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CANopen RollOn Configuration Tool User`s Manual Version 1

1. 2 2 2 02022 4 20 Selection of Pusher and DIOPusher 4 20 CHANGE OF PROXY S 4 21 MISCELLANEQUS E 4 23 Hide Show Modules Tree 000000 4 23 Show Hid Grid ase etter ee 4 24 Modules Image s Size Change 1 4 24 Closing 0068 a SH 4 26 About RollOn a 4 27 Download nnns 4 28 IO AA 4 28 A 4 28 e oo A 4 28 Firmware Upgrade nee ee 4 28 Assign Selection to KID 4 28 4 29 5 COMMISSIONING PHASE 5 1 5 2 5 2 1 5 2 2 5 2 2 1 5 2 2 2 9 2 2 9 INERODUETON 5 1 COMMISSIONING 5 5 5 1 Self Installation 5 1 Commissioning Scenarios Using 5 2 Node ID List Based Commissioning Scenario
2. D C B D C B D C B I L D B ein I ii gt dest Sl ae ad Ss cee nae E I aly 4 A ES 5 m em ct E eee e teat Me E ee Si tH ll zen ex Eo cz en ues e ier pa EN llu em I zT ee all 2 s icu pilot rae c bo
3. 5 8 Downstream Commissioning 5 5 10 Zero Node ID Commissioning Scenario 5 14 CANopen RollOn Configuration Tool User s Manual 5 2 2 4 Downloading of Modules Properties 5 17 5 3 HOW CHOOSE THE SCENARIO 5 18 CHAPTER 6 REPLACEMENT OF MODULES CHAPTER 7 MONITORING AND TROUBLESHOOTING 7 1 GENERAL 7 1 7 2 OPEN A PROJECT WITH PREDEFINED DATA 7 1 7 2 1 Open a Project Dy Shortcut 7 4 7 2 2 Open Project by lt 2 7 4 7 3 SCREEN 7 5 7 4 MONITORING AND 7 5 7 4 1 Normal Operation of the 7 5 7 4 2 ZONE PNE m 7 6 7 4 3 Complete Module Error 7 7 7 4 4 nee 7 8 7 4 5 Example CANPusher
4. 4 1 4 1 2 Conveyor s Structure ernennen 4 2 4 1 3 The Control Modules 4 4 4 1 4 About Engineering Phase 4 5 4 2 OPEN NEW PROJECTI ange 4 5 CANopen RollOn Configuration Tool User s Manual 4 2 1 4 2 2 4 3 4 3 1 4 3 1 1 4 3 1 2 4 3 1 3 4 3 1 4 4 3 1 5 4 3 1 6 4 3 1 7 4 3 2 4 3 3 4 4 4 5 4 5 1 4 5 2 4 5 3 4 5 4 4 5 5 4 5 6 4 5 7 4 5 8 4 5 9 4 5 10 4 5 11 4 6 Creating of KID Webs ER 4 8 Setting KID Web Subsystem 4 10 CONFIGURATION OF CANopen SYSTEM CHANNEL 4 13 Selection of Roller 2 2 22 2 0 0 01 4 14 Identification of the 4 15 Module s Position 4 15 5 Direction 4 15 Selection ZONES Number een 4 17 Matching the Photosensor Type 4 18 Change of Module s 4 18 Delete a 89 ee een ee ee 4 19 Selection of Merger
5. CANopen RollOn Configuration Tool User s Manual Version 1 mr m E AA SS rali _ w o a mn E Revision 1 October 2002 Industrial Software Co 45 Lokorska Str 1225 Sofia BULGARIA Phone Fax 359 2 975 11 80 1 2 3 4 E mail indsoft einet bg www indsoft bg CANopen RollOn Configuration Tool User s Manual RELATED READINGS 1 CiA Draft Standard DS 201 to DS 207 Version 1 1 Feb 1996 CAL CAN Application Layer for Industrial Automation 2 Draft Standard 301 Version 3 0 Oct 1996 CAL based Communication Profile for Industrial Systems 3 Draft Standard 301 Version 4 0 June 16 1999 Application Layer and Communication Profile 4 CiA Draft Standard Proposal 305 Version 1 0 May 31 2000 Layer Setting Services and Protocol LSS 5 CiA Draft Standard Proposal 306 Version 1 0 May 05 2000 Electronic Data Sheet Specification for CANopen 6 CiA Draft Standard Proposal 402 Version 1 1 Oct 08 1998 Device Profile for Drives and Motion Control 7 Work Item 405 Version 1 Revision 1 0 March 27 1998 Device Profile for IEC 1131 Programmable Devices 8 H Boterenbrood CANopen High Level Protocol CAN bus NIKHEF Amsterdam April 07 1999 9 CANopen ROLLER MERGER CONTROL MODULE User s Manual Version 1 3 Revision October 2002 Industrial Software Co http www indsoft bg 10 CANopen DIGITAL INPUT O
6. C I Fig 4 37 availability of the grid may be very helpful sometimes down box and click on the same item To hide the grid call the option drop 4 5 3 Modules Image s Size Change The size of the images of the modules may be changed in order to obtain better observation Right click on the design field to call the options drop down box Fig 4 35 Approach Zoom item to open the percentage drop down list Fig 4 38 CANopen RollOn Configuration Tool User s Manual 4 24 Show Tree Show Grid Zoom Connect About Fig 4 38 Click on respective percentage to change size of the images A 50 version is illustrated in Fig 4 39 and a 200 version is shown in Fig 4 40 gt CANopen Configuration Tool C ACANopen_Roll0niProbal View Operation Conveyor System 1 Conveyor System 2 Conveyor Wh System 8 Fig 4 39 CANopen Configuration Tool E XCAMopen HRoll nXProbal mdb View EIDWeb Operation Conveyor Z System 1 Conveyor System 2 Conveyor vela System 9 Experimental Project DP L B4 D C Fig 4 40 CANopen RollOn Configuration Tool User s Manual 4 25 4 5 4 Closing Loop Some conveyors may be of open type i e they have clearly defined start point
7. components The control modules their functions and specifications The relevant safety requirements Basic knowledge on CANopen based networks could be of substantial help a list of recommended readings is outlined at the beginning of this manual open a new project follow the steps described below e Open the CANopen RollOn Configuration Tool the dialog box appears as shown in Fig 4 1 CANopen RollOn Configuration Tool User s Manual 4 5 e E n 5 E zT Fig 4 1 The Modules Tree is displayed on the left hand part of the screen Fig 4 1 A list of the Plug ins related to different CANopen control modules is shown on this tree The numbers reflect the 4 6 RollOn Configuration Tool User s Manual corresponding Plug in version The images of the control modules Plug ins will be used for design purposes The major part of the screen is allocated for the CANopen system design The Menu bar shows only two menus File menu and View menu which are self explanatory e Click on File menu to open the drop down list shown in Fig 4 2 CANopen Config File View KIDWeb Operat New Project Ctrl h Project Print File Alt F4 Fig 4 2 e Click on New Project to open the Dialog box shown in Fig 4 3 sae 7 i Save in E CANopen Rall n Al ex Save typ
8. IE d Fig 4 27 Fig 4 28 The last Roller module is selected in the similar way Fig 4 29 Fig 4 29 4 20 CANopen RollOn Configuration Tool User s Manual 4 4 CHANGE OF PROXY S The user may change the name of any Proxy Project KIDWeb_number appearing by default The change is accomplished as follows Click on the name of the Proxy subject to name change say 1 e Click on KIDWeb menu to call the drop down box shown in Fig 4 30 HollOn Configuration Tool C 1CA4Nopen_Roll0niProbal mdb EE KlD eb Operation Add Project Froject_RID WWeb_ Project KID w eb 2 Project Discovernng Project EID Web T D C B 4 DC B D Fig 4 30 Approach Project KIDWeb 1 item to open the selection drop down list shown in Fig 4 31 CANopen Configuration Tool XCAMopen Holll nXProbal mdb Operation Add Project Project KID Web 1 Project_KlD web_2 Project KIDweb 3 Discovering Project RID Web 1 PF Properties NEZ m aS NET Uninstalled Modules wv Mode Guarding AY Rauller Merger Control Status Monitoring 2 Set State AllNet gt Baudrate k D C B D C B A Read Object Firmware pgrade Rename Reconnect Assign Remove Fig 4 31 CANopen RollOn Configuration Tool User s Manual 4 21 e Click Rename bo
9. Fig 7 2 e Click item to open the CANopen RollOn Configuration Tool file list as for example is shown in Fig 7 3 You may recollect also Fig 3 5 Edt View Help E Cankoll n 4 6 02 2 00 File DEE 240 9 50 5 46 FM CANDioPusher ocx SURE OC 12 46 CANMerger ocx 144KB OC 9 5 02 12 41 QC 35 02 12 44 CAMNRaller acx 8757028 12 36 S CANRallOn exe 296KB App 9 6 02 2 34 cocco mdb Mcr 376702 7 37 SHSKB Micr 9712702 11 34 9 Jimmis mdb 108KB 3712702 3 12 mdb jaBKB 9 13 02 2 09 EFF Fig 7 3 Right click on CANRollOn exe file name to call the Open dialog box Fig 7 4 7 2 CANopen RollOn Configuration Tool User s Manual Fig 7 4 e Click on Create Shortcut menu item to create a Shortcut to CANRollOn exe Right click on above Shortcut to CANRollOn exe to open again the dialog box shown Fig 7 4 Click on Properties menu item to display the Shortcut to CANopenRollOn exe dialog box as shown in Fig 7 5 Shortcut to CANRollOn exe Properties VELEN Fig 7 5 CANopen RollOn Configuration Tool User s Manual 7 3 Click on Shortcut Tab item to open the dialog box shown in Fig 7 6 Shortcut to CANRoll n exe P
10. area where the packages are distributed on different lanes The distribution of the packages may be executed by various devices such as pushers diverters cross transfers Downstream Zone The next zone in the main direction of the conveyor movement Jog Mode of operation when or several specified zones are forced to jog unconditionally 2 4 CANopen RollOn Configuration Tool User s Manual Linear Area Local Zones Merge Area Package Photosensor Powered Roller Purge Remote Zones Roller Interface Singulation Slave Rollers Standard Area Tote Train Tray Upstream Zone Zone Also referred to as STANDARD AREA A set of linear and or curved conveyor Zones The zones belonging to the same control module The conveyor area where the packages from two or three lanes are merged into one merge lane A separate usually wrapped or boxed object to be transported by the conveyor The term tray or the term tote is also used instead of the term package A device mounted near the end of the conveyor zone to sense the presence of a package on the zone Also referred to as DRIVE ROLLER or MOTORIZED ROLLER or MASTER ROLLER This is a roller driven by a motor The powered roller drives the slave rollers of the zone by means of belts or chains Mode of operation when all zones are forced to move in order to clear the conveyor completely The zones belonging to different contr
11. Direction Count Zones k sensor Type h Rename Contig amp Watch Remove Fig 7 10 e Click on Config amp Watch item to open Config amp Watch information box Fig 7 11 This box provides comprehensive information about the state of this module 7 6 CANopen RollOn Configuration Tool User s Manual Config amp Watch CAMRoller 43 06 one O TRAY Count one TRAY Count 1 one TRAY Count zone TRAY Count Matar Error Motor Error Sensor JAM amp Continue Delay E Sec Set Delay Fig 7 11 The above Config amp Watch information box as well as its configuration and format is provided by the respective module s Plug in Each module is affiliated with its Plug in Each Plug in provides a specific type of information box Since the Plug ins are subject to innovations upgrading certain changes may take place both in Menu items and in the Config amp Watch box 7 4 3 Complete Module Error An overall red cross on the module is signaling about the complete module s failure Fig 7 12 CANopen RollOn Configuration Tool User s Manual 7 7 d M D A D C H A a 5 3 A C Fig 7 12 7 4 4 Example Merger Error A two zone error signaling is illustrated in Fig 13 D C B A D C B A A D C B AD A A y y T y EI Fig 7 13 The respecti
12. 1 0 C MPusher 1 0 Fig 4 34 4 22 CANopen RollOn Configuration Tool User s Manual 4 5 MISCELLANEOUS CANopen RollOn Configuration Tool offers a number of options to enhance the design procedures during the engineering phase These options are called by right click on the design field Some of the options Fig 4 35 are used during the design phase of the project whereas the other options are used during the commissioning phase or for system control monitoring and maintenance Hide Tree Show Grid oom k Connect About Rollin Help Lock Screen Print Refresh System Special Connect Service Pin Installation Assign Selection to EID Web Add Hemove Two Modules Connection Fig 4 35 The basic options used for design purposes will be described 4 5 1 Hide Show Modules Tree In order to hide the Modules Tree click on Hide Tree item Fig 4 36 As a matter of fact the design field is enlarged now thus providing more space for the designer To show again the Modules Tree call again by right click the option drop down box Fig 4 35 and click on the same item now named Show Tree CANopen RollOn Configuration Tool User s Manual 4 23 zei T T m f R E E xi E n 5 o 2 E E n a 5 m WEE peration d a Ll Conveyor Z S
