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EtherCAN-S7-Manual (PDF-File)

1. Page 48 of 48 0 0 0 1 Se eee i I 0000H 8180H 8181H 8183H 8184H 8185H 8186H 8304H 8F23H 8F25H 8F29H 8F30H 8F31H 8F32H 8F33H 8F3AH 8F43H 8F45H 8F7FH 8090H 8091H 8092H 80A0H 80A4H 80B0H 80B1H 80B2H 80COH 80C1H 80C2H 80C3H 80C4H 80D2H Meaning New data accepted There is no data available yet not with AG_SRECV Job active The configuration is missing The ISO transport service has not yet started on the Ethernet CP The connection is not established Illegal type specified for the RECV parameter System error Destination buffer RECV is too short ID parameter invalid ID 1 2 16 S7 300 ID 1 2 64 S7 400 The connection is not established The send job should only be attempted again after waiting for at least 100 ms Source area invalid e g Area does note exist in the DB Area error writing a parameter Alignment error writing a parameter Parameter is in the writeprotected first current data block Parameter is in the writeprotected second current data block Parameter contains a DB number that is too high DB number error Destination area not loaded DB Timeout writing a parameter to the I O area Address of the parameter to be read is disabled in the access track Internal error e g illegal ANY reference No module with thi
2. 050 EtherCAN S7 EtherCAN 2 S7 Industrial Ethernet UDP Gateway Software Manual to Product C 2050 07 C 2051 07 EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 1 of 48 esd electronic system design gmbh Vahrenwalder p ien n 30165 Hannover Germany esd eu Fax 0511 37 29 8 68 Phone 0511 37 29 Bi 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 of a product of esd gmbh esd does not convey to the purchaser of the 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 eu Internet www esd eu 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 Page 2 of 48 Software Manual Doc No C
3. Bue Fig 13 Properties UDP connection In tab Addresses you must make sure to enter Port 2209 in PORT DEC in both fields i e under Local as well as under Remote Fig 14 Addresses Save network configuration Save the new network configuration EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 15 of 48 Configuration 2 4 Copying Components from Included Project Copy the following components from the included project FB77 FC5 FC6 DB1 DB2 DB3 DB77 UDTI KJ SIMATIC Manager EtherCAN C Programme Siemens Step 7 sfproj EtherCAan CN loj x Bp File Edit Insert PLC View Options Window Help 81 x ole Bela x du o Se Po ft Ga lt Noriter gt _ 22s Sm x 5 9 EtherCAN Systemdaten iz 061 ig 0832 ig 0835 xz 08121 mg SIMATIC 30001 aw alg aH CPU 317 2 PN DP UDT1 X VAT 2 X NVATI gs SFC20 gs SFC58 ga SFCS3 E7 S7 Programm 1 g Quellen Bausteine CP 3431 Press F1 to get Help TCP IP Auto gt NVIDIA nForce Networ 2 Fig 15 Components from included project FB77 is the function block for processing the ELLSI protocol FCS FC6 the Siemens functions AG SEND and AG RECV for the handling of UDP packets can also be transferred as SIMATIC NET CP library provides the interface for transmission of CAN telegrams see page 43 DB2 provides the interface for adding and deleting CAN id
4. CAN The CAN protocol supports two message frame formats the only essential difference being in the length of the identifier ID In the standard format the length of the ID is 11 bits and in the extended format the length is 29 bits The message frame for transmitting messages on the bus comprises seven main fields A message in the standard format begins with the start bit start of frame this is followed by the arbitration field which contains the identifier and the RTR remote transmission request bit which indicates whether it is a data frame or a request frame without any data bytes remote frame The control field contains the IDE identifier extension bit which indicates either standard format or extended format a bit reserved for future extensions and in the last 4 bits a count of the data bytes in the data field The data field ranges from 0 to 8 bytes in length and is followed by the CRC field which is used as a frame security check for detecting bit errors The ACK field comprises the ACK slot 1 bit and the ACK delimiter 1 recessive bit The bit in the ACK slot is sent as a recessive bit and is overwritten as a dominant bit by those receivers which have at this time received the data correctly positive acknowledgement Correct messages are acknowledged by the receivers regardless of the result of the acceptance test The end of the message is indicated by end of frame Intermission is
5. PROFINET Diagnostics General Addresses Options Time of Day Synchronization Short Description CP 343 1 57 CP for Industrial Ethernet TCP IP with SEND RECEIVE and a FETCH WRITE interface PROFINET 10 controller long data UDP Order No firmware 150 57 communication routing module replacement without PG 10 100 Mbps fixed MAC address initialization over LAN IP multicast 6GK7 343 1EX21 OXEO V1 0 Name Interface Type Ethernet Address 10 0 17 10 Networked Yes Properties Comment Properties Ethernet interface CP 343 1 RO S4 xj General Parameters MAC address Iv IP protocol is being t IP address 1001710 per f Do not use router Subnet mask 255 255 0 0 C Use router Address fia 017 10 Subnet not networked Ethemet 1 Page 8 of 48 m Cancel Help used New Properties Delete Cancel Help Software Manual Doc No C 2050 28 Rev 1 2 In order to configure the properties of Ethernet S7 click on the Properties button The window shown in fig 3 will open Fig 2 CP properties In the window Properties Ethernet interface you can now configure the IP address of the CP and the subnetwork mask Confirm your entries with OK Fig 3 Parameters EtherCAN S7 Confisuration In the SIMATIC manager the CP is now entered at slot 4 Config SIMATIC 300 1 Configurati
6. Slee dahin 23 12 en 1 Ethernet 4 1 Industrial Ethernet Ethern Indus al Ethernet 82 PROFIBUS PA AS PROFINET ID a Stations BB Other Station EJ PG PC SIMATIC 300 SIMATIC 400 5 SIMATIC PC Station SIMATIC 55 SIMATIC 7 400 H aA Subnets m Other station 1 SIMATIC 300 1 To display the connection table please select a module capable of a connection CPU FM module OPC server or application To display the network address overview please select a subnet Devices from other manufacturers SIMATIC station z configured in a different project TCP IP Auto gt NVIDIA nForce Network X 129 Y 0 cho 2 Fig 7 Adding a station 2 2 4 Configuration Other Station Properties Other station General Interfaces By double clicking the icon Other station the input window Properties Other station shown on the left is opened Here you can configure interfaces Change to the tab Interfaces in the properties window and select interface New to add a new interface Prope eee Fig 8 Properties Other station OK Cancel Help Page 12 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Configuration See Select Industrial Ethernet as type in selection window New interface Selection of type and confirm the selection with OK Fig 9 Selection of type Now the following properti
