Home

WSCAN - Software Manual

1. the device status click on the picture of any network node and the following dialog box appease is WSCAN Software 51 Master Status uw Mandatory nodes sucesestully initialized ui Some node presented error durig initialization Details a9 Some node presented communication failure Some node reported error by the EMCY object all Master communication disabled gd Buss Off ui Power Off Node 2 Status Q Identified w L anfigured w Error control initiated Initialization concluded by master ui Initialization error ui Error control detected communication Failure ui Error reported via EMCY ui Executing reset al Toggle bit 1 Bus Off and Power Off indications only for PLC11 01 board When an initialization error is detected in a slave it is possible to identify in which stage of the initialization process the error took place Click on the Details button see figure below in the master status window to view more error details Master Status VJ Mandatory nodes sucesestully initialized w Some node presented error durig initialization Details ug Some node presented communication failure ul Some node reported error by the EMCY object ul Master communication disabled gd Buss Off ui Power Off is 52 WSCAN V2 0X Master Status Details Last error S00 acess Node Address po D Geen en Do 01D Object Index mas uU decs
2. 56 16 Example of network configuration ccccccccccccccccccncc nnn 57 Introduchol eee sem 57 Master configuralion a I era ieee ini 57 Slave c nhg ration SCA Q5 crcl viaccess enn nnn ass nannies 57 Master PDOs PLGC2Z wires ern 57 Copyright 2006 2010 WEG All rights reserved Weg Content 5 Slave PDOs SCA nueces trees Ec vr aT emai DI M DII 58 PDOs CONMCCUONS asinis Eaa E ENE AEE A Taea sens EESE AEO EERE OEE E aia 59 Reading slave status information from the ladder program ccce nennen 62 Commanding the slave from the ladder program nnn 63 17 Example of follow CANopen configuration eeeeeeeeeeee eere 63 lg Mec 63 WSCANconthiguratio stt cr ns 64 WLP eonim nnn 67 CFW11 and PLC11 parameterization LLL LLL erre eei i etna nnne nnn uuu uuu 67 Index 68 Copyright 2006 2010 WEG All rights reserved 6 WSCAN V2 0X we 1 General Information 1 1 About this manual This manual describes the operation of the WSCAN software and the configuration of the CANopen masters designed by WEG This manual shall be us
3. Print Ctrl P PrinE Preview Print Setup 1 CO Projetos PLC2_ SC A05 ncn Language P Enaish Portuguese Edit menu Configured network is WSCAN Software 15 3 4 File View Configuration Communication Tools Help Undo iCkrl t z FF PII i qm View menu File Edit Configuration Communication Tools Help Toolbar EH Ex UE w Status Bar Device T w Device Tree E w Log Window xc F I HI E Configuration menu File Edit View Bom Communication Tools Help Da kd EOE He Device Tree Download Fe Communication menu File Edit View Configuration Sinise Tools Help 1 zn zh Online Monitoring FI Device Tree Serial Configuration ShifE F8 Tools menu File Edt View Configuration Communication Help KE genu PDOs Connections F4 Help menu File Edt View Configuration Communication Tools 1 ca EH pg HB d Contents Shift F1 Device Tree Abouk WSCAM Cerl Shift a Button Bar It is composed of the following buttons L New CANopen configuration file La Open CANopen configuration file Save CANopen configuration file 16 is WSCAN V2 0X 3 5 3 6 Cut Em Copy Paste FH Viewer Configuration of PDOs connections E Create configuration Gil Transfer configuration Online monitoring ch Print _ About the WSCAN Device Tree I
4. Another important characteristic of the CAN network is the adoption of the producer consumer model for data transmission It means that a message transmitted over the network does not have a fixed destination address This message has an identifier that indicates which data type it 1s carrying Any device on the network that needs to use this information for its operation can consume it and therefore the same message can be used for several network devices at the same time Physical Media The physical media for data transmission in a CANopen network is specified by the ISO 11898 standard The physical media specified by the standard is a twisted pair with differential electrical signal The master of a CANopen network uses an