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Slide 1/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 CANopen CANopen Software setup with PL7 and.

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Presentation on theme: "Slide 1/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 CANopen CANopen Software setup with PL7 and."— Presentation transcript:

1 Slide 1/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 CANopen CANopen Software setup with PL7 and Sycon V2.8

2 Slide 2/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Software setup CANopen: Software setup - 2 Declare the master card in the PLC Configure the master and nodes with the Sycon tool Load the configuration via the Sycon tool Select the configuration file in PL7 and save it Transfer the application to the PLC Verify implicit exchanges Sycon mode PL7 mode Configure processor/master card operation Click the individual stages for a detailed description

3 Slide 3/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Declaring the master card in the PLC CANopen: Software setup - 3 The CANopen PCMCIA master card is inserted in the designated slot for communication modules in the processor module. The CANopen master card is compatible with all processor modules >= V5.0 except TSX57103 Screencam 1 Back

4 Slide 4/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Configuring processor/master card operation CANopen: Software setup - 4 Synchronise updating of memory zones associated with the I/O Define %MW memory zone to which the inputs are copied Define fallback mode for outputs and for %MW memory zone where outputs are read Launch Sycon configuration software Select Sycon configuration file and choose loading mode Behaviour of bus on start-up* Activate watchdog Screencam 2 Back * If “Semi-automatic” or “By program” is selected here, bus start-up is controlled by the command word %QWy.1.0 (y = processor slot number).

5 Slide 5/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Configuring the master and nodes with the Sycon tool CANopen: Software setup - 5 Example with Addr1 = ATV58 Addr 2 = BECKHOFF module Example with ATV58. Direct use of predefined PDOs with modification of parameter settings Example with BECKHOFF module. Modifying the mapping of predefined PDOs. Select the network and insert the master Declare the nodes Set the bus parameters Set node parameters with predefined PDOs Set the operating parameters for the Sycon software Set modular I/O node parameters View global configuration and save Import the EDS file for a new product Example of importing a BECKHOFF CANopen communication module

6 Slide 6/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Selecting the network and inserting the CANopen master Screencam 3 Back CANopen: Software setup - 6 File - New 1 Select CANopen - OK 2 Insert - Master 3 Add TSX CPP OK 4

7 Slide 7/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Setting the operating mode parameters for the Sycon software CANopen: Software setup - 7 Settings - Global Settings 1 Activate Process Data Auto Addressing if required Activate Automatic COB-ID Allocation if required OK 2 If Process Data Auto Addressing is activated, Sycon automatically calculates the process data offset. Data is organised according to the sequence of PDOs and nodes. Manual COB-ID allocation is used for PDO numbers >= 5 or for exchanging data directly from node to node: PDO linking. Back

8 Slide 8/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Setting the bus parameters Back Select address of master 2 Select SYNC object COB-ID Default value = 128 Communication profile DS301 + select comm. cycle period 3 4 CANopen: Software setup - 8 Screencam 4 5 Settings - Bus parameter 1 Select transmission rate Behaviour of master module in the event of a Node Guard or Heartbeat error: Disabled: Does not affect the other stations. Enabled: The master stops communication with all other stations. 6 Activate Heartbeat function (supported by TSXCPP110 card) Enable automatic switch to operating mode (PDOs activated) if required. 7 Not in use

9 Slide 9/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Importing a new EDS file CANopen: Software setup - 9 File - Copy EDS 1 Select the directory in which the new EDS file is located together with the 3 associated.dib images 2 Click Open to import the files 3 BackScreencam 5a

10 Slide 10/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Declaring the nodes Back CANopen: Software setup - 10 Screencam 5 3 Insert - Node 1 Add English ATV58 version at address 2 2 Add BK5120 at address 3

11 Slide 11/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Node configuration window CANopen: Software setup - 11 The values for Device Profile and Device Type must be consistent with the values contained in object 1000H Device Type Automatic COB-ID allocation activated by default List of predefined PDOs Access to Node Guarding and Heartbeat functions Deactivate if you wish to retain process data when the station is not connected Access to boot-up sequence for each node Access to supported objects and to parameters written during boot-up sequence Access to transmission parameters for each PDO Access to mapping for each PDO Define new receive PDO Define new transmit PDO To activate predefined PDOs Double click the relevant node to open the window

