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1. 00 00 01 02 00 00 Entry in the field Reasonable entries Data of Specific for PLC slot length Manufacturer hex Meaning TxPDO1 und RxPDOl with 1 8 byte each no byte swapping RxPDO1 with 1 8 byte data and byte swapping as described in the example on page 35 and TxPDO1 with 1 8 byte data without byte swapping no byte swapping TxPDO1 with 2 byte length 00 00 02 01 00 00 oe Ar RxPDO1 with 1 byte length TxPDO2 with 1 8 byte length RxPDO2 with 1 8 byte length 00 00 08 08 00 00 08 no byte swapping 08 00 00 08 08 00 00 all PDOs with 8 byte data length 36 CANopen DP Software Manual Rev 1 3 Acyclic PROFIBUS Data Transfer 6 Acyclic PROFIBUS Data Transfer to CANopen 6 1 Mode of Operation The CANopen DP features the acyclic PROFIBUS data transfer for the transmission of parameters between PROFIBUS and CAN PROFIBUS protocol extension DP V1 The principle of the data transmission for reading and writing of the parameter is identical for both directions First a DS Write request is transmitted in which the direction of the transmission is defined Request Parameter for reading of parameters and Change Parameter for writing of parameters respectively Here youcan specify ifa SDO read request or a SDO write request is generated from the CANopen DP In the following DS Read request the result of the operation is transmitted For a Request Parameter request ID 01 a SDO read request
2. IN Table 19 Content of the data field PDU at Read Request without Data Segment Octet Bit 7 0 Request Response OK Function_Num 1 Response Error Frame Bit 6 0 Function_Num SE for DS_Read Slot_Number 0 not evaluated always 47 see 2 length of the user data HOU NGI SEES consecutive number increased with every request Handshake Counter 2 va an Request ID 01 Request parameter 02 Change parameter eader Node ID CANopen Node ID Number n ofthe SDOs in this request here n 1 always 10 see 2D No of elements number of the elements always 1 RR parameter number higher order byte ge is converted to CANopen index high byte Parameter ns parameter number lower order byte Address f y is converted to CANopen index low byte 3 subindex higher order byte ee is not used in CANopen f subindex lower order byte a is converted to CANopen subindex data format es Format only existing if request ID 01 request parameter data format see page 44 Values en only if number of values Request ID only existing if request ID 01 request parameter on er only existing if request ID 01 request parameter Table 20 Content of the data field PDU at Read Response parameter response 42 CANopen DP Software Manual Rev 1 3 Acyclic PROFIBUS Data Transfer 6 3 1 Example Structure of the PROFIBUS Read Requests for n 5 SDOs The number of the octets of the parameter add
3. yes CANopen DP Software Manual Rev 1 3 77 Editing the GSD File with a Text Editor Example Module 1 The parameter Slave PDO Orientation is set to no in the parameter telegram The length of RxPDOl is 8 bytes the length of RxPDO2 is 5 bytes and the length of RxPDO3 is 3 bytes 0x0F 16 bytes RxPDO output data Example Module 2 The parameter Slave PDO Orientation is set to yes in the parameter telegram The length of TxPDO1 is 7 bytes the length of TxPDO2 is 4 bytes and the length of TxPDO3 is 6 bytes 0x10 17 bytes TxPDO output data 78 CANopen DP Software Manual Rev 1 3 Editing the GSD File with a Text Editor Octet 3 Number_of_input_bytes Octet 3 gives the consistency the structure byte word and the number of the input bytes Length bytes of the input as seen from the PROFIBUS master see also PROFIBUS Specification Normative Part 8 page 738 Number of output bytes Consistency over format 5 4 3 2 I 0 0 0 0 0 1 byte resp 1 word ee lige eee length 1 word 1 1 1 1 1 63 bytes resp 63 words Meaning 0 byte or word 0 byte Content structure The number of the input bytes is the summation of all TxPDO lengths for SlavePDO Orientation no or summation of all RxPDO lengths for SlavePDO Orientation yes Example Module 1 The parameter Slave PDO Orientation is set to no in the parameter telegram The length of TxPDO1 is 7 bytes the le
4. CSD CANopen DP PROFIBUS DP CANopen Gateway Software Manual to Product C 2908 xx CANopen DP Software Manual Rev 1 3 esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany www esd electronics com Fax 0511 37 29 8 68 Phone 0511 37 29 80 International 49 5 11 37 29 80 NOTE The information in this document has been carefully checked and is believed to be entirely reliable esd makes no warranty of any kind with regard to the material in this document and assumes no responsibility for any errors that may appear in this document esd reserves the right to make changes without notice to this or any of its products to improve reliability performance or design esd assumes no responsibility for the use of any circuitry other than circuitry which is part ofa product of esd gmbh esd does not convey to the purchaser ofthe product described herein any license under the patent rights of esd gmbh nor the rights of others esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany Phone 49 511 372 98 0 Fax 49 511 372 98 68 E mail info esd electronics com Internet www esd electronics com USA Canada esd electronics Inc 525 Bernardston Road Suite 1 Greenfield MA 01301 USA Phone 1 800 732 8006 Fax 1 800 732 8093 E mail us sales esd electronics com Internet www esd electronics us CANopen DP Software Manual Rev 1 3 Manual file
5. Jason SSS no power supply check the 24 V power supply the connection to the DP master has failed check the PROFIBUS connection fault in wiring in PROFIBUS cable short circuit terminating impedance in wrong position P PROFIBUS green DP status 2x short flashes check the PROFIBUS address specified parameter telegram is faulty Diagnostics via SIMATIC Manager or system function SFC13 DPNRM_DG see chap 3 4 1x short flash looking for bit rate waiting for parameter 3x short flashes telegram configuration telegram is faulty waiting for Diagnostics via SIMATIC Manager or configuration telegram system function SFC13 DPNRM_DG see 4x short flashes chap 3 4 jn PROMMUSOK oo PROFIBUS off no data exchange no power supply voltage Table 1 LED status Ea DP daia data exchange via u PROFIBUS CANopen DP Software Manual Rev 1 3 9 Implementing and Diagnostics 3 4 Slave Diagnostics In addition to the six diagnostic bytes predefined in standard DIN EN 19245 part 3 the CANopen DP supports five further device related diagnostic bytes and when using the heartbeat function 16 further identifier related diagnostic bytes The slave diagnostics can be requested by the following function components Automation device family SIMATIC with IM 308 C FB 192 FB IM308C SIMATIC S7 M7 SFC 13 SFC DPNRM DG Table 2 Function component for requesting the sla
6. Object 1017h CANopen D P gt Heartbeat Producer Time Heartbeat gt CANopen Node ModulelD CANopen Node y Heartbeat Producer Object 1017h gt Heartbeat Producer Time Heartbeat Consumer Object 1016h gt Monitored Node IDs and Heartbeat Consumer Time CAN Bus Heartbeat gt CANopen Node z Heartbeat Producer Object 1017h gt Heartbeat Producer Time Heartbeat Fig 6 Acting as heartbeat producer the CANopen DP is monitored by the configured CANopen nodes CANopen DP Software Manual Rev 1 3 25 Cyclic PROFIBUS Data Transfer CANopen Node x Heartbeat Consumer Object 1016h gt Monitored Node ID and Heartbeat Consumer Time CANopen DP CANopen Node ModulelD Heartbeat Producer Object 1017h gt Heartbeat Producer Time Heartbeat Consumer Object 1016h gt Monitored Node ID and Heartbeat Consumer Time PROFIBUS DP PROFIBUS DP Heartbeat a multiple Master Diagnose Bytes Heartbeats CAN Bus CANopen Node z Heartbeat Consumer Object 1016h gt Monitored Node ID and Heartbeat Consumer Time Fig 7 Acting as heartbeat consumer the CANopen DP is monitoring the configured CANopen nodes which are producing the heartbeats Value range dec in ms no heartbeat consumer monitoring Heartbeat factory default setting Consumer Parameter Description Time 1 65535 Heartbeat Consu
7. XX Node ID of a CANopen module or 00 for message to all CANopen participants 52 CANopen DP Software Manual Rev 1 3 CANopen Object Directory 8 CANopen Object Dictionary of the CANopen DP Gateway For a detailed description of the objects refer to DS 301 1 1017 1018 eem Tomismansa ro Tome fen less eos nnd ose ow fen nicer Device Nane ste seing o rcANonenpe tice rar Via e hte Sonya a feasting asians Pow o oeme Junsineas ow fo Ce he o m jochen e mw joe Producer Heartbeat Time unsigned 16 rw 00 unsigned32 ro prod code 22908002 Kay De gt C 2908 002 nsiened 32 an software revision wee number 40001 unsigned 32 Table 26 Implemented CANopen objects of the CANopen DP Gateway CANopen DP Software Manual Rev 1 3 53 CAN Layer 2 Functions 9 CAN Layer 2 Functions 9 1 Introduction Besides the CANopen implementing the CANopen DP device supports the CAN Layer 2 functions Note Ifonly CAN Layer 2 functions are required the CANopen DP should not be used but Gi the unit gt CAN DP which is optimized for CAN Layer 2 applications Below the significant differences are listed which result from the CAN Layer 2 implementation of the CANopen DP in reference to the functions described so far External module specific diagnostic bytes byte 11 error 7 and 8 are not defined Identifier related diagnostic bytes are inapplicable for CAN Layer 2 Proc
8. its own mains switch During start up the LEDs P PROFIBUS DP status and D Profibus DP data transfer are flashing The PROFIBUS address set via the coding switches is read in The CANopen DP receives projection data from the DP master and evaluates the specifications in them If the projection complies with the structure the CANopen DP device starts the data transfer 3 2 3 Data Transfer If the CANopen DP device is configured the data transfer starts automatically after start up If the PLC master changes transmission data of an output the data is transmitted from the CANopen DP module to the CAN bus If the CANopen DP module receives data on the CAN bus then it provides the data for the PLC master The configuration is described in chapter 5 1 Course of Configuration via the SIMATIC Manager from page 18 8 CANopen DP Software Manual Rev 1 3 Implementing and Diagnostics 3 3 Diagnostics via LED Indication CAN Bus Status PROFIBUS DP Status PROFIBUS DP Data Transfer Module Status The function of LEDs has been defined by the firmware In normal operation at least one of the four LEDs is flashing or constantly on vovo The flash sequences which are listed in the following table are repeated about every six seconds Fig 2 Position of the LEDs sooo 27 no power supply check the 24 V power supply CAN bus m se signal E i mor green status 3x long flash rse sia KO 22
9. no Length TxPDO1 na nern oos BEE 9 Format byte RxPDO2 tenet e002 ms na nern ms no byte swapping Format byte TxPDO3 no byte swapping Format byte RxPDO3 no byte swapping The configuration frame for module 1 has the following structure and has to be inserted into the GSD file Example for manual GSD file entries Module Name of the Module OxCA OxOF 0x10 0x00 0x00 0x07 0x08 0x00 0x00 0x04 0x05 0x00 0x00 1 EndModule Meaning of the entries 1 Unambiguous reference number 1 65535 entries under Module Name of the module Comment to name the module Octet 1 OxCA Module is an in and output 0xC0 and 10 bytes of manufacturer specific data 1 PDO 2 PDO und 3 PDO will follow Octet 2 OxOF Consistency over byte the length format is byte structure OxOF and 16 bytes output data are transferred OxOF 16 1 Octet 3 0x10 Consistency over byte the length format is byte structure 0x10 and 17 bytes input data are transferred 0x10 17 1 CANopen DP Software Manual Rev 1 3 81 Editing the GSD File with a Text Editor Manufacturer specific data Octet 4 0x00 Format byte TxPDO1 0x00 no byte swapping i e the order of the data is not changed Octet 5 0x00 Format byte RxPDO1 0x00 no byte swapping Octet 6 0x07 Length TxPDO1 0x07 length of TxPDO1 7 bytes Octet 7 0x08 Length RxPDO1 0x08 length of RxPDOl 8 bytes Octet 8 0x00 F
10. 5 2 Description of Input Window Properties DP Slave 0 ccc ee eee 32 6 Acyclic PROFIBUS Data Transfer to CANopen 0 0 0 0 e eee eee ees 37 6 1 Mode of Operation ya a a Er I Bee Rah Ge 37 6 2 Structure of the PROFIBUS Write Request non 0 000 eee 39 6 2 1 Example Structure of the PROFIBUS Write Request for n 5 SDOs 40 6 3 Structure of the PROFIBUS Read Request 00 0000 cece 42 6 3 1 Example Structure of the PROFIBUS Read Requests for n 5 SDOs 43 Gh Data Formati sssini ansehen eee ode ee need 44 6 5 Error Codes of the PROFIBUS at Acyclic Transfers to from CANopen 45 CANopen DP Software Manual Rev 1 3 1 Contents Page 6 5 1 Error Numbers in DPV1 Parameter Value 00 000 0c eee 46 7 CANopen Introduction 1 4 2 oc a ad bn Ge a a ne 47 7 1 Definition of Terms ers ses 044 e8040 044 se eat eo dasa eeaeenag ed Pan 47 ZENMT BOOT antrat oe hw es ORE we Rae Ba 48 do CANopen Object Diretiony an sea near age wet ae ieee wens 48 7 4 Access on the Object Directory via SDOs 0 ccc eee 49 7 5 Access on Process Data via PDO8S 2 042 a ea de 51 7 6 Overview of Used CANopen Identifiers 0 0 0 0 cee eee 52 8 CANopen Object Dictionary of the CANopen DP Gateway 53 9 CAN Layer 2 Functions 529 0h ecg ead Fae a a ha eh Rw 8 Vince SO WO ae Uae a 54 3 1 Introduction unseren alas Pao Hee ha al PR weed HE HS 54 9 2 Con
11. 5th n th SDO Parameter Values for the Ist SDO e g Transmission of a byte a ail Values 0 Format Word P t a No of values 1 Parameter Values for the 2 nd SDO for SDOs Values Byte 1 e g Transmission of a word 1 5 n Values Byte 2 only if Request ID i 02 Format Double Word No of values 1 56 Fa Parameter Values for the 5th n th SDO z e g Transmission of a double word Values Byte 3 Values Byte 4 Table 18 Example for the content of the data field PDU at Write Response without Data n 5 40 CANopen DP Software Manual Rev 1 3 Acyclic PROFIBUS Data Transfer The number ofthe octets for the parameter address and the parameter values depends on the number n ofthe SDOs in the request The content of the telegrams values is always transmitted as word or double word with the Most Significant Byte first Big Endian Ifthe value consists of an odd number of bytes always a zero byte is appended CANopen DP Software Manual Rev 1 3 41 Acyclic PROFIBUS Data Transfer 6 3 Structure of the PROFIBUS Read Request For the read request a PROFIBUS telegram with variable length and two address extensions is used The data field of the telegram is composed of Name Description Bit 7 0 Panenan ANUM Bit 6 0 Function_Num 5E for DS_Read Slot_ Number 0 not evaluated Index 47 4 length of the user data maximum