isolated interface circuit from the network with external power supply The device responsible for the signal transmission and reception is known as transceiver and it follows what is specified on the ISO 11898 standard Address on the CANopen network Every CANopen network shall have a master which is responsible for the services of network management and may also have a maximum set of 127 slaves Each device on the network can also be named as node Every slave on a CANopen network is identified by its address or Node ID which must be unique for each slave on the network and can vary from 1 to 127 The WEG CANopen master can control a maximum of 8 slaves which can be addressed from 1 to 63 10
5. Disable It disables the Follow producer or consumer function Producer Enabling Real Axis It enables the master to produce Follow data through the TPDO 01 Producer Enabling Virtual Axis It enables the master to produce Follow data through the TPDO 01 Q 24 Consumer Enabling It enables the master to consume Follow data through the RPDO 01 COB ID hexa It is the TPDO 01 or RPDO 01 identifier in the CANopen network In order that the Follow data produced in one equipment be consumed in another the value of this parameter must be the same in both equipments Speed Source It selects which speed the follow producer actual speed or speed reference will transmit Refer to the programming example of the Follow 63 block via CANopen for more details d Available only for the PLC11 01 and PLC11 02 with firmware gt 1 20 2 Available only for the PLC11 01 and PLC11 02 with firmware gt 1 30 Weg WSCAN Software 25 3 10 Configuring the slaves 3 10 1 Configuring the slaves Click on the slave picture and select the option Configuration to access the slave configuration Then a dialog box appears with the options that are described in the next items Master ID 1 Masterl gt Bandrate 500 Ebstls PLC2 Rev 130 Hode ID HodeZ2 gt SCA 05 220 230 V 4 8 Rev 210 Properties Configuration object Dictionary PDOs Remove Related topics NMT 26 NOD
6. 21 HEARTBEATPRODUCER 22 FOLLOW 2 20 WSCAN V2 0X wey 3 9 2 NMT This option configures the network control and management properties of the CANopen master Defines the basic properties of the master during the initialization and management of the network Master Configuration Master gt PROD HEARTBEAT FOLLOW PROD SYNC 500 r Simultaneously command nodes to operational Iv Error on mandatory node reset all nodes MODE RESET Wait time Cancelar Ajuda Master if this option is not selected the device will behave as a network slave and it will not be possible to configure the other slaves and start the network communication Simultaneously command the slaves to the operational it allows selecting if the master will command the slaves to the operational mode after the initialization of each slave or if the master will command all slaves to the operational mode at the same time after the whole network initialization is done Error on mandatory slave reset all nodes it allows programming the master to restart all the network Slaves or only the faulty slave in case of detecting a communication error with a slave programmed as mandatory The slave is defined as mandatory or not in the configuration of the slave itself NODE RESET Wait Time 0 20 wait time after node reset command sent by master Only for PLC11 01 board 3 9 3 SYNC P
7. INTEGERS E g g E g EE E g B E E A IET 1 1 11 11 11 EIL EIL B i Producer TxPDO 1111 PE SS NEE m 54 lh dh 5 d OF Cancel Help 62 WSCAN V2 0X wey 3 16 7 Reading slave status information from the ladder program The status information of Node 2 1s obtained from the word Read Status 2 RS2 and converted into bit registers through the DMUX block lil PLC2 SCA05 1dd SM WW SOOO Ss MP TODO ahs 2000 OM x 2001 ells 2002 Sl x 2003 tx 2004 eM 32005 Seul A 2008 blz 2007 sd 2008 Desabihtado Desabihtado Desabilitado Desahilitado Desahbilitado Desahilitado Desahilitado up WSCAN Software 63 3 16 8 Commanding the slave from the ladder program The logic command for enabling disabling the drive uses the Writing Word 0 WWO The speed reference for the drive uses the Writing Word 2 WW2 S PLC2 SCA05 1dd ol E211 ol 2012 EM TRANSFER ENO SRC OST ol x 2015 DATA 1 RESH 54M VE7l O0 SM WTIOD0 NDRTH 1H QUOC Be SM VA 102 OPERATOR RES L Sob 101 SM WT 1LO1 H OATA 1L REM B PM VD7103 DATA 2 SIGNAL Br oM 2021 ILH OPERATOR OVER Be MX 2022 10000 H DATA 2 SIGNAL p 91x 2023 ol x 2014 EM TRANSFER ENO SoM WTIU2 HSRC OST p ow 3 17 Example of follow CANopen configuration 3 17 1 Introduction The Follow function performs the speed or position synchronism between two or more motors The