13. Copyright C 2002 bu Industrial Software All Rights Reserved Fig 4 44 CANopen RollOn Configuration Tool User s Manual 4 27 4 5 6 Download Configuration Reference is made on Download Configuration menu item of the drop down menu box shown in Fig 4 41 called by Right click on the project field of the screen This item will be described in Chapter 5 4 5 7 Help Reference is made on Help menu item of the drop down menu box shown in Fig 4 41 called by Right click on the project field of the screen e Click on this Help item to open PDF containing the description of the CANopen RollOn Configuration Tool Acrobat Reader must be installed on your PC in order to read the PDF file 4 5 8 Lock Screen Reference is made on the drop down menu box shown in Fig 4 41 called by Right click on the project field of the screen This item will be described in Chapter 7 4 5 9 Print Reference is made on the drop down menu box shown in Fig 4 41 called by Right click on the project field of the screen e Click on this item when you wish to print the documentation of your Project 4 5 10 Firmware Upgrade Reference is made on the drop down menu box shown in Fig 4 41 called by Right click on the project field of the screen This item will be described in Chapter 8 Reference is made on the drop down menu box shown in Fig 4 41 called by Right click on the project field of the screen This item will be d
14. device switches 5 14 hen you may go downstream of the conveyor and press the Install Button of the next downstream module Fig 5 15 Fig 5 15 e Go downstream the lane and press the Install Button of the modules CANopen RollOn Configuration Tool User s Manual 5 13 The installation finishes when The Service pin installation dialog is closed No downstream module is found in database Left or Right zone of Merge module is reached as downstream zone If the installation process reaches central zone of a Merger as a downstream zone the is installed and continues with the downstream to the Merge zone module e When A zone of Pusher is reached Pusher is installed and installation continues with downstream to the Pusher s A zone downstream module Pushers DIO have to be installed in separate Service Pin Installation transaction Modules downstream to 5 zone have to be installed in separate Service Pin Installation transaction You may stop the installation process at any point of the conveyor and start it again at any point You may mix Service Pin and Drag and Drop installation scenario at any point of installation process THUS THE ACTIVITY NO 1 IS CONSIDERED COMPLETED 5 2 2 3 Zero Node ID Commissioning Scenario The previous two scenarios are based on the fact that the electrician installs the Node ID this
15. Min Number 1 Cancel Number 24 Humber of Rollers Fig 4 11 e Select number 5 modules on the dialog box Click OK button the image of the five modules appears Fig 4 12 4 14 CANopen RollOn Configuration Tool User s Manual Tool EYCANopen_RollOn Probal mdb Project KIDWeb 1 Project_KIDWeb_2 Project_KIDWeb_3 Project_KIDWeb_4 D c B A D c B A D C B A D c B A D C B Fig 4 12 4 3 1 1 Identification of the Module When approaching by cursor a particular module on the design field a frame appears Fig 4 13 showing information about the respective module you my refer to subsection 2 4 the module s name and number the Vendor ID number the Product Code number D C B A D C B A D C B A D C B A D C B A CAN Roller 10 2 0449 0444435243 Fig 4 13 CS The Vendor ID number may appear also as 73 instead of 0x49 refer to subsection 2 4 The Product Code may appear also as CRCM instead of 0x4D435243 refer to subsection 2 4 4 3 1 2 Module s Position Change The position of a separate module or of the complete set of modules may be changed by applying standard Windows matching or framing and drag n drop operations 4 3 1 3 Module s Direction Change Each module may be subject to various manipulations in terms of direction of number of zones to be used in terms of the photosensor to be used etc This is
16. User s Manual 6 1 7 1 7 2 7 2 1 7 2 2 7 3 7 4 7 4 1 7 4 2 7 4 3 7 4 4 7 4 5 7 4 6 7 5 7 5 1 E 9001 7 a CHAPTER 7 MONITORING AND TROUBLESHOOTING GENERAL OPEN A PROJECT WITH PREDEFINED DATA BASE Open a Project by Shortcut Open a Project by Auto start LOCK SCREEN MONITORING AND TROUBLESHOOTING Normal Operation of the Conveyor Zone Error Complete Module Error Example Merger Error Example CANPusher Information Box Example CANDio Pusher Information Box ADITIONAL OPERATIONS TO BY KID WEBs Start Stop Node Guarding CANopen RollOn Configuration Tool User s Manual 7 5 2 1 9 9 7 5 4 7 5 5 Start Stop Status Monitoring Set State All Net Read Write Object Baudrate CANopen RollOn Configuration Tool User s Manual 7 1 General Once project is commissioned the is ready for regular operation is necessary for the operation However RollOn Configuration Tool provides excellent capability to use PC for monitoring and troubleshooting procedures during operational phase of the conveyor When using a PC for monitoring and troubleshooting procedures certain precautions have to be taken into account in order to avoid unintentional operator s errors AN normar the conveyors are operated by operators who are authorized to conduct monitoring and troubleshooting but are not authorized select a non correct D
17. n Help Lock Screen Frint Firmware Upgrade service Fin Installation Assign selection ta FIDWieb Add Femove Two Modules Connection Fig 5 11 e Click on Service Pin Installation menu the cursor is changed as a button e Approach the cursor to the project module to start with Select the most upstream module of the conveyor or the most upstream module from the area you want to install e Click on this project module the Service Pin Installation dialog box is displayed as shown in Fig 5 12 e Click on the check box to select the Use Node ID specified by device Node ID switches mode The downstream concept must be followed now CANopen RollOn Configuration Tool User s Manual 5 11 Service Pin Installation EJ Please enter service pin Output Installing LAN R oller 3 Fig 5 12 Note As you will use Node 10 pre selected during electrical installation DON T FORGET TO CHECK Use Node ID specified by device Node ID switches Goto conveyor and press the Install Button of the appropriate module Fig 5 13 Fig 5 13 5 12 CANopen RollOn Configuration Tool User s Manual Wait until the module resets and all zones LEDs flash shortly When module is ready the dialog box will invite you to install the next downstream module Fig 5 14 Service Pin Installation Please enter service pin Output Use specified
18. Information 7 9 7 4 6 Example CANDio Pusher Information 7 10 7 5 ADITIONAL OPERATIONS KID WEBBs 7 10 7 5 1 Start Stop Node 2004221 7 11 7 5 2 Start Stop Status 02 0 2 2 7 11 7 5 3 Sel tale INCU counts boat 7 11 7 5 4 ROSA ODJECE 7 11 7 5 5 zr pondiente 7 12 8 FIRMWARE UPGRADE CANopen RollOn Configuration Tool User s Manual iii 1 1 1 2 1 3 1 4 1 SYMBOLS AND ABBREVIATIONS EXPLANATION OF SYMBOLS ABBREVIATIONS NUMERICAL DATA SAFETY AND OPERATING INSTRUCTIONS CANopen RollOn Configuration Tool User s Manual 1 1 EXPLANATION OF SYMBOLS I 2 This symbol indicates important directions for the proper use of the CANopen RollOn Configuration Tool CS This symbol provides important notes and or other useful information A This symbol indicates that special attention should be paid in order to ensure correct use well as to avoid dangers 1 2 ABBREVIATIONS CAL CAN CiA CMS COB COB ID CRCM DCF EDS EMC ESD Err FTP OD OSI PDO CAN Application Layer Controller Area
19. Network A standardized serial bus system CAN in Automation international users and manufacturers group CAN Message Specification CAL service element Communication Object An unit of transportation in a CAN Network Data must be sent across a CAN Network inside a COB COB Identifier Identifies a COB uniquely in a Network by a number called the identifier CANopen Roller Merger Control Module Device Configuration File Electronic Data Sheet Electromagnetic Compatibility Electrostatic Discharge Error File Transfer Protocol A client server protocol used on the World Wide Web to transfer a file from a server to a client FTP 1 based on the protocol Hexadecimal number s Identification Identification Number Internet Protocol Light Emitting Diode Node Identification Number Network Management One of the service elements of CANopen Application Layer in the Can Reference Model It performs initialization configuration and error handling in a CANopen network Object Dictionary Open System Interconnection Process Data Object CANopen RollOn Configuration Tool User s Manual 1 1 Read Only RPDO Receive Process Data Object RW Read Write SDO Service Data Object TPDO Transmit Process Data Object TCP Transfer Control Protocol TCP IP The protocol that networks use to communicate with each other on the Internet UDP Unified Datagram Protocol 1 3 NUMERICAL DATA Decimal
20. accomplished as follows e Select the module and Right click on it to call the drop down list of alternatives as shown in Fig 4 14 CANopen RollOn Configuration Tool User s Manual 4 15 D C H A D C B AD h Fig 4 14 e Approach Direction item to open the options box Fig 4 15 The check sign Right shows that the third module is in the right position consider the arrow on the bottom of the module 5 image D C HB A D CH A D Direction Fig 4 15 e Click on Left position to change the direction of the arrow Fig 4 16 D C B A D C B AA B C D D C B A D C B A i Fig 4 16 416 CANopen RollOn Configuration Tool User s Manual e Click on Down position to change the direction as shown in Fig 4 17 D C BA D AD D C B XX D C B A q W lt n C Fig 4 17 Click Up position to change the direction as shown in Fig 4 18 D C B D C H AA D C B A D C B M C D Fig 4 18 4 3 1 4 Selection of Zones Number Select the module for example the third module e Right click on the module to open the drop down list Fig 4 14 Approach Count Zones item to open the options box Fig 4 19 D C B AD C B A _ n 33 Count ones Fig 4 19 The check sign 4 shows that the third module is with 4 zones now RollOn Configuration Tool User s M
21. and changes the PROM chip Now we provide capability for upgrading via the network The upgrading of our CANopen control modules is based Draft Standard Proposal 302 Version 2 0 Nov 1998 FRAMEWORK FOR Programmable CANopen Devices and FTP protocol KID Web upgrade is accomplished by using Firmware Upgrade menu Fig 5 3 The upgrading of all other modules is accomplished when calling the drop down menu boxes by a click on Operation menu Fig 8 1 or by right click on the Project field Fig 8 2 onfiguration Tool proba Operation Two Modules Connection Download Configuration service Fin Installation Firmware Upgrade Assign selection to Fig 8 1 Hide Tree chew Grid Zoom Download Configuration About Help Lock Screen Print Firmware Upgrade service Pin Installation Assign selection to KID eb Add Remove Two Modules Connection Fig 8 2 e Click on Firmware Upgrade menu to open the Firmware Upgrade dialog box Fig 8 3 CANopen RollOn Configuration Tool User s Manual 8 1 8 2 Firmware Upgrade Firmware file bin Browse Module Modules 0 gt IF Minor Revizion less or equal to Select All Fig 8 3 Select the file you wish to download on the module s by using Browse button Select the Module type and V