12. Below the GSD file Device Master Data File of the CANopen DP module has been printed The specification printed here are for orientation Decisive is the data contained in the GSD file codp098e gsd included in the product package c esd electronic system design GmbH Hannover PROFIBUS DP Geraetestammdatei Version 1 1 Autor Ulrich Hartmann Erstellungsdatum V1 0 v1 1 v1 2 v1 3 des Parameters 01 03 2005 11 05 2005 03 06 2005 29 01 2007 Heartbeat configuration added Cl_Response Timeout and SDO Timeout changed to 10s new flag slave pdo Mandatory zwingend notwendig Optional zus tzlich m glich Optional mit Default 0 falls nicht vorhanden mindestens einer aus der Gruppe passend zur entsprechenden Baudrate PROFIBUS_DP Kapitel 2 3 2 GSD_Revision 3 Vendor_Name es Model_Name Revision Revision_Number 1 Ident_Number 244 Protocol_Ident Station_Type FMS_supp Hardware_Release Software_Release 9 6_supp 19 2_supp 31 25_supp 45 45_supp 93 75_supp 187 5_supp 500_supp 1 5M_supp 3M_supp 6M_supp 12M_supp MaxTsdr_9 6 MaxTsdr_19 2 MaxTsdr_ 31 25 MaxTsdr_ 45 45 MaxTsdr_93 75 MaxTsdr_187 5 MaxTsdr_500 MaxTsdr_1 5M MaxTsdr_3M MaxTsdr_6M MaxTsdr_12M Redundancy Repeater _Ctrl_Sig 24V _Pins Implementation _Type Bitmap_Device Bitmap_Diag Bitmap_SF Kapitel 2 3 4 Freeze _Mode_supp 0 Sync_Mode_supp 0 Auto_Baud_supp 1 Set_Slave_Add_supp 0 Use
13. Byte a ih Length RxPDO2 Length TxPDO2 Format Byte RxPDO3 Format Byte TxPDO3 _ 11 Byte 12 Byte 13 Byte 14 Byte sh Length RxPDO3 Length TxPDO3 Format Byte RxPDO4 Format Byte TxPDO4 CANopen DP Software Manual Rev 1 3 33 Cyclic PROFIBUS Data Transfer 34 General Rules for entries in the field Data of Specific Manufacturer for examples see page 36 1 Forevery PDO that should be used the data length of a value higher than 0 has to be entered 2 If only the leading PDOs are required the entries for the following PDOs are not necessary e g enter only RxPDO1 TxPDO1 RxPDO2 and Tx PDO2 3 If only the first PDOs RxPDO1 and TxPDO1 are specified the entry of the length is not applicable i e only the format bytes in the first and second byte in the field Data of Specific Manufacturer are registered 4 Ifthere are PDOs missing within the parameter list the bytes ofthis PDOs have nevertheless to be entered with 00 to allow for the correct byte assignment for the following PDOs 5 For the last RxPDO and the last TxPDO of a node no length entry has to be entered The firmware calculates the remaining bytes in adding up the registered byte lengths and subtracts this from the byte number calculated from the entries in the fields Length and Unit The result is assigned to the last RxPDO and TxPDO respectively Format Byte RxPDOx TxPDOx The Format Byte RxPDOx TxPDOx is used to convert the user da
14. E xi General Parameter Assignment Value 50 kbit s ommunication Window No lave PDO orientation No 3 ee jeartbeat Configuration Yes Slot 8 Order Number Designation lAddress Q Addre a No 1 0 Universal module No Universal module a Yes 0 Universal module 4 Yes 194 Universal module i w l No 1 akeUp Time 0 0ff 255 Default 255 nc Time 0 Off 65535 Default 65535 jeartbeat Consumer Time 0 Off 5000 jeartbeat Producer Time 0 Off 3012 10 Timeout 4000 LE MPDO Identifier 512 HJ Hex parameter assignment PROFIBUS DP slaves for SIMATIC 57 M7 and C7 Zd distributed rack Press F1 to get Help Fig 4 Setting the parameters in the DP slave properties window 20 CANopen DP Software Manual Rev 1 3 Description of Parameters CAN Bitrate Communication Window CW Slave PDO Orientation SO Heartbeat Configuration HC RTR Frames NR CANopen Slave CS CANopen Master CM Start Frame AS Page Mode PM Cyclic PROFIBUS Data Transfer For the bit rate the following selections can be made Bit rate Kbit s Bit rate Kbit s 100 66 6 Table 8 Setting the bit rate in 14 levels This parameter activates the Communication Window It is described in detail on page 64 If this parameter is yes CAN frame
15. Example 01 600 Node ID Index 1400 TD Receive PDO Bee COB def Data here COB ID 047F Description of the SDOs Identifier The parameters are transmitted on ID 600 NodeID request The receiver responds the parameters on ID 580 NodeID response Command code The command code transmitted consists amongst others of the command specifier and the length Frequently required combinations are for instance 40 64 Read Request i e a parameter is to be read 23 354 Write Request with 32 bit data i e a parameter is to be set The module responds to every received telegram with a response telegram This can contain the following command codes 43 67 Read Response with 32 bit data this telegram contains the parameter requested 60 96 Write Response i e a parameter has been set successfully 80 128 Error Response i e the CAN module reports a communication error CANopen DP Software Manual Rev 1 3 49 CANopen Introduction Frequently Used Command Codes The following table summarizes frequently used command codes The command frames must always contain eight data bytes Notes on the syntax and further command codes can be found in DS 301 1 chapter Service Data Object Cees Number of data Command code bytes Hex Write Request T Initiate Domain Download Write Response Initiate Domain Download Read Request 40 Initiate Doma
16. I texte Doku MANUALS CAN CANopen DP Englisch CANopen DP_13S en9 Date of print 2007 05 22 Manual order No C 2908 21 Described software version Rev 1 34 canodp 4 Changes in the chapters The changes in the user s manual listed below affect changes in the firmware as well as changes in the description of the facts only Figure for multiple acyclic transmission added Chapter Example Structure of the PROFIBUS Write Request for n 5 SDOs inserted Chapter Example Structure of the PROFIBUS Read Request for n 5 SDOs inserted Technical details are subject to change without notice CANopen DP Software Manual Rev 1 3 This page is intentionally left blank CANopen DP Software Manual Rev 1 3 Contents Page 1 Overview 2 ne na N A a E eee eee 3 1 1 About this Manual ur sl La ee ae OE ara 3 1 2 Introduction into Functionality of the Firmware 00 0 0 cece eee eee ee 3 1 3 Configuration via PROFIBUS DP cag a2 sea Ay eee ne wea RA 4 2 Functionality of the Local Firmware 0 0 c cee eee eee 5 2 PROFIBUS Slave Address as baa ys eee eR ERNE a ye Pee OR A 5 2 2 User Data ieee ne ne eier 6 2 3 Watchdog Reaction Control a ade a u ea ea ee Bs 6 2 ADAMS a ee he Sls at Co re aad Pally ly Ak oy Geared ea 6 2 5 Parameter Telegram CAN Bit Rate as feo Reha a aa CORES ae 6 2 6 Global Control Services FREEZE SYNC UNSYNC 00 00 cece 6 2 7 PROFIBUS DP Profess nord
17. Slaves Ty CiR Object Closed Loop Controller Configured Stations DP VOslaves DPA Si DP PA Link ENCODER ET 2008 GET 200c H E ET 200eco GET 2005 m ET 2005P GET 20L ET 200M ET 200R ET 2008 ET 2000 ET 200K Function Modules IDENT irc nc Network Components Sensor system SIMADYN SIMATIC SIMODRIVE SIMOREG SIMOVERT Sinamics 3 amp SIPOS m Switching Devices PROFIBUS PA Fig 8 Assignment of the slots and selection of the CANopen Node ID In the DP slave window the assigned slots are represented by a 0 in the row DP ID In order to configure the selected slot in a properties window the entry has to be double clicked Depending on the configuration the PLC enters a specific value for the DP ID CANopen DP Software Manual Rev 1 3 29 Cyclic PROFIBUS Data Transfer The standard PDOs result from the Node ID according to CiA Standard DS 301 PDO Value Dor 180 Node D_ Table 15 Coding ofthe CANopen PDOs Ifthe parameter Slave PDO Orientation is set to yes in the parameter telegram CAN frames are transmitted at the outputs with standard TxPDO identifiers and CAN frames are received at the inputs with standard RxPDO identifiers If the parameter Slave PDO Orientation is no default the CAN frames are transmitted via RxPDO identifiers and they are received via TxPDO identifiers 30 CA
18. and slave functions CIA pny peng eels CAN in Automation e V Association for the development of CAN in industrial applications COB wiss Communication Object Communication Window Window for the transmission of CAN data on CAN Layer 2 level Frame Also called message General term for a CAN message which consists of control and user data DS XXX ois re Draft Standard SomeCAN standards can be downloaded directly from the CiA homepage www can cid org Emergency Data Object Emergency data Heartbeat Cyclical recurring message for the monitoring of the operability of a CANopen module Master CANopen Master CANopen module which carries out control tasks on the CAN bus Node ID CANopen node number Number for identification of a CANopen node 1 127 The PDO identifier result from the Node ID NMT usa Network Management Master PDO anana seska Process Data Object The real time data transfer of process data is performed by PDOs The data transfers are not acknowledged RER 243 2 02 Remote Request CAN frame which requests another CAN module to transmit data RK tan ara receive CANopen DP Software Manual Rev 1 3 85 Glossary 86 Multiplexed PDO Via this PDO all modules can be addressed with a single CAN frame simultaneously Broadcast CAN Layer 2 function to control more than 48 CAN identifier in a PROFIBUS telegram see 4 Service Data Object Wi
19. are permissible for input and output direction Data direction PLC address input any example 30 Length 16 always Unit byte Consistent for whole length Identifier FFEF always Form byte 00 Sync time 00 00 DP Slave Properties x Address 1D 140 type Direct Entry Input Address Length Unit Consistent via Start 30 16 a Byte X Totallength End 45 No 0 4 Manufacturer specific data max FF EF 00 00 00 14 bytes hexadecimal separated by comma or space Fig 5 4 1 Configuring the input path of the Communication Window CANopen DP Software Manual Rev 1 3 Fig 5 4 2 Data direction output PLC address any example 30 Length 16 always Unit byte Consistent for whole length Identifier FFEF always Form byte 00 Sync time 00 00 Address 1D 1 0 type Output Direct Entry Output Address Length Unit Consistent via Start 30 fis a Byte 7 TotalLengh End 45 I Bart process image No r Comment E Manufacturer specific data max 14 bytes hexadecimal separated FF EF 00 00 00 bu Cana or nel DP Slave Properties Cancel Help the Communication Window Configuring the output path of 65 CAN Layer 2 Functions 9 3 3 Format of Communication Window The 16 bytes ofthe Communication Window are assigned differently according to data direction 9 3 3 1 Write Bytes of the Communicat
20. bit identifiers data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 data byte 8 13 data length for transmission commands Tx 00 PLC loop counter 8 bit counter m 1 2 3 4 5 6 7 8 9 sub command always set to 0 TEE command Disable Rx Identifier CANopen DP Software Manual Rev 1 3 75 Editing the GSD File with a Text Editor 10 Editing the GSD File with a Text Editor We recommend to configure the module with aPROFIBUS configuration tool as e g the SIMATIC manager Not every PROFIBUS configuration software supports the Universal Module see chapter 5 Configuration with the SIMATIC Manager If the Universal Module is not supported the GSD file has to be adapted via a text editor The configuration of a module is made by means of a configuration frame whose content is entered in the GSD file The frame of the configuration is sub divided in three octets see also PROFIBUS Specification Normative Part 8 page 738 Fig 16 Octet 1 Number_of the_manufacturer specific data Octet 2 Number_of_output_bytes Octet 3 Number_of input_bytes Octet 4 Manufacturer specific_configuration_byte Octet 17 Manufacturer specific_configuration_byte The octets have the following meaning Octet 1 Number_of_manufacturer specific_data Because the CANopen DP always uses a specific ID format to represent a connected CAN module the identifier by
21. configuration of the cyclic PROFIBUS data transfer of process data between PROFIBUS and CAN Acyclic PROFIBUS data transfers can be performed as well e g for the parameter passing They are described from page 37 on 5 1 Course of Configuration via SIMATIC Manager Please follow the steps below to configure the CANopen DP device 1 Select CANopen DP Select menu Hardware Catalogue and there Additional Field Devices and Gateway Select CANopen DP there 2 Set PROFIBUS address Set the PROFIBUS address as described in chapter 5 1 1 on page 19 3 Parameter Telegram set CAN bit rate general configuration and CANopen module ID Configure the settings by means of the parameter telegram as described in chapter 5 1 2 on page 20 4 Assignment of the Slots and setting the CANopen node ID Assign the slots as described in chapter 5 1 3 on page 29 5 Configuration of the Slots SPS Adresse Configure the slots as described in chapter 5 1 4 on page 31 6 Save settings on hard disk Save the settings as described in chapter 5 1 5 on page 31 18 CANopen DP Software Manual Rev 1 3 Cyclic PROFIBUS Data Transfer 5 1 1 Set PROFIBUS Address A window opens in which you have to specify the PROFIBUS station address Attention The hexadecimal address set at the coding switches has to be converted into a decimal value and entered here HW Config SIMATIC 300 1 Configuration dpvitest SM station Edit Insert PLC View Option ow Help