12 Slide 12/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 CANopen: Software setup - 12 Select monitoring mode: Node Guarding or Heartbeat Polling time for master Define monitoring time on node side: Guard time x Life time factor Time for which node is monitored by master Time for which heartbeat is transmitted by node List of values assigned to the Heartbeat parameters by the various nodes Node configuration with predefined PDOs Click “Configuration Error Control Protocol” to access the Node Guarding or Heartbeat settings ’

13 Slide 13/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Node configuration with predefined receive PDOs Click the predefined PDO you wish to activate 1 CANopen: Software setup - 13 Select the PDO receive mode (node side) 3 Click Add to configured PDOs 2 3 Confirm 5 Select the PDO triggering mode (master side) 4

14 Slide 14/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Node configuration with predefined transmit PDOs Click the predefined PDO you wish to activate 1 CANopen: Software setup - 14 Select the PDO transmission mode (node side) 3 Confirm 5 Click Add to configured PDOs 2 Select the PDO triggering mode (master side) 4

15 Slide 15/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Sample view of process memory structure Receive PDOs correspond to output variables CANopen: Software setup - 15 Transmit PDOs correspond to input variables Address expressed in number of words Length expressed in number of bytes

16 Slide 16/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Viewing the mapping of configured PDOs 1 CANopen: Software setup - 16 Click PDO Contents Mapping 2 Click the configured PDO you wish to view List of objects mapped in the PDO with their address: Index and Sub-index

17 Slide 17/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Modifying a parameter setting CANopen: Software setup - 17 Screencam 6 Back 1 Click the “Object Configuration” button 2 Select the parameter you wish to modify then click “Add to Configured Objects” 3 Modify the parameter value in the list of objects that are configured automatically on start-up, then click OK to confirm

18 Slide 18/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 CANopen: Software setup - 18 Node configuration for modular I/O Select monitoring mode : Node Guarding or Heartbeat Polling time for master Define monitoring time on node side: Guard time x Life time factor Time for which node is monitored by master Period for which heartbeat is transmitted by node List of values assigned to the Heartbeat parameters for the various nodes Click “Configuration Error Control Protocol” to access the Node Guarding or Heartbeat settings ’

19 Slide 19/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 CANopen: Software setup - 19 Click Device Profile 1 Node configuration for modular I/O Select profile 401 (Inputs/Outputs) 2 Click Device Type 3 Select the I/O types that are supported 4

20 Slide 20/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Node configuration for modular I/O: receive PDO CANopen: Software setup - 20 Click the predefined PDO you wish to activate 2 Select the PDO receive mode (node side) Click Add to configured PDOs 3 4 Confirm 6 Select the PDO triggering mode (master side) 5 Select mapping method V3 or V4 (depending on product) 1 For DS401 remote I/O nodes, PDO1s (index 1400 and 1800) are reserved for digital I/O. Analog I/O are mapped from PDO2 onwards.

21 Slide 21/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 CANopen: Software setup - 21 Node configuration for modular I/O: receive PDO Modifying mapping Double click on the configured PDO 1 Add or delete mappable objects by clicking “Append Object” or “Delete mapped object” 2

22 Slide 22/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 CANopen: Software setup - 22 Node configuration for modular I/O: transmit PDO Click the predefined PDO you wish to activate 1 Select the PDO transmission mode (node side) Click Add to configured PDOs 2 3 Confirm 5 Select the PDO triggering mode (master side) 4 For DS401 remote I/O nodes, PDO1s (index 1400 and 1800) are reserved for digital I/O. Analog I/O are mapped from PDO2 onwards.

23 Slide 23/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 CANopen: Software setup - 23 Node configuration for modular I/O: transmit PDO Modifying mapping Double click on the configured PDO 1 Add or delete mappable objects by clicking “Append Object” or “Delete mapped object” 2 Screencam 7 Back

24 Slide 24/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 CANopen: Software setup - 24 Manual allocation of identifiers Automatic allocation of identifiers can only be used for the first 4 PDOs. For devices supporting PDO numbers greater than 4 (mapping of non-standard objects, etc.), the identifier value has to be assigned manually. In this case the user should use a value for an identifier that is not in use: value assigned to an undefined or free PDO between 1 and 4. maximum of 1024 identifiers reserved for PDOs

25 Slide 25/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 CANopen: Software setup - 25 Predefined PDOs > 0x1404/0x1804 This message appears if you activate a PDO number higher than 4 Deactivate the COB-ID allocation function 1 Assign an identifier value that is not in use e.g. use identifier PDO2 2