22. by a new KID Web The new KID Web has to be recognized and an IP address must be attached This is accomplished by using Discovering item on the drop down list shown in Fig 5 2 The discovering procedure may take some time subject to Windows capabilities so be patient please Sensor type The predominant photosensor type is entered in this field This is particularly useful option in case a huge number of zones are assembled with a single type of photosensors Instead of entering the sensor type for each particular control module this is entered at once here and will be inherited by all modules that will be added Nevertheless the user is still free to enter different type of sensor for a particular module if necessary Zone Operation Type The predominant type of conveyor s zones operation is entered here Changes for a particular module are possible when and if necessary Delay Time delay time is entered in this field as applicable to a particular conveyor configuration The modules to check JAM situations tray s transfer etc use this time This time must be selected to be greater then the typical time that is required for tray transition from the end of a zone to the end of the next zone It depends on the speed of your conveyor Status Guard Time The time that is required for scanning for presence of the complete set of modules is entered in this field according the system requirements and designer s conside
23. deliberately simple in order to enhance the understanding of the philosophy for design engineering phase of a Project The major part of the conveyor consists of a closed loop sector whereas a small part of the conveyor consists of an open loop sector A Merger area and a Pusher area can be easily recognized in the closed loop sector of the conveyor The Project designer should assign an initial zone From a logical point of view any conveyor zone may be taken as initial zone in a closed loop conveyor However from user s point of view a special zone may be of particular importance for example the packets load point on the conveyor or the totes input point of the conveyor etc The linear zone D of the conveyor is selected as initial zone an example as shown in Fig 4 1 1 THIS SPACE IS LEFT INTENTIONALLY BLANK 4 2 CANopen RollOn Configuration Tool User s Manual SANOZS a T L3M9D Vd 3NOZ dV3NI Q 2 g8 V Fig 4 1 1 4 3 CANopen RollOn Configuration Tool User s Manual In this case the following aspects can recognized in Fig 4 1 1 a There is a standard area of 20 consecutive linear and curved conveyor zones obviously they require five CRCM modules b The above standard area 1 followed by Merger area it requires one CRCM module configured as Merger control A Pusher area follows the Merger area
24. it requires normally one CRCM module configured as Pusher control plus one CAN DIO 88 module d The Pusher area is followed by an outflow zone which requires one CRCM module configured for 1 zone operation e standard area of four curved zones and D follows the Pusher area also closing the conveyor s loop e zone 1 connected to the initial zone D One CRCM module 1 required for this area f An extra influx zone exists on the Merger s Right Zone side that requires one CRCM control module configured for 1 zone operation 4 1 3 The Control Modules The specification of the control modules for the above example 1 as follows 8 modules configured as CAN Roller modules 1 CRCM module configured as CAN Merger 1 CRCM module configured as Pusher module 1 CANopen Digital Input Output module CAN DIO 88 You may recollect that CANopen CRCM module is capable to control up to four zones The picture shown in Fig 4 1 2 illustrates the complete set up of the control modules that are in position to control the above target conveyor The comparison between the conveyor s structure Fig 4 1 1 and the control modules diagram Fig 4 1 2 shows the affiliation of the very first left hand control D zone with the conveyor s initial D zone Fig 4 1 2 Furthermore a Five 5x4 zones 20 CAN Roller modules are affiliated with the 20 standard area s zones of
25. may be a source of human errors particularly in terms of Node ID duplication In order to avoid such errors this alternative scenario is developed for our customers To proceed with Zero Node ID commissioning follow the instructions described below The electrician is instructed to set the Node ID switches of all modules 0 zero e The electrician is instructed to set Node Baudrate switches to respective Baud Rate e Click on Operation menu to open the drop down list shown in Fig 5 10 that contains the Service Pin Installation menu item e Click on Service Pin Installation menu the cursor is changed as a button refer to Fig 5 16 2 DO click check box to select the Use Node ID specified device Node ID Select the most upstream module of the conveyor the most upstream module from the area you want to install and click on it 5 14 CANopen RollOn Configuration Tool User s Manual CANopen Configuration Tool E ACANRoll0midb_aaa mdb aa a SEC CANAR oller 1 0 D A D C A D RR Fig 5 16 Following dialog box appears Fig 5 17 Service Pin Installation Fig 5 17 Goto conveyor and press the Install Button of the appropriate module Fig 5 18 CANopen RollOn Configuration Tool User s Manual 5 15 Fig 5 18 Wait until the module resets and all LED s flash shortly When the module is ready d
26. network address hence the communication is not possible 5 CD KiDweb_6 AN Connect error 10065 Fig 5 1 This is the reason calling for the necessity for allocation to each 5 Proxy an IP address in conformity with the user s TCP IP address Pool Cg The very first thing to do now is to personalize the conveyor KIDWeb s with the relevant IP address es There are two approaches for IP address allocation a Static allocation of IP addresses The IP address is allocated once and remains unchanged 0 2 CANopen RollOn Configuration Tool User s Manual b Dynamic allocation of IP address A Server allocates IP addresses by using a pool The server allocates different IP addresses in respect of time and or situations D Industrial Software KIDWebs Proxies with firmware version less than 2 0 do not support this second option To allocate the relevant static IP address to KIDWeb follow the steps described hereafter Click to match on the respective discovered Web an example for our demonstration case this is KIDWeb_6 Fig 5 1 The selection of an unreachable KID Web will force Connect Error signal box with extremely long timeout Do not worry be patient please e Click on KIDWeb menu to open the drop down box shown in Fig 5 2 the lowest item displays the name of the selected Web our case KIDWeb_6 gt CANopen Con
27. set on 125 kbit s The Firmware Version is 1 19 The Serial Number is 5678 and cannot be changed by the user The Physical Name box is reserved for future development The IP Address set by default is 1 1 1 1 but is subject to change by the user Subsystem Properties field is self explanatory and contains the present information All data in this field may be changed by the user Here are some basic considerations for the respective entries to be effected by the user IP address customer s network IP address must be entered here In case your PC has an IP address for example 192 200 140 10 then the IP address to be allocated to the KID Web will be 192 200 140 11 if this number 11 was not already used for some other device in the network Fig 5 5 illustrates an IP address used in this Manual for demonstration purposes 5 4 CANopen RollOn Configuration Tool User s Manual KID Web k Subsystem Prorerties Web Properties Baudrate 125 Kbit s Firmware 0 00 Senal Number 0565 Fhisical Name IP Address 132 50 200 70 allocation using Clo Fig 5 5 e After the respective IP address is allocated to the KID Web click Set button to execute the entry Now the PC is capable to communicate with the KID Web The same procedure is used for allocation of IP addresses to the remaining KID Webs cgr Sometimes a KID Web may be replaced for some reasons
28. the configuration by PC using standard CANopen RollOn Configuration Tool description of the manual installation commissioning is outlined in Chapter 7 of the document CANopen ROLLER MERGER CONTROL MODULE User s Manual Version 1 3 Revision Oct 2002 Industrial Software 5 2 2 Commissioning Scenarios Using PC There are three options of commissioning scenarios when PC is used These scenarios are intended for more complex conveyor systems although they may be used for simple small scale conveyors as well Before discussing these scenarios let us pay attention to some preliminaries Connect your PC to the physical conveyor network When the CANopen RollOn Configuration Tool is opened it starts to search the frame of a discovering process for existence of physically connected to the network KIDWebs The devices working on TCP IP protocol must be personalized by their addresses The common way to allocate an IP address is by using four groups of numbers for example 192 50 200 22 KIDWebs are shipped typically with a default IP address 1 1 1 1 That is why they will be not able to communicate with the customer s PC having an address for example 101 100 20 30 or 192 50 200 22 Fig 5 1 illustrates the situation when a KIDWeb namely KIDWeb_6 is discovered by the CANopen RollOn Configuration Tool but the warning box notifies that this KIDWeb possesses an address which 1 not reachable by the customer s
29. 1 System 2 stem N NE TCP IP CANopen Proxy Node ID 001 Node ID 001 Node ID 001 Node ID 002 Node ID 002 Node ID 002 CANopen Network CANopen Network CANopen Network Node ID 127 Node ID 127 Node ID 127 CANopen CANopen CANopen Conveyor Conveyor Conveyor Control Control Control Modules Modules Modules Fig 2 1 Up to five PCs clients can be connected to one TCP IP CANopen Proxy simultaneously if and when required CANopen RollOn Configuration Tool User s Manual 2 1 protocol is used for configuration for change of functions and for everything related to OD in the CANopen system Each CANopen System communicates with the Ethernet TCP IP Network via a TCP IP CANopen Proxy also referred to as KidWeb The CANopen Conveyor Control Modules are connected to the respective CANopen Network Up to 127 CANopen control modules can be connected to one CANopen system network A unique Node ID number characterizes each Control Module Each module transmits the respective PDOs during the operation into the CANopen network These PDOs are used for monitoring of the system the PDOs are monitored by the CANopen Proxy and transmitted to the clients the PCs as UDP Data Grams The CANopen RollOn Configuration Tool incorporates specialized software component Active X Control for each CANopen conveyor control module Such a specialized software component is referred to as Plug in Each Plug in contains the complete