22. device transmits CAN frames to CANopen slaves The CANopen DP supports only the Destination Address Mode DAM with Node ID 0 i e a broadcasting follows at which all other modules are addressed Value range MPDO Identifier 385 1791 default value 385 181 6FF default value 181 CANopen DP Software Manual Rev 1 3 Cyclic PROFIBUS Data Transfer 5 1 3 Assignment of the Slots and Setting the CANopen Node ID Every simulated PLC slot specifies a CANopen node The Node ID of a CANopen node results from the number of the slot selected Because the slots can only be assigned continuously all slots up to the highest required Node ID have to be selected A maximum of 48 CANopen nodes can be selected with one PDO respectively Using several PDOs per node reduces the number of possible nodes The slots are selected by double clicking the device Universal Module in the hardware catalog with activated DP slave window for every slot HW Config SIMATIC 300 1 Configuration dpvitest olele Sa Sl eel ale me Bi wl PROFIBUS 1 DP master system 1 ri Profle Standard m Li PROFIBUS DP Additional Field Devices vo 2 0 Gateway can B CANopen a va B p CANopen DP 9 Universal module d Dummy 3 DP DP Coupler Ethemet 1 PROFINET IO System 100 Universal module DP RS232C Link Universal module DP DP Coupler Release 2 _ Universal module A Compatible PROFIBUS DP
23. ele ee is converted to CANopen subindex data format paee Format only existing if request ID 02 change parameter data format see page 44 Values number of values only if a Sa only existing if request ID 02 change parameter 0 values only existing if request ID 02 change parameter Table 16 Content of the data field PDU at Write Request with Data parameter request Name Bit 7 0 request response OK Function _Num 1 response error frame Bit 6 0 Function Num 5F for DS_ Write Slot_Number 0 not evaluated length of the user data mirrored Table 17 Content of the data field PDU at Write Response without Data CANopen DP Software Manual Rev 1 3 39 Acyclic PROFIBUS Data Transfer 6 2 1 Example Structure of the PROFIBUS Write Request for n 5 SDOs 0 Request Response OK 1 Response Error Frame Function_Num 5F for DS_ Write Slot_Number 0 not evaluated aways 47 ee 2D length ofthe user data Request Ce _ Request Oy Request parameter O Change parameter E Dee ES 9 Abe I 10 No of elements Parameter Address for the Ist SDO er Ei No of elements Index High Byt Address EZ BE a Parameter Address for the 2nd SDO for the Index Low Byte SDOs a Subindex High Byte 1 5 n gt Attribute 34 No ofelemens Cas indes Figh Bye 45 16 17 18 19 igh 33 34 35 5 n Parameter Address for the
24. group of objects which can be accessed via the network Each object in this directory is addressed with a 16 bit index The index in the object directories is represented in hexadecimal format The index can be a 16 bit parameter in accordance with the CANopen specification or a manufacturer specific code By means of the MSBs of the index the object class of the parameter is defined 1000 FFF Communication Profile Area 1001 error register Part of the object directory are among others 0001 009F definition of data types 2000 SFFF Manufacturer Specific Profile Area eo 6000 9FFF Standardized Device Profile Area according to application profile DS 40x A000 FFEF_ reserved EEE Type and number of the supported objects depend on the corresponding CANopen module type 48 CANopen DP Software Manual Rev 1 3 CANopen Introduction 7 4 Access on the Object Directory via SDOs SDOs Service Data Objects are used to get access to the object directory ofa device They are used for initialisation of a device and for transmission of the parameters SDO accesses are only possible ifthe CANopen module is in the state operational or pre operational The SDOs are transmitted on ID 600 NodelD request The receiver responds the parameter on ID 580 NodeID response An SDO is structured as follows Command Index 2 Identifier Sub index LSB Data field MSB cote dow mi
25. the heartbeat The heartbeat consumer time of the modules monitoring must always be higher than the heartbeat producer time of the heartbeat transmitting module Caused by an interruption of the PROFIBUS DP the Heartbeat producer in the CANopen DP is stopped and after the resumption of the PROFIBUS DP communication it is started again Value range dec in ms no heartbeat transmission eee factory default setting Producer COI SE AU SOPIRE Parameter Description Time 1 65535 Heartbeat Producer Time 1 65535 ms Table 13 Value range of the Heartbeat Producer Time CANopen DP Software Manual Rev 1 3 27 Cyclic PROFIBUS Data Transfer SDO Timeout MPDO Identifier 28 By means ofthe acyclic data transfer ofthe PROFIBUS DP V1 SDO accesses on the CAN bus can be made Via the parameter SDO Timeout the monitoring of the SDO transfer timeout can be activated which causes the transmission of a PROFIBUS diagnostic telegram when a timeout occurs If aSDO read or SDO write request is not answered within the given timeout time with a corresponding response message a Profibus DP diagnostic telegram with the Error Code 12 in Octet 3 will be transmitted see page 45 Value range And dec in ms SDO timeout time 1 10000 ms SDO Timeout 1 10000 Default 1000 ms Table 14 Value range of the SDO Timeout time Here the value of the multiplex PDO identifier 1 is entered on which the CANopen DP
26. 10 Function of parameter Wakeup Time The CANopen DP device transmits as CANopen master cyclically the command SYNC for simple CANopen applications The cycle is specified in milliseconds SYNC Time is specified as a decimal value here Value range duets dec in ms No SYNC transmissions possible SYNC Time 1 65534 SYNC time in milliseconds 1 65534 ms 65535 Use current value from gateway default Table 11 Function of parameter SYNC Time CANopen DP Software Manual Rev 1 3 23 Cyclic PROFIBUS Data Transfer Heartbeat Consumer Time The Heartbeat function can be used for mutual monitoring ofthe 24 CANopen modules particularly for detecting connection failures General Operation of the Heartbeat A module the so called heartbeat producer transmits cyclically a heartbeat message on the CAN bus with the node guarding identifier 700 Node ID see 1 One or more heartbeat consumer receive the message If the message is not received within the heartbeat consumer time a heartbeat event will be generated on the heartbeat consumer module The heartbeat consumer time always has to be set to a higher value than the corresponding heartbeat producer time A module can act as heartbeat consumer and producer at the same time Heartbeat Implementation on the CANopen DP Gateway The setting of the heartbeat parameters of the configured CANopen nodes a configured node is e g slot 3 Node ID 3 on page 29 by t
27. 7 0x00 0x00 0x05 0x04 0x00 0x00 2 EndModule Meaning of the entries 2 Unambiguous reference number 1 65535 entries under Module Name of the module Comment to name the module Octet 1 OxCA Module is an in and output 0xC0 and 10 bytes of manufacturer specific data 1 PDO 2 PDO und 3 PDO will follow Octet 2 0x10 Consistency over byte the length format is byte structure 0x10 and 17 bytes output data are transferred 0x10 17 1 Octet 3 OxOF Consistency over byte the length format is byte structure OxOF and 16 bytes input data are transferred OxOF 16 1 CANopen DP Software Manual Rev 1 3 83 Editing the GSD File with a Text Editor Manufacturer specific data Octet 0x00 Format byte RxPDO1 0x00 no byte swapping i e the order of the data is not changed Octet 5 0x00 Format byte TxPDO1 0x00 no byte swapping Octet 6 0x08 Length RxPDO1 0x08 length of RxPDO1 8 bytes Octet 7 0x07 Length TxPDO1 0x07 length of TxPDO1 7 bytes Octet 8 0x00 Format byte RxPDO2 0x00 no byte swapping Octet 9 0x00 Format byte TxPDO2 0x00 no byte swapping Octet 10 0x05 Length RxPDO2 0x05 length of RxPDO2 5 bytes Octet 11 0x04 Length TxPDO2 0x04 length of TxPDO2 4 bytes Octet 12 0x00 Format byte RxPDO3 0x00 no byte swapping Octet 13 0x00 Format byte TxPDO3 0x00 no byte swapping The length of TxPDO3 results from the length byte for output less the lengths
28. ANopen node are used see table 15 page 30 and the length and format parameters of the PDOs are specified each divided by commas The parameters have to be entered as hexadecimal values Please note that the position of the bytes in the field Manufacturer Specific Data depends on the setting of the parameter SlavePDO Orientation Note If the parameter Slave PDO Orientation is set to yes in the Gi parameter telegram CAN frames are transmitted at the outputs with standard TxPDO identifiers and CAN frames are received at the inputs with standard RxPDO identifiers If the parameter Slave PDO Orientation is no default the CAN frames are transmitted via RxPDO identifiers and they are received via TxPDO identifiers SlavePDO Orientation no The position of the bytes in the field Manufacturer Specific Data is defined as follows L Byte Format Byte TxPDO1 Format Byte RxPDO1 3 Byte 6 Byte a a 7 Byte 10 Byte Br Length TxPDO2 Length RxPDO2 Format Byte TxPDO3 Format Byte RxPDO3 un 11 Byte 12 Byte 13 Byte 14 Byte Pa Length TxPDO3 Length RxPDO3 Format Byte TxPDO4 Format Byte RxPDO4 SlavePDO Orientation yes The position of the bytes in the field Data for Specific Manufacturer is defined as follows L Byte F Format Byte RxPDO1 Format Byte TxPDOI1 3 Byte 6 Byte F ahs Length RxPDOl Length TxPDO1 Format Byte RxPDO2 Format Byte TxPDO2 7 Byte 10
29. DO_k Pe PROFIB S cake Lo TELO L TEDO switch i E RxPDO_b al m 1 RXPDO I Fig 1 Overview of functions of the CANopen DP firmware Ifthe parameter Slave PDO Orientation is set to yes in the parameter telegram CAN frames are transmitted at the outputs with standard TxPDO identifiers and CAN frames are received at the inputs with standard RxPDO identifiers If the parameter Slave PDO Orientation is no default the CAN frames are transmitted via RxPDO identifiers and they are received via TxPDO identifiers 2 1 PROFIBUS Slave Address The CANopen DP device simulates a slave module on the PROFIBUS side The slave address is set by means of coding switches at the CANopen DP When switching on the module the hexadecimal PROFIBUS address set is requested The settings have to be changed before switching the module on because changes are ineffective during operation The address range which can be set is hexadecimal 03 to 7C or decimal 3 to 124 If an address is set which is smaller than 3 address 3 is valid If an address is set which is larger than 7C or larger than 124 decimal address 124 is valid The left coding switch HIGH is used to set the MSBs while the LSBs are set by means of the right CANopen DP Software Manual Rev 1 3 5 Functionality of the local Firmware coding switch LOW refer to the hardware manual chapter Setting of the PROFIBUS Address via Coding Switch
30. EEE 85 BZ References 0 eaa aa a a a aa a a A a re a a ne Rta 87 2 CANopen DP Software Manual Rev 1 3 Overview 1 Overview 1 1 About this Manual This manual describes the local firmware ofthe CANopen DP CANopen Implementation The firmware controls the communication of CAN bus devices via CANopen protocol 1 with the PROFIBUS DP herein after referred to as PROFIBUS The CANopen implementation supports CANopen slave functions and basic CANopen master functions START SYNC Heartbeat The CANopen DP supports cyclic PROFIBUS transfers according to PROFIBUS DP V0 2 as well as acyclic PROFIBUS transfers according to DP V1 2 The cyclic PROFIBUS transfers are for process data PDOs and the acyclic for the CANopen parameter setting SDOs CAN Layer 2 The firmware supports the communication on the CAN bus on the level of CAN Layer 2 11 Bit and 29 Bit Identifier The module CANopen DP supports 11 bit and 29 bit CAN identifiers CAN2 0A B The CANopen protocol according to DS 301 1 supports 11 bit CAN identifiers only so the support of the 29 bit identifiers is restricted to the CAN Layer 2 functions 1 2 Introduction into Functionality of the Firmware The gateway simulates a slave device with a defined number of input and output bytes to the PROFIBUS After the gateway has been configured CANopen nodes can be addressed as PROFIBUS slaves The PROFIBUS output bytes are transmitted to the CAN bus One to eight output bytes a
31. Nopen DP Software Manual Rev 1 3 Cyclic PROFIBUS Data Transfer 5 1 4 Configuration of a CANopen Node on a PLC Slot In order to configure the slots the slot entry has to be double clicked The Properties window opens in which the simulated PLC slot can be configured To generate a CANopen node in the properties window the I O Type Out input has to be selected Properties DP slave Address ID 1 0 Type E Direct Entry r Output Address Length Unit Consistent over Start jo fi 4 Byte Unit End 0 Process image fo B1 PI v Input Address Length Unit Consistent over Start jo fi Byte x Unit 0 End Process image 0B1 PI v Data for Specific Manufacturer 00 00 Maximum 14 bytes hexadecimal separated by comma or blank space Cancel Help Abb 9 Example Configuration of a CANopen node The individual parameters of the properties window are described in detail in the following chapter Description of the properties window Properties DP Slave 5 1 5 Save settings to Hard Disk Now you have to save the settings via the menu points Station Save to hard disc Afterwards the settings are transmitted to the PLC by means of the menu points Target System Load in Unit CANopen DP Software Manual Rev 1 3 31 Cyclic PROFIBUS Data Transfer 5 2 Description of Input Window Properties DP Slave Address Length Uni
32. Software Manual Rev 1 3 CAN Layer 2 Functions Command 3 Reception on enabled Rx identifiers The reception of data requires the CAN Rx identifiers which are to receive data to be enabled see command 4 After reception command 3 has been written read accesses to the Communication Window will give you the data structure shown on page 67 The Rx data is received asynchronously to the PLC cycle Until valid data has been received the value EEEE will be returned in the first bytes in read accesses Only after valid data has been received the Rx identifier of the read frame in the first bytes becomes readable In addition the read command which requested the reception of data is assigned by means of the returned PLC loop counter in byte 14 The CANopen DP module has got a FIFO memory for 255 CAN frames to buffer the received Rx data If several Rx frames are to be received on one Rx identifier or if frames of various Rx identifiers enabled for reception are received the data is not lost as long as the PLC reads out the FIFO memory quicker than it is being filled Command 4 Enabling Rx identifiers for reception By means of this command the Rx identifier whose data is to be received has to be enabled More than one Rx identifier can be enabled at the same time For this the command has to be called an according number of times Command 5 Deactivate reception command 4 After this command has been called no data is received any longer on t