7. There may again be competition for bus allocation As a rule retransmission will be begun within 23 bit periods after error detection in special cases the system recovery time is 31 bit periods However effective and efficient the method described may be in the event of a defective station it might lead to all messages including correct ones being aborted thus blocking the bus system if no measures for self monitoring were taken The CAN protocol therefore provides a mechanism for distinguishing sporadic errors from permanent errors and localizing station failures fault confinement This is done by statistical assessment of station error situations with the aim of recognizing a station s own defects and possibly entering an operating mode where the rest of the CAN network is not negatively affected This may go as far as the station switching itself off to prevent messages erroneously recognized as incorrect from being aborted Software Manual Doc No C 2050 28 Rev 1 2 Page 25 of 48 CAN Data reliability of the the context of bus systems data reliability is understood as the CAN protocol capability to identify data corrupted by transmission faults The residual error probability is a statistical measure of the impairment of data reliability it specifies the probability that data will be corrupted and that this corruption will remain undetected The residual error probability should be so small that on average no corrupt
8. This identifier is made up of the ex isting 11 bit identifier base ID and an 18 bit extension ID extension As the two formats have to coexist on one bus it is laid down which message has higher priority on the bus in the case of bus access collisions with dithering formats and the same base identifier the message in standard always has priority over the message in extended format CAN controllers which support the messages in extended format can also send and receive messages in standard format When CAN controllers which only cover the standard format Version 2 0A are used on one network then only messages in standard format can be transmitted on the entire network Messages in extended format would be misunderstood However there are CAN controllers which only support standard format but recognize messages in extended format and ignore them Version 2 0B passive The distinction between standard format and extended format is made using the IDE bit Identifier Extension Bit which is transmitted as dominant in the case of a frame in standard format For frames in extended format it is recessive The RTR bit is transmitted dominant or recessive depending on whether data are being transmitted or whether a specific message is being requested from a station In place of the RTR bit in standard format the SRR substitute remote request bit is transmitted for frames with extended ID The SRR bit is always transmitted as recessive t
9. station 1 E siMATIC 55 SIMATIC 5 7 400 Cg Subnets SIMATIC 300 1 Devices from other manufacturers SIMATIC station zy configured in a different project ITCP IP Auto gt NVIDIA nForce Networki D from selected Fig 11 Connection window When you select the symbol for the CPU of the SIMATIC300 in the main window a connection window opens in the lower part of the program window Now right click into the first row of the connection window and select nsert new connection in the context menu that opens Insert New Connection Connection Partner The window shown on the left opens E ie In the current project Bp EtherCAN Other station 1 t Unspent In this window select Other station 1 as a connection noe roadcast stations 1 i All multicast stations partner and UDP connection as a connection type When In unknown project confirming with OK the properties window for the UDP connection opens fig 13 ERE Project EtherCAN Station Other station 1 Module m Connection Type UDP connection IV Display properties before inserting Fig 12 New connection Page 14 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Configuration Properties of the UDP connection Change to tab Addresses 0001 4050 erst Ras
10. the LOM flag to 1 the CAN controller operates in listen only mode and can only receive messages CAN ACK will not be generated see page 23 Neither is it possible to send CAN messages when LOM flag is set This mode is usually used for diagnosis of aCAN network Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Functional Characteristics 4 2 Data Type UDT1 Data type UDTI serves as an interface for transmitting and receiving CAN telegrams It contains information about the identifier length and data of the CAN telegram In addition it shows the number of possibly lost CAN telegrams in the EtherCAN S7 as well as general errors of the CANbus see chapter 4 2 2 when receiving CAN telegrams can be distinguished as CAN messages CMSG and CAN events EVMSG marked by the event identifier Please refer to chapter 4 2 1 for a detailed description of the data structure of CAN messages CMSQ Please refer to chapter 4 2 2 for a detailed description of the data structure of CAN events EVMSQ 4 2 1 UDT1 with CAN Messages CMSG This chapter contains a detailed description of the data type UDT1 CMSG DWORD CAN identifier 11 or 29 bit CAN ID data is received on it or data is to be transmitted on it BYTE 0 8 b 16 10 corresponding to 10 for RTR Bit 0 3 number of CAN data bytes 0 8 Bit 4 RTR remote transmission request The RTR bit indicates a data frame or a request frame without data bytes remote req
11. the minimum number of bit periods separating consecutive messages If there is no following bus access by any station the bus remains idle bus idle Arbitration Field Contro Field ACh Endof l Bette Field Field Frame i i EtherCAN S7 Message frame for standard format CAN Specification 2 0A Software Manual Doc No C 2050 28 Rev 1 2 Page 23 of 48 CAN Detecting and signalling errors Page 24 of 48 Unlike other bus systems the CAN protocol does not use acknowledgement messages but instead signals any errors that occur For error detection the CAN protocol implements three mechanisms at the message level Cyclic Redundancy Check CRC The CRC safeguards the information in the frame by adding redundant check bits at the transmission end At the receiver end these bits are re computed and tested against the received bits If they do not agree there has been a CRC error Frame check This mechanism verifies the structure of the transmitted frame by checking the bit fields against the fixed format and the frame size Errors detected by frame checks are designated format errors ACK errors As mentioned above frames received are acknowledged by all recipients through positive acknowledgement If no acknowledgement is received by the transmitter of the message ACK error this may mean that there is a transmission error which has been detected only by the recipients that the A
12. 2050 28 Rev 1 2 EtherCAN S7 Document file I Texte Doku MANUALS CAN EtherCAN Englisch EtherCAN S7 EtherCAN_to S7_Software_en_12 wpd Date of print 2009 09 21 EtherCAN 0 1 Changes in the chapters The changes in the user s manual listed below affect changes in the software as well as changes in the description of the facts only Chapter Changes versus previous version sal version Technical details are subject to change without notice EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 3 of 48 This page has been left blank intentionally Page 4 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Contents iMi Me ES 7 2 Configuration 8 2 I Configure CP Hardware oio ue uod ed d RE 63 ud e EDD ir AY UE INN 8 2 2 Configuration of Network with NetPro 10 2 2 1 Accessing NetPro Program 34 D ie Ix ORO FCR Y ds 10 2 2 2 NetPro Program Window 11 2 2 9 Adding a Station Mitta Er a 12 2 2 4 Configuration Other Station ice 12 2 3 Configuring the Connection 4 5 escono Bee ee IERI ehe Kien A RR EO ER es 14 2 4 Copying Components from Included Project 16 I CAN hele dM m C ad Milla ae 17 3 1