8. Refer to the WLP manual for further details on the SDO block Weg WSCAN Software 57 3 16 Example of network configuration 3 16 1 Introduction Master PLC2 Rev 130 Address 1 Baudrate 1000 Kbit s Slave SCA 05 Rev 210 Address 2 Master ID 1 Masterl gt Baudrate 1000 Ebiti PLC2 Rev 130 Hode ID Hode2 gt C 4 045 220 230 4 8 Rev 210 Related topics Master configuration PLC2 157 Slave configuration SCA 05 57 Master PDOs PLC2 5 Slave PDOs SCA 05 se PDOs connections 59 Reading slave status information from the ladder program 62 Commanding the slave from the ladder program 63 3 16 2 Master configuration PLC2 Standard no parameter was changed 3 16 3 Slave configuration SCA 05 Standard no parameter was changed 3 16 4 Master PDOs PLC2 A transmit PDO TxPDO with COB ID 0502h same COB ID of the slave RxPDO was created for the master and the following objects were mapped Write Word 0 1 and 2 all of them are UNSIGNED 16 Also a receive PDO RxPDO with COB ID 0482h same COB ID of the slave TxPDO was created for the master and the following objects were mapped Read Word 0 1 e 2 all of them are UNSIGNED 16 It is possible to notice that an INTEGER32 data from the slave was connected to two INTEGER16 data from the master This is a possible situation on the CANopen network since it considers the total
9. The following window is used to connect objects of different sizes In order to do so it is sufficient that the sum of producer objects rows is equal to the sum of consumer objects columns See the example that follows Consumer APOO 3213 ad 401 3 enbuo ZEQSNSISNA adgs anbio 43o31NI sd aor uonaj 3NSIS HN uaea g aol JNSISNMI HEI aliod EEO LN uoo g 5e 1 OLHSSS LN anbio 18646 L YIOF LN uangejadio jo sapo J uogaun J 3 GIA SHES SEE d 4I uoraun J dols SHES cord 1231NIJ apop uaneJado z z d 33 1 NIJ a2u9Jaja3 peeds Lz Ld bun a2uaJaj83 alno amp LL d JLN 890844 Psd 00208 1 rfonpoirg Write WORD 3 UNSISNED16 Weg WSCAN Software 47 In this example the producer objects Write WORD 1 and Write WORD 2 which have 16 bits each will be consumed by the object Target Velocity which has 32 bits In other words 16 bits 16 bits 32 bits This will be the resulting mapping after the connections are applied Producer TxPDU Consumer AxPOO Master ID 1 Master gt Mode ID 2 lt Nodes gt T FDL 1 COB ID Ox0767 Enable rw 0000 1 COB ID 00181 Enable re Connected ta Made ID d 2 Madez gt AxPDO 1 Connected ta Master ID 1 Master gt TxPDO 1 Mapped 0 Write WORD 0 INSIBNEDTE Mapped 0 Controlword UN SIGNED16 Mapped 1 Write WORD 1 UN SIGNED16 Mapped 1 Target V
10. button to confirm that the new PDO configuration is valid and consequently save it on the object dictionary In certain situations it is necessary to preserve the TxPDO mapping In this case it is possible to use Dummy objects in the consumer which are virtual objects that can be used to consume unnecessary data during the device operation WSCAN V2 0X 46 Consumer H PDU 4 EE YTD LN uomo 18018 OLYSSS LN enbuo 18048 YAOI LN uoneredi jo sapo J uoraun 4 JA OH SHES Set d 4I uorgaun dOLS SHES cord 123 1NIJ apap 4 81890 zz d 23 1NIJ ously paads Lhd bun aauad3Ia3 WANS amp Ld JLN 82u8J3123J uansog fbb LI uonejo3 jo uapa LE Ed ILM Sur ONES LOL d 13 LIE Sul ONES 00 Ld S LYSSS LMI 98943 660d ZEJINSISNM Auung 0028 1 rfeonpeug e ca LL 25 m n E 3 5 LC Producer T FDLUJ a C4 d M C4 c a o RePOO 1 COB ID Ox0187 Enable rw TPO 1 COB ID 0201781 Enable rw Connected to Master ID H 1 lt Master gt TxPDO 1 Mapped Contralward LIMSIGNED 15 Mapped 1 Dummy UN SIBNED TE Mapped 2 Dummy UNASSIGNED T5 Mapped 3 Dummy UNSIGNED 6 Connected to Made ID 2 lt Node gt H PDU 1 Mapped 0 Write WORD 0 UNSIGNED16 Mapped 1 Write WORD 1 UNSIGNED16 Mapped 2 Write WORD 2 UNSIGNED16 Mapped 3 write WORD 3 UNSIGNED16 3 13 2 5 Connecting objects of different sizes