26 Slide 26/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Viewing the device table CANopen: Software setup - 26 View - Device Table

27 Slide 27/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Viewing the process data address table CANopen: Software setup - 27 View - Address Table Sort according to device addresses Sort according to process data addresses 1 2 3

28 Slide 28/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Viewing the identifiers table CANopen: Software setup - 28 View - ID Table

29 Slide 29/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Viewing the table of devices adapted by SDO CANopen: Software setup - 29 View - SDO Table

30 Slide 30/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Saving the Sycon configuration Back File - Save As 1 CANopen: Software setup - 30 Screencam 8 Enter the name and click Save 2

31 Slide 31/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Selecting the configuration file in PL7 and saving it CANopen: Software setup - 31 Back Screencam 9 Click Select Database 1 Select the configuration file ****.co in the Hilscher/Sycon/Project directory 2 Click Open 3 If the number of input and output words is inconsistent with the Sycon configuration, an error message is generated

32 Slide 32/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Verifying exchanges in the Debug screen Test PDO-type exchanges Test SDO-type exchanges CANopen: Software setup - 32

33 Slide 33/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Interfacing with the application Implicit objects: %MW: PDO input/output variables (for ATV58 2 status words: ETAD and RFRD, and 2 command words: CMDD and LFRD) %Iy.MOD.ERR and %Iy.1.ERR: 2 input bits for module error and channel error %IWy.1.0 to %IWy.1.23: 24 input words providing diagnostic information about the status of the channel, nodes, latest error codes, etc. %QWy.1.0: 1 output word for activating the configuration and PDO exchanges and for reinitialising error tables. CANopen: Software setup - 33

34 Slide 34/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Interfacing with the application Explicit object: READ_STS %Chy.1 %Mwy.1.2: Input variable providing diagnostic information about the status of the master card. CANopen: Software setup - 34

35 Slide 35/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Interfacing with the application Communication functions available for use: WRITE_VAR and READ_VAR (ADR#y.1.SYS, ’SDO’,index:subindex,NodeID, %MWi:L,%MWk:4) For accessing SDO variables SEND_REQ(ADR#y.1.SYS, 16#9F, %MWi:L, %MWj:L, %MWk:4) For accessing link layer PDUs SEND_REQ(ADR#y.1.SYS, 16#0F, %MWi:L, %MWj:L, %MWk:4) For accessing the identification and status of the master card SEND_REQ(ADR#y.1.SYS, 16#31, %MWi:L, %MWj:L, %MWk:4) For running diagnostics on a node, or checking the version and status of the CANopen master card, or reading the message handling error log CANopen: Software setup - 35

36 Slide 36/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Accessing configuration and adjustment variables (* Request to write one word *) (*Address ADR#0.1.SYS Address of variable to be written:%MD3200 Value of variable to be written:%MW3202 Exchange report:%MW3250:4 *) IF %M103 AND NOT %MW3250:X0 THEN %MW3253:=2; WRITE_VAR(ADR#0.1.SYS,'SDO',%MD3200,20,%MW3202:1,%MW3250:4); RESET %M103; END_IF; CANopen: Software setup - 36

37 Slide 37/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Accessing configuration and adjustment variables (* Request to read one word *) (*Address ADR#0.1.SYS Address of variable to read:%MD3220 Value of variable read: %MW3222 Exchange report:%MW3260:4 *) IF %M104 AND NOT %MW3260:X0 THEN READ_VAR(ADR#0.1.SYS,'SDO',%MD3220,20,%MW3222:1,%MW3260:4); RESET %M104; END_IF; CANopen: Software setup - 37

38 Slide 38/38 Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 Accessing diagnostic variables (* Update variable %MW0.1.2 *) IF %MW200=1 THEN READ_STS %CH0.1; END_IF; ! (* Read explicit DIAGNOSTIC exchange words *) (*Address ADR#0.1.SYS Type of diagnostic object: %MW to 127 = node diagnostics 128 = master card diagnostics 130 = message handling error log Start address in diagnostic table:%MW3302 Length of diagnostic to read: %MW3303 Receive table: %MW3310:20 Exchange report: %MW3350:4*) IF %MW3300=1 AND NOT %MW3350:X0 THEN %MW3300:=0;%MW3353:=6; SEND_REQ(ADR#0.1.SYS,16#0031,%MW3301:3,%MW3310:20,%MW3350:4); END_IF; CANopen: Software setup - 38


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