13. 4 1 1 Parameters CONN ID and MOD ADDR When configuring the connection of the network with NetPro as described in chapter 2 the module parameters CONN ID and MOD ADDR are shown in the Properties window of the UDP address Properties UDP connection Options Overview General Information rm Local Endpoint ID hex Name connection2 ViaCP CP 3433 RO S4 Route r Block Parameters x Status Information Addresses CONN ID Wit GHOT00 MOD ADDR Fig 16 Example for module parameters These parameters have to be entered into the IN parameters CONN ID and MOD ADDR Page 34 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Functional Characteristics 4 1 2 Configuring the CAN Bit Rate with BAUD Before data can be transmitted or received the baud rate of the CAN interface has to be initialized once This initialization is then valid for this logic ID of the UDP connection and therefore for the assigned physical interface The baud rate is taken from parameter BAUD at an edge ENABLE FALSE TRUE and set The structure of the 32 bit IN parameter BAUD depends on the value of the user bit rate flag UBR and is defined below fe 23 _ 16 Assignment UBR 1 a BTRO BTRI Table 1 Structure of IN parameter BAUD Bits 0 Use the predefined bit rate table Table index UBR 1 Set the bit rate register of
14. Basics of CAN Communication 0 00 cece eee eee Rh 17 3 2 CAN Errors and CAN Error Localization 31 4 Functional Characteristics 0 0 III 22 AN Une HOT ES LOCK DEB os cioe od e HS sob Lens elt I ars mad 32 4 1 1 Parameters CONN ID and MOD ADDR 0 34 4 1 2 Configuring the CAN Bit Rate with BAUD 35 42 Data Type oues sha EXE SO NN WS ee UNUS WER a te ES he ee xo Rae Ce OR 37 4 2 1 UDTI with CAN Messages CMSG 37 4 2 2 UDT11n CAN Events EVMSG i urten ELEC ERU 40 4 3 Data Module DB 5t ex kx en ee ee e res ice o qux E uineis tr d 43 Jor Data Block DB2 inia ee od Has PIRA LECHE 44 dq VC AMG Rare Soo rv cU EU en ID OD ML VOR 44 5 Monitoring Ethernet Communication via Heartbeat 45 6 Appendix a iea eae Sa meses id dura tel 46 6 1 Bit Timing Values Examples ache ben eRe RM REESE hee pee EVE 46 06 2 S7 Returned Values 5ed te courts wound Pe bee oe E ae teehee ev Roh E en 47 EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 5 of 48 This page has been left blank intentionally Page 6 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Introduction 1 Introduction This manual describes the functionality of E
15. CK field has been corrupted or that there are no receivers The CAN protocol also implements two mechanisms for error detection at the bit level Monitoring The ability of the transmitter to detect errors is based on the monitoring of bus signals each node which transmits also observes the bus level and thus detects differences between the bit sent and the bit received This permits reliable detection of all global errors and errors local to the transmitter Bit stuffing The coding of the individual bits is tested at bit level The bit representation used by CAN is NRZ non return to zero coding which guarantees maximum efficiency in bit coding The synchronisa tion edges are generated by means of bit stuffing i e after five consecutive equal bits the sender inserts into the bit stream a stuff bit with the complementary value which is removed by the receivers The code check is limited to checking adherence to the stuffing rule Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 EtherCAN S7 CAN If one or more errors are discovered by at least one station any station using the above mechanisms the current transmission is aborted by sending an error flag This prevents other stations accepting the mes sage and thus ensures the consistency of data throughout the network After transmission of an erroneous message has been aborted the sender automatically re attempts transmission automatic repeat request
16. a of Byte timestamp1 DWORD reserved for future applications 0 is returned timestamp2 DWORD reserved for future applications 0 is returned Table 10 UDT1 EVMSG Page 40 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Functional Characteristics Event Message EVMSG Data Structure The byte size of the EVMSG structure corresponds to the size of the CMSG structure ID Events are always designated by bit 30 of parameter ID being set to 1 This helps to distinguish them from the previously described CAN 2 0A and CAN 2 0B messages of the CMSG structure when they are returned via a standard receive I O call together with CAN messages For the 8 bit event ID only the event number 4000 0000 is currently used Bit number of Event ID b oe 9 eo er eelos alaala 21 zhelish o Bit assignment of Event ID for Event IDs 8 bit Event ID Flag 29 bit ID here not used set always to 0 Flag Event message 1 event reserved len Table 11 Coding of ID in EVMSG Value of len Number of binary data bytes Bit7 BitO Bytes xxxx 0000 xxxx 0001 xxxx 0010 xxxx 0011 xxxx 0100 xxxx 0101 xxxx 0110 xxxx 0111 xxxx 1000 Table 12 Coding of length len in EVMSG data structure Bits 7 4 are reserved for future applications The value of these bits is undefined for read access
17. cable trees the network protocol detects and corrects transmission errors caused by electromagnetic interference Additional advantages of such a network are the easy configuration ability of the overall system and the possibility of central diagnosis The purpose of using CAN is to enable any station to communicate with any other without putting too great a load on the controller computer When data are transmitted by CAN no stations are addressed but instead the content of the message e g rpm or engine temperature is designated by an identifier that is unique throughout the network The identifier defines not only the content but also the priority of the message This is important for bus allocation when several stations are competing for bus access If the CPU of a given station wishes to send a message to one or more stations it passes the data to be transmitted and their identifiers to the assigned CAN chip Make ready This is all the CPU has to do to initiate data exchange The message is constructed and transmitted by the CAN chip This text is based on the introduction Controller Area Network CAN A Serial Bus System Not Just For Vehicles by the international association of users and manufacturers CiA CAN in Automation e V EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 17 of 48 CAN As soon as the CAN chip receives the bus allocation Send Message all other stations on the CAN