11. 3024 Parts of Rotation 41 38 UNSIGNEDIB 0 3024 Parts of Rotation 4138 UNSIGNED TE Transmit PDO 10 3028 Rotations 4139 UNSIGNED 16 1 3028 Rotations 4139 UNSIGNED 16 Transmit POO 11 302C Speed 4140 LINSIGNEDTE 2 302C Speed 4140 UNSIGNED16 Transmit PDO 12 3020 Reserved 4141 UNSIGNEDS 302E Reserved 4142 UNSIGNED Transmit PDO 13 302F Follow Type 4143 UINSIGNEDS Transmit POO 14 JFE write WORD 4600 LINSIGNEDT5 Transmit PDO 15 FI write WORD 4601 UNSIGNED16 Transmit PDO 16 FFA Write WORD 4602 UNSIGNED 16 Transmit PDA S1FB write WORD 4603 LIMSIGMED16 Transmit PDO 18 T it POO 13 daba Suen Cancel Help The next figure illustrates the reception PDO RPDO 01 configuration at the Follow consumer All the RPDO 01 configuration options are locked because the Follow function is enabled PDOs configuration Node AxPDO v CDE ID hexa y Receive PDO 1 FOLLOW Receive PDO 2 Transmission Type SYNC Rate Receive PDO 3 Hecerve PDO 4 Event Timer Tx PDOO Inhibit Time 1 00us Compatibility mE Avaliables Objects Mapped Objects Dummy INTEGERS 0 3024 Parts of Rotation 4138 UNSIGNEDTE Dummy INTEGERTE s 1 3026 Rotations 4133 UNSIGNED16 Dummy INTEGER 32 2 302C Speed 4140 UNSIGNED Dummy UNSIGNED S Dummy UN SIGNED16 Dummy UNSIGNED 32 3024 Parts of Rotation 4138 UNSIGNED16 3028 Rotations 4133 UNSIGNED16 302C Speed 4140 UNSI
12. 6 About the WSCAN 6 F About this manual 6 Address of the destination slave 56 FOLLOW 24 32 Address on the CANopen network 9 H HEARTBEAT PRODUCEH 22 27 Button Bar 15 C I O memory mapping 53 CAN 7 Interface with the ladder programming 52 CAN and CANopen 9 CANopen network 17 L x Changing the numerical base 35 Changing the object value 36 Ladder Block SDO 56 Characteristics of the CANopen network 9 List of Objects 33 COB ID 11 Listing the connections 48 Commanding the slave from the ladder program Log Window 16 63 Communication Objects COBs 10 M Configuring a new network 17 Configuring the master 19 Main advantages of WSCAN 7 Configuring the slaves 25 Main Menu 14 Connecting objects of different sizes 46 Main Window 14 Connecting the producer TxPDO to the consumer Master configuration PLC2 57 re 49 Master PDOs PLC2 57 Control of the CANopen communication 56 Master Slave PDOs Configuration 36 Control Word and Status Word 53 Create configuration 48 N Network acess 8 D NMT 20 26 Dataaccess 10 NODE GUARDING 26 Data frame 8 00 Numerical representation 7 Data transmission 10 Device Tree 16 Documents 7 Copyright 2006 2010 WEG All rights reserved Index O Object Data 34 Online monitoring 49 p PDO communication parameters 38 PDO Mapping 39 PDOs connections 59 PDOs List 37 Physical Media 9 Procedure for connecting PDOs 41 R R
13. PLC2 Rev 130 WEG Industriat S PLC1 Rev 180 POS Fev 130 SCAR 220 230 2448 Bev 2 SOAS 220 230 4465 Rev 210 7 CA SAREAN TEA Rev 210 ms SCA05 270 230 4 84 Rev 210 After the device is dragged and dropped the following dialog box appears is WSCAN Software 19 3 9 3 9 1 Device properties Device Mame NE a a Product SDA 5220 230v 4 64 ER vendor WEG Industrias SA T E ena ene Tue EDS File cos CAG 220 230 4 84 V 1s eds Address a Picture SC4 05 ico Cancel Help At this time the basic properties of the slave will be defined such as the slave address Once the slave address was defined and the OK button was pressed it cannot be changed anymore Therefore if it is necessary to change the slave address remove the device from the network structure and repeat this procedure After completion of these procedures the network will be configured with a slave device and it will be represented as follows Master ID 1 Masterl gt Handrate 500 Ebutls PLC2 Rev 130 Hode ID Hode2 gt SCA 05 220 2507 4 84 Rev 210 Configuring the master Configuring the master Click on the master picture and select the option Configuration to access the master configuration Then a dialog box appears with the options that are described in the next items Related topics NMT 201 SYNC PRODUCER 20 SDO