30. 16 7 5 ADITIONAL OPERATIONS WEBs CANopen RollOn Configuration Tool provides extra capabilities for testing and troubleshooting procedures These options are initiated as follows the respective KID Web numerals are quoted as an example only in order to facilitate the explanations e Click on KIDWeb menu to call the sub menu shown in Fig 7 17 Operation Add Project Discovering Project 1 7 17 Approach Project KIDWeb 1 to open drop down menu box Fig 7 18 7 10 CANopen RollOn Configuration Tool User s Manual Operation Add Project oject KID w eb 1 Discovering Project KIL Veb 1 Properties installed Modules v Node Guarding s Merger Control v Status Monitoring nown devices SetStsteAllNet Baudrate 4 Head vvrte Object Firmware Upgrade Rename Reconnect Assign Remove Fig 7 18 7 5 1 Start Stop Node Guarding The respective sub menu Fig 7 17 selects this option The selection of this menu sends a command to the respective Proxy to START STOP the process for guarding of the Nodes 7 5 2 Start Stop Status Monitoring The respective sub menu Fig 7 17 selects this option The selection of this menu sends a command to the respective Proxy to START STOP transmitting of information to CANopen RollOn Configuration Tool for the state of the modules zones The operations 7 5 1 and 7 5 2 are for very specifi
31. C or IBM compatible PC with a minimum configuration of 486 DX 66 16 MB RAM 880 HDD CD ROM LAN Card Installed Windows 4 0 with Service Pack 6 or later 3 2 SETUP CANopen RollOn CONFIGURATION TOOL The CANopen RollOn Configuration Tool is installed by means of a setup disk provided by the manufacturer In order to install the Tool insert the setup disk and run CANRollOn Setup exe The screen image appears as shown in Fig 3 1 gt CAMRoll n CANRellOn Version 1 0 Welcome to the olln Setup program This program Will install on your computer It ig strongly recommended that you exit all Windows programs before running this Setup program Click Cancel to quit Setup and then close any programs have running Click Mest to continue with the Setup program WARNING This program is protected by copyright law and international treaties Unauthorized reproduction or distribution of this program any portion of it may result in severe civil and criminal penalties and will be prosecuted to the maximum extent possible under law Fig 3 1 e Click Next button to proceed with the installation the Software License Agreement dialog box appears as shown in Fig 3 2 CANopen RollOn Configuration Tool User s Manual 3 1 Software License Agreement Please read the following License Agreement Press the PAGE DOWN key to see the rest of the agreement INDUSTRIAL SOFTWARE LI
32. CENSE AGREEMENT END USER License Agreement This 1 legal agreement between you either an individual or an entity and The Industrial Software The Company Br INSTALLING DH USING THE SOFTWARE AGREE BE BOUND Er THE TERMS OF THIS AGREEMENT IF YOU DO AGREE THE TERMS OF THIS AGREEMENT YOU ARE THE ORIGINAL PURCHASER OF THE SOFTWARE FROMFTLY RETURN THE UNUSED SOFTWARE TO THE PLACE WHERE YOU PURCHASED IT FOR FULL REFUND THE INDUSTRIAL SOFTWARE SOFTWARE LICENSE you accept the terme of the preceding License Agreement F you choose Setup will clase To install must accept this agreement lt Back Tes Fig 3 2 If you accept the terms of the License Agreement Click Yes button The User Information dialog box appears as illustrated in Fig 3 3 User Information your name below must also type the name of the company you work for and the product seral number Name PENTIUM Company Industria Software Serial Cancel e Enter the Installation Key in the Serial field you can find Installation Key rear side of the ROM box e Click on Next button to open the Choose Destination Location dialog box Fig 3 4 3 2 CANopen RollOn Configuration Tool User s Manual Choose Destination Location Fig 3 4 In case the destination folder must be changed e Click on Browse but
33. ED COMPLETED 5 2 2 4 Downloading of Modules Properties Actually this is Activity No 2 which is common for the all three modifications of the commissioning scenarios using PC This Activity No 2 encompasses the following Configuration of the Modules properties such as type of sensors number of zones etc Configuration of the communication between the modules The above configured properties are stored in the non volatile memory of the modules To execute this Activity No 2 e Call one of the drop down dialog boxes shown in Fig 5 10 and Fig 5 11 CANopen RollOn Configuration Tool User s Manual 5 17 e Click on Download Configuration item to complete Activity 2 In case the user fails to execute the Download Configuration procedure or In case the configuration of some modules is not up to date i e does not correspond to the project database or In case on the modules is operated with different database The respective modules will be outlined in blue This approach is applied in order to secure the maintenance of the PC database version in correspondence with the respective database version which is commissioned on the modules THUS THE COMMISSIONING PHASE IS CONSIDERED COMPLETED 5 3 HOW TO CHOOSE THE SCENARIO The variety of scenarios described in section 5 2 provides many options to the user The user is free to choose the most suitable scenario for a particular project Some basic considerati
34. List Based Commissioning Scenario Downstream Commissioning Scenario Zero Node ID Commissioning Scenario Downloading of Modules Properties HOW TO CHOOSE THE SCENARIO CANopen RollOn Configuration Tool User s Manual 5 1 INTRODUCTION The commissioning phase encompasses process of association the Project with the real physical modules assembled on the conveyor as well as the process of downloading certain attributes such as the number of the zones to be used by each module the type of the photoresistor dark or light operated etc Before starting the commissioning phase certain works must be completed CANopen control modules are assembled on conveyor All modules are checked v The external wiring of all modules is accomplished Y The correctness of the external wiring of the modules is checked and rechecked twice Do not forget the termination resistors Check polarities The female connectors are properly attached Pay attention to identity of the Purge connector and the identity of the 24 V power supply connector All sensors and motor driver cards are connected properly to the respective modules v The 24 V dc power supply provides adequate current capacity v The System s Purge Signal power supply provides adequate current capacity AN pease spend some more time to re check the above items in order to make sure that the commissioning will proceed correctly without troubles and without tim
35. To move re orient reconfigure control modules on the screen To add delete modules To delete establish connections between two modules To download configuration To commission modules In order to avoid such unauthorized interventions the user may lock the screen as follows Right click on the project field to open the drop down menu Fig 7 7 Click on Lock Screen item to effect the prohibition Hide Tree how Zoom k Download Configuration About Help Lock Screen Frint Firmware Upgrade service Fin Installation Assign selection to KID eb Add Remove Two Modules Connection Fig 7 7 7 4 MONITORING AND TROUBLESHOOTING The CANopen RollOn Configuration Tool provides monitoring and troubleshooting capabilities Several examples illustrate these capabilities 7 4 1 Normal Operation of the Conveyor There is no specific alarm signaling during the normal conveyor operation Fig 7 8 illustrates this situation CANopen RollOn Configuration Tool User s Manual 7 5 Fig 7 8 7 4 2 Zone Error red red cross sign on the module s image informs about operation error of this zone The picture in Fig 7 9 is signaling about errors in two zones of a Roller module 1 1 Fig 7 9 you need more detailed information about the above module Click to match the module e Right click on the module to open the drop down box shown in Fig 7 10
36. UTPUT MODULE 01088 User s Manual Version 1 2 Revision July 2002 Industrial Software Co http www indsoft bg CANopen RollOn Configuration Tool User s Manual CONTENTS CAPTER 1 SYMBOLS AND ABBREVIATIONS 1 1 EXPLANATION OF 6 1 1 1 2 ABBREVIATIONS unseren 1 1 1 3 NUMERICAL DATA une 1 2 1 4 SAFETY AND OPERATING 8 1 2 CHAPTER 2 GENERAL INFORMATION 2 1 INTRODUC TION een 2 1 2 2 TCP IP ETHERNET 2 1 2 3 CANopen CONFIGURATIN TOOL APPROACH 2 3 2 4 CONTROL MODULES 2 3 2 5 ENGINEERING COMMISSIONING 2 4 2 6 GLOSSARY une en et eee ne ere re mere 2 4 CHAPTER 3 INSTALLATION OF CANopen CONFIGURATION TOOL 3 1 HARDWARE AND SOFTWARE REQUIREMENTS 3 1 3 2 SETUP OF CANopen RollOn CONFIGURATION TOOL 3 1 CHAPTER 4 ENGINEERING PHASE 4 1 2 2 00 0 4 1 4 1 1 The Philosophy of CANopen RollOn Configuration Too
37. a photosensor used to sense the presence of the tray tote on the zone Thus the CANopen RoolOn Configuration Tool operates with the respective Control Modules by taking into consideration their Plug ins as well as their function on a specific conveyor system arrangement 2 4 CONTROL MODULES IDENTIFICATION CIA DS 301 Version 4 0 defines Object Dictionary OD Entries for Communication The control modules regarded as Standard Objects are listed under Index hex 1018h into above document The object at index 1018h contains general information about the device namely The Vendor ID sub index 1h It contains a unique value allocated to each manufacturer The value allocated by CiA to Industrial Software CANopen oriented control modules 15 0 49 1 49h This Vendor ID appears as 0x49 or 73 for each Industrial Software control module when operating with this CANopen RollOn Configuration Tool manufacturer specific Product code sub index 2h identifies a specific control device version Industrial Software designates the following product codes for its CANopen control modules ProdCode 0x4d435243 which is ASCII coded for CANopen Roller Merger Control Module CRCM 0x004F4944 which is ASCII coded DIO for CANopen 01088 Module etc manufacturer specific Revision number sub index 3h It consists of a major revision number and a minor revision number The major revisio
38. anual 4 17 To change the number of the zones to be used in this module say two zones only click number 2 the module appears automatically with its two 20 5 as shown in Fig 4 20 Fig 4 20 4 3 1 5 Matching Photosensor The photosensor may be Light Operated or Dark Operated The photosensor type used on the conveyor must be selected Select the module for example the third module Right click on the module to open the drop down list Fig 4 14 Approach Sensor Type item to open the alternatives box Fig 4 21 and select the appropriate type of the photosensor D B A D C B A Di p DE BA D C B A Direction Count ones Sensor Type Light Operated Dark Operated Rename Contig amp watch Remove Fig 4 21 4 3 1 6 Change of Module s Name Select the module for example the third module Right click on the module to open the drop down list Fig 4 14 Click Rename item to open the dialog box shown in Fig 4 22 D C B 4 D c B A D Cj B 4 D C B A D C B Module Hame oller 12 New Hame 1 2 Fig 4 22 4 18 CANopen RollOn Configuration Tool User s Manual The working name CANRoller 12 appears by default This name may be changed by the user e Enter for example Module 1 23 6 e Click OK button The name of this module is already changed This is visualized