18. d by the user application made up of DONE ERROR and STATUS DONE ERROR STATUS Meaning 1 0 0000H Job completed without error 0 0 0000H job being executed 0 0 8181H Job active 0 1 7000H The condition code is possible only with S7 400 The FC was called with ACT 0 the job has not yet been processed 8183H configuration or the ISO TCP service has not yet started on the Ethernet CP 0 1 8184H Illegal data type specified for the SEND parameter System error the source data area is incorrect 0 1 8185H LEN parameter longer than SEND source area 0 1 8186H ID parameter invalid ID 1 2 16 57 300 ID 1 2 64 S7 400 0 1 8302H No receive resources on the destination station the receiving station cannot process received data quickly enough or has not prepared any receive resources 0 1 8304H The connection is not established The send job should only be attempted again after waiting for at least 100 ms 8311H The destination station cannot be obtained under the specified Ethernet address 8312H Ethernet error on the CP 8F22H Source area invalid e g Area does not exist in the DBLEN parameter lt 0 8F24H Area error reading a parameter 8F28H X Alignment error reading a parameter 8F32H Parameter contains a DB number that is too high 8F33H DB number error 8F3AH Area not loaded DB 8F42H Timeout reading a parameter from theI O area 8F44H Access to a parameter to be read during block ex
19. ecified time following a single bus access by one or more stations This ensures that each bus access by one or more stations leads to an unambiguous bus allocation exam ples token slot token passing round robin bitwise arbitration Destructive bus allocation Simultaneous bus access by more than one station causes all transmission attempts to be aborted and therefore there is no successful bus allocation More than one bus access may be necessary in order to allocate the bus at all the number of attempts before bus allocation is successful being a purely statistical quantity examples CSMA CD Ethernet Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 EtherCAN S7 CAN In order to process all transmission requests of a CAN network while complying with latency constraints at as low a data transfer rate as possible the CAN protocol must implement a bus allocation method that guarantees that there is always unambiguous bus allocation even when there are simultaneous bus accesses from different stations The method of bitwise arbitration using the identifier of the messages to be transmitted uniquely resolves any collision between a number of stations wanting to transmit and it does this at the latest within 13 standard format or 33 extended format bit periods for any bus access period Unlike the message wise arbitration employed by the CSMA CD method this nondestructive method of conflict resolution ensures tha
20. ecution is prevented 8F7FH Internal error e g illegal ANY referencee g parameter LEN 0 8090H Module with this module start address does not exist The FC being used does not match the system family being used remember to use different FCs for 57300 and 57400 cOoOoococcoccoccocoocococc e e e e eee 0 1 8091H Module start address not at a doubleword boundary 0 1 8092H In the ANY reference a type other than BYTE is specified 57 400 only 0 1 80A4H The communication bus connection between the CPU and CP is not established With newer CPU versions 80BOH The module does not recognize the data record 80BIH The specified length in the LEN parameter is incorrect 80B2H The communication bus connection between the CPU and CP is not established 80COH The data record cannot be read 80CIH The specified data record is currently being processed 80C2H There are too many jobs pending 80C3H CPU resources memory occupied 80C4H Communication error occurs temporarily and a repetition in the user program will often remedy the problem 80D2H Module start address incorrect cooooocoo m m e EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 47 of 48 Appendix FC6 AG RECV The following table informs about the display to be evaluated by the user application made up of NDR ERROR and STATUS NDR ERROR STATUS 1
21. ed data will go undetected throughout the whole life of a system Calculation of the residual error probability requires that the errors which occur be classified and that the whole transmission path be described by a model 10712 5 Stations gt Message length 90 Bit 3 8 2 14 e 10 a 5 I 10716 x E 10 Stations E Message Length 80 Bit w4 1075 02 107 Bit Error Probability Residual error probability as a function of bit error probability Page 26 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 EtherCAN S7 CAN If we determine the residual error probability of CAN as a function of the bit error probability for message lengths of 80 to 90 bits for system configurations of for instance five or ten nodes and with an error rate of 1 1000 an error in one message in every thousand then maximum bit error probability is approximately 0 02 in the order of 107 Based on this itis possible to calculate the maximum number of undetectable errors for a given CAN network For example if a CAN network operates at a data rate of 1 Mbit s at an average bus capacity utilization of 50 percent for a total operating life of 4000 hours and with an average message length of 80 bits then the total number of messages transmitted is 9 x 10 The statistical number of undetected transmission errors during the opera ting life is thus in the order of less than 107 Or to put it another way with an
22. entifiers to be received The standard 11 bit identifiers 0 7FF are automatically enabled by FB77 during initialization CAN identifiers can be removed again from the reception mask in order to increase performance or simplify evaluation DB3 received CAN telegrams can be stored here DB77 is the instance DB for FB77 please refer to the comments for a description of parameter values To read the comments double click the DB77 icon UDT1 here the so called CMSG the esd structure for the transmission of CAN telegrams that are used in various places in DB1 DB3 and FB77 DB77 is defined see chapter 4 2 Page 16 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 3 CAN CAN 3 1 Basics of CAN Communication According to the ISO OSI layer model Controller Area Network CAN is a layer 2 protocol data link layer that is standardized internationally in ISO 11898 1 The text of this chapter gives a short introduction into CAN technology CAN communication Principles of data exchange Using CAN peer stations controllers sensors and actuators are connected via a serial bus The bus itself is a symmetric or asymmetric two wire circuit which can be either screened or unscreened The electrical parameters of the physical transmission are also specified in ISO 11898 The CAN protocol which corresponds to the data link layer in the ISO OSI reference model meets the real time requirements Unlike
23. es For write accesses these bits must always be set to 0 EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 41 of 48 Functional Characteristics data The data field data contains event data in the EVMSG structure Currently there is the following CAN event EV CAN ERROR Event ID EV CAN ERROR Event no 4000 0000 Datalength 8 bytes re served reserved LOST re served LOST reserved reserved 0 is Error 0 is MESSAGE 0 is FIFO 0 is 0 is returned returned returned returned returned Table 13 Assignment of event EV_CAN_ERROR The event is generated when one of the error parameters that are covered by this event changes Value range of parameter ERROR 00 CAN controller status is ErrorActive BUSSTATE OK 40 CAN controller status is Error Warn BUSSTATE WARN One of the error counters Rx or Tx is larger than 95 80 CAN controller status is Error Passive BUSSTATE ERRPASSIVE One of the error counters Rx or Tx is larger than 127 CO CAN controller status is Bus Off BUSSTATE BUSOFF One of the error counters Rx or Tx is larger than 255 LOST MESSAGE counter for lost messages of the CAN controller This counter is set by an error output of the CAN controller It indicates the number of lost CAN frames receive or transmit messages LOST FIFO counter for lost messages of the FIFO This counter is increased when messages are lost due to a FIFO over