14. Receive POO 2 Transmission Type asynchronous Manu Event SYNC Hate LE Receive POO 3 Receive PDO 4 Event Timer ms Tx PDO Transmit POO 1 Inhibit Time VERE pent eine eene ETT eri Transmit POO 2 Transmit POO 3 valables Objects Mapped Objects Transmit PDO 4 Dummy INTEGERS 0 6040 Contralwerd UN SIGHED16 Danny INTEBERTE 7 1 GOFF Tanel Velocity INTEGER SZ Dummy INTEGERS Dummy UN SIGNEDS Dummy UM SIGNED16 Dummy UN SIGHED 32 2063 F099 Enable IHTEGERTE 2064 P100 Acceleration Time IH TEGERT15 2065 P101 Deceleration Time IH TEGERTE 206F P111 Direction of Rotation IHTEGERT15 4 gt 4 gt n ae Up Down Cancel Help PDOs configuration Node R amp FD Iv Enable COB ID fhesa 0492 ATR Allowed Hecerve POO 1 Receive POO 2 Transmission Type asynchronous M anuf Event SYNC Hate Receive POO 3 Receive PDO 4 Event Timer ho m Tx PDO Transmit PDO 1 Inhibit Time 0 pnus Compatibility us Transmit POO 2 i i Transmit POO 3 valables Objects Mapped Objects Transmit PDO 4 2002 POE Motor Speed IHTEGERTB 0 6041 Statusword UN SIGNED16 2003 POOS Mutu Cunerd IHTEGERTB 1 BOBC elucily Actual value INTEGER 32 004 POO4 OC Voltage MTEGER16 200C PO12 Digital Input status INTEGER16 200E PO14 Last Fault IMTEBGERTE 2012 POT18 AI Value IKTEGERTE 2013 P019 Al2 Value IK TEGERTE 2032 POSU Shaft Position IHTEGER 5 2034 P05 Posi
15. an answer every time the SDO client of the master issues a request to the SDO server of any slave on the network An error will be indicated in case the answer is not received within the programmed time HEARTBEAT PRODUCER This option enables the heartbeat producer service of the CANopen master A slave with a configured heartbeat consumer uses this service to monitor the master communication with the CANopen network is WSCAN Software 23 Master Configuration Master MMT PROD SYNC 500 PROD HEARTBEAT FOLLOW HEARTBEAT Period of transmission Cancelar Aplicar Ajuda Enable it allows enabling or disabling the production of heartbeat messages by the network master Period of transmission in case it is enabled this will be the transmission cycle of heartbeat messages Once it is programmed other network devices with heartbeat consumer can be programmed to monitor these messages and detect communication errors 24 WSCAN V2 0X wey 3 9 FOLLOW It enables the Follow producer or consumer service via CANopen It is used to perform speed or position synchronism via the WLP Follow block 1 24 Master Configuration Master1 MMT PROD SYNC SO PROD HEARTBEAT FOLLOW FOLLOW Disable t Producer Enable Real Axis t Producer Enable Virtual xis t Consumer Enable COB ID hesa SPEED SOURCE 1 Cancelar Ajuda
16. configuration the master requests the slave to save its configurations in a non volatile local memory Restore configuration before configuring the slave the master requests the slave to restore its configurations to the default values NOTE This service will only be available if the slave has the objects need for its execution that are described in the EDS file 1010h or 101 Ih The use of these services consume quite some time from the slaves therefore timeout errors may happen during the communication In order to avoid these communication errors it is necessary to increase the SDOs timeout in the master configuration 32 WSCAN V2 0X wey 3 10 7 FOLLOW It enables the Follow producer or consumer service via CANopen It is used to perform speed or position synchronism via the WLP Follow block 1 321 Node Configuration Mode3 MIT MODE GUARDING PROD HEARTBEAT EMC SAVE RESTORE FOLLOW FOLLOW t Producer Enable Real Axis t Producer Enable Virtual Axis t Consumer Enable CUB ID heal SPEED SOURCE o Cancelar Ajuda Disable It disables the Follow producer or consumer function Producer Enabling Real Axis It enables the master to produce Follow data through the TPDO 01 Producer Enabling Virtual Axis It enables the master to produce Follow data through the TPDO 01 2 321 Consumer Enabling It enables the master to consume Follow data t
17. object transmission also depends on an event according to the device configuration oynchronous Upon reception of a PDO the The PDO transmission is triggered cyclic device will only update the upon reception ofa SYNC object mapped data at the next The value set im SYNC Rate trom reception ofa SYNC object to 240 indicates the number of SNC objects that are necessary to trigger the PDO transmission ovnchronous This transmission mode is not The mapped data is updated at the ETE only supported by the ExP DOs reception of aremote frame However only the following SYNC object triggers the PDO transmission Asynchronous This transmission mode is not The PDO is transmitted immediately Asynchronous The mapped data is updated The PDO transmission is triggered by manufacturer immediately after the an event that is manufacturer Event reception of a PDO specific For example it can be transmitted according to the Event Timer ll Asynchronous The mapped data 1s updated The PDO transmission is triggered by protile event immediately after the an event defined in the device profile reception of a PD It can also be setto trigger according to the Event Timer Sync Rate used to define the number of SYNC objects that are necessary to the transmission of Synchronous cyclic TxPDOs Event Timer used to define a temporized event It can or cannot be used as an event to trigger the TxPDOs depends on the device configura