33. acturer specific data max 028984 ee S je EEE L Cancel Help Cancel Help Fig 5 2 3 Example Configuration of Fig 5 2 4 Example Configuration of input data output data ale Attention In order to guarantee that the module operates faultless always at least one output any unit has to be configured The PROFIBUS controller does not trigger an IN interrupt if no output is defined If no CAN assignment is to be made when an output is defined it is permissible to specify the value 07F8 as an identifier here The individual parameters ofthe properties window will be explained in detail in the following chapter 9 2 6 Save Settings to Hard Disc Now you have to save the settings via menu points Station Save to hard disc Afterwards the settings are transmitted to the PLC by means of menu points Target System Load in Unit CANopen DP Software Manual Rev 1 3 61 CAN Layer 2 Functions 9 2 7 Description of the Window Properties DP Slave Consistent over Comment Data for Specific Manufacturer 62 In the field YO Type Input or Output has to be selected depending on the data direction required for CAN Layer 2 applications Other entries are not permissible The firmware distinguishes between CANopen and CAN Layer 2 data exchange by evaluation of this parameter In the Address field the PLC V O address is entered as a decimal value By means of the fields Length and Unit the
34. ame has been received output of TxId If parameter SO is yes CAN frames with standard TxPDO Identifiers are transmitted via the outputs and CAN frames with standard RxPDO identifiers are received via the inputs after wake up time start frame output of PDO RxID transmit RTR frames on PDO TxId after wake up time start frame output of PDO x Status of the parameter without meaning here Table 9 Example for permissible settings Module ID Node ID of the Gateway as CANopen node The Node ID under which the gateway is addressed is set via this byte Value range 1 127 decimal 22 CANopen DP Software Manual Rev 1 3 Wakeup Time SYNC Time Cyclic PROFIBUS Data Transfer Via parameter Wakeup Time a delay in seconds is specified It determines the time a module has to wait after a RESET or power on before it starts to transmit data on the CAN bus The Wakeup Time specified here overwrites the value of the Wakeup Time stored previously in the CANopen DP gateway if a value not equal 255 was specified If 255 is specified the value stored in the gateway will be used If parameter Wakeup Time is set to 0 the module does not wait but starts the transmission of data as soon as they are available The Wakeup Time is specified as a decimal value here Value range Be Wakeup Time function off Wakeup Time Wakeup Time in seconds Use current value from gateway default Table
35. ameters Funktionsbaugruppen IDENT rc ne Netzkomponenten Regler Address ha Schaltger te Sensorik I SIMADYN simatic SIMODRIVE SIMOREG H E SIMOVERT 1 9 SINAMICS 1 SIPOS 1 Weitere FELDGER TE 2 0 10 2 Gateway GQ CANopen s6 voi m CANopen DP Gm DP DP Coupler Transmission rate 1 5 Mbps CECB ROBCmUBCE CROCCO mCmCmOmC MCC mc mcm I 8 Fig 12 Setting the PROFIBUS address of the CANopen DP 56 CANopen DP Software Manual Rev 1 3 CAN Layer 2 Functions 9 2 3 Parameter Telegram CAN Bit Rate and Configuration The module DP slave is now automatically inserted in the configuration window Configuration settings can be changed by means of the parameter telegram The parameter setting ofthe DP Slave can be done in the Properties window which opens ifthe header of the DP slave window is double clicked here line 17 CANopen Slave i HW Config SIMATIC 300 1 Configuration DP 1_Single Mh Station Edit Insert PLC view Options Window Help oleje Sl ala ED 22 xel 0 UR Eind ty fi nil Profile Standard PROFIBUS 1 DP master system 2 PROFIBUS DP SE PROFIBUS PA ES PROFINET I0 i SIMATIC 300 SIMATIC 400 m SIMATIC PC Based Control 300 400 E E SIMATIC PC Station Properties DP slave General Parameter Assignment Parameters Value Le A 50 kbit s ommunication Window No lave PDO or
36. an 2 aided rece ad Hd Be Hares Me ES I Be VRS 6 3 Implementing and Diagnostics 0 0 ccc eee eee ene eens 7 3 1 Prerequisites for Implementation au 25094 ee EN WIR nn 7 3 2 Implementation sun Syne Geeks RS See eked Pes SIRS ORES aS PR OARS einher 7 32I Procedure sa ee le a a a a 7 32 2 Start Up sea a ea kee Pee WE un ee 8 32 3 Data Transfer ceanu een ersehen head ee 8 3 3 Diagnostics via LED Indieation ea en ee aaa ae nk 9 3 A Slave Diagnostics users ka a en aa au 10 3 4 1 Diagnostic Bytes 1 6 A ea as bee EW a 10 3A 13 Slalion Stalus l sur a a Ae Oretachi Sata ee 11 3 4 1 2 Station Status 2 2 Dr Ha a 12 34 13 CIAO Status SY eta sk ee u Ze ea alate ee 13 3 4 1 4 Diagnostic Byte 4 Master PROFIBUS Address 13 3 4 1 5 Diagnostic Bytes 5 and 6 Manufacturer Identification 13 3 4 2 External Device Related Diagnostic Bytes 0 0000 14 3 4 3 Identifier Related Diagnostic Bytes 0 0 c cee eee 15 Ay GSD File 2 a ea nee es OW A a BA OR AOR 16 5 Cyclic PROFIBUS Data Transfer to CANopen 0 00 c eee eee 18 5 1 Course of Configuration via SIMATIC Manager 0 0 c eee ee eee eee 18 Solel Set PROFIBUS Address ala sie tetra Sawa eae eee E 19 5 1 3 Assignment of the Slots and Setting the CANopen Node ID 29 5 1 4 Configuration of a CANopen Node on a PLC Slot 22 31 5 1 5 Save settings to Hard Disk ua ea a 31
37. ause this service is unconfirmed on PROFIBUS side it is answered with response OK or with error code error class 12 error code 3 resource unavailable in case of a CAN Ack missing CANopen DP Software Manual Rev 1 3 45 Acyclic PROFIBUS Data Transfer 6 5 1 Error Numbers in DPV1 Parameter Value In case of an error negative partial response the parameter value has the following content Format error No of values 1 Value error value error number Error No Meaning CANopen error Error Name SDO Abort Code number 0x00 Impermissible index 0x01 Parameter value cannot be changed 0x02 Low or high limit exceeded 0x03 Faulty subindex subindex can not be accessed 0x05 Incorrect data type Ox11 Request cannot be executed because of operating state 0x16 Parameter address impermissible Table 25 Error numbers in DPV1 parameter responses gt 6 CANopen DP Software Manual Rev 1 3 CANopen Introduction 7 CANopen Introduction Apart from basic descriptions ofthe CANopen this chapter contains the most significant information about the implemented functions A complete CANopen description is too extensive for the purpose of this manual Further information can therefore be taken from the CANopen standard CiA Draft Standard 301 1 7 1 Definition of Terms COB Communication Object Emergency Id Emergency Data Object NMT Network Management Master PDO Process Data Object Rx receive SDO S
38. bject without data SDO Response 2 Read WriteResponse without data without data SDO Request n Read res Read WriteRequest without data Reading or checking and acceptance of the Read req DB47 parameters of the nth object without data SDO Response n Parameter Read res Response with data parameter response Fig 11 Principle of the multiple acyclic parameter transmission 38 CANopen DP Software Manual Rev 1 3 Acyclic PROFIBUS Data Transfer 6 2 Structure of the PROFIBUS Write Request For the write request a PROFIBUS telegram with variable length and two address extensions is used The data field of the telegram has the following structure Bit 7 0 Request Response OK 1 Function_Num 1 Response Error Frame Bit 6 0 Function_Num 5F for DS_ Write Slot_Number 0 not evaluated always 47 Gee 2 length of user data Request Reference 7 i LE Conia consecutive number increased with every request Request a Request 1D 01 Request Parameter Header 02 Change Parameter Node ID CANopen Node ID 8 No of Parameters number n of the SDOs in this request here n 1 Co eriu always 10 Gee 2 number of the elements always 1 Baie parameter number higher order byte ee is converted to CANopen index high byte Parameter I parameter number lower order byte Address y is converted in CANopen index low byte subindex higher order byte BEDIAEN TEBE not used in CANopen subindex lower order byte
39. ducers by the CANopen DP which works as heartbeat consumer here CANopen DP Software Manual Rev 1 3 Cyclic PROFIBUS Data Transfer CANopen Node x Heartbeat Producer Heartbeat Producer Time Object 1017h CANopen DP gt Heartbeat Producer Time SDO Messages gt Heartbeat Consumer Object 1016h gt Monitored Node ID and Heartbeat Consumer Time CANopen DP Node ID Heartbeat Consumer Time CANopen Node ModulelD CANopen Node y Heartbeat Producer Heartbeat Producer Heartbeat Producer Heartbeat Producer Object 1017h Time Time Object 1017h gt Heartbeat Producer Time gt Heartbeat Producer Time lt gt Heartbeat Consumer Heartbeat Consumer i CANopen DP Node ID i Object 1016n CAN Bus aie Object 1016n gt Monitored Node IDs and featibeaticonsilme wine gt Monitored Node ID and Heartbeat Consumer Time Heartbeat Consumer Time CANopen DP Node ModulelD CANopen Slave x Node ID CANopen Slave z Node ID CANopen Node z Heartbeat Consumer Time Heartbeat Producer Heartbeat Producer Tune Object 1017h gt Heartbeat Producer Time Heartbeat Consumer CANopen DP Node ID Object 1016h Heartbeat Consumer Time gt Monitored Node ID and Heartbeat Consumer Time Fig 5 Setting of the heartbeat parameters on the CANopen slaves after setting Heartbeat Configuration to YES CANopen Node x Heartbeat Producer
40. dularen Station in supports DPV1 1100 10ms 11s 0 CANopen DP Software Manual Rev 1 3 GSD File Max_Diag_Data_Len max 24 Byte Diagnosedaten Modul_Offset D ab GSD_Revision 1 erste Steckplatznummer Max_User_Prm Data_Len PrmText 1 Text 0 1000 kbit s Text 1 666 6 kbit s Text 2 500 kbit s Text 3 333 3 kbit s Text 4 250 kbit s Text 5 166 kbit s Text 6 125 kbit s Text 7 100 kbit s Text 8 66 6 kbit s Text 9 50 kbit s Text 10 33 3 kbit s Text 11 20 kbit s Text 12 12 5 kbit s Text 13 10 kbit s EndPrmText PrmText 2 Text 0 No Text 1 Yes EndPrmText PrmText 3 Text 0 Yes Text 1 No EndPrmText ExtUserPrmData 1 CAN Bitrate Unsigned8 6 0 13 Prm_Text_Ref 1 EndExtUserPrmData ExtUserPrmData 2 Communication Window Bit 7 0 0 1 Prm_Text_Ref 2 EndExtUserPrmData ExtUserPrmData 3 Slave PDO orientation Bit 6 0 0 1 Prm_Text_Ref 2 EndExtUserPrmData ExtUserPrmData 4 Heartbeat Configuration Bit 5 0 0 1 Prm_Text_Ref 2 EndExtUserPrmData ExtUserPrmData 5 RTR Frames Bit 4 0 0 1 Prm_Text_Ref 3 EndExtUserPrmData ExtUserPrmData 6 CANopen Slave Bit 3 0 0 1 Prm_Text_Ref 2 EndExtUserPrmData ExtUserPrmData 7 CANopen Master Bit 2 0 0 1 Prm_Text_Ref 2 EndExtUserPrmData ExtUserPrmData 8 Start Frame Bit 1 0 0 1 Prm_Text_Ref 2 EndExtUserPrmData ExtUserPrmData 9 Page Mode Bit 0 0 0 1 Prm_Te
41. ed in the example above Transmitting Data 2 Receiving Data 2 1 Enabling the Rx Identifier for Reception In this example the data of the Rx identifier 0123 are to be received Byte of Example here Communication Contents hex Window i high byte of CAN identifier identifier bit 15 10 8 low byte of CAN identifier identifier bit 7 0 bytes 3 and 4 always 0 for 11 bit identifier data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 data byte 8 00 data length for transmission command T sub command always setto 0 wo command Enable Rx Identifier m 1 2 3 4 5 6 7 8 9 10 11 12 is ar 13 14 15 16 In order to acknowledge the execution of the command a read access of byte 14 of the Communication Window should be made with every command call It has to have the same value of the PLC loop counter as it had when the command was called CANopen DP Software Manual Rev 1 3 73 CAN Layer 2 Functions 2 2 Initiate Reception of Data ofthe Enabled Rx Identifier Byte ot Example here Communication Contents hex Window ex high byte of CAN identifier identifier bit 15 10 8 low byte of CAN identifier identifier bit 7 0 5 data byte 1 00 6 data byte 2 00 7 data byte 3 00 8 data byte 4 00 9 data byte 5 00 10 data byte 6 00 11 data byte 7 00 12 data byte 8 00 13 data length for transmis
42. edure of configuration the device related parameter for CANopen Slave PDO orientation SDO Timeout Heartbeat und MPDO Identifier see page 20 that can be set via the parameter telegram in the Properties DP Slave window do not affect the CAN layer 2 functions all CAN identifiers in the 11 bit and in the 29 bit CAN identifier range can be addressed Restrictions for the CANopen implementation For the CAN layer 2 data transfer with CAN identifiers simulated slots of the PROFIBUS slaves are assigned as for the cyclic data transfer via CANopen PDOs A double assignment is not possible i e a slot can only be assigned once This must be considered at the selection of the CANopen Node ID because the Node ID is defined via the slot number selected 54 CANopen DP Software Manual Rev 1 3 CAN Layer 2 Functions 9 2 Configuration via SIMATIC Manager 9 2 1 Course of Configuration Note If operation with simultaneous use of the CANopen and the CAN Layer 2 function is Gi required the CANopen configuration should always be carried out first because the slot number is important here Node ID The slots which are not used for CANopen can be configured for the CAN Layer 2 data transfer The slot number is of minor importance for CAN Layer 2 data transfer In the following the configuration of a CANopen DP is described which has not already been configured If a CANopen configuration has already been carried out conti
43. equested function is not being check projecting supported by the DP slave DP master cannot interpret the check bus structure response of the DP slave Wrong setting evaluate diagnostic bytes 10 and 11 this bit is always 1 if you e g just access the CANopen DP by means of a PG or another DP DP slave has already been set by master another master The PROFIBUS address of the setting master is in the diagnostic byte Master PROFIBUS address Table 4 Bits of station status 1 CANopen DP Software Manual Rev 1 3 11 Implementing and Diagnostics 3 4 1 2 Station Status 2 Station status 2 contains status messages to the DP slave If a bit is 1 the corresponding message is active A bit set to 0 signalizes an inactive message Error message if bit 1 Br DP slave has to be set again A diagnostic message occurred The DP slave cannot operate until the error has been removed static diagnostics 1 This bit is always 1 The watchdog for the CANopen DP is activated DP slave has received freeze command DP slave has received SYNC command ER This bit is always 0 DP slave is deactivated Table 5 Bits of station status 2 12 CANopen DP Software Manual Rev 1 3 Implementing and Diagnostics 3 4 1 3 Station Status 3 Station status 3 is reserved and without significance for the CANopen DP 3 4 1 4 Diagnostic Byte 4 Master PROFIBUS Address The PROFIBUS addres