39. ata base re orient reconfigure control modules on the screen To add delete modules download configuration commission modules Similar precautions preventing unauthorized or unintentional intervention may be necessary even during the engineering phase consider for example the case when the designer is off for lunch or for an urgent meeting 7 2 OPEN A PROJECT WITH PREDEFINED DATA BASE When opening a Project a dialog box appears as shown in Fig 7 1 Look in Sy ex Ol ni 2 PROBA mdb 1205 bbbb mdb S TTT mdb gt 5 Jimmis mdb Files of type Microsoft Access Databases mdb Cancel Fig 7 1 There is a selection of a variety of database files A particular Project is affiliated with a specific database file and only this specific database file must be selected by the operators staff members when opening a commissioned project CANopen RollOn Configuration Tool User s Manual 7 1 In order to avoid unintentional human error when selecting the database the so called predefined database method may be used To establish the predefined database method follow the steps described below Find destination of CANopen RollOn Configuration Tool in your For demonstration purpose an example is illustrated in Fig 7 2 File Edit View Help ad Data E JCanRoll n File 4 13 02 4 5
40. c use for search of problems network Therefore only experienced personnel must carry out these operations The normal state is ON checked 7 5 3 Set State All Net The respective sub menu Fig 7 17 selects this option Using this menu you can send NMT Network Management commands to the entire network For more information about NMT commands please refer to respective CANopen documents 7 5 4 Read Write Object The respective sub menu Fig 7 17 selects this option This option is used for Read Write the modules OD CANopen RollOn Configuration Tool User s Manual 7 11 For more information please refer to respective documents Using the 7 5 3 and 7 5 4 options requires considerable knowledge about the CANopen architecture and the principles of operation 7 5 5 Baudrate This menu is used for changing of the Baudrate of the Proxy with respect to its CANopen side Setting an incorrect Baudrate the Proxy and or on some of the rest the modules lead to problems related to the normal operation of the entire system So be careful please 7 12 CANopen RollOn Configuration Tool User s Manual F s F FIRMWARE UPGRADE CANopen RollOn Configuration Tool User s Manua The control modules may be subject to upgrading due to innovations or other improvements In the past this upgrading has been accomplished by disassembling the modules
41. ct modules become green colored which is a sign that the association of the project modules with the respective Node ID is completed Fig 5 9 CANopen Configuration Tool EA CanRoll n wan mdb File Miew Ellvreb Operation cix Modules Project KID w eb 1 2 e CANRoller 1 0 E er CAN Menger 1 0 CANPusher 1 0 PO e lt CANDioPusher 1 0 2 23 MET Uninstalled Modules T Fig 5 9 THUS THE ACTIVITY NO 1 15 CONSIDERED COMPLETED 5 2 2 2 Downstream Commissioning Scenario using the respective module s switches the electrician installs to each assembled module a A Node ID not used till now b The corresponding for the system Baud rate A CANopen system does not tolerate duplicated Node IDs The commissioning procedure is accomplished by the downstream concept described below e Click on Operation menu to open the drop down list shown in Fig 5 10 that contains the Service Pin Installation menu item 5 10 CANopen RollOn Configuration Tool User s Manual Configuration Tool EXCanBollOnyean mdb Operation Add Remove Two Modules Connection Download Configuration Service Pin Installation Firmware Upgrade Assign selection to ontral Fig 5 10 The same may be achieved by a Right click on the project field Fig 5 11 Hide Tree Show Grid coom k Download Configuration About Roll
42. e Microsoft Access Databases mdb Fig 4 3 2 e Enter the respective File Name Click Save button screen appears as shown in Fig 4 4 CANopen RollOn Configuration Tool User s Manual 4 7 Configuration Tool E XCAMopen Holl nXProbal mdhb gt NET Uninstalled Modules Fig 4 4 This is the screen to start the design procedures 4 2 1 Creating of KID Webs One TCP IP CANopen Proxy titled Project_KIDWeb_1 appears by default The name of this Proxy as well as the name of any other Proxy my be changed by the user at any time CANopen Proxy is indispensable part of any CANopen system or channel refer to Fig 2 1 More Proxies may be created by the user as follows e Click on KIDWeb menu the Drop down list appears as shown in Fig 4 5 Fig 4 5 Click Add Project Project KIDWeb 2 appears as shown Fig 4 6 4 8 CANopen RollOn Configuration Tool User s Manual CANopen Configuration Tool C ACANopen_Roll0niProbal mib Modules Fig 4 6 A screen with several Proxies created as above is shown in Fig 4 7 CANopen Configuration ool y Modules Fig 4 7 created Proxy may be deleted as follows Click on the Proxy to be deleted for example Project KIDWeb 4 e Click on KIDWeb menu the drop down list appea
43. e delay 5 2 COMMISSIONING SCENARIOS The ndustrial Software CANopen control modules are user friendly devices offering capability for several commissioning options in order to satisfy different customer approaches regarding the size and the complexity of the conveyor configurations 5 2 1 Self Installation Scenario The commissioning of the control modules on small scale conveyors may be accomplished without using a neither computer nor KID Proxy literacy is required This commissioning scenario is referred to as manual configuration process or self installation During this commissioning scenario each control module executes the following actions Configures its baud rate at 125 kbit s Configures and stores to FLASH memory its Process Data Object PDO mapping and communication parameters thus preparing data connections to upstream downstream modules depending on HEX switches settings Detects the type of sensors DARK LIGHT Operated connected to it and zones in use and stores detected values to FLASH memory Detects and stores to FLASH memory module s action Roller Merger Pusher Diverter Scale or Scanner depending on the HEX switches settings CANopen RollOn Configuration Tool User s Manual 5 1 The conveyor is ready for regular operation after self installation process is completed gt After the devices are installed manually the user may connect her his PC any time and change
44. endor ID you wish to upgrade Select the Module s or All modules you wish to upgrade Press the Upgrade button to complete the upgrading procedure A Firmware Upgrade procedure is very obligating procedure Please check your power supply and network connections before starting A only files supplied by the manufacturers for Firmware upgrade procedure Using other files will make your equipment dump steel CANopen RollOn Configuration Tool User s Manual
45. escribed in Chapter 5 4 5 11 Assign Selection to KID Web Reference is made on the drop down menu box shown in Fig 4 41 called by Right click on the project field of the screen This option is left for future development 4 28 CANopen RollOn Configuration Tool User s Manual 4 6 CONCLUSIONS The structure of the conveyor control system is defined during engineering phase This task can be accomplished OFF LINE The screen is divided in two parts Modules Area field and Design Working Area The modules are present in the Modules Area by their Plug Ins The Design Area is the place to create the system The modules are called from Modules Area and configured as necessary into the Design Area The modules may be added deleted rotated reoriented renamed as appropriate The number of the working zones of each module may be selected The Project may be opened closed and reopened by using File menu The Project may be redesigned if necessary The completed Project is used for commissioning on real 5 3 details HOW TO MONITOR TROUBLESHOOT AND DEBUG YOUR DEVELOPMENT please refer to section 7 5 CANopen RollOn Configuration Tool User s Manual 4 29 5 1 5 2 5 2 1 5 2 2 5 2 2 1 0 2 2 2 0 2 2 3 0 2 2 4 5 3 CHAPTER 5 COMMISSIONING PHASE INTRODUCTON COMMISSIONING SCENARIOS Self Installation Scenario Commissioning Scenarios Using PC Node ID
46. f the first module i e the target and click on this zone D the blue connecting line appears showing connection between zone A of the last module and zone D of the first module Fig 4 42 4 26 CANopen RollOn Configuration Tool User s Manual To delete above connection again the option drop down box Fig 4 41 Click on Add Remove Two Modules Connection item Click with the cursor S on the source zone or on the target zone the connection disappears The same operation may be accomplished by using Operation menu Add Remove Two Modules Connection illustrated in Fig 4 43 gt CANopen Configuration Tool C CANopen_RollOn Proba EIDWeb Operation 51 5291 Add Hemove Two Modules Connection EN S oller Download Configuration CAN Merge CAN Pusher Service Pin Installation ES di LANDioFus Firmware Upgrade 2424 NET Uninstalle oy Ruller Merc Assign Selection to KID eb Fig 4 43 4 5 5 About RollOn Reference is made on About RollOn menu item of the drop down menu box shown in Fig 4 41 called by Right click on the project field of the screen e Click on this About RollOn item to CANopen RollOn Configuration Tool box providing information about the current Version of the Tool Fig 4 44 Roll n CANopen Configuration Tool Holl n CANopen Configuration Tool Version 1 0 522222
47. figuration View KlD w eb Operation E Im Add Project ZEN Discovering x 1 KIDWeb_6 gt Uninstalled Modules Fig 5 2 e Approach the respective item in our case KIDWeb_6 to open the selection drop down box shown in Fig 5 3 gt CANopen Configuration Tool C CANopen_RollOn Pro SE KlD web Operation AS Add Project Conveyor Z System 1 Experiment dle Discovering Properties B MET Uninstalled m Guarding 43 Roller Merger Contra Status Monitoring pu Set State All Net k Baudrate k Read Object Firmware Upgrade Rename Reconnect Assign Remove Fig 5 3 CANopen RollOn Configuration Tool User s Manual 5 3 Click on Properties item to open the Web amp Subsystem Properties dialog box Fig 5 4 KID Web amp Subsystem Prorerties Web Properties Subsystem Properties sensor Dark Operated one Operation Singulate Delay Time E SBC Status Guard Time zer Monitoring Time Sel Restore Default Baudrate 125 Kbit s Firmware senal Number Physical Name IF Address Fig 5 4 The above dialog box consists of two dialog fields KID Web Properties and Subsystem Properties Web Properties field shows the following information about the discovered KIDWeb_6 module The Baud rate is