24. es window for the configuration of the Ethernet interface opens CK x General Parameters Set MAC address use 150 protocol 8 If a subnet is selected the next available addresses suggested v IP protocol is being used IP address 10 07 15 NEM Do not use router Subnet mask 255 255 0 0 C Use router Address fi 0 0 7 155 Subnet not networked New Etheret 1 Properties Delete Fig 10 Properties Ethernet interface In this properties window for the Ethernet interface you select tab Parameters and can now enter the IP address as well as the subnet mask of the EtherCAN S7 module please refer to the hardware manual of the EtherCAN module too Select the Ethernet that 1s also connected to the CP here Ethernet 2 Confirm your entries with OK EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 13 of 48 Configuration 2 3 Configuring the Connection Industrial Ethernet gie NetPro EtherCAN Network C Programme Step7 s proj EtherCAn nl xi 2 Network Edit Insert PLC View Options Window Help x ae 8 Bl ele ilil 8 15 en 1 vl Ethernet 1 1 Industrial Ethernet Bix Selection of the network M PROFIBUS DP PROFIBUS PA PROFINET ID E Stations Other Station E PG PC SIMATIC 300 SIMATIC 400 B SIMATIC PC Station Other
25. flow FIFO full Page 42 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Functional Characteristics 4 3 Data Block DB1 Structure of data block DB1 for the transmission of CAN telegrams BYTE always 1 for transmission of CAN messages sendData ARRAY 1 7 1 7 CAN messages of UDT1 Table 14 Data block DB1 EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 43 of 48 Functional Characteristics 4 4 Data Block DB2 An individual filter can be configured for 11 bit CAN identifiers standard format to select the received messages based on CAN identifiers specific to applications Atinitialization function block FB77 opens a filter for all 1 1 bit CAN identifiers Individual identifiers or ranges can be masked out by using data block DB2 CAN identifiers of messages to be sent do not have to be explicitly communicated beforehand Structure of data block DB2 to add delete CAN identifiers for reception Data type command BYTE 2 CAN ID ADD adding CAN identifiers CAN ID DELETE deleting CAN identifiers CanIdRange ARRAY 1 21 of rangeStart DWORD DW 16 0 DW 16 7FF rangeStart DWORD corresponding to 0 7FF rangeEnd DWORD for the start of the range rangeEnd DWORD DW 16 0 DW 16 7FF corresponding to 0 7FF for the end of the range Table 15 Data module DB2 4 4 1 CanIdRange ranseStant DWORD Start of the range of CAN ID s that are added deleted for receptio
26. high error numbers short interruptions however only cause low error numbers that are reduced again in the running system Depending on the value of the error counters the node goes into one of the three statuses error active error passive or bus off error active normal operating mode of the node both error counters are smaller than 128 In this mode the node participates normally in the communication When communications errors are detected an ERROR ACTIVE FLAG consisting of six dominant bits is sent blocking the current transmission error passive one of the two error counters is larger than 127 and indicates an increased number of errors for the node The node still participates in the communication but has to wait longer between the transmission of messages This additional delay in error passive mode is called Suspended Transmission and is achieved by transmitting eight additional recessive bits at the end of the frame This means that a node in error passive mode loses bus control to nodes in error active modes disregarding the order of their IDs If an error passive node detects an error during communication this is indicated by transmitting an ERROR PASSIVE FLAG This flag consists of six recessive bits which do not influence the current transmission provided that another node is the sender if the error is local on the error passive node bus off the transmission error counter has exceeded the value 255 and therefore indicate
27. implement and also that the takeover of the central station by a redundant station can be very time consuming Software Manual Doc No C 2050 28 Rev 1 2 Page 21 of 48 CAN Page 22 of 48 For these reasons and to circumvent the problem of the reliability of the master station and thus of the whole communication system the CAN protocol implements decentralized bus control All major communication mechanisms including bus access control are implemented several times in the system because this is the only way to fulfil the high requirements for the availability of the communication system In summary it can be said that CAN implements a traffic dependent bus allocation system that permits by means of a non destructive bus access with decentralized bus access control a high useful data rate at the lowest possible bus data rate in terms of the bus busy rate for all stations The efficiency of the bus arbitration procedure is increased by the fact that the bus is utilized only by those stations with pending transmission requests These requests are handled in the order of the importance of the messages for the system as a whole This proves especially advantageous in overload situations Since bus access is prioritized on the basis of the messages it is possible to guarantee low individual latency times in real time systems Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Message frame formats Standard Format
28. mens PLC S7 within a period of 7500 ms it concludes from this that the client is not available anymore The server then does not send data and heartbeats to the client anymore Only when the client Siemens PLC S7 has reconnected to the server and sends a heartbeat message the server starts to send heartbeat messages again EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 45 of 48 Appendix 6 Appendix 6 1 Bit Timing Values Examples Please refer to the manual of Controller SJA1000 NXP for determining the bit timing and baud rate by means of register values The SJA1000 manual can be downloaded from the internet for example from the NXP homepage at http www nxp com acrobat download datasheets SJA1000 3 pdf Note Please note that an executable CAN network not only requires that all CAN devices have the same bit rate but that the other timing parameters must be identical as well Position of Setting registers BTRO and Sample Point BTRI SJA1000 20 MHz of tg HEX The position of the sampling point has been selected in accordance with CiA recommendations Baud rate Nominal bit time Bus length tg Table Bit timing values Page 46 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Appendix 6 2 S7 Returned Values The returned values were taken from the Siemens PLC 7 online documentation FC5 AG SEND The following table informs about the display to be evaluate