44. ervice Data Object Sync Sync frame Telegram Tx transmit PDOs Process Data Objects PDOs are used to transmit up to 8 byte process data In the Receive PDO RxPDO process data is received In the Transmit PDO TxPDO process data is transmitted SDOs Service Data Objects SDOs are used to transmit module internal configuration and parameter data The object dictionary can be accessed via SDOs In opposition to the PDOs SDO messages are confirmed A write or read request on a data object is always answered by a response telegram with an error index NMT State Machine For the control ofthe device functions all CANopen devices feature an internal state machine In the individual states only particular functions are permitted The state transitions can be triggered by internal events e g boot up error reset or by the NMT master CANopen DP Software Manual Rev 1 3 47 CANopen Introduction 7 2 NMT Boot up After switching on every CANopen device obtains a phase of initialisation The device automatically enters the Pre Operational state directly after finishing the device initialisation Usually a telegram to switch from pre operational status to operational status after boot up is sufficient For this the 2 byte telegram 01 00 for example has to be transmitted to CAN identifier 0000 Start Remote Node all Devices 7 3 CANopen Object Directory The object directory is basically a sorted
45. es 3 A The PROFIBUS slave address can only be set via coding switches It cannot be programmed by means of a class 2 master via the command Set_Slave_Address 2 2 User Data The CANopen DP module is equipped with a VPC3 type DP slave controller and simulates a total of up to 244 bytes per data direction on the PROFIBUS During a cyclic transfer one to eight bytes each are assigned to a TxPDO or RxPDO 2 3 Watchdog Reaction Control The firmware can be run with activated or deactivated reaction control It is recommendable though to run it with activated reaction control 2 4 Diagnostics The status of the LED displays and the DP slave diagnostics can be used for diagnostics The module supports five device related diagnostic bytes and if the heartbeat function is used 16 additional identifier related diagnostic bytes The diagnostics will be described in more detail on page 9 2 5 Parameter Telegram CAN Bit Rate In addition to the seven standard bytes of the configuration the CANopen DP module supports 16 device specific bytes Here the DP master can change e g the CAN bit rate Setting the bit rate by means of the parameter telegram is described on page 20 2 6 Global Control Services FREEZE SYNC UNSYNC The Global Control services are not yet implemented 2 7 PROFIBUS DP Profiles The PROFIBUS DP profiles are not being supported yet 6 CANopen DP Software Manual Rev 1 3 Implementing and Diagno
46. f the PLC loop counter which has been transmitted to the gateway via the last PROFIBUS telegram 15 return of the sub command error code of the read function not supported at the moment Table 30 Read bytes of the Communication Window CANopen DP Software Manual Rev 1 3 67 CAN Layer 2 Functions The following table shows commands which are currently being supported The sub command is not yet being evaluated and should always be set to 0 at command call therefore transmits an RTR frame executes command 4 and command 6 reserved If the gateway is configured as CANopen master Cyclical transmission of the CANopen SYNC command ID 80 len 0 Table 31 Commands of Communication Window Attention A command is only completely processed if when reading the Communication Window byte 14 of the CANopen DP module provides the value of the PLC loop counter which was assigned at the command call Before the following command is called it is therefore necessary to check byte 14 first Explanations of the commands Command 1 Send data In order to send data via the Communication Window the CAN identifier has to be specified in bytes 1 and 2 or 1 4 for 29 bit identifiers In addition to the number of bytes to be transmitted a PLC loop counter has to be specified The loop counter has to be realised by the user It is required to provide the CANopen DP gateway with the OB 1 cycle of the PLC 68 CANopen DP
47. figuration via SIMATIC Manager 0 cece eee cece een eens 55 9 2 1 Course of Configuration naar oe iad ee Eee ae was al ana 55 9 2 2 Set PROFIBUS Address 435 40 0008 seas 68 i paea en 56 9 2 3 Parameter Telegram CAN Bit Rate and Configuration 57 9 2 4 Assigning the Slots of the DP Slave 0 cece ee eee ee 60 9 2 5 Configuration of Slots for the CAN Layer 2 Data Exchange 61 9 2 6 Save Settings to Hard Ds an 3a 46 dhs deere eee share oe es 61 9 2 7 Description of the Window Properties DP Slave 2 2 62 9 3 The Communication Window a se 200904 odes ea vin a eS 64 93 1 Introduction ay 3208 az Dee SRP Te VOSA SO ee 64 9 3 2 Configuration of the Communication Window 0 00 65 9 3 3 Format of Communication Window 00 eee eee eee eee 66 9 3 3 1 Write Bytes of the Communication Window 66 9 3 3 2 Read Bytes of the Communication Window 67 9 3 4 Examples on the Communication Window 00 000s eee 71 9 3 4 1 Transmitting Data Saas aaa a add nati ees 71 3 42 RECEIVING Dr ea ee an 73 10 Editing the GSD File with a Text Editor 0 00 0 eee ee eee 76 10 1 Example Module 1 Manufacturer specific Data SO no 0 000005 81 10 2 Example Module 2 Manufacturer specific Data SO yes 0 0005 83 11 Glossary Sete die See eee EOE EEA EE E ER Ss ERRE
48. he gateway can be activated or deactivated with the parameter Heartbeat Configuration This parameter can be set in the same window as the Heartbeat Consumer Time If the parameter Heartbeat Configuration is set to YES for every configured CANopen node the heartbeat producer time in CANopen object 1017 of every node is set to the value of the parameter Heartbeat Producer Time In addition for every configured CANopen node the heartbeat consumer time in CANopen object 1016 is set to the value of the parameter Heartbeat Consumer Time the entry is always entered in sub index 1 of object 1016 1 The figure 5 on page 25 shows the transmission of the heartbeat times via SDO accesses in the objects of the configured nodes after the request of Heartbeat Configuration The heartbeat time is also set on the CANopen DP Before the heartbeat monitoring can be started by setting the parameter Heartbeat Configuration to YES the Parameter Heartbeat Producer Time or and Heartbeat Consumer Time have to be set to values unequal 0 otherwise the corresponding functions will not be activated Figure 6 on page 25 shows the heartbeat monitoring of the CANopen DP by the other CANopen modules The CANopen DP is the heartbeat producer here As heartbeat consumer the configured CANopen nodes monitor the transmission of the heartbeat of the CANopen DP Figure 7 on page 26 shows the monitoring of the CANopen modules which are configured as heartbeat pro
49. he specified Rx identifiers Command 6 Sending an RTR frame By means of this command a remote request frame is transmitted Prior to the transmission the reception on the Rx identifier has to be enabled by command 4 Command 7 Executes command 4 and command 6 See there CANopen DP Software Manual Rev 1 3 69 CAN Layer 2 Functions Command 20 Cyclical transmission of the CANopen command SYNC The CANopen DP device can cyclically transmit the command SYNC for simple CANopen applications The command is transmitted as shown in the table above The cycle is specified e g in the properties window in bytes 4 and 5 when the Communication Window is configured refer to page 65 The cycle is specified in milliseconds Value range 0 FFFE 0 65534 ms Attention In order to guarantee that all CANopen users have received their new data when they receive the SYNC command the cyclical transmission command of the SYNC command cannot interrupt transmission of a DP telegram on the CAN That means that the SYNC command is delayed until the DP telegram has been transmitted if its transmission and the transmission of a SYNC command coincide This can result in slight changes of time in the cyclical transmission of the SYNC command SYNC Time can be set in two different ways 1 In the parameter telegram in the DP properties window see page 20 2 Via byte 4 and 5 of the Communication window see page 65 These specifications are eq
50. ientation No 3 ee jeartbeat Configuration Yes Slot 8 Order Number Designation lAddress Q Addre a No 1 0 Universal module No Universal module a Yes 0 Universal module 4 Yes 194 Universal module i w l No 1 akeUp Time O Off 255 Default 255 nc Time 0 Off 65535 Default 65535 jeartbeat Consumer Time 0 Off 5000 jeartbeat Producer Time O Off 3012 10 Timeout 4000 LE MPDO Identifier 512 HJ Hex parameter assignment PROFIBUS DP slaves for SIMATIC 57 M7 and C7 Zd distributed rack Press F1 to get Help Fig 13 Setting the parameters in the DP slave properties window CANopen DP Software Manual Rev 1 3 57 CAN Layer 2 Functions Description of Parameters CAN Bit rate Communication Window CW Slave PDO Orientation SO Heartbeat Configuration HC RTR Frames NR CANopen Slave CS CANopen Master CM Start Frame AS Page Mode PM Module ID 58 For the bit rate the following selections can be made Bitrate kbit s Bitrate kbit s 100 66 6 Table 27 Setting the bit rate in 14 levels This parameter activates the Communication Window It is described in detail on page 64 This parameter is only relevant for CANopen applications see page 21 This parameter is only relevant for CANopen applica
51. iers on the layer 2 level without CANopen support In the Communication Window only one PLC address is needed to access different Tx identifiers and different Rx identifiers This is possible because the identifiers of the CANopen modules are transmitted as parameters together with the data at each access The disadvantage of the Communication Window is the lower data flow though Therefore we recommend to use the Communication Window for non time critical accesses only e g parameterisation Attention The Communication Window does not support CANopen functions but operates with CAN Layer 2 functions Attention The data length must always be 16 bytes in the configuration The identifier to be used is always FFEF The Communication Window is described in detail on the following pages 64 CANopen DP Software Manual Rev 1 3 CAN Layer 2 Functions 9 3 2 Configuration of the Communication Window The Communication Window is configured via PROFIBUS An entry for each the transmission and reception of data via the Communication Window is required The firmware only accepts these two entries The following two pictures show the required properties Apart from the PLC address and the specifications for the SYNC time in the comment bytes 4 and 5 all parameters have been specified Even the identifier cannot be selected freely Consistently the whole length has always to be specified A shared PLC address or different PLC addresses
52. in Upload Read Response Initiate Domain Upload Error Response Abort Domain Transfer Index Sub Index Index and sub index address the parameter in the object dictionary Data Field The data field has got a size ofup to four bytes and is always structured LSB first MSB last The least significant byte is always in Data 1 With 16 bit values the most significant byte bits 8 15 is always in Data 2 and with 32 bit values the MSB bits 24 31 is always in Data 4 50 CANopen DP Software Manual Rev 1 3 CANopen Introduction Error Codes of the SDO Domain Transfer The following error codes might occur according to DS 301 1 chapter Abort SDO Transfer Protocol Error code ee 0x05040001 SDO_CS UNKNOWN wrong command specifier 0x06010000 SDO_WRONG_ ACCESS wrong write access 0x06010001 SDO_WRITE ONLY attempt to read a write only object 0x06010002 SDO READ ONLY attempt to write a read only object 0x06020000 SDO_WRONG_ INDEX wrong index 0x06040043 SDO PARA INCOMPATIBLE general parameter incompatibility reason 0x06070010 SDO_ WRONG LENGTH wrong number of data bytes 0x06070012 SDO_ PARA TO LONG length of service parameter too high 0x06070013 SDO PARA TO SHORT length of service parameter too low 0x06090011 SDO_WRONG SUBIND wrong sub index 0x06090030 SDO VALUE EXCEEDED transmitted parameter is outside the accepted value range 0x06090031 SDO VALUE TOO HIGH val
53. indow the assigned slots are represented by a 0 Fig 14 Assignment of the DP slave slots 60 DP Mastersystem 1 PROFIBUS DP a Additional Field Devices Ga 170 E SIMATIC E Gateway DP RS232C Link DP DP Coupler CANopen DP Universal Module Closed Loop Controller Configured Stations CP 342 5 as DP Master FA DP AS i Fa gt E e CANopen DP Software Manual Rev 1 3 CAN Layer 2 Functions 9 2 5 Configuration of Slots for the CAN Layer 2 Data Exchange In order to configure the slots the slot entry has to be double clicked A properties window opens in which the simulated PLC slots are configured Below two examples with 11 bit identifiers are shown Data direction input Data direction output PLC address 172 PLC address 172 Length 6 Length 6 Unit byte Unit byte Consistent for whole length Consistent for whole length Identifier 0289 Identifier 0309 Form byte B8 Form byte B8 DP Slave Properties x DP Slave Properties x Address 1D Address ID 1 0 type Direct Entry 120 type Output X Direct Entry r Output Address Length Unit Consistent via Start 172 6 Este z Total Length z M Input Address Length Unit Consistent via Start 172 6 a Este z Total Length x End 177 JE Part process ir Comment r Comment 7 Ma ae Dec data mee Manuf