48. fter referred to as engineering phase The structure of the conveyor system is defined during the engineering phase You define channels devices and connections without any devices physically present Actually this is a real design and development job executed in the R amp D department but not in the workshop it offers you flexibility and cost efficiency The Configuration tool is user friendly and offers an easy way to accomplish any design operations The completed design project is stored in the data base ready for commissioning on current and or on future conveyors The process of loading of the project configuration on physical devices assembled on a real conveyor is referred to as commissioning installation phase In case your order is for several conveyors of the same type then you will commission the same project on all conveyors You may keep the project design for future orders for the same types of conveyors In case you got an order for slightly different conveyor you can use the same project introduce the minor changes as appropriate and execute the commissioning 2 6 GLOSSARY The most frequently used terms related to powered roller conveyors are outlined in order to facilitate the reader Accumulation mode of operation when the zone contains package s and is holding Direction Main normal operation direction of the conveyor Inverse The opposite of the main direction Diverter Area
49. ialog box will invite you to install the next downstream module refer to Fig 5 19 Service Pin Installation Please enter service pin Output Use specified by device switches Fig 5 19 e Then you may go downstream of the conveyor and press the Install Button of the next downstream module Fig 5 20 5 16 CANopen RollOn Configuration Tool User s Manual Fig 5 20 downstream the lane and press the Install Button of the modules The installation finishes when The Service pin installation dialog is closed No downstream module is found in database Left or Right zone of Merge module is reached as downstream zone If the installation process reaches central zone of a Merger as a downstream zone the Merger CRCM is installed and continues with the downstream to the Merge zone module When A zone of Pusher is reached Pusher CRCM is installed and installation continues with downstream to the Pusher s A zone downstream module Pusher s DIO have to be installed in separate Service Pin Installation transaction Modules downstream to the Pusher s B zone have to be installed in separate Service Pin Installation transaction You may stop the installation process at any point of the conveyor and start it again at any point You may mix all the three PC based installation scenarios at any point of installation process THUS THE ACTIVITY NO 1 IS CONSIDER
50. information about the respective control module which is required for the engineering design and redesign installation and commissioning managing controlling and monitoring purposes of the CANopen conveyor system A complete conveyor CANopen system consists of refer to Fig 2 1 atleast 1 PC 1 TCP IP CANopen Proxy upto 127 CANopen Control Modules CANopen Network a single piece of media twisted pair cable Once the conveyor system 1 designed and commissioned the PC and the Proxy are actually not needed for the system operation the control modules communicate among themselves in accordance with the relevant commissioned engineering design The PC may be used for monitoring purposes in this case The serial bus system is multimaster compatible this means that several CAN modules are able to request the bus at the same time The messages with the highest priority will be transmitted immediately The data transfer is managed by the messages priority The priority of the messages is determined by message identifiers e g there are no transport addresses but message identifiers within the CAN system All modules at the same time can receive the message which is being sent A module accepts the relevant messages only by utilization of special filtering methods The message identifier transmitted with the message is the basis for the decision as to whether the message will be accepted or not The bus cou
51. llow e Click to match on the respective KID Web e Clickon KIDWeb menu to open the drop down box shown in Fig 4 10 1 the lowest item displays the name of the selected KID Web in our case KIDWeb_ 6 4 10 RollOn Configuration Tool User s Manual Fig 4 10 1 Approach the respective item our case KIDWeb_ 6 to open the selection drop down box shown in Fig 4 10 2 CANopen Configuration Tool C CANopen_RollOn Pro Fig 4 10 2 Click on Properties item to open the KID Web amp Subsystem Properties dialog box Fig 4 10 3 CANopen RollOn Configuration Tool User s Manual 4 11 KID Web amp Subsystem Prorerties Web Properties Baudrate Firmware Version senal Number e78 Physical Mame IP Address Subsystem Properties sensor Dark Operated Zone Operator Singulate Delay T ime 125 1 13 SEL Status Guard Time 10 SPC Monitoring Time 5 Set Restore Defaults Fig 4 10 3 The above dialog box consists of two dialog fields KID Web Properties and Subsystem Properties The Subsystem Properties field is shown separately in Fig 4 10 4 Subsystem Properties sensor Dark Operated one Operation Train gt Delay Time E E Sec Status Guard Time fio Monitoring Time Set a Defa
52. n number identifies a specific CANopen behavior The minor number identifies different versions with the same CANopen behavior The manufacturer specific Serial number sub index 4h It identifies a specific device The Vendor ID number the manufacturer specific Product code the manufacturer specific Revision number and the Serial number are unique values serving for comprehensive identification of a specific CANopen control module These values can not be changed by the user These values appear at different stages and during different type of operations when working with this CANopen RollOn Configuration Tool However operating with all above values may be very cumbersome and time consuming for the project designer Therefore we offer a working name to be used for each particular control CANopen RollOn Configuration Tool User s Manual 2 3 module This name appears for example Roller 76 by default but can be changed the user according his her design approach custom or company tradition for example as Module Il 23 G The unique values for each control module allocated by the manufacturer Industrial Software can not be changed by the user whereas the name of the control module appearing by default can be changed and re changed by the user 2 5 ENGINEERING COMMISSIONING PHASE Once the CANopen RollOn Configuration Tool and the respective Plug ins are installed on your PC you are ready to design a project herea
53. of KID Webs to the user s Ethernet network requires a special attention Fig 5 6 illustrates wiring of the PC and of a KID Web via the user s Hub Fig 5 6 For more information regarding the KID Web wiring to the network as well as regarding the selection of IP addresses the user is advised to contact the local Network Administrator In order to finalize the preliminary activities we must assign the physical KID Web s discovered after connection to the conveyor to the respective Project KID Web s This is accomplished in the following way e Click to match the physical KID Web tab item in our case this is KIDWeb_2 having a green colored sign Fig 5 6 1 9 6 CANopen RollOn Configuration Tool User s Manual RollOn CANopen Configuration Tool E3CanBollOnyPROBA mdb Fig 5 6 1 Click KID Web 2 menu item to open the drop down sub menu box Fig 5 6 2 Fig 5 6 2 e Approach the physical KID Web s sub menu item to open the drop down menu box Fig 5 6 3 KIDWeb_2 Fig 5 6 3 e Click Assign To sub menu item the cursor is changed and red colored e Approach the cursor to the Project KID Web the cursor changes in a rectangle with Assign script CANopen RollOn Configuration Tool User s Manual 5 7 e Click on Project KID Web to complete the assignment of the physical Proxy on Project Proxy After the completion of the above preliminary work we can proceed with the commis
54. ol ExCanRollOnirran File View EKlDvveb Operation 424 Modules Project KIDWeb 1 KIDweb_2 DANRoller 1 0 0 1 0 1 0 44 CANDioPusher 1 0 MET Uninstalled Modules 4 4 DIO 3 M i 73 Ci ProductCode DIO Ci RevisionNum 4 05 Ci SerialNumber 2696 Sy Control i VendarlD 73 i ProductCode i RevisionNum 4 07 i SerialNumber 2695 4 Unknown devices Fig 5 7 By using the above Node ID list the Commissioning Officer accomplishes the identification of each project module with the respective uninstalled module from the sub tree consider the very simplified example shown in Fig 5 8 CANopen Configuration Tool EXCanRollOn ran File View ElDvveb Operation Sy Modules CAMRaller 1 0 1 0 EE LAN Pusher 1 0 1 0 Sy Uninstalled Modules 4 DIO 1 1 16 i YendorlD 73 i ProductCode DIO i RevisionNum 4 05 i SerialNumber 2696 529 Control i YendorlD 73 i ProductCode CRCH i RevisionNum 4 07 i SerialNumber 2695 4 Unknown devices Project_KIDWeb_1 2 KIDweb 2 Fig 5 8 CANopen RollOn Configuration Tool User s Manual 5 9 This is executed by drag n drop operation of the sub tree module s image project module s image the proje
55. ol modules The interface card of the brushless DC motor driving the Powered Roller Mode of operation when the zone establishes one zone gap between the adjacent packages and accumulating until the downstream zone is cleared A set of rollers in a conveyor Zone driven by the Powered Roller Also referred to as LINEAR AREA A set of linear and or curved conveyor zones A term sometimes used instead of the term package Mode of operation when the zone transfers the packages as they arrive without gap between the adjacent packages A term frequently used instead of the term package The preceding zone with reference to the main direction of conveyor movement A basic linear or curved cell of the conveyor consisting of a set of slave rollers by one Powered Roller The similar basic cell of the control module also referred to as control zone dedicated to a conveyor Zone CANopen RollOn Configuration Tool User s Manual 2 5 Fr A LUE nim m i A ISO va La p s F 9001 7 11 oJ L P d A I L Fi CHAPTER 3 INSTALLATION OF CANopen CONFIGURATION TOOL 3 1 HARDWARE AND SOFTWARE REQUIREMENTS 3 2 SETUP OF CANopen RollOn CONFIGURATION TOOL CANopen RollOn Configuration Tool User s Manua 3 1 HARDWARE AND SOFTWARE REQUIREMENTS The following hardware and software assets are needed for the normal operation of the CANopen RollOn Configuration Tool IBM P
56. ons are outlined below to serve as guidance rules for our customers The Self Installation Scenario is suitable for small scale conveyors lt does not require computer literacy Nevertheless after the devices have been installed manually the user may connect a PC and change the configuration by standard CANopen RollOn Configuration Tool Commissioning Scenarios using PC are intended for more complex conveyor systems although they may be used for simple conveyors also All three commissioning scenarios using PC may be chosen when working with control module supporting Layer Setting Services and Protocol LSS CiA Draft Standard Proposal 305 Version 1 0 31 05 00 All Industrial Software CANopen control modules support the above DS ONLY Node ID List Based scenario refer to subsection 5 2 2 1 be used when working with modules NOT SUPPORTING Layer Setting Services and Protocol LSS CiA Draft Standard Proposal 305 Version 1 0 31 05 00 0 18 CANopen RollOn Configuration Tool User s Manual 9001 6 OF MODULES CANopen RollOn Configuration Tool User s Manua You may use all described scenarios Chapter 5 to modules Note that during replacement you don t need to run Download Configuration Service All configuration and communication properties are downloaded to the module during replacement procedure CANopen RollOn Configuration Tool