29. n DWORD End of the range of CAN ID s that are added deleted for reception Table 16 Range of CAN ID s The entire range including rangeStart and rangeEnd is added or deleted depending on command If rangeEnd is smaller than or equal to rangeStart only the CAN ID that is determined by rangeStart is added or deleted Page 44 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Functional Characteristics 5 Monitoring Ethernet Communication via Heartbeat This service ELLSI HEARTBEAT is only for monitoring the connection between Siemens PLC 57 and EtherCAN S7 and should not be confused with a heartbeat or guarding of the CAN or CANopen modules It is automatically processed by FB77 and leads to CONNECT FALSE in case of disturbances Siemens PLC S7 ELLSI client and EtherCAN S7 ELLSI server transmit heartbeat messages in regular intervals when no data is exchanged Currently this heartbeat interval is set to 2500 ms If the client Siemens PLC S7 has neither received data nor heartbeats from the server EtherCAN S7 within a period of 7500 ms the client concludes from this that the server is not available anymore for instance if the network connection was interrupted or a reset was executed on the EtherCAN S7 etc Consequently the client Siemens PLC S7 now tries to reconnect itself to the server again If the server EtherCAN S7 does neither receive data nor heartbeats from the client Sie
30. network become receivers of this message Receive Message Each station in the CAN network having received the message correctly performs an acceptance test to determine whether the data received are relevant for that station Select If the data are of significance for the station concerned they are processed Accept otherwise they are ignored CAN CAN CAN CAN Station 1 Station 2 Station 3 Station 4 Send Message Receive Receive Receive Message Message Message Broadcast transmission and acceptance filtering by CAN nodes A high degree of system and configuration flexibility is achieved as a result of the content oriented addressing scheme It is very easy to add stations to the existing CAN network without making any hardware or software modifications to the existing stations provided that the new stations are purely receivers Because the data transmission protocol does not require physical destination addresses for the individual components it supports the concept of modular electronics and also permits multiple reception broad cast multicast and the synchronization of distributed processes measurements needed as information by several controllers can be transmitted via the network in such a way that it is unnecessary for each controller to have its own sensor Page 18 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Non destructive bitwise arbitration EtherCAN S7 CAN For
31. o ensure that in the case of arbitration the standard frame always has priority bus allocation over an extended frame when both messages have the same base identifier Software Manual Doc No C 2050 28 Rev 1 2 Page 29 of 48 CAN Unlike the standard format in the extended format the IDE bit is followed by the 18 bit ID extension the RTR bit and a reserved bit r1 All the following fields are identical with standard format Conformity between the two formats is ensured by the fact that the CAN controllers which support the extended format can also communicate in standard for mat Extended Format Arbitration Field Controli Field eRe eh End of int Bus Idle me E E 5 STI z O 11 bit IDENTIFIER 18 18 bit IDENTIFIER T DLC 0 8 Bytes 15 bit CRC Message frame for extended format CAN Specification 2 0B Page 30 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 CAN 3 2 CAN Errors and CAN Error Localization CAN nodes can distinguish between short interruptions and permanent failures helping to localize errors Within every CAN node an 8 bit transmission error counter and an 8 bit reception error counter are used each In case of one of the error types CRC error stuff error form error bit error or acknowledgement ACK error the according error counter is increased If transmission or reception were successful however the according error counter is decremented Permanent failures therefore cause
32. on EtherCAN loj xl Billy Station Edit Insert PLC Options Window Help 18 x Diele 22 Find at a i Profle v Ethemet 1 PROFINET IO System 100 PROFIBUS PA PROFINET 10 xg SIMATIC 300 xg SIMATIC 400 xfi SIMATIC PC Based Control 300 400 8 SIMATIC PC Station o un PROFIBUS DP slaves for SIMATIC 57 M7 and C7 distributed rack Press F1 to get Help Fig 4 Entry of CP in SIMATIC manager Save hardware configuration Saving the new hardware configuration EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 9 of 48 Configuration 2 2 Configuration of Network with NetPro 2 2 1 Accessing NetPro Program KJ SIMATIC Manager EtherCAN C Programme Siemens Step7 s proj EtherCANn BD Ele Edit Insert PLC View Options Window Help i8 xl Dla Sle lele 2a Wa 10 see vel SIMATIC 300 1 Andere Station 1 S9 Ethemet 1 Ex Ethemet 2 cg SIMATIC 300 1 J CPU 3172 PN DP A E 7 Programm 1 gj Quellen y Bausteine HE 3421 Press F1 to get Help TCP IP Auto gt NVIDIA nForce Networ Fig 5 Accessing NetPro By double clicking the symbol for Ethernet 2 which is in the right hand side of the window you access the program NetPro Page 10 of 48 Soft
33. operating time of eight hours per day on 365 days per year and an error rate of 0 7 s one undetected error occurs every thousand years statistical average Software Manual Doc No C 2050 28 Rev 1 2 Page 27 of 48 CAN Physical CAN The data rates up to 1 Mbit s necessitate a sufficiently steep pulse slope connection which can be implemented only by using power elements A number of physical connections are basically possible However the users and manufacturers group CAN in Automation recommends the use of driver circuits in accordance with ISO 11898 Integrated driver chips in accordance with ISO 11898 are available from several companies Bosch Philips Siliconix and Texas Instruments The international users and manufacturers group CiA also specifies several mechanical connections cable and connectors Microcontroller CAN Controller TXO Xt RX0 RX1 5V TxD RxD Ref Rs CAN Transceiver Gnd 100 nF CANL CANH Bus Termination Bus Termination CAN_H CAN Bus Lines Physical CAN Connection according to ISO 11898 CAN L Page 28 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 CAN Extended format CAN The CAN protocol allows the use of two message formats messages EtherCAN S7 StandardCAN Version 2 0 A and ExtendedCAN Version 2 0 B To support these efforts the CAN protocol was extended by the introduction of a 29 bit identifier
34. rinciple of non destructive bitwise arbitration t dominant Software Manual Doc No C 2050 28 Rev 1 2 Page 19 of 48 CAN Efficiency of bus allocation Page 20 of 48 The efficiency of the bus allocation system is determined mainly by the possible application for a serial bus system In order to judge as simply as possible which bus systems are suitable for which applications the literature includes a method of classifying bus allocation procedures Generally we distinguish between the following classes Allocation on a fixed time schedule Allocation is made sequentially to each participant for a maximum duration regardless of whether this participant needs the bus at this moment or not examples token slot or token passing Bus allocation on the basis of need The bus is allocated to one participant on the basis of transmission requests outstanding i e the allocation system only considers participants wishing to transmit examples CSMA CSMA CD flying master round robin or bitwise arbitration For CAN bus allocation is negotiated purely among the messages waiting to be transmitted This means that the procedure specified by CAN is classified as allocation on the basis of need Another means of assessing the efficiency of bus arbitration systems is the bus access method Non destructive bus access With methods of this type the bus is allocated to one and only one station either immediately or within a sp