18. slave configuration was carried out successfully 2 Error control 0 Error control service was not started service started 1 Slave error control service node guarding or heartbeat was started 3 Initialization 0 Master did not initialize the slave procedure 1 Master concluded the slave initialization concluded 4 Initialization error 0 Slaves was initialized successfully 1 Slave was not initialized The initialization procedure cannot continue until this slave is initialized 5 Failure in the error 0 Error control service is properly working control service 1 Error control service of the slave node guarding or node guarding or heartbeat reported an error heartbeat 6 Slave transmitted 0 Slave did not report errors via EMCY objects an EMCY object 1 Slave reported errors via EMCY objects 7 Slave reset 0 Performing no operation on the slave 1 Performing slave reset due to a communication error or a command in the control word 8 15 Reservado NOTE In spite of the CANopen network supports addresses from 1 to 127 the maximum address of slave allowed is 63 because the other positions do not have correspondent status words 56 WSCAN V2 0X weg 3 15 3 4 Control of the CANopen communication WORD that performs CANopen communication related functions in a specific device Each bit of the word has a different function Bit Description Q 7 Command to the slave 8 Toggle bit 9 14 R
19. the master mapping of EMCY messages transmitted by the slave Time defines the time interval that the slave shall wait before transmitting a new EMCY message to the network Status defines which master register will store the data transmitted in the EMCY message The content of this data identify the type of error occurred in the slave Each data represents one of the 7 existent fields in a EMCY message Word 1 Error code CiA Word 2 Error register object 1001h Word 3 to 7 Manufacturer specific error field 1 to 5 WSCAN V2 0X is ww 900069 me eem Le connotea 2 99 c azo 06009000909000 0 Error code CiA Word 1 EMCY 3 18 a jo manufacturer specie Object 1001h Word 2 EMCY NOTE EMCY This service will only be available if the slave has the objects need for its execution that are described in the EDS file 1014h Inhibit Time This service will only be available if the slave has the objects need for its execution that are described in the EDS file 1015h Weg WSCAN Software 31 3 10 6 SAVE RESTORE This service is used to save or restore the default values of the parameters in the slave object dictionary Node Configuration lt Mode3 gt NMT NODE GUARDING PROD HEARTBEAT EMCY SAVE RESTORE FoLLow SAVE RESTORE Cancelar Ajuda Save configuration at the end of the slave
20. they correspond to the table rows The consumer objects will be always on the top of the table that is they correspond to the table columns Consumer AxPOO F101 Deceleration Time INTE P111 Direction of Rotation IMT P117 Position Reference INTE P118 Current Reference Torq P121 Speed Reference INTEC F202 Operation Mode INTEGE P432 Starts STOP Function IF P435 Starts MOVE Function II Modes of Operation INTEGER Target Torque IMTEGER16 Target Position INTEGER 32 Profle Acceleration UMSIGNE Profle Deceleration UMSIGNE LLI H io q a iD LLI E Ope ac w D D C T 5 ui mio ge o ce ofa Producer T PDU do d d Controword UNSIGNED16 HUILA L ILL MIL I mili dh 4 The green objects correspond to the currently mapped objects The TxPDOs with access type rw up WSCAN Software 45 can be changed while the TxPDOs with access type ro cannot be changed The orange objects correspond to the currently mapped objects The RxPDOs with access type rw can be changed while the TxPDOs with access type ro cannot be changed 3 13 2 4 Connecting the producer TxPDO to the consumer RxPDO The connection procedure consists basically on selecting via check boxes the producer object and its respective consumer object as shown in the following figure Consumer AxPOO P099 En