54. ion Windows refer to page 67 i e the evaluation of the answer to the last command or received CAN frame depending on the application 5 Send new Write Bytes of Communication Window refer to page 66 with increased loop counter value of 3 and if necessary new application data ea Continue PLC program new request at the next program cycle CANopen DP Software Manual Rev 1 3 71 CAN Layer 2 Functions 2 Start Transmission Command by Writing the 16 Bytes of the Communication Window Byte ol Example here Communication Contents hex Window ex high byte of CAN identifier identifier bit 15 10 8 low byte of CAN identifier identifier bit 7 0 bytes 3 and 4 always 0 for 11 bit identifier data byte 1 00 data byte 2 01 data byte 3 02 data byte 4 03 data byte 5 04 data byte 6 05 data byte 7 06 data byte 8 07 os o command transmit data The data bytes 0 8 are transmitted on Tx identifier 0012 2 3 4 5 6 7 8 9 10 11 12 C ia 13 14 15 16 In order to acknowledge the execution of the command a read access to byte 14 of the Communication Window should follow It has to have the same value of the PLC loop counter as when the command was called 72 CANopen DP Software Manual Rev 1 3 CAN Layer 2 Functions 9 3 4 2 Receiving Data 1 Basic Setting of the Communication Window The basic settings of the Communication Window have already been describ
55. ion Window command setting and transmitting of data PLC gt CANopen gt CAN Bytes of Communication Contents Window high byte of CAN identifier identifier bits 15 10 8 low byte of CAN identifier identifier bits 7 0 with 11 bit CAN identifier byte 3 and 4 always 0 with 29 bit CAN identifier byte 3 identifier bits 28 24 byte 4 identifier bits 23 16 data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 data byte 8 data length for transmission jobs Tx PLC loop counter has to be incremented in pulse with OB1 in order to tell the gateway the OB1 cycle sub command always set to 0 command description refer page 68 Table 29 Write bytes of the Communication Window 66 CANopen DP Software Manual Rev 1 3 CAN Layer 2 Functions 9 3 3 2 Read Bytes of the Communication Window command acknowledge and reception of data CAN gt CANopen gt PLC Bytes ofthe Communication Contents Window ee a Le as long as no received data are available EEEE otherwise high byte of CAN identifier identifier bits 15 10 8 low byte of CAN identifier identifier bits 7 0 with 11 bit CAN identifier byte 3 and 4 always 0 with 29 bit CAN identifier byte 3 identifier bits 28 24 byte 4 identifier bits 23 16 data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 data byte 8 number of data bytes received return o
56. is generated for a Change Parameter request ID 02 a SDO write request is generated As base of the parameter transmission the PROFIBUS profile ProfiDrive 2 is used The complete procedure is already defined there The following figure shows the conversion of the PROFIBUS access in a SDO transfer CANopen DP DP Master DP Slave and CANopen SPS S7 DPV1 CANopen SDO Client SDO Server Parameter Write req DB47 Request with data parameter request Write res SDO Request without data Read WriteRequest Read req DB47 Reading or without data ECHI Read res and acceptance B SDO Response Read req DB47 Read WriteResponse without data Parameter Read res Response with data parameter response Fig 10 Principle of the single acyclic parameter transmission CANopen DP Software Manual Rev 1 3 37 Acyclic PROFIBUS Data Transfer In a DS Write request also several objects can be written or requested The following figure shows the PROFIBUS access in n SDO transfers CANopen DP DP Master DP Slave and CANopen SPS S7 DPV1 CANopen SDO Client SDO Server Parameter Write req DB47 A Read WriteRequest Write res without data Reading or checking and acceptance of the parameters of the 1st object SDO Response 1 without data Read WriteResponse Read res without data SDO Request 2 Read req DB47 Read WriteRequest without data Reading or checking ee al and acceptance of the Read res parameters of the 2nd o
57. it 7 4 error class bits bit 3 0 error code bits error class 0 9 reserved error class 10 application error code 0 error code 1 error code 8 error class 11 access error code 0 error code 2 error code 3 error code 4 error code 9 error code 12 error code 13 error code 15 3 Error Code 1 read error write error version conflict invalid index invalid slot Node ID type conflict invalid area invalid type timeout error service unsupported generic error error class 12 resource error code 0 error code 1 error code 2 error code 3 read constr conflict write constr conflict resource busy resource unavailable not used not used not used INDEX 47 slot Node ID gt 127 not used not used not used 0504 0000 not used not used not used no CAN Ack or read request without preceding write request 4 Error Code 2 Table 24 Error codes at acyclic transfers If communication to a CANopen node is not possible node is nonexistent or the communication is disturbed the CANopen DP Gateway transmits a SDO abort according to CANopen standard and reports the corresponding error error class 11 error code 12 All SDO abort codes which are not listed here and in table 25 cause a generic error error class 11 error code 15 If the Node ID is 255 see page 39 a MPDO DAM PDO structure see 1 is generated as broadcast Bec
58. itted The sum of all data bytes of all PDOs of one data direction always has to be the same or smaller than the number of data bytes of the DP slaves defined in the fields Length and Unit RxPDO Inputs TxPDO Outputs Note If the parameter Slave PDO Orientation is set to yes in the parameter telegram CAN frames are transmitted at the outputs Gi with standard TxPDO identifiers and CAN frames are received at the inputs with standard RxPDO identifiers If the parameter Slave PDO Orientation is no default the CAN frames are transmitted via RxPDO identifiers and they are received via TxPDO identifiers CANopen DP Software Manual Rev 1 3 35 Cyclic PROFIBUS Data Transfer Examples for the Entries in Manufacturer specific Data for Slave PDO Orientation yes Entry in the field Reasonable entries Data of Specific for PLC slot length f Manufacturer Meaning hex RxPDO1 und TxPDO1 with 1 8 byte each no byte swapping RxPDO 1 with 1 8 byte data and byte swapping as described in the example on page 35 and TxPDO1 with 1 8 byte data without byte swapping no byte swapping RxPDO1 with 1 byte length TxPDO1 with 2 byte length RxPDO2 with 1 8 byte length TxPDO2 with 1 8 byte length 00 00 08 08 00 00 08 32 32 no byte swapping 08 00 00 08 08 00 00 all PDOs with 8 byte data length Examples for the Entries in Manufacturer specific Data for Slave PDO Orientation no
59. le endian Attention The form byte always has to be entered in hexadecimal form Background Messages which are longer than 1 byte are normally transmitted via a CANopen network in Intel notation while the Siemens PLC operates in Motorola format Starting with bit 7 ofthe format byte you can decide whether the following byte is to be converted as well i e swapped or not Ifa 1 is specified for a byte the following bytes are converted up to and inclusive the next 0 transmitted The functionality can be explained best by means of an example Example ACAN telegram has got a date in Intel format in the first word followed by two bytes which are not to be swapped and a long word in the last four bytes in Intel format again Binary the following representation results for the format byte From this the format byte results in 8E If all eight bytes are to be swapped for instance value FE is specified for the format byte The lowest bit is generally without significance because the telegram and therefore the formatting has been completed The bit should always be set to 0 CANopen DP Software Manual Rev 1 3 63 CAN Layer 2 Functions 9 3 The Communication Window 9 3 1 Introduction The cyclic PROFIBUS accesses address the CANopen PDO objects of the configured CANopen nodes Via acyclic accesses the CANopen SDO accesses can be carried out The Communication Window features the option to access all CAN identif
60. mer Time 1 65535 ms Table 12 Value range ofthe Heartbeat Consumer Time The CANopen DP Gateway can act as a heartbeat producer and heartbeat consumer at the same time It monitors up to 126 heartbeat producers Caused by an interruption of the PROFIBUS DP the heartbeat producer in the CANopen DP is stopped and after the resumption of the PROFIBUS DP communication it is started again After the first reception of a configured heartbeat telegram blank node numbers are not monitored and after failure of the heartbeat no telegram within the Heartbeat Consumer Time a PROFIBUS diagnostic telegram is transmitted with the following data content 26 CANopen DP Software Manual Rev 1 3 Heartbeat Producer Time Cyclic PROFIBUS Data Transfer Octet 1 6 complying with the standard Octet 7 50 Identifier related diagnostics length 16 byte Octet 8 23 Status of the heartbeat for node number 0 127 1 byte bit 0 Heartbeat Status node No 0 bit 7 Heartbeat Status node No 7 16 byte bit 7 Heartbeat Status node No 127 Heartbeat Status node No n 0 Heartbeat evaluation is OK 1 node is not configured for heartbeat or heartbeat is configured but Heartbeat Consumer Time is exceeded Here the cycle time is defined with which the CANopen DP Gateway or the configured CANopen modules transmit a heartbeat frame on the node guarding identifier Setting the heartbeat producer time to 0 stops the transmission of
61. missing wrong identifier Node ID conflict the Node ID of another CANopen module which is determined by the selection of the slot and the Node ID of the CANopen DP Gateway are identical wrong PDO length selected Table 6 Module specific diagnostic bytes 14 CANopen DP Software Manual Rev 1 3 Implementing and Diagnostics 3 4 3 Identifier Related Diagnostic Bytes The CANopen DP unit uses the diagnostic bytes 7 to 23 for heartbeat diagnostic messages Diagnostic Byte Meaning defined in the PROFIBUS specification see preceding chapters 50 identifier related diagnostics length 16 bytes status of the heartbeat for CANopen node with Node ID 0 Node ID 7 bit 0 heartbeat status Node ID 0 bit 1 heartbeat status Node ID 1 bit 7 heartbeat status Node ID 7 status of the heartbeat for CANopen node with Node ID 8 Node ID 15 bit 0 heartbeat status Node ID 8 bit 1 heartbeat status Node ID 9 bit 7 heartbeat status Node ID 15 status of the heartbeat for CANopen node with Node ID 120 Node ID 127 bit 0 heartbeat status Node ID 120 bit 1 heartbeat status Node ID 121 bit 7 heartbeat status Node ID 127 Table 7 Identifier related diagnostic bytes Value of the Meani heartbeat status bit sans Participant is available and takes part in heartbeat Heartbeat failed or participant not available CANopen DP Software Manual Rev 1 3 15 GSD File 4 GSD File
62. ngth of TxPDO2 is 4 bytes and the length of TxPDO3 is 6 bytes 0x10 17 bytes TxPDO input data Example Module 2 The parameter Slave PDO Orientation is set to yes in the parameter telegram The length of RxPDOl is 8 bytes the length of RxPDO2 is 5 bytes and the length of RxPDO3 is 3 bytes OxOF 16 bytes RxPDO input data CANopen DP Software Manual Rev 1 3 79 Editing the GSD File with a Text Editor Octet 4 5 17 Manufacturer specific_configuration_byte The content of octet 4 17 depends on the setting of parameter Slave PDO Orientation Ifthe parameter Slave PDO Orientation is set to yes in the parameter telegram CAN frames are transmitted at the outputs with standard TxPDO identifiers and CAN frames are received at the inputs with standard RxPDO identifiers If the parameter Slave PDO Orientation is no default the CAN frames are transmitted via RxPDO identifiers and they are received via TxPDO identifiers Manufacturer specific data Octet Slave PDO Orientation no Slave PDO Orientation yes Format byte TxPDO1 Format byte RxPDO1 Format byte RxPDO1 Format byte TxPDO1 Length RxPDO1 Length TxPDO1 Length RxPDO2 Length TxPDO2 10 Length RxPDO3 Length TxPDO3 Format byte TxPDO4 Format byte RxPDO4 Format byte RxPDO4 Format byte TxPDO4 80 CANopen DP Software Manual Rev 1 3 Editing the GSD File with a Text Editor 10 1 Example Module 1 Manufacturer specific Data SO
63. nue with the configuration as described on page 61 1 Select CANopen DP Select menu Hardware Catalogue and then Additional Field Devices and Gateway Select esd CANopen DP there Set PROFIBUS address Set the PROFIBUS address as described in chapter 9 2 2 on page 56 Parameter Telegram set CAN bit rate general configuration and CANopen module ID Configure the settings by means of the parameter telegram as described in chapter 9 2 3 on page 57 Assignment of the Slots and setting the CANopen node ID Assign the slots as described in chapter 9 2 4 on page 60 Configuration of the Slots SPS Adresse Configure the slots as described in chapter 9 2 5 on page 61 Save settings on hard disk Save the settings as described in chapter 9 2 6 on page 61 CANopen DP Software Manual Rev 1 3 55 CAN Layer 2 Functions 9 2 2 Set PROFIBUS Address A window opens in which you have to specify the PROFIBUS station address AN Attention The hexadecimal address set via the coding switches has to be converted into a decimal value and entered here j HW Config SIMATIC 300 1 Configuration dpvitest SS lal x EN Station Edit Insert PLC View Option ow Hel lal x olele S S Biel axi 4 Ps 307 Standard x Is CPU 31 CI ET 2008 E ET 2005P ET 200L ET 200M ET 200R ET 2008 ET 200U ET 200x PROFIBUS 1 DP Mastersystem 1 Properties PROFIBUS interface CANopen DP General Par
64. number of data bytes is defined Length lt 8 bytes and 4 words respectively The entry in the field Consistent over specifies whether the data is to be transmitted as individual units bytes words etc or as complete package 1 8 bytes or 16 bytes in Communication Window during a PLC cycle This function is only to be set to whole length if required because the transmission as Unit is faster Note Ifthe data is to be transmitted consistently for the entire length you have to specify this here and you have to use SFC14 and SFC15 refer to Step7 PLC Manual In the field Comment the CAN identifier and then the control byte form see next page each separated by comma are transmitted in the two four first bytes The data format of all entries is hexadecimal A 29 bit identifier requires four bytes and bit 29 must be set to 1 counted 0 31 bits in order to enable the CANopen DP module to distinguish between 11 bit and 29 bit identifiers E g 20 31 45 67 00 If input has been selected in the YO Type field the CAN identifier entered there is regarded as an Rx identifier by the PLC If output has been selected in the O Type the CAN identifier entered here is a Tx identifier CANopen DP Software Manual Rev 1 3 CAN Layer 2 Functions The form byte is used to convert the user data from Motorola format high byte first big endian into Intel format low byte first litt