35. s module start address exists or the CPU is in STOP mode The FC being used does not match the system family being used remember to use different FCs for 57300 and 57400 Module start address not at a doubleword boundary In the ANY reference a type other than BYTE is specified S7 400 only Negative acknowledgment reading from the module The communication bus connection between the CPU and CP is not established The module does not recognize the data record Destination area invalid The communication bus connection between the CPU and CP is not established The data record cannot be read The specified data record is currently being processed There are too many jobs pending CPU resources memory occupied Communication error occurs temporarily and a repetition in the user program will often remedy the problem Module start address incorrect Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7
36. s that errors have occurred over a longer period during transmission in this node In this status the node switches its bus drivers off and does not have any influence on the bus anymore Transmission in the node is activated again and the node becomes error active again when 11 successive recessive bits have been detected 128 times on the bus EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 31 of 48 Functional Characteristics 4 Functional Characteristics 4 1 Function Block FB77 Function block FB77 is responsible for communicating with the connected CAN via the EtherCAN S7 module configured in chapter 2 The required configuration of the bit rate on the CANbus the preparation of the reception of CAN messages and the so called ELLSI heartbeat to monitor the connection between the Siemens PLC 57 and EtherCAN S7 occurs independently in FB77 When calling FB77 up to 7 CAN telegrams can be transmitted and received FB77 uses the IN parameters and OUT parameters listed below IN Parameters FB77 configures the EtherCAN S7 module via IN parameters ENABLE CONN ID MOD ADDR and BAUD The IN parameters SEND INIT SEND LEN and SEND DATA initiate the transmission of CAN telegrams ENABLE BOOL ee gt reset FB77 ee gt run CONN_ID integer ID of UDP connection see Properties of UDP Connection in NetPro fig 16 page 34 MOD ADDR WORD Module address of CP in hardware configuration see fig 16 Example The I O addre
37. s undefined For write operations these bits should always be set to 0 When the reception FIFO of the EtherCAN S7 is full and new message are received old messages will be overwritten and the msg_lost counter will count up The user can detect a data overflow by means of the msg_lost counter An increasing reading signals that the application reads CAN data slower than new data is made available by the driver Value of Message Meaning Lost counter msg lost no lost messages 0 msg lost DES number of lost messages value of msg lost msg lost 255 number of lost messages gt 255 Table 9 Value range of msg lost EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 39 of 48 Functional Characteristics 4 2 2 UDT1 in CAN Events EVMSG This chapter gives a detailed explanation of UDT1 in events on the CAN bus EVMSG In addition to the returned values of ERROR and STATUS the function block can signal errors and or a change in status such as a CAN bus Off asynchronously via events Data type UDT1 EVMSG im fwon BYTE Bit 0 3 number of CAN data bytes 0 8 Bit 4 7 reserved msg lost BYTE only for reception number for lost CAN reception messages Enables user to collect data losses msg lost 20 no lost messages 0 msg lost 255 number of lost messages Value of msg lost msg lost 255 number of lost messages gt 255 WORD reserved 0 is returned data Array 1 8 event dat
38. sages bit 30 of the CAN identifier parameter ID is always set to 0 Table 5 Coding of ID in CMSG Bit number of len 5 1 X x x rir 3 2 1 0 no of valid bytes Bit assignment Flag RTR of len X reserved write access set to 0 read access don t care Table 6 Coding of len in CSMG data structure Bits 0 to 3 of length len of the CMSG structure are used to represent the number of valid bytes in the data field of the CAN data telegram to be transmitted or received in the table below accordingly Page 38 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 msg lost Functional Characteristics Value of len Number of binary data bytes Bit7 BitO Bytes Table 7 Coding of length n accordance with CiA standard values gt 8 are permissible for len Bit 4 RTR of length len the CMSG structure is used to distinguish a data frame from a remote frame when transmitting and receiving a CAN telegram Value of bit RTR Function binay transmit or receive data frame transmit or receive remote frame RTR Table 8 Function of RTR bit In a remote request bits 0 to 3 of the length represent the data length code in accordance with table 5 on page 38 The data data of the CMSG structure is invalid Bits 5 6 and 7 are reserved for future applications For read operations the status of these bits i
39. sses of the CP are indicated on slot 4 by SIMATIC manager see fig 4 page 9 BAUD DWORD CAN bit rate see chapter 4 1 2 SEND_INIT BOOL rising edge gt send SEND_DATA length SEND LEN Bytes SEND LEN DWORD Length of data in SEND DATA SEND DATA BLOCK DB Data that is to be sent either DB1 for transmission of CAN frames or DB2 to activate deactivate CAN identifiers Page 32 of 48 Software Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Functional Characteristics OUT parameters OUT parameters CONNECT ERROR and STATUS monitor the CANbus Finished transmissions of CAN telegrams are acknowledged by SEND DONE OUT parameters REC NEW REC LEN and REC DATA are used to transfer received telegrams OUT Sd CONNECT BOOL TRUE active connection to EtherCAN S7 FALSE gt no active connection to EtherCAN S7 ERROR BOOL TRUE gt error see STATUS for further details FALSE no error STATUS returned value of AG SEND RECV A list of returned values can be found in the appendix chapter 6 2 SEND DONE BOOL TRUE gt previous data packet was sent FALSE gt nothing has been sent yet or nothing has been comissioned REC NEW BOOL TRUE gt new data FALSE gt nonew data REC LEN DWORD length of data received in REC DATA in case of new data NEW gt True REC DATA data received see chapter 4 2 EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 33 of 48 Functional Characteristics