57. orientation and connection of the respective types of control modules in order to ensure proper operation of the conveyor The respective modules are taken from the Modules Tree refer to Fig 4 6 For illustration let us design a system consisting of 5 1 CANopen Roller Control Module 1 CANopen Merger Control Module 1 Pusher Control Module CANopen RollOn Configuration Tool User s Manual 4 13 1 DioPusher Control Module The system must be designed a TCP IP CANopen Proxy we choose for example Proxy 1 also referred to as Project KIDWeb_ 1 FIRST SET THE KID WEB SUBSYSTEM PROPERTIES AS MODULES YOU ARE ADDING TO YOUR PROJECT WILL INHERIT SOME OF THEM You may refer to Fig 5 4 and Fig 5 5 4 3 1 Selection of Roller Module For the above design proceed as follows e Click on Project KIDWeb 1 Tab item to match the respective Proxy Click on CANRoller 1 0 image on Modules subtree Drag the image on the desired place of the project field the Roller s image accompanied by a Multiply Rollers dialog box appears Fig 4 11 File View EIDWeb Operation 1243 Modules Project RID 1 Project KIDWeb 2 Project KIDWeb 3 Project_KID web_4 E 1 0 Z CANPusher 1 0 Ehe lt CANDioPusher 1 0 NET Uninstalled Modules 4 Raller Merger Control 1 0 Multiply Rollers Direction Right
58. pler meets the ISO 11898 requirements and allows data transmission at a maximum rate of 1 Mbit s A series of modules for flexible motorized roller conveyor automation are designed and manufactured by Industrial Software A benefit of Industrial Software modules is that a small number of common module types can perform a broad spectrum of different functions depending on how they are configured and logically connected Other non Industrial Software CANopen oriented devices or modules may be connected to the CANopen network subject to prior development of their Plug ins by Industrial Software Industrial Software is capable of very quick development of Plug ins for such customer s CANopen oriented devices modules The Reference Model the Device Model the Communication Model the Physical Layer the Data Link Layer and the Application Layer correspond to Draft Standard 301 Version 4 0 Application Layer and Communication Profile for CANopen devices 2 2 CANopen RollOn Configuration Tool User s Manual 2 3 CANopen RollOn CONFIGURATION TOOL APPROACH CANopen RollOn Configuration Tool approach is based on the utilization of the CANopen control modules for powered roller conveyor automation Each CANopen Control Module incorporates up to four control zones Each control zone is affiliated with a conveyor zone A conveyor zone consists of a set of slave rollers driven by means of belts or chains by one powered roller plus
59. provided A Before starting up the continuos CAN Bus must be terminated on both ends with a 1240 bus terminating resistor between CAN and CAN A For bus respectively connecting cables CAN with CAN V with 0 only use signal cables with twisted wire pairs with screen CANopen RollOn Configuration Tool User s Manual 1 3 2 1 2 2 2 3 2 4 2 5 2 6 2 GENERAL INFORMATION INTRODUCTION TCP IP ETHERNET STRUCTURE CANopen CONFIGURATIN TOOL APPROACH CONTROL MODULES IDENTIFICATION ENGINEERING COMMISSIONING PHASE GLOSSARY CANopen RollOn Configuration Tool User s Manual 2 1 INTRODUCTION This document describes the CANopen Configuration Tool developed by Industrial Software for engineering design and redesign installation and commissioning managing controlling and monitoring of conveyor systems based on CANopen control modules The information related to Industrial Software CANopen conveyor control modules as well as to basic powered roller conveyor terms and definitions is outlined in CANopen Roller Merger Control Module User s Manual Version 1 3 Revision Oct 2002 and CANopen DIGITAL INPUT OUTPUT MODULE DIO88 Users Manual Version 1 Revision July 2002 2 2 TCP IP ETHERNET STRUCTURE The general Ethernet TCP IP structure is illustrated in Fig 2 1 1 2 1 Clients P Ethernet TCP IP Network System
60. ration KID Web Guards by means of checking for presence all Nodes in the subsystem CANopen RollOn Configuration Tool reads this information about the state present not present periodically The user may set the period during which the CANopen RollOn Configuration Tool will read this information CANopen RollOn Configuration Tool User s Manual 5 5 short period may cause large IP traffic Very long period may cause big delays in finding new nodes attached to the network as well as eventually damaged nodes This time is set to 10s by default Do not select this time below 5s Monitoring Time The period for monitoring of the zone status of the control modules is entered here Select this time in accordance with the requirements of your system KID Web collects information about zones status of all nodes sensor status motor status JAM status Pusher actuator status etc It transmits this status information periodically to CANopen RollOn Configuration Tool The user may set the period during which the CANopen RollOn Configuration Tool will read this information Very short period may cause extremely large IP traffic Very long period may cause big delays in reporting for zones problems in the nodes This time is set to 5s by default Do not select this time below 1 e After entering the above subsystem properties click Set button to execute the entries e wiring
61. roperties General Shortcut Security PREIS Shortcut to CAN Allin exe fa Target type Application Target location Target all n C MR exe M Runin Separate Memon Space Start alitin Shortcut None Hun Normal window Find Target Change Icon Lancel Apply Fig 7 6 The full of CANRollOn exe apears in the Target window Fig 7 6 In our example case this destination is E CanRollOn CANRollOn exe e Enter the project database path with a single space after the destination in the Target window Fig 7 6 For our example we enter the path of the proba mdb database file and the Target window will look as follows E CanRollOn CANrollOn exe E CanRollOn proba mdb e Click OK buttons to apply the predefined database procedure when opening this Project 7 2 1 Open a Project by Shortcut Now the Project may be opened by a Double click on Shortcut what is the guarantee that the correct database 1 used Thus the human error of the operators is eliminated 7 2 2 Open a Project by Auto start The shortcut may be placed by the user into a Auto start Folder In this case if a PC power cut off occurs the Project will be automatically opened after power supply restoration 1 4 CANopen RollOn Configuration Tool User s Manual 7 3 LOCK SCREEN As mentioned above the operators are not authorized to
62. rs as shown in Fig 4 8 Fig 4 8 THIS SPACE IS LEFT INTENTIONALLY BLANK CANopen RollOn Configuration Tool User s Manual 4 9 Approach Project KIDWeb 4 item to call the selection list as shown in Fig 4 9 CANopen Configuration Tool Operation Proiect_KIDWeb_1 Projec Discovering Project RID Web 4 Properties TI Uninstalled Modules vw Node Guarding Raller Merger Control w Status Monitoring DIU Set State All Net k Baudrate k Unknown devices Read Object Rename Reconnect Remove Fig 4 9 Click Remove button the respective Proxy disappears as shown in Fig 4 10 CANopen Configuration Tool C CANopen_RollOn Probal_mdb View EID Web Operation Modules Project KIDWeb_1 Project_KIDWeb_2 Project KID w eb 3 My CANRoller 1 0 LAM Merger 1 0 Fig 4 10 4 2 2 Setting KID Web Subsystem Properties Now is the time to set the KID Web subsystem properties THE PREDOMINANT SUBSYSTEM PROPERTIES THAT ARE TYPICAL FOR CONVEYOR ARE ENTERED NOW ONCE ENTERED ALL MODULES OF THE SUBSYSTEM WILL INHERIT THESE PREDOMINANT PROPERTIES THIS SAVES TIME FOR THE DESIGNER PARTICULARLY IN CASE OF LARGE NUMBER OF MODULES NEVERTHELESS THE DESIGNER MAY ENTER CHANGES PERTINENT TO PARTICULAR MODULE To set the subsystem properties follow the steps described be
63. s as well as clearly defined end point s There isn t any logical or operational feedback connections between the start point s and the end point s in this case The control system shown in Fig 4 39 is a typical configuration for an open type conveyor Some conveyors may be of closed type i e they are similar to a ring The control system shown in Fig 4 39 15 completely suitable for a closed type conveyor but needs a feedback connection from zone A being the last zone of the last control module to zone D of the first module case the last module is with less then four zones make sure that the very last zone is always used as a source zone Alternatively the very first zone of the first module is always used as target zone To accomplish such a connection follow the steps described bellow e Right click on the design field to open the options drop down box Fig 4 41 Hide Tree Show Grid k Download Configuration About Help Lock Screen Print Firmware Upgrade Service Fin Installation Assign Selection to KID Web Add Remove Two Modules Connection Fig 4 41 e Click on Add Remove Two Modules Connection item As a result the cursor appears accompanied by a red letter S abbreviation for source e Click on zone A of the last module i e the source the accompanying letter changes in green T abbreviation for target e Drag the cursor to zone D o
64. s in the subsystem CANopen RollOn Configuration Tool reads this information about the state present not present periodically The user may set the period during which the CANopen RollOn Configuration Tool will read this information Very short period may cause extremely large traffic Very long period may cause big delays in finding new nodes attached to the network as well as eventually damaged nodes This time is to 10s by default Do not select this time below 5s Monitoring Time The period for monitoring of the zone status of the control modules is entered here Select this time in accordance with the requirements of your system KID Web collects information about the zones status of all nodes sensor status motor status JAM status Pusher actuator status etc It transmits this status information periodically to CANopen RollOn Configuration Tool The user may set the period during which the CANopen RollOn Configuration Tool will read this information Very short period may cause extremely large traffic Very long period may cause big delays in displaying the zones problems in the nodes This time is set to 5s by default Do not select this time below 1s e After entering the above subsystem properties click Set button to execute the entries 4 3 CONFIGURATION OF A CANopen SYSTEM CHANNEL The process of designing of a CANopen conveyor control system channel consists of selection arrangement
65. sioning scenarios using a PC The commissioning scenarios using PC cover two basic activities Activity No 1 Personalization of the modules i e association of the Project Modules with the physical modules assembled on the conveyor Activity No 2 Downloading of the module properties With respect to Activity No 1 the user may apply three modifications of the commissioning scenario as described henceforth 5 2 2 1 Node ID List Based Commissioning Scenario The basic parameters of this scenario are outlined below using the respective module s HEX switches the electrician installs to each assembled module a A Node ID not used till now b The corresponding for the system Baud rate CANopen system does tolerate duplicated Node IDs Based on the above the electrician prepares a Node ID list and brings this list to the Commissioning Officer CANopen RollOn Configuration Tool recognizes all control modules assembled on the conveyor in terms of type and in terms of quantity The information about these modules is displayed on the NET Uninstalled Modules sub tree as illustrated in Fig 5 7 The Node ID as set by the electrician is displayed among other details for each module namely Node 10 16 for CAN DIO Pusher module and Node 10 06 for the Roller Merger module THIS SPACE IS LEFT INTENTIONALLY BLANK 5 8 CANopen RollOn Configuration Tool User s Manual CANopen Configuration o