65. of TxPDO1 and TxPDO2 17 bytes output data 7 bytes TxPDO1 4 bytes TxPDO2 6 bytes for TxPDO3 The length of RxPDO3 results from the length byte for input less the lengths of RxPDO1 and RxPDO2 16 bytes input data 8 bytes RxPDO1 5 bytes RxPDO2 3 bytes for RxPDO3 Attention Please note that the GSD file has to be renamed The file name may be maximum 8 characters long Some configuration software for the PROFIBUS Master does not operate with longer file names 84 CANopen DP Software Manual Rev 1 3 Glossary 11 Glossary PROFIBUS DP PLC Terms Master Master devices control the data transfer on the PROFIBUS A master can transmit messages without request Slave Slave devices are peripheral devices such as in output devices valves drives and transducers They have no bus access authorization i e they can only accept received messages or transmit messages to the master on request Class 1 Master PROFIBUS controller which controls its decentral peripheral devices via cyclic data transfer Class 2 Master PROFIBUS controller which acyclically exchanges data with a slave CAN CANopen Terms CAN Re Controller Area Network CAN Layer 2 Layer of the OSI Layer model On the level of CAN Layer 2 control and management structures are not supported as under CANopen which is classified as CAN Layer 7 CANopen Node CANopen module A CANopen node can feature master or
66. olele S Bl Bel Al Bo 32 re Profle Standard ET 2008 ET 200SP ET 200L E ET 200M E ET 200R ET 2008 ET 200u ET 200x Funktionsbaugruppen IDENT GIpc ne Netzkomponenten Regler Schaltger te Sensorik PROFIBUS 1 DP Mastersystem 1 Paare Properties PROFIBUS interface CANopen DP General Parameters Address X 2A Transmission rate 1 5 Mbps 4 o m SIMODRIVE I Subnet H SIMOREG 0 SIMOVERT H E SINAMICS siros 5 Weitere FELDGER TE 2 9 8 Delete Fig 3 Setting the PROFIBUS address of the CANopen DP CANopen DP Software Manual Rev 1 3 19 Cyclic PROFIBUS Data Transfer 5 1 2 Parameter Telegram The module DP slave is now automatically inserted in the configuration window Settings can be changed by means of the parameter telegram The parameter setting of the DP Slave can be done in the Properties window which opens if the header of the DP slave window is double clicked here line 17 CANopen Slave a Config SIMATIC 300 1 Configuration DP 1_Single GR Station Edit Insert PLC View Options Window Help oleje Sl al ES E el 0 UR Eind ty fi nil Profile Standard PROFIBUS 1 DP master system 2 PROFIBUS DP SE PROFIBUS PA ES PROFINET I0 i SIMATIC 300 SIMATIC 400 m SIMATIC PC Based Control 300 400 E E SIMATIC PC Station Properties DP slave
67. ormat byte TxPDO2 0x00 no byte swapping Octet 9 0x00 Format byte RxPDO2 0x00 no byte swapping Octet 10 0x04 Length TxPDO2 0x04 length of TxPDO2 4 bytes Octet 11 0x05 Length RxPDO2 0x05 length of RxPDO2 5 bytes Octet 12 0x00 Format byte TxPDO3 0x00 no byte swapping Octet 13 0x00 Format byte RxPDO3 0x00 no byte swapping The length of TxPDO3 results from the length byte for input less the lengths of TxPDO1 and TxPDO2 17 bytes input data 7 bytes TxPDO1 4 bytes TxPDO2 6 bytes for TxPDO3 The length of RxPDO3 results from the length byte for output less the lengths of RxPDO1 and RxPDO2 16 bytes input data 8 bytes RxPDO1 5 bytes RxPDO2 3 bytes for RxPDO3 Attention Please note that the GSD file has to be renamed The file name may be maximum 8 characters long Some configuration software for the PROFIBUS Master does not operate with longer file names 82 CANopen DP Software Manual Rev 1 3 Editing the GSD File with a Text Editor 10 2 Example Module 2 Manufacturer specific Data SO yes Length RxPDO1 ons marc non BEE 9 Format byte TxPDO2 no byte swapping N raeo ms ons man mo Format byte RxPDO3 no byte swapping Format byte TxPDO3 no byte swapping The configuration frame for module 2 has the following structure and has to be inserted into the GSD file Example for manual GSD file entries Module Name of the Module OxCA 0x10 OxOF 0x00 0x00 0x08 0x0
68. r_Prm_Data_Len 9 User_Prm_Data 0x00 0x06 0x00 0x00 0x00 0x00 0xff 0xff 0xff M Minimaler Abstand zwischen 2 DDLM_Data_Exchange Aufrufen xx 100us Min_Slave_Intervall 6 Modular_Station 1 Max_Module 244 Max_Input_Len 240 Max_Output_Len 240 Max_Data_Len 465 DPV1_Slave C1_Max_Data_Len 24 Cl_Response_Timeout Cl_Read_Write_supp Diagnostic_Alarm_supp Process Alarm_supp Pull Plug Alarm_supp Status _Alarm_supp Update_Alarm_supp Manufacturer_Specific_Alarm_supp Extra_Alarm_SAP_supp 0 Module Dummy 0x10 1 EndModule 16 a CANopen DP v1 0 6 Visible String CDPSOO_N CDPS00_D CDPS00_S i i i i i i Timeout Allgemeine DP Schluesselwoerter M ab GSD_Revision 1 Unsigned8 M Herstellername Visible String 32 M Herstellerbezeichnung des DP Geraetes Visible String 32 M Ausgabestand des DP Geraetes Visible String 32 M ab GSD_Revision 1 Unsigned8 1 bis 63 1234 M Ger tetyp des DP Ger tes Unsignedl6 M Protokollkennung des DP Geraetes 0 Profibus DP Unsigned8 M DP Geraetetyp 0 DP Slave Unsigned8 D kein FMS DP Mischgeraet Boolean M Hardware Ausgabestand des DP Geraetes Visible String 32 M Software Ausgabestand des DP Geraetes Visible String 32 6 9 6 kBaud wird unterstuetzt G 19 2 kBaud wird unterstuetzt fuer Gateway CAN CBM DP nicht moeglich 1234 G ab GSD_Revision 2 45 45 kBaud wird unterstuetz
69. re assigned to an TxPDO at cyclical transfers RxPDOs are assigned to the input bytes on CAN side Received CAN data is treated as input data by the PROFIBUS Ifthe parameter Slave PDO Orientation is set to yes in the parameter telegram CAN frames are transmitted with standard TxPDO identifiers on the outputs and CAN frames are received with standard RxPDO identifiers on the inputs If the parameter Slave PDO Orientation is no default the CAN frames are transmitted via RxPDO identifiers and they are received via TxPDO identifiers The PROFIBUS station address is set directly at the CANopen DP module by means of coding switches CANopen DP Software Manual Rev 1 3 3 Overview 1 3 Configuration via PROFIBUS DP The CANopen DP module is configured via the PROFIBUS The Siemens SIMATIC Manager for S7 for example can be used as a configuration tool Here the gateway is assigned with logical modules from which the CANopen Node ID and the PDO identifier result In the course of the configuration further parameters such as the PLC address data direction and data length are assigned to the modules 4 CANopen DP Software Manual Rev 1 3 Functionality of the Local Firmware 2 Functionality of the Local Firmware The following figure represents the functionality of the firmware CAN CAN Identifier Identifier SO no SO yes TxPDO_a TxPDO_a TxPDO_a TxPDO_a TxPDO_a _a TxPDO_a output n Rroox TxP
70. ress and the parameter values depends on the number n of the SDOs in the request Segment SDO Bit 7 0 Request Response OK l Function Num 1 Response Error Frame Bit 6 0 Function_Num 5E for DS_Read 7 j Slot_Number 0 not evaluated always 47 Gee 2D length of the user data a 6 RequestID 01 Request parameter 02 Change parameter 8 No ofParamerers number n 5 of the SDOs in this request 9 aroe U 1 Parameter Address for the 1st SDO 16 No of elements Parameter IM Index High Byte as TEU CA Parameter Address for the 2nd SDO Er index tow Bye for SDOs Index Low Byte 1 5 n Subindex High Byte 1 20 Subindex Low Byte Index High Byte 39 Format Byte 43 Format Word Parameter Address for the 5th n th SDO Parameter Values for the Ist SDO e g Transmission of a byte P t En No of values 1 Parameter Values for the 2nd SDO for SDOs Values Byte 1 e g Transmission of a word ee Values Byte 2 only if E 7 Request ID j i i 01 Format Double Word No of values 1 Values Byte 1 5 n 58 Values Byte 2 9 Values Byte 3 ee Values Byte 4 Table 21 Example of the data field PDU at Read Request with Data for n 5 Parameter Values for the Sth n th SDO e g Transmission of a double word CANopen DP Software Manual Rev 1 3 43 Acyclic PROFIBUS Da
71. s of the master which was the last to set the DP slave and has got reading and writing access to the DP slave is stored in this byte 3 4 1 5 Diagnostic Bytes 5 and 6 Manufacturer Identification The manufacturer identification has been coded into two bytes For the CANopen DP module the designation 098E is returned CANopen DP Software Manual Rev 1 3 13 Implementing and Diagnostics 3 4 2 External Device Related Diagnostic Bytes The CANopen DP module supports diagnostic bytes 7 to 11 for module specific diagnostic messages Diagnostic defined in the PROFIBUS _1 6 defined in the PROFIBUS specification see previous chapter see previous chapter length specification for module specific diagnostic information here always 5 header byte bits 0 5 contain the block length including header here always 4 9 DP service SAP which led to error depending on status of byte 9 byte 9 3D setting SAP61 faulty byte 10 contains the number of the faulty setting byte byte 9 3E configuration SAP62 faulty byte 10 contains the number of the faulty PROFIBUS module address of the simulated PLC module depending on status of byte 9 byte 9 3D setting SAP61 faulty byte 11 shows the PROFIBUS master with the correct values byte 9 3Ehex configuration SAP62 faulty 3 wrong length correct length word 1 16 byte 1 32 only one byte has been specified for identifier format specification is
72. s with standard TxPDO identifiers are transmitted via the outputs and CAN frames with standard RxPDO identifiers are received via the inputs see table 15 page 30 If the parameter is no default CAN frames with RxPDO identifiers are transmitted and CAN frames with TxPDO identifiers are received This parameter activates or deactivates the configuration of the Heartbeat monitoring and generation It is described in detail on page 24 Transmit RTR frames for the Rx identifiers configured via PROFIBUS Configure gateway as CANopen slave Configure gateway as CANopen master After wake up time in seconds has expired a start frame is transmitted if the gateway is a master autostart Activate Page Mode Page mode is described in detail in the CAN DP software manual 4 CANopen DP Software Manual Rev 1 3 21 Cyclic PROFIBUS Data Transfer Example for permissible combinations of the parameters after wake up time the module automatically transmits 128 dec Module No and is in Pre Operational status after a start frame has been received transmission of Tx PDO transmit RTR frames on PDO RxlId If parameter SO is yes CAN frames with standard TxPDO Identifiers are transmitted via the outputs and CAN frames with standard RxPDO identifiers are received via the inputs after wake up time the module automatically transmits 128 dec Module No and is in Pre Operational status after a start fr
73. sion commands Tx oo 1s sub command always setto 0 wo 2 3 Reading the Data After an undetermined time the Rx data is received and can be accessed by reading the Communication Window Since the data is received asynchronously to the PLC cycles the Communication Window has to be read again and again until the data was received polling By comparing the values of the PLC loop counter you can determine whether the data received is the correct data from the read command A read access returns the following bytes Byte or 3 Example here Communication Contents hex Window high byte of CAN identifier identifier bit 15 10 8 low byte of CAN identifier identifier bit 7 0 bytes 3 and 4 always 0 for 11 bit identifier data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 data byte 8 13 data length 14 PLC loop counter 8 bit counter n eee 15 returned sub command without significance 00 error code of the read function without significance TEEN 74 CANopen DP Software Manual Rev 1 3 CAN Layer 2 Functions 2 4 Deactivate Reception of Data on this Rx Identifier If no further data is to be received on this identifier the reception is to be disabled again Byte of Communication Contents Window Example here hex high byte of CAN identifier identifier bit 15 10 8 low byte of CAN identifier identifier bit 7 0 bytes 3 and 4 always 0 for 11
74. stics 3 Implementing and Diagnostics 3 1 Prerequisites for Implementation This chapter describes the implementation of the CANopen DP module at a PROFIBUS which is controlled by a Siemens SIMATIC S7 300 or S7 400 In order to be able to implement the module as described here you need the configuration program SIMATIC Manager with the tool HW configurator Note for CANopen Configure the CANopen DP module absolutely first with the PLC via the SIMATIC Manager as described in chapter 5 Configuration with the SIMATIC Manager Only after proper configuration the CANopen DP module can be identified as CAN device 3 2 Implementation 3 2 1 Procedure Please make the following steps to implement the module Install and wire the CANopen DP module PROFIBUS power supply CAN bus see hardware manual Set the PROFIBUS address of the CANopen DP module via coding switches HIGH higher order bits LOW low order bits Connect the PROFIBUS connector to the PROFIBUS interface of the CANopen DP module Configure the settings of the CANopen DP module in the PLC via the SIMATIC manager Switch on the power supply for the CANopen DP Now the module has to run The CANopen DP module is now automatically configured via the PLC CANopen DP Software Manual Rev 1 3 7 Implementing and Diagnostics 3 2 2 Start Up After switching on the power supply the CANopen DP module starts automatically It does not have