21. 3 COB ID 00402 Enable rev RePOO 4 COB ID 00502 Enable rw RePOO 1 CDOB ID 00202 Enable rv E M ExPDO Number Mapping access rw read write ro read only RePDO COB ID ExPLDG enabled or disabled When an RxPDO is selected its current mappings and its respective connections are listed 44 is WSCAN V2 0X Consumer APOO Made ID 2 lt Node gt The consumer table moves to the position of the first mapped object when the mapping information is double clicked The data related to the RxPDO connections if any will be presented according to the following example Connected to Master ID 1 lt Masterl gt TxPDO 1 Mapped lU Controlword UN SIGNED TE This figure shows that the RxPDO is connected to the TxPDO 1 of the Master ID 1 By double clicking the connection data the device and its respective TxPDO will be selected in the producer configuration If there are no connections for that RxPDO and it is enabled it means that the RxPDO is configured to consume data from the network but that no other device is configured to produce data Besides after selecting a certain producer and consumer all its mapped transmission and reception objects will be listed on a table This table contains all objects that can be used by the producer for transmission and consumer for reception The producer objects will be always in the left side of the table that is
22. 4 8 Fer 210 Hode ID 3 Node3 gt CFW 08 Rev 450 The device data will be organized in the following mode Network address Master ID 1 Masterl gt Handrate 500 Ebntls PLCZ2 Rev 130 Network speed visible only in the master Device description and revision 3 8 Configuring a new network When creating a new CANopen network project the devices will be not configured including the master Therefore the following procedures shall be carried out Ist Define the network master by clicking on the master picture and select the option Properties Properties Configuration PDOs The following dialog box appears 18 WSCAN V2 0X is Master properties Master Product FLC2 Rev 130 Vendor WEG Hevisian 1 EDS file CO_PLCZ V1 a MASTER eds Address 1 Baudrate 500 IK bites Picture Canzela Help The basic properties of the master such as the master device in this case the PLC2 the master address and the network baudrate are defined in this box 2nd Add slave devices which are available on the list of devices by dragging and dropping them into the network structure area PE wen Weg Software CANopen Contig Fie Edt View Configuration Communication Took Help Of 60H SM Master ID 1 Masteri Bandrate 500 Ebi ev 450 PLC2 Rev 130
23. CAN V2 0X wey 3 12 3 PDO communication parameters When a PDO is selected from the list of PDOs its communication parameters are shown in the dialog box as presented in the following figures iw Enable COB ID hexa 0201 iw ATA Allowed Transmission Type asynchronous Manuf Event SYNC Rate Event Timer me Inhibit Time 10008 Compatibility T RxPDO communication parameters iw Enable COB ID hexa 0181 i ATA Allowed Transmission Type asynchronous Manuf Event SYNC Rate Event Timer 0 yu Inhibit Time 0 ix O0us Compatibility E ma TxPDO communication parameters Description of the communication parameters Enable enables disables the PDO COB ID hexadecimal this 16 the PDO identification number in the CANopen network The COB ID range is from 0181h to 057Fh This identifier is used to connect TxPDOs to RxPDOs i e if we want a data produced by a TxPDO to be consumed by a specific RxPDO then they shall have the same COB ID RTR Allowed RTR allowed not allowed remote frame Transmission Type Mode of receiving transmitting messages The following transmission modes are supported is WSCAN Software 39 synchronous Upon reception of a PDO the The PDO transmission is triggered acyclic dewice will only update the upon reception ofa SYNC object mapped data at the next acyclic but not periodically The reception of a SYNC