66. the conveyor b One CAN Merger module 1 affiliated with the Merger area of the conveyor 4 4 CANopen RollOn Configuration Tool User s Manual One Pusher module and one CAN DIO Pusher module are affiliated with Pusher area of the conveyor One 1x1 zone CAN Roller module is affiliated with the outflow conveyor s zone that follows the conveyor s Pusher area e One 1x1 zone CAN Roller module is affiliated with the four curved zones of the conveyor that close the loop f One 1x1 zone CAN Roller module is affiliated with the influx zone on the Merger s Right Zone side g The feedback line Fig 4 1 2 connecting the last A zone with the initial D zone actually closes the loop as required by the conveyor s close loop sector Fig 4 1 1 4 1 4 About Engineering Phase Flowchart The major steps of a Project design procedure are as follows 1 Open a new Project 2 Create KID Web s 3 Set KID Web subsystem properties 4 Create Control Modules configuration relevant to the conveyor s structure 4 2 OPEN A NEW PROJECT The purpose of opening a new project is to accomplish the design of a new conveyor configuration Several things have to be taken into account order to work on a project Installed CANopen RollOn Configuration Tool incorporating the relevant PLUG Ins on your PC is prerequisite Comprehensive knowledge and appreciation is required on The target conveyor configuration and
67. ton to select the respective destination Once the destination directory is selected e Click Next button to proceed with the installation When the installation is completed the relevant files are loaded in the folder you choose an example is shown in Fig 3 5 a a CAN DioPusher ocs CAN Menger ac CAN Pusher ocs CAN R oller ocs CANRoll0n exe Fig 3 5 CANopen RollOn Configuration Tool User s Manual 3 3 4 1 4 1 1 4 1 2 4 1 3 4 1 4 4 2 4 2 1 4 2 2 4 3 4 3 1 4 3 1 1 4 3 1 2 4 3 1 3 4 3 1 4 4 3 1 5 4 3 1 6 CHAPTER 4 ENGINEERING PHASE GENERAL The Philosophy of CANopen RollOn Configuration Tool The Conveyor s Structure The Control Modules About Engineering Phase Flowchart OPEN A NEW PROJECT Creating of KID Webs Setting KID Web Subsystem Properties CONFIGURATION OF A CANopen SYSTEM CHANNEL Selection of Roller Module Identification of the Module Module s Position Change Module s Direction Change Selection of Zones Number Matching the Photosensor Type Change of Module s Name CANopen RollOn Configuration Tool User s Manual 4 3 1 7 Delete a Module 4 3 2 Selection of Merger Module 4 3 3 Selection of Pusher and DIOPusher Modules 4 4 CHANGE OF PROXY S 4 5 MISCELLANEOUS 4 5 1 Hide Show Modules Tree 4 5 2 Show Hide Grid 4 5 3 Modules Image s Size Change 4 5 4 Closing Loop 4 5 5 About RollOn 4 5 6 Do
68. ult lose Fig 4 10 4 Some considerations for the respective entries are described below Sensor type The predominant photosensor type is entered in this field This is particularly useful option in case a huge number of zones are assembled with a single type of photosensors Instead of entering the sensor type for each particular control module this is entered at once here and will be inherited by all modules that will be added Nevertheless the user is still free to enter different type of sensor for a particular module if necessary Zone Operation Type The predominant type of conveyor s zones operation is entered here and will be inherited by all modules that will be added Changes are possible when and if necessary CANopen RollOn Configuration Tool User s Manual Delay Time The delay time is entered in this field as applicable to a particular conveyor configuration This Delay Time will be inherited by all modules that will be added The modules to check JAM situations tray s transfer etc use this time This time must be selected to be greater then the typical time that 1 required for tray transition from the end of a zone to the end of the next zone Status Guard Time The time that is required for scanning for presence of the complete set of modules 1 entered in this field according the system requirements and designer s consideration KID Web Guards by means of checking for presence all Node
69. values are represented as figures without additional features e g 1458 Binary values are marked b at the end of the figures e g 1011b Hexadecimal values are represented in two manners figures are preceded by 0 e g Ox5FA3 Using a mark h at the end of the figures e g 5FA3h 1 4 SAFETY AND OPERATING INSTRUCTIONS The CANopen Conveyor Control Modules are quality products which have been manufactured by Industrial Software according to recognized electrical engineering regulations The modules have left the manufacturing company s premises meeting all relevant safety requirements In order to preserve this condition and to ensure an interference free operation of the modules the technical specifications related to each module must be observed Field of application material handling systems N Skilled electricians may only install the modules The modules may only be operated within the limits defined in the technical data The maximum operating voltages must not be exceeded For better protection use an external fuse The neighboring parts as well as the installation of the cable system may produce a significant influence on the EMC of the modules Therefore the electrician has to ensure the EMC of the entire system 1 2 CANopen RollOn Configuration Tool User s Manual A In regions endangered by electrostatic discharges a good ESD protection for the plugs and the cables to be connected should be
70. ve information box is shown in Fig 7 14 THIS SPACE IS LEFT INTENTIONALLY BLANK 7 8 CANopen RollOn Configuration Tool User s Manual Config amp Watch 28 06 Central one Left one Aight one Menge one TRAY Count TRAY Count TRAY Count TRAY Count 1 1 1 0 Motor Error Motor Error Central Priority Lett Priority Right Priority Delay Priority Delay Priority Delay Priority Time Priority Time Priority Time Priority eee Central one Lett one Aight one 2 2 2 2 2 2 2 Sensor amp Continue Delay Sec Set Delay E a perati Fig 7 14 7 4 5 Example CANPusher Information Box A CANPusher information box is illustrated in Fig 7 15 Config amp Watch 44 NodelD 06 one one TRAY Count TRAY Count 1 1 fone one amp Continue Delay sec Set Delay is Sensor amp i 2o Fig 7 15 CANopen RollOn Configuration Tool User s Manual 7 9 7 4 6 Example CANDio Pusher Information A CANDio Pusher information box is illustrated in Fig 7 16 Config amp Watch CANDioPusher 42 NodelD 16 Time Push Retract ms Push 1 of 1000 Set Set Time Fush Hetract ms Push Fietract Test 3000 Set Zone Settle Time ms 500 Set Save Settings to Flash Fig 7
71. when approaching the module with the cursor Fig 4 23 you may refer again to subsection 2 4 D C BADCBADCBADCBHA D C B Module Il 23 G 3 9 4 23 4 3 1 7 Delete a Module Select the module for example the fifth module Right click on the module to open the drop down list Fig 4 14 e Click on Remove item to open the dialog box shown in Fig 4 24 D cl B A B A D C B A D C B A D C B A AN Do vau really want to Remove this node Fig 4 24 e Click YES button the fifth module is deleted Fig 4 25 D C D D D cl B A Fig 4 25 D complete area may be selected by framing and deleted in a similar way Config amp Watch option is used after the module is commissioned CANopen RollOn Configuration Tool User s Manual 4 19 4 3 2 Selection of Merger Module After the above explanations we can proceed with the design of the system Since the first part was with five modules we enter again fifth module in Fig 4 25 Merger module 1 introduced by drag drop operation as already explained Fig 4 26 D C B A D C B A D C B A D cC B A D C BA Fig 4 26 4 3 3 Selection of Pusher and DIOPusher Modules The selection of Pusher module Fig 4 27 and of DIOPusher module Fig 4 28 is accomplished in the similar way D C B A D C D C A D c A D C
72. wnload Configuration 4 5 7 Help 4 5 8 Lock Screen 4 5 9 Print 4 5 10 Firmware Upgrade 4 5 11 Assign Selection to KID Web 4 6 CONCLUSIONS CANopen RollOn Configuration Tool User s Manual 4 1 GENERAL 4 1 1 The Philosophy of Configuration Tool As already mentioned CANopen RollOn Configuration Tool has been developed for engineering design and redesign installation and commissioning managing controlling monitoring and troubleshooting of conveyor systems The algorithm shown in Fig 4 1 0 illustrates how to use effectively the Tool INSTALLATION OF CANopen RollOn CONFIGURATION TOOL CREATE NEW PROJECT LLI T x ADD KIDWEBs CHANNELS 2 x LLI 5 SET KIDWEBS SUBSYSTEM gt PROPERTIES LLI DESIGN REDESIGN OF CONVEYOR SUBSYSTEM 2 Q NODE ID LIST BASED DOWNSTREAM ZERO NODE ID COMMISSIONING COMMISSIONING COMMISSIONING SCENARIO SCENARIO SCENARIO D 9 gt gt lt x MONITORING amp REDESIGN TROUBLESHOOTING UPGRADE Fig 4 1 0 CANopen RollOn Configuration Tool User s Manual 4 1 4 1 2 The Conveyor s Structure The objective of a Project is to configure the control modules of a particular conveyor referred to as target conveyor Therefore a good knowledge on the target conveyor is required A very simplified example of a conveyor is shown in Fig 4 1 1 This structure is chosen
73. x to open the Module Name Project KIDWeb_1 dialog box shown in Fig 4 32 RollOn CANopen Configuration Tool CACANopen_R n Prol Operation E Modules DAMRaller 1 0 4 CAN Merger 1 0 be CANPusher 1 0 PO je 4 CANDioPusher 1 0 NET Uninstalled Modules 9 Roller Merger Control E Project KID eb 1 Project KIDw eb 2 Project RID Web 3 Pre Module Mame Project FID Web 1 Mame Project_KIDweb_1 Fig 4 32 e Enter the new Proxy name for example Conveyor Z System 1 e Click OK button the new name appears as shown in Fig 4 33 R oll n CANopen Configuration Tool C CANopen_RollOn Probal_mdb View Operation Modules 99 DANRaller 1 0 De CONMerger 1 0 z 1 0 E 4 CANDioPusher 1 0 E NET Uninstalled Modules 529 Roller Merger Control Conveyor Z System Project KID w eb 2 Project Web 3 Project 4 D C B D C B D B A D D C B Fig 4 33 Various new names assigned to the previous by default Proxy 2 3 and 4 are illustrated in Fig 4 34 R CANopen Configuration Tool mab View EIDWeb Operation Modules Conveyor System 1 Conveyor System 2 Conveyor WG System 8 Experimental Project m CAMRaller 1 0 e
74. ystem 1 Conveyor System 2 Conveyor System 8 Esperimental Project 1 Bt Q E Fig 4 36 4 5 2 Show Hide Grid To call the grid on the design screen click on Show Grid item the grid appears as shown in Fig 4 37 pem E a m a s thi 5 1 E m i Ll 5 E di oO D peration A A AN Ze I As lt L AS ls S lt ls lalala ais Ella bl salsa loe I L A SA do DEEST IX EIC Tr ss I Conveyor System 2 Conveyor Wi System 8 Experimental Project ati ala la m Eom a ta ls a a as lala llo lo lalo lala leales ley a Conveyor Z System 1 tas Vas I I Zn I M E ES I

CANopen RollOn Configuration Tool User`s Manual Version 1

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