75. t Consistent over 32 To define aCANopen node for the selected PLC slot always the data direction Out Input has to be selected as YO Type The firmware distinguishes between CANopen and CAN Layer 2 level data exchange by evaluation of this parameter In the Address field the PLC I O address is entered as a decimal value The entries for inputs and outputs can be different By means of the fields Length and Unit the number of data bytes for the DP Slave is defined The entered length must comply with the sum of the data bytes which are transmitted via the parameter Length RxPDOx TxPDOx in the field Data for specific Manufacturer see page 35 Value range Unit byte gt Length 1 32 Unit word gt Length 1 16 The entry in the field Consistent over specifies whether the data is to be transmitted as individual units bytes words etc or as complete package 1 32 bytes during a PLC cycle This function is only to be set to whole length if actually required because the transmission as Unit is faster Note Ifthe data is to be transmitted consistently for the entire length you have to specify this here and you have to use SFC14 and SFC15 refer to Step7 PLC Manual CANopen DP Software Manual Rev 1 3 Cyclic PROFIBUS Data Transfer Manufacturer Specific Data In the field Data for Specific Manufacturer can be specified which of the maximum four Rx and TxPDOs per C
76. t G 93 75 kBaud wird unterstuetzt G 187 5 kBaud wird unterstuetzt G 500 kBaud wird unterstuetzt G 1 5 MBaud wird unterstuetzt G ab GSD_Revision 1 3 MBaud wird unterstuetzt G ab GSD_Revision 1 6 MBaud wird unterstuetzt G ab GSD Revision 1 12 MBaud wird unterstuetzt G G fuer Gateway CAN CBM DP nicht moeglich 1234 G ab GSD_Revision 2 G G G G G ab GSD_Revision 1 G ab GSD_Revision 1 G ab GSD_Revision 1 D keine redundante Uebertragungstechnik D RTS Signalpegel CNTR P Pin 4 des 9pol SUB D 0 nicht vorhanden 1 RS 485 2 TTL D Bedeutung der 24V Pins des 9pol SUB D Pin 7 0 nicht angeschlossen 1 Input 2 Output 1234 O ab GSD _ Revision 1 O ab GSD Revision 1 O ab GSD _ Revision 1 24V Pin 2 GND DP Slave bezogene Schluesselwoerter D Der Freeze Mode wird nicht unterstuetzt D Der Sync Mode wird nicht unterstuetzt D Die Automatische Baudratenerkennung wird unterstuetzt D Die Slave Adresse kann vom Master nicht gesetzt werden D Hoechstlaenge von User Parameter Daten 0 User Parameter Daten byte 7 15 D 0 Kompaktstation 1 Modulare Station M falls modulare Station Hoechstanzahl der Module einer Modularen Station M falls modulare Station Hoechstlaenge der Eingangsdaten einer Modularen Station M falls modulare Station Hoechstlaenge der Ausgangsdaten einer Modularen Station O nur falls modulare Station Groesste Summe der Ein und Ausgangsdaten einer Mo
77. ta Transfer 6 4 Data Format The data format has to be stated explicitly for every access Depending on the format the conversion PLC format lt gt CANopen format has to be carried out according to the rules listed below the table below can e g be applied for SIEMENS S7 because the conversion of the data from little endian to big endian format is necessary dec hex PROFIBUS CANopen PLC Format lt gt CANopen Format 05 Unsigned8 UNSIGNEDS no 6 06 Unsignedi6 UNSIGNEDIS ST o Floatngroin Rea yes byte 9 09 Visiblesiring VisibleString mo Er a a ee N2 Normalized vaie 16 bit INTEGER16 yes 2 byte N4 Normalized value 32 bit INTEGER32 yes 4 byte Nn UNSIGNED 16 yes 2 byte 67 43 Double Word UNSIGNED32 yes 4 byte 6 44 Error Bor ft Table 22 Data format The table below shows the order of the data bytes for the PLC using the Motorola format big endian high byte first and CANopen the Intel format little endian low byte first Data length bytes Table 23 Comparison of the byte orientation little big endian 4400 CANopen DP Software Manual Rev 1 3 Acyclic PROFIBUS Data Transfer 6 5 Error Codes of the PROFIBUS at Acyclic Transfers to from CANopen Octet Meaning CANopen No Mone Poe SDO abort code bit 7 1 response error frame 1 Function Num bit 6 0 Function Num 5E for DS_Read 5F for DS_ Write 2 Error_Decode always 128 DP V1 b
78. ta from Motorola format high byte first big endian into Intel format low byte first little endian Attention The Format byte RxPDOx TxPDOx always has to be entered in AN hexadecimal form Background Messages which are longer than 1 byte are normally transmitted via a CANopen network in Intel format while the Siemens PLC operates in Motorola format Starting with bit 7 of the format byte you can decide whether the following byte is to be converted as well i e swapped or not Ifa 1 is specified for a byte the following bytes are converted until the next 0 transmitted The functionality can be explained best by means of an example CANopen DP Software Manual Rev 1 3 Cyclic PROFIBUS Data Transfer Example A CAN telegram has got a date in Intel format in the first word followed by 2 bytes which are not to be swapped and a long word in the last 4 bytes which is in Intel format again Binary the following representation results for the format byte From this the format byte results in 8E If all eight bytes are to be swapped for instance value FE has to be specified for the format byte The lowest bit is generally without significance because the telegram and therefore the formatting has been completed The bit should always be set to 0 Length RxPDOx TxPDOx Here the length of the PDOs has to be entered 0 data are not evaluated or transmitted 1 8 1 8 byte data are evaluated and transm
79. te has the following structure see also PROFIBUS Specification Normative Part 8 page 737 Length of the manufacturer specific data free place 0010 for the PDO1 Input ar a 0110 for the PDO and PDO2 Output 1010 for the PDO1 PDO2 and PDO3 In Output 1110 forthe PDO1 PDO2 PDO3 and PDO4 76 CANopen DP Software Manual Rev 1 3 Editing the GSD File with a Text Editor Example Octet 1 0xCA Module is an input and output 0xCO and 10 bytes manufacturer specific data PDO1 PDO2 and PDO3 will follow Octet 2 Number_of_output_bytes Octet 2 gives the consistency the structure byte word and the number of the output bytes Length bytes of the output as seen from the PROFIBUS master see also PROFIBUS Specification Normative Part 8 page 738 Number of output bytes Length Bit Meaning 5 4 3 2 1 0 0 0 0 0 1 byte resp 1 word Consistency over format 0 byte or word 0 byte Content a wE a f EEE length 1 word structure 1 1 1 1 1 63 bytes resp 63 words Ifthe parameter Slave PDO Orientation is set to yes in the parameter telegram CAN frames are transmitted at the outputs with standard TxPDO identifiers If the parameter Slave PDO Orientation is no default the CAN frames are transmitted via RxPDO identifiers The number of the output bytes is the summation of all RxPDO lengths for SlavePDO Orientation no or summation of all TxPDO lengths for SlavePDO Orientation
80. th SDOs communication and parameter data can be transferred The data transfers are receipted CANopen Slave Start frame to start the CANopen module Synchronisation frame is used to synchronise the CANopen modules transmit CANopen DP Software Manual Rev 1 3 12 References 1 2 3 4 CANopen CiA Draft Standard 301 Version 4 02 February 13 2002 www can cia org PROFIBUS Specification PROFIdrive Profil Drive Technology Version 3 1 2 September 2004 Order No 3 172 www profibus com CAN DP CANopen DP PROFIBUS DP CAN Gateway Hardware Manual Rev 1 1 Marc 5 2006 esd electronic system design gmbh www esd electronics com CAN DP PROFIBUS DP CAN Gateway Software Manual Rev 1 2 February 02 2007 esd electronic system design gmbh www esd electronics com CANopen DP Software Manual Rev 1 3 References 87
81. tions see page 21 Transmit RTR frames for the Rx identifiers configured via PROFIBUS see page 21 see page 21 see page 21 Activate Page Mode Refer to the CAN DP software manual 4 for a detailed description of Page Mode see page 22 CANopen DP Software Manual Rev 1 3 Wakeup Time SYNC Time CAN Layer 2 Functions Via parameter Wakeup Time a delay in seconds is specified It determines the time a module has to wait after aRESET or power on before it starts to transmit data on the CAN bus The Wakeup Time specified here overwrites the value of the Wakeup Time stored previously in the CANopen DP gateway if a value not equal 255 was specified If 255 is specified the value stored in the gateway will be used If parameter Wakeup Time is set to 0 the module does not wait but starts the transmission of data as soon as they are available The Wakeup Time is specified as a decimal value here Value range or Wakeup time function off Wakeup Time Wakeup time in seconds Use current value from gateway default Table 28 Function of parameter Wakeup Time see page 23 CANopen DP Software Manual Rev 1 3 59 CAN Layer 2 Functions 9 2 4 Assigning the Slots of the DP Slave The number of slots to be used by the DP slave for data exchange is set by double clicking the device Universal Module in the hardware catalog with activated DP slave window for each byte In the DP slave w
82. ual i e the last specification made is valid 70 CANopen DP Software Manual Rev 1 3 CAN Layer 2 Functions 9 3 4 Examples on the Communication Window 9 3 4 1 Transmitting Data 1 Basic Setting of the Communication Window The basic settings have to be made only once when setting up the Communication Window 1 1 Activating the Communication Window during the configuration of the DP gateway see page 58 Communication Window yes 1 2 Definition of the 16 input and output bytes of the Communication Window see page 65 e g Data direction input Data direction output PLC address e g here 30 PLC address e g here 30 Length 16 always Length 16 always Unit byte Unit byte Consistently via entire length Consistently via entire length Identifier FFEF always Identifier FFEF always Form byte 00 Form byte 00 Sync time 00 00 Sync time 00 00 1 3 Program PLC loop counter 8 bit loop counter for handshake function between PLC and gateway PLC Cycle Pseudo Code 1 Read Byte 14 returned loop counter of Read Bytes of Communication Windows refer to page 67 Compare Byte 14 of the Read Bytes of Communication Windows with PLC loop counter byte 14 of the Write Bytes of Communication Windows refer to page 66 if unequal go to 6 if equal go to 3 Increase PLC loop counter Byte 14 of Write Bytes of Communication Window refer to page 66 Evaluation of Read Bytes of Communicat
83. ue of parameter written too high 0x06090032 SDO VALUE TOO LOW value of parameter written too low 0x08000000 SDO OTHER ERROR general error 0x08000021 SDO_LOCAL_CONTROL data cannot be transferred or stored to the application because of local control 7 5 Access on Process Data via PDOs During operation the process data of a CANopen device are exchanged via PDOs There are four standard PDOs per data direction available The communication parameters of these RxPDOs and TxPDOs can be programmed via SDOs The programmable communication parameters can be e g the COB ID and the transmission type e g sync async Also viathe communication parameters the PDOs are assigned with the objects ofthe object dictionary which contain the relevant process data The CANopen standard DS 301 1 defines default assignments of the PDOs with objects for some typical applications How many and which PDOs are supported byaCANopen device and which communication parameters can be changed depends on the individual CANopen firmware of the devices CANopen DP Software Manual Rev 1 3 51 CANopen Introduction 7 6 Overview of Used CANopen Identifiers The following table shows a short list of the significant general CANopen telegrams CAN identifier Data NE hex NMT Start Pre en gt Operational 81 xx Reset NMT mn 1 Te se 80 Node ID E H 0 8 bytes Emergency message Node ID Node ID of the responded CANopen module
84. ve diagnostics 3 4 1 Diagnostic Bytes 1 6 The assignment of these diagnostic bytes has been predefined in standard DIN EN 19425 part 3 Below the status messages will be described in consideration of the CANopen DP module The following designations will be used for this Byte number Status byte designation station status 1 station status 2 station status 3 master PROFIBUS address manufacturer identification high byte manufacturer identification low byte Table 3 Diagnostic bytes 1 6 10 CANopen DP Software Manual Rev 1 3 Implementing and Diagnostics 3 4 1 1 Station Status 1 Station status 1 contains error messages of the DP slave If a bit is 0 no error applies A bit set to 1 signalizes an error Error message if bit 1 Error handling correct PROFIBUS address set at the CANopen DP DP slave cannot be addressed by the bus connector correctly wired master power supply available at CANopen DP power off power on executed at CANopen DP in order to read in DP address DP slave is not yet ready for data wait until the CANopen DP has completed start exchange up The configuration data transmitted check whether the station type and the from DP master to DP slave do not CANopen DP structure have been correctly correspond to the DP slave structure entered via the configuration tool The slave has got external request and evaluate external diagnostic data diagnostic data The r
85. xt_Ref 2 EndExtUserPrmData ExtUserPrmData 10 ModuleID Unsigned8 1 1 127 EndExtUserPrmData ExtUserPrmData 11 WakeUp Time 0 Off 255 Default Unsigned8 255 0 255 EndExtUserPrmData ExtUserPrmData 12 Sync Time 0 Off 65535 Default Unsigned16 65535 0 65535 EndExtUserPrmData ExtUserPrmData 13 Heartbeat Consumer Time 0 Off Unsigned16 0 0 65535 EndExtUserPrmData ExtUserPrmData 14 Heartbeat Producer Time 0 Off Unsigned16 0 0 65535 EndExtUserPrmData ExtUserPrmData 15 SDO Timeout Unsigned16 1000 1 10000 EndExtUserPrmData ExtUserPrmData 16 MPDO Identifier Unsigned16 385 385 1791 EndExtUserPrmData Ext_User_Prm Data_Const 0 0x80 0x00 0x00 0x06 0x00 0x00 0x00 0x00 0xff 0xff 0xff 0x00 0x00 0x00 0x00 0x03 0xE8 0x01 0x81 Ext_User_Prm_Data_Ref 3 1 Ext_User_Prm_Data_Ref 4 2 Ext_User_Prm_Data_Ref 4 3 Ext_User_Prm_Data_Ref 4 4 Ext_User_Prm_Data_Ref 4 5 Ext_User_Prm_Data_Ref 4 6 Ext_User_Prm_Data_Ref 4 7 Ext_User_Prm_Data_Ref 4 8 Ext_User_Prm_Data_Ref 4 9 Ext_User_Prm_Data_Ref 5 10 Ext_User_Prm_Data_Ref 8 11 Ext_User_Prm_Data_Ref 9 12 Ext_User_Prm_Data_Ref 11 13 Ext_User_Prm_Data_Ref 13 14 Ext_User_Prm_Data_Ref 15 15 Ext_User_Prm_Data_Ref 17 16 Slave Family 9 CANopen v01 OrderNumber C 2908 02 CANopen DP Software Manual Rev 1 3 17 Cyclic PROFIBUS Data Transfer 5 Cyclic PROFIBUS Data Transfer to CANopen The CANopen DP device is configured via the PROFIBUS This chapter describes the

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