24. E GUARDING 26 HEARTBEATPRODUCER 27 EMCY 28 SAVE RESTORE 31 FOLLOW 321 26 WSCAN V2 0X wey 3 10 2 NMT This option configures the control and operation properties of the slave Defines the basic properties of the slave during the initialization and operation of the network Node Configuration lt Node 3 gt PROD HEARTBEAT EMCY SAVE RESTORE FOLLOW NMT NODE GUARDING Mandatory node with initialization error Mot to start the network W Automatically reset node with communication error m m Cancelar Ajuda Slave if this option is not selected the device will be not configured and neither initialized by the network master Mandatory node with initialization error do not initialize the network it allows programming if the slave is mandatory or not to the network master If the slave is programmed as mandatory and an initialization error is detected the master will not try to initialize the remaining network slaves until the initialization of this slave is completed Automatically reset node with communication error if this option is selected and the master detects a communication error with this slave then the master will reset and restart the slave Otherwise the master will only indicate de error in the status word and wait for the user to reset and restart the slave this can be done by using the words for communication control NOTE
25. EGER3Z pA SCE 2sub0 Read WORD O UNSIGNEDIB mw SCE sub Read WORD 1 UNSIGNEDIB n SCE 4sub0 Read WORD 2 UNSIGNEDIB nw BOGCsubO Velocity Actual Value INTEGE rw BOBCsubO Velocity Actual value IMTEGE mw 1 1 1 3D 24subU Write WORD 2 UNSIBNED TE rw BOFFsub0 T arget Velocity INTEGER32 rh e 6041 subO Statusword LL IHSIGNED TE 1 2 1 1 This window shows all available connections listed by object The following connection data are presented COB ID TxPDO and RxPDO Identifier Tx Node TxPDO node Tx PDO TxPDO number Tx Object TxPDO object mapping Tx Mapping TxPDO access type ro or rw Rx Node RxPDO node Rx PDO RxPDO number Rx Object RxPDO object mapping Rx Mapping RxPDO access type ro or rw 3 14 Network configuration 3 14 1 Create configuration To create the master configuration go to the Create option under Configuration menu press Once the configuration is created it can be transferred Related topics Transfer configuration 49 Online monitoring 49 IT gt WSCAN Software 49 3 14 2 Transfer configuration To transfer the master configuration go to the Transfer option under Configuration menu press the F8 key or click on the HH button During the transmission of the master configuration the ladder program developed by the user as well as the CAN
26. GNED16 3020 Reserved 4141 LIN SIGNEDS EX e cue pon Cancel Help The baud rate and the number of telegrams in the CANopen network can influence the positioning precision It is recommended to use the Follow function with a minimum baud rate of Weg WSCAN Software 67 250 bps When the Follow function is enabled at a PLC11 board that is operating as a CANopen master the board must be initialized every time the Follow function is modified from producer to consumer or from consumer to producer 3 17 3 WLP configuration The Follow block is used to configure the synchronism at the consumer Refer to the WLP help for more details 0 1 3 4 5 5 T 8 9 aM 26100 voz LO 0 d aM 2101 vM x5102 EH FOLLOW ENO ACCELERATION 4 MODE SOURCE AsIS 3 17 4 CFW11 and PLC11 parameterization CFW11 P0202 Select the vector with encoder mode 4 Producer and consumer P0221 or P0222 Program one of these parameters for PLC11 reference Producer and consumer PLC11 P1262 Inform the main encoder resolution Producer and consumer P1285 Enable the CANopen protocol 1 Producer and consumer P1286 CAN address Producer and consumer P1287 Baud rate Producer and consumer 68 WSCAN V2 0X Index E EDS file 12 7 A EMCY 28 Error control 8 Example of network configuration 57 Abbreviations and definitions
27. It is necessary to enable any error control service Node Guarding or Heartbeat 3 10 3 NODE GUARDING This option enables the node guarding service of the slave This service is used for monitoring the slave communication with the CANopen network This monitoring is carried out by the master as well as by the slave is WSCAN Software 27 Node Configuration lt Node 3 gt PROD HEARTBEAT EMCY SAVE RESTORE FOLLOW MMT NODE GUARDING MODE GUARDING Period of transmission fil mz Retry factor _ Cancelar Ajuda Enable it allows enabling or disabling