 67 data frame 20 device profiles 64 fieldbus interface 25 mandatory OD entries 66 message priority 19 message triggering 93 NMT 90 node address 30 node limitations 18 object dictionary 64 predefined connection set 86 producer consumer model 94 standards 44 CANopen modules max node ID 126 CANopen network 22 890USE17600 September 2003 179 Index CFG port devices connecting to 10 35 36 parameters 35 57 physical description 35 COB ID SYNC Message 70 COB IDs 63 communication diagnostics 78 communication object 61 63 67 broadcast 63 COB ID emergency message 71 COB ID SYNC Message 70 communication diagnostics 78 consumer heartbeat time 72 defined 61 device type 69 device specific 83 error register 69 global bits 77 guard time 70 identity object 72 index addresses 67 life time factor 71 manufacturer device name 70 manufacturer specific 76 multiple device features 84 NIM status 8
157. s Configuring Multiple Island Buses with the Use the following procedure to set up an island bus with configuration data that was previously saved See Saving Configuration Data p 138 to a removable memory card You can use this procedure to configure a new island or to overwrite an existing configuration Note Using this procedure will destroy your existing configuration data Step Action Result 1 Install See Installing the STB XMP 4440 Optional Removable Memory Card p 50 the removable memory card in its drawer in the NIM Power on the new island bus The configuration data on the card is checked If the data is valid it is written to Flash memory The system restarts automatically and the island is configured with this data If the configuration data is invalid it is not used and the island bus will stop If the configuration data was unprotected the island bus remains in edit mode If the configuration data on the card was password protected See Protecting Configuration Data p 139 your island bus enters protected mode at the end of the configuration process Note If you are using this procedure to reconfigure an island bus and your island is in protected mode you can use the configuration software to change the island s operational mode to edit You can use a removable memory card to make a copy of your configuration data then use the card to configure multiple island b
158. s occur on the device no additional emergency messages are sent The emergency message is always eight bytes The format is according to the following table COB ID D1 D2 D3 D4 D5 D6 D7 D8 0x80 node ID emergency error code error register manufacturer specific error field The first three bytes of the message indicate the error type When the error disappears the NIM will report the disappearance on the fieldbus with error code 0000 in the emergency message This is called emergency message recovery The remaining errors are shown in the error register See Error Register p 69 Error registers are discussed in more detail in CANopen Error Detection and Confinement See Error Detection and Confinement for CAN Networks p 99 Note The emergency error code and the error register See Error Register p 69 are defined in CANopen DS 301 The error code is also presented in object 1003 See Predefined Error Field p 70 Error Code Description 8110h CAN overrun objects lost 8120h CAN in error passive mode 8130h life guard error or heartbeat error 8140h recovered from bus off 8210h PDO not processed because of length error FFOO device specific 96 890USE17600 September 2003 Fieldbus Communications Support The structure of the emergency message is shown in the figure Emergency Emergency Producer Consumer s Om
159. se Block 7 35 predefined island bus status registers Block 8 input data status process image 4096 registers available Block 9 HMI to fieldbus master input table 512 registers available Each block has a fixed number of registers reserved for its use Whether or not all the registers reserved for that block are used in an application the number of registers allocated to that block remains constant This permits you to know at all times where to begin looking for the type of data of interest to you For example to monitor the status of the I O modules in the process image look at the data in block 8 beginning at register 45392 890USE17600 September 2003 141 Advanced Configuration Features Reading Register All the registers in the data image can be read by an HMI panel connected to the Data island at the NIM s CFG port See The CFG Interface p 35 The Advantys configuration software reads all this data and displays blocks 1 2 8 and 9 in the Modbus Image screen in its I O Image Overview Writing Register Some registers usually some configured number of registers in block 9 registers Data 49488 through 49999 of the data image may be written to by an HMI panel See HMI Panel Configuration p 161 The Advantys configuration software may also be used to write data to the registers in block 1 registers 40001 through 44096 The configuration software must be the island bus master in order for it to write to the data