40. t no bus capacity is used without transmitting useful information Even in situations where the bus is overloaded the linkage of the bus access priority to the content of the message proves to be a beneficial system attribute compared with existing CSMA CD or token protocols In spite of the insufficient bus transport capacity all outstanding transmission requests are processed in order of their importance to the overall system as determined by the message priority The available transmission capacity is utilized efficiently for the transmission of useful data since gaps in bus allocation are kept very small The collapse of the whole transmission system due to overload as can occur with the CSMA CD protocol is not possible with CAN Thus CAN permits implementation of fast traffic dependent bus access which is non destructive because of bitwise arbitration based on the message priority employed Non destructive bus access can be further classified into centralized bus access control and decentralized bus access control depending on whether the control mechanisms are present in the system only once centralized or more than once decentralized A communication system with a designated station inter alia for centralized bus access control must provide a strategy to take effect in the event of a failure of the master station This concept has the disadvantage that the strategy for failure management is difficult and costly to
41. the CAN controller directly BTRO BTR1 Listen Only mode LOM 0 Configure the bit rate in active mode normal operation 1 Configure the bit rate in Listen Only mode exei Use bit rate from the predefined table on page 36 Bit timing register of CAN controller Table 2 Description of IN parameter BAUD EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 35 of 48 Functional Characteristics UBR LOM Page 36 of 48 When setting the user bit rate flag UBR to 0 bits 0 7 are evaluated as index of a predefined bit rate table Doing this common CAN bit rates can be configured without knowledge about hardware details of the CAN controller Baudrate Bit rate index kBit s hex Table 3 Predefined bit rate table D The configuration of predefined bit rates is in accordance with the recommendations by CiA CAN in Automation e V When setting the UBR flag to 1 bits 0 15 are used to configure the bit rate register of the CAN controller directly with the predefined values When defining the bit rate register directly the hardware that is used CAN controller cycle frequency has to be considered Please refer to appendix Bit Timing Values Examples When setting the listen only mode LOM flag to 0 the CAN controller operates with this bit rate in normal active mode which means that messages can be received and transmitted When setting
42. the data to be processed in real time they must be transmitted rapidly This not only requires a physical data transfer path with up to 1 Mbit s but also calls for rapid bus allocation when several stations wish to send messages simultaneously In real time processing the urgency of messages to be exchanged over the network can differ greatly a rapidly changing dimension e g engine load has to be transmitted more frequently and therefore with less delays than other dimensions e g engine temperature which change relatively slowly The priority at which a message is transmitted compared with another less urgent message is specified by the identifier of the message concerned The priorities are laid down during system design in the form of corresponding binary values and cannot be changed dynamically The identifier with the lowest binary number has the highest priority Bus access conflicts are resolved by bitwise arbitration on the identifiers involved by each station observing the bus level bit for bit In accordance with the wired and mechanism by which the dominant state logical 0 overwrites the recessive state logical 1 the competition for bus allocation is lost by all those stations with recessive transmission and dominant observation All losers automatically become receivers of the message with the highest priority and do not reattempt transmission until the bus is available again bus recessive bus line 1 2 3 2 P
43. therCAN S7 C 2050 07 and the EtherCAN 2 S7 C 2051 07 In this manual both modules are described together as EtherCAN S7 EtherCAN S7 connects the Siemens PLC S7 with the CAN bus via a FB77 function block PC with S7 SIMATIC Manager Configuration with FB77 and NetPro Function Block Ethernet ELLSI Interface CAN Interface CAN Bus Control Data Control Fig 1 Connection of Siemens PLC S7 to a CAN bus via EtherCAN S7 By means of function block FB77 and EtherCAN S7 a Siemens PLC S7 with industrial Ethernet interface can transmit and receive CAN telegrams and monitor the status of the connected CAN bus The network is configured via the Siemens tool NetPro EtherCAN S7 communicates with Siemens PLC S7 via ELLSI protocol by esd Please refer to the ELLSI software manual for further information about ELLSI This application does not require knowledge on ELLSI however EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 7 of 48 Configuration 2 Configu ration Procedure First start the SIMATIC manager and create a new project Insert a new station and start the hardware manager Insert a CP If your PLC already supports Industrial Ethernet configure it accordingly please refer to the manual of your PLC Double clicking CP opens the properties window for CP hardware configuration 2 1 Configure CP Hardware Properties of CP III x IP Access Protection 1P Configuration
44. uest reserved msg lost BYTE only for reception counter for lost CAN reception messages Enables the user to collect data losses in EtherCAN S7 msg lost 20 no lost messages 0 msg lost 255 number of lost messages value of msg lost msg lost 255 number of lost messages gt 255 WORD reserved 0 is returned data Array 1 8 timestamp1 DWORD reserved for future applications 0 is returned timestamp2 DWORD reserved for future applications 0 is returned Table 4 UDT1 CMSG EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 37 of 48 Functional Characteristics CAN Message CMSG Data Structure ID len In order to send a message with a 29 bit identifier bit 29 of the CAN identifier parameter ID has to be set in the structure CMSG in addition to the CAN identifier When a message with a 29 bit identifier is received bit 29 of the CAN identifier parameter ID is set in the structure CMSG in addition to the CAN identifier reserved ipee 3130 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 O Bit assignment of ID for 11 bit CAN ID Flag 29 bit ID 0 gt 11 bit 11 bit ID Flag Event message 0 no event Bit assignment of ID for 29 bit ID Flag 29 bit ID 1 gt 29 bit Flag Event message 0 gt no event reserved 29 bit CAN ID For CAN mes
45. ware Manual Doc No C 2050 28 Rev 1 2 EtherCAN S7 Configuration 2 2 2 NetPro Program Window The program window of the NetPro program is opened NetPro EtherCAN Network 5 7 Network Edit Insert PLC View Options Window Help ini xi 1 xl ze 8 S Soles 28 57 en za Ethernet 1 Industrial Ethernet Ethernet 2 Industrial Ethernet SIMATIC 300 1 PROFIBUS DP slaves for SIMATIC S7 M7 and C7 distributed rack Zd Ready TCP IP Auto gt NVIDIA nForce Networki X 387 Y 173 PA aid eT i m ate Selection of the network 9 PROFIBUS DP 398 PROFIBUS PA PROFINET I0 E Stations E Subnets Fig 6 NetPro program window EtherCAN S7 Software Manual Doc No C 2050 28 Rev 1 2 Page 11 of 48 Configuration 2 2 3 Adding a Station Here you can now add Other station Click the directory Stations in Selection of network objects right in the tree structure Now select Other station and drag this into the main window of the program NetPro with the mouse Drag and Drop As shown in the figure below the symbol for the Other station is shown in the main window CIE NetPro EtherCAN Network C Programme Step s7projEtherCAN E AA fel X ip 2 Network Edit Insert PLC View Options Window Help 281 xl 2818 a

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