160. sed by the Advantys STB CANopen NIM 890USE17600 September 2003 31 The STB NCO 2212 NIM Module Using the LED As you refer to the tables for this topic keep in mind the following Tables e Itis assumed that the POWER LED is on continuously indicating that the NIM is receiving adequate power If the POWER LED is off logic power See Logic Power p 39 to the NIM is off or insufficient e Individual blinks are approximately 200 ms There is a one second interval between blink sequences For example e blinking blinks steadily alternating between 200 ms on and 200 ms off e blink 1 blinks once 200 ms then 1 second off e blink 2 blinks twice 200 ms on 200 ms off 200 ms on then one second off e blink N blinks N some number of times then one second off e Ifthe TEST LED is on either the configuration software or an HMI panel is the master of the island bus If the TESTLED is off the fieldbus master has control of island bus CANopen The following table describes the indicated condition s and the colors and blink Communications patterns that the CAN ERR and CAN RUN LEDs use to show normal operations and LEDs error conditions for an Advantys STB CANopen NIM on a CANopen fieldbus Label Pattern Meaning off No error blinking Invalid node address on rotary switches on CAN controller gets reset Rx Tx queues cleared COBs lost CAN ERR red
161. sition that represents the digit in the ones position of your selected node address For example for a node address of 96 set the lower switch to 6 With a small screwdriver set the upper rotary switch to the position that represents the two digits in the tens and hundreds position of your selected node address For example for a node address of 96 set the upper switch to 9 Power up Advantys STB The NIM reads the rotary switch settings only during power up Using the Node After configuring the island s fieldbus network address it is best to simply leave the Address rotary switches set to that address In this way the CANopen network always identifies the island as the same node address at each power up 890USE17600 September 2003 29 The STB NCO 2212 NIM Module Valid CANopen Node Addresses Communicating on the Fieldbus Each rotary switch position that you can use to set the node address for your island is marked incrementally on the NIM housing The available positions on each rotary switch are e upper switch 0O to 12 tens digit e lower switch 0 to 9 ones digit For example the figure See Physical Description p 27 at the beginning of this topic shows an address of 123 represented by the selection of 3 on the lower switch and 12 on the upper switch Note that it is mechanically possible to set any node address from 00 to 129 however addresses 128 and 129 are
162. t is written as the rightmost single value in conventional hexadecimal or binary notation M MAC address media access control address A 48 bit number unique on a network that is programmed into each network card or device when it is manufactured mandatory When an Advantys STB I O module is configured to be mandatory it must be module present and healthy in the island configuration for the island to be operational If a mandatory module fails or is removed from its location on the island bus the island will go into a pre operational state By default all I O modules are not mandatory You must use the Advantys configuration software to set this parameter master slave The direction of control in a network that implements the master slave model is model always from the master to the slave devices Modbus Modbus is an application layer messaging protocol Modbus provides client and server communications between devices connected on different types of buses or networks Modbus offers many services specified by function codes MSB most significant bit most significant byte The part of a number address or field that is written as the leftmost single value in conventional hexadecimal or binary notation 170 890USE17600 September 2003 Glossary N C contact N O contact NEMA network cycle time NIM NMT normally closed contact A relay contact pair that is closed when the relay coil is de energized and open when the coi
163. t Auto Clear With Auto clear mode ON selected checked the master will stop communication Mode to all active nodes during a communication failure until such time as communication is reestablished or timed out With Auto clear mode OFF selected communication failure with a single node does not affect the communication channel to other active nodes The master will continue trying to restore communications with the faulted node until it is restored or timed out 890USE17600 September 2003 111 Application Examples Configuring the STB NCO 2212 NIM as a CANopen Network Node Introduction These instructions are for configuring an Advantys STB island as a node ona CANopen network using the SyCon configuration software This requires you to create RxPDOs and TxPDOs that reflect the sum of the possible digital and analog inputs and outputs Configuring the These instructions are for configuring the CANopen NIM and island modules as a Island Node single node on a CANopen network Step Action Comment 1 From the Insert menu select Node After clicking insert slave place the node cursor after the master in the topology editor screen See The Topology Editor Screen p 113 In the Insert Node window set Vendor and Profile to All in the Node Filter area Select Advantys STB CANopen NIM in the EDS pick list and click the Add tab Advantys STB CANopen NIM appears in the right window list Define
164. tate low byte low byte error frames on island bus island bus 0x05 island node 0x00 0x00 0x00 emergency ID this error Note D4 flags the manufacturer specific error code D5 through D8 contain parameters for 98 890USE17600 September 2003 Fieldbus Communications Support Error Detection and Confinement for CAN Networks Introduction Methodologies that CAN based networks implement for detecting errors and isolating nodes that produce errors are briefly discussed here Note These topics are discussed in greater detail at the CAN in Automation Website http www can cia de Error Detection CAN based networks use several error detection mechanisms at the bit and message levels Two error detection mechanisms are implemented at the bit level e bit monitoring Atfter transmitting a message a CAN node monitors the bit level in the arbitration field of the message on the bus Disagreement between the corresponding bits in the transmitted and monitored messages because of errors either in the transmitter or on the bus signals a bit error flag e bit stuffing After the transmission of five consecutive identical bits the transmitter will add stuff a single bit of opposite polarity to the outgoing bit stream Receiving nodes will remove unstuff this extra bit before processing the data If six identical bits are transmitted consecutively a stuff error flag is signaled Three err
165. te do not consume island bus addresses Module Physical Location Island Bus Address NIM 1 127 STB PDT 3100 PDM not addressed does not exchange data STB DDI 3230 input STB DDO 3200 output STB DDI 3420 input STB DDO 3410 output STB DDI 3610 input STB DDO 3600 output STB AVI 1270 input STB AVO 1250 output OJ oI INI OO Oo AJOJN fo OI NIOJ a BR OINI 890USE17600 September 2003 47 Configuring the Island Bus Associating the Module Type with the Island Bus Location As a result of the configuration process the NIM automatically identifies physical locations on the island bus with specific I O module types This feature enables you to hot swap a failed module with a new module of the same type 48 890USE17600 September 2003 Configuring the Island Bus Auto Configuration Introduction About Auto Configuration Customizing a Configuration All Advantys STB I O modules are shipped with a set of predefined parameters that allow an island to be operational as soon as it is initialized This ability of island modules to operate with default parameters is known as auto configuration Once an island bus has been installed assembled and successfully parameterized and configured for your fieldbus network you can begin using it as a node on that network Note A valid island configuration does not requi
166. tes a low priority transfer queue software overrun error A value of 1 in bit 14 is a fatal error It indicates a high priority receive queue software overrun error A value of 1 in bit 15 is a fatal error It indicates a high priority transfer queue software overrun error 146 890USE17600 September 2003 Advanced Configuration Features Error Reporting Each bit in register 45358 is used to report a global error condition A value of 1 in the bit indicates that a specific global error has been detected Register 45358 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 reserved see 1 see 13 _ see 2 see 12 see 3 see 11 see 4 see 10 see 5 seeQ see 6 see 8 see 7 1 Fatal error Because of the severity of the error no further communications are possible on the island bus 2 Module ID error a standard CANopen device is using a module ID reserved for the Advantys STB modules Auto addressing has failed Mandatory module configuration error Process image error either the process image configuration is inconsistent or it could not be set up during auto configuration 6 Auto configuration error a module is not in its configured location and the NIM cannot complete auto configuration Island bus management error detected by the NIM 8 Assignment error the initialization process in the NIM has detected a module assignment
167. the 45 corner of the removable memory card with the one in the mounting slot in the card drawer Hold the card so that the chamfer is in the upper left corner a Seat the card in the mounting slot applying slight pressure to the card until it snaps into place The back edge of the card must be flush with the back of the drawer Close the drawer 890USE17600 September 2003 51 Configuring the Island Bus Removing the Use the following procedure to remove the card from the card drawer As a handling Card precaution avoid touching the circuitry on the removable memory card during its removal Step Action 1 Open the card drawer Push the removable memory card out of the drawer through the round opening at the back Use a soft but firm object like a pencil eraser 52 890USE17600 September 2003 Configuring the Island Bus Using the STB X Island Bus Introduction Configuration Scenarios Edit Mode MP 4440 Optional Removable Memory Card to Configure the A removable memory card is read when an island is powered on If the configuration data on the card is valid the current configuration data in Flash memory is overwritten A removable memory card can be active only if an island is in edit mode If an island is in protected mode See Protecting Configuration Data p 139 the card and its data are ignored The following discussion des
168. the STB I O modules in the extension segments Each BOS module that you install requires 24 VDC from an external power supply Characteristics The external power supply needs to deliver 24 VDC source power to the island The of the External supply that you select can have a low range limit of 19 2 VDC and a high range limit Power Supply of 30 VDC The external supply must be rated safety extra low voltage SELV rated The SELV rating means that SELV isolation is provided between the power supply s inputs and outputs the power bus and the devices connected to the island bus Under normal or single fault conditions the voltage between any two accessible parts or between an accessible part and the protective earth PE terminal for Class 1 equipment will not exceed a safe value 60 VDC max CAUTION IMPROPER GALVANIC ISOLATION The power components are not galvanically isolated They are intended for use only in systems designed to provide SELV isolation between the supply inputs or outputs and the load devices or system power bus You must use SELV rated supplies to provide 24 VDC source power to the island Failure to follow this precaution can result in injury or equipment damage 890USE17600 September 2003 41 The STB NCO 2212 NIM Module Calculating the The amount of power See Logic Power Flow p 40 that the external power supply Wattage must deliver is a function of the number of modules and the nu
169. the change of state An input channel s polarity determines when the input module sends a 1 and when it sends a 0 to the master controller If the polarity is normal an input channel will send a 1 to the controller when its field sensor turns on If the polarity is reverse an input channel will send a 0 to the controller when its field sensor turns on The time it takes for an input channel to receive a signal from the field sensor and put it on the island bus The INTERBUS fieldbus protocol observes a master slave network model with an active ring topology having all devices integrated in a closed transmission path internet protocol That part of the TCP IP protocol family that tracks the internet addresses of nodes routes outgoing messages and recognizes incoming messages 890USE17600 September 2003 169 Glossary LAN light industrial 1 0 local area network A short distance data communications network An Advantys STB I O module designed at a low cost for less rigorous e g intermittent low duty cycle operating environments Modules of this type operate in lower temperature ranges with lower qualification and agency requirements and limited on board protection they usually have limited or no user configuration options linearity A measure of how closely a characteristic follows a straight line function LSB least significant bit least significant byte The part of anumber address or field tha
170. the node ID or use the default You can add a brief description of the node ID if desired Do not type spaces in the description Click OK The Advantys icon should appear as a node in the topology editor screen 112 890USE17600 September 2003 Application Examples The Topology Editor Screen Defining PDOs The topology editor screen should resemble the following figure after you ve inserted the CANopen node as a slave using the above procedure k SyCon can_connection_tele co is File Edit View Insert Online Settings Window Help oleja le cane Master Master TSX CPP 100 Node1 Node iD 1 Node Automation Island CANopen bus coupler You must now choose specific PDOs for data transmission Using the sample island assembly See Sample Island Assembly p 104 you can define and map appropriate PDOs Then you will pick and map modules for the physical network example In this example we will use default I O mapping defining digital inputs first 890USE17600 September 2003 113 Application Examples Defining Digital As part of this application example you will define and map digital input PDOs first Input PDOs The sample island assembly See Sample Island Assembly p 104 uses three digital input modules one with two channels one with four channels and one with six channels You must acc
171. the objects in its object dictionary according to DS 301 Device specific and manufacturer specific objects are also defined in the EDS CiA standards DS 401 and DSP 402 Each CANopen module s objects and communications functionality are described in its EDS The EDS specifies the implemented object dictionary entries for a particular device Only configurable objects are described in the EDS 20 890USE17600 September 2003 The STB NCO 2212 NIM Module At a Glance Introduction This chapter describes the Advantys STB NIM s external features connections power requirements and product specifications What s in this This chapter contains the following topics Chapter Topic Page External Features of the STB NCO 2212 NIM 22 CANopen Fieldbus Interface 25 Rotary Switches Setting the Baud and Network Node Address 27 LED Indicators 31 The CFG Interface 35 Power Supply Interface 37 Logic Power 39 Selecting a Source Power Supply for the Island s Logic Power Bus 41 Module Specifications 44 890USE17600 September 2003 The STB NCO 2212 NIM Module External Features of the STB NCO 2212 NIM Introduction The physical features critical to STB NCO 2212 CANopen NIM operations are called out in the illustration below 22 890USE17600 September 2003 The STB NCO 2212 NIM Module The features in the above illustrat
172. tributed application that implements it A distributed communication network for industrial environments based on open standards EN 50235 EN50254 and EN50170 and others that allows the exchange of data between devices from different manufacturers The amount that it takes an output channel to send change of state information to an actuator after the output module has received updated data from the NIM 890USE17600 September 2003 171 Glossary output polarity output response time An output channel s polarity determines when the output module turns its field actuator on and when it turns the actuator off If the polarity is normal an output channel will turn its actuator on when the master controller sends it a 1 If the polarity is reverse an output channel will turn its actuator on when the master controller sends it a 0 The time it takes for an output module to take an output signal from the island bus and send it to its field actuator parameterize PDM PDO PE peer to peer communications To supply the required value for an attribute of a device at run time power distribution module A module that distributes either AC or DC field power to a cluster of I O modules directly to its right on the island bus A PDM delivers field power separately to the input modules and the output modules It is important that all the I O clustered directly to the right of a PDM be in the same voltage group eithe
173. ts are Objects in the index range 6000h to 9FFFh Index Subindex Name Purpose Data Type Attr 6000h 0 number of input 8 bit unsigned8 ro 1 first island object 6000 unsigned8 ro 6200h 0 number of output 8 bit unsigned8 rw 1 first island object 6200 unsigned8 rw Note Mapped objects of island modules should be according to CANopen device profiles DS 401 I O modules and DSP 402 drives The following objects are supported in device profile DS 401 I O modules Index Subindex Input Index Subindex Output 6000 1 254 digital in 8 bit 6200 1 254 digital out 8 bit 6100 1 254 digital in 16 bit 6300 1 254 digital out 16 bit 6120 1 254 digital in 32 bit 6320 1 254 digital out 32 bit 6400 1 254 analog in 8 bit 6400 1 254 analog out 8 bit 6401 1 254 analog in 16 bit 6411 1 254 analog out 16 bit 6402 1 254 analog in 32 bit 6412 1 254 analog out 32 bit 6403 1 254 analog in float 6413 1 254 analog out float These objects are the true input and output data Besides these there are several objects defined in DS 401 that are treated as parameters and assumed to be unmapped They are accessed with an SDO through the Advantys configuration software These objects are listed in the object dictionary with the same indexes under subsequent subindexes Subinde
174. tware you can reserve one or two blocks of registers in the data image See A Modbus View of the Island s Data Image p 140 to support HMI data exchange When an HMI panel writes to one of these blocks that data is accessible to the fieldbus master as inputs Data written by the fieldbus master as outputs is stored in a different reserved block of registers that the HMI panel can read Advantys STB supports the ability of an HMI panel to act as e an input device which writes data to the island s data image that is read by the fieldbus master e an output device which can read data written by the fieldbus master to the island s data image e a combined I O device Input data to the fieldbus master can be generated by the HMI panel Input controls on an HMI panel might be elements such as e push buttons e switches e adata entry keypad To use an HMI panel as an input device on the island you need to enable the HMI to fieldbus master block in the island s data image See The Data Image p 141 and specify the number of registers in this block that you want to use for HMI to fieldbus master data transfers You must use the Advantys configuration software to make these configuration adjustments The HMI to fieldbus master block can comprise up to 512 registers ranging from register 49488 to 49999 Your actual register limit will be dictated by your fieldbus This block follows immediately after the standard input data
175. us is configured the configuration matches and the island bus is not started Configuration mismatch non mandatory or unexpected modules in the configuration do not match and the island bus is not started Configuration mismatch at least one mandatory module does not match and the island bus is not started Serious configuration mismatch the island bus has been set to pre operational mode and initialization is aborted The configuration matches and the island bus is operational Island is operational with a configuration mismatch At least one standard module does not match but all the mandatory modules are present and operating Serious configuration mismatch the island bus was started but is now in pre operational mode because of one or more mismatched mandatory module s Island has been set to pre operational mode for example with the stop function in the Advantys STB configuration software A value of 1 in bit 8 is a fatal error It indicates a low priority receive queue software overrun error A value of 1 in bit 9 is a fatal error It indicates a NIM overrun error A value of 1 in bit 10 indicates an island bus off error A value of 1 in bit 11 is a fatal error It indicates that the error counter in the NIM has reached the warning level and the error status bit has been set A value of 1 in bit 12 indicates that the NIM s error status bit has been reset A value of 1 in bit 13 is a fatal error It indica
176. uses This capability is particularly advantageous in a distributed manufacturing environment or for an OEM original Same Data equipment manufacturer Note The island buses may be either new or previously configured but the NIMs must all run the same fieldbus protocol 54 890USE17600 September 2003 Configuring the Island Bus The RST Button Summary The RST function is basically a Flash memory overwriting operation This means that RST is functional only after the island has been successfully configured at least once All RST functionality is performed with the RST button which is enabled only in edit mode Physical The RST button is located immediately above the CFG port See Physical Description Description p 35 and behind the same hinged cover RST button Holding down the RST button for two seconds or longer causes Flash memory to be overwritten resulting in a new configuration for the island CAUTION UNINTENDED EQUIPMENT OPERATION CONFIGURATION OVERWRITTEN RST BUTTON Do not attempt to restart the island by pushing the RST button Pushing the RST button will cause the island bus to reconfigure itself with factory default operating parameters Failure to follow this precaution can result in injury or equipment damage Engaging the To engage the RST button it is recommended that you use a small screwdriver with RST Button a flat blade no wider than 2 5 mm 10
177. with a like component while the system remains in operation hypertext transfer protocol The protocol that a web server and a client browser use to communicate with one another I O base I O module I O scanning IEC IEC type 1 input A mounting device designed to seat an I O module hang it on a DIN rail and connect it to the island bus It provides the connection point where the module can receive either 24 VDC or 115 230 VAC from the input or output power bus distributed by a PDM In a programmable controller system an I O module interfaces directly to the sensors and actuators of the machine process This module is the component that mounts in an I O base and provides electrical connections between the controller and the field devices Normal I O module capacities are offered in a variety of signal levels and capacities The continuous polling of the Advantys STB I O modules performed by the COMS to collect data bits status error and diagnostics information International Electrotechnical Commission Carrier Founded in 1884 to focus on advancing the theory and practice of electrical electronics and computer engineering and computer science IEC 1131 is the specification that deals with industrial automation equipment Type 1 digital inputs support sensor signals from mechanical switching devices such as relay contacts and push buttons operating in normal environmental conditions 168 890USE17600 September 2
178. x Subindex Name Purpose Data Type Attr 1000h 0 device type unsigned32_ ro A second 16 bit field gives additional information about the device s optional functionality Additional Information MSB Device Profile DS 401 LSB 0000 0000 0000 wxyz 0401 Note z 1 digital input y 1 digital output x 1 analog input w 1 analog output For multiple device modules the index of the additional information parameter is FFFFh The device profile number referenced by object 1000 is that of the first device in the object dictionary All other devices of a multiple device module identify their profiles as objects 67FFh x 800h x internal number of the device 0 to 7 This object will be dynamically generated at startup since the device type depends on the actual island configuration Devices map any internal errors to the error register byte Index Subindex Name Purpose Data Type Attr 1001h O error register unsigned8 ro This error register entry is mandatory for all devices It is part of the emergency object See CANopen Emergency Messages p 96 69 890USE17600 September 2003 Fieldbus Communications Support Predefined Error Field COB ID SYNC Message Manufacturer Device Name The predefined error field COB holds errors that occur on the device that have been signaled via the emergency object providing an erro
179. x 0 has been added to display the number of entries 890USE17600 September 2003 83 Fieldbus Communications Support Multiple Device Features SDO Services According to CANopen specification DS 301 multiple device modules are composed of up to eight device profile segments In this way it is possible to build devices with multiple functionality The different device profile entries are shifted with 800h The NIM s object dictionary represents up to eight devices Device 0 is always present and represents the I O functionality If optional devices are present in the island they are represented as devices 1 2 7 as follows Index Range Device Number Functionality Remark 6000h to 67FFh device 0 I O module always present 6800h to 6FFFh device 1 drive 1 optional 7000h to 77FFh device 2 drive 2 optional 7800h to 7FFFh device 3 drive 3 optional 8000h to 87FFh device 4 drive 4 optional 8800h to 8FFFh device 5 drive 5 optional 9000h to 97FFh device 6 drive 6 optional 9800h to 9FFFh device 7 drive 7 optional SDOs are the mechanisms for establishing a client server relationship between CANopen devices They are used by the CANopen master to access object dictionaries of network nodes There are two types of SDOs implemented in CANopen devices e server SDO Each CANopen device is required to allow access to its own object dictionary through at least one server SD
180. y card is discussed in this chapter The card is an Advantys STB option for storing configuration data offline Factory default settings can be restored to the island bus I O modules and the CFG port by engaging the RST button The NIM is the physical and logical location of all island bus configuration data and functionality This chapter contains the following topics Topic Page Auto Addressing 46 Auto Configuration 49 Installing the STB XMP 4440 Optional Removable Memory Card 50 Using the STB XMP 4440 Optional Removable Memory Card to Configure the 53 Island Bus The RST Button 55 RST Functionality 56 890USE17600 September 2003 45 Configuring the Island Bus Auto Addressing Introduction About the Island Each time that the island is powered up or reset the NIM automatically assigns a unique island bus address to each module on the island that will engage in data exchange All Advantys STB I O modules and preferred devices engage in data exchange and require island bus addresses An island bus address is a unique integer value in the range 0 through 127 that Bus Address identifies the physical location of each addressable module on the island Addresses 0 124 125 and 126 are reserved Address 127 is always the NIM s address Addresses 1 through 123 are available for I O modules and other island devices During initialization the NIM detects the order in
181. ze of the combined objects is eight bits or less e f the combination of objects requires more than eight bits the objects will be placed in separate contiguous bytes A single object can not be split over two byte boundaries e For analog input modules channel 1 data is followed immediately by channel 1 status then channel 2 data and channel 2 status The table below shows the data for the sample island See Sample Island Assembly p 104 as it will appear in the input and output words of the PLC in this case the Telemecanique Premium The table shows how digital data is bit packed for optimization and how data status and echo output data from outputs appear in the PLC as the same data type digital input data The following tables assume the implementation of e default island bus mapping no influence from the Advantys configuration software e default CANopen fieldbus mapping with SyCon e default auto addressing of Premium and SyCon Also N refers to the island node number in the tables That is N1 represents the first addressable See About the Island Bus Address p 46 node module on the sample island See Sample Island Assembly p 104 bus N2 the second and so forth 890USE17600 September 2003 107 Application Examples PLC data view inputs are shown in the following table

CANopen User Guide - Guillevin Industrial Automation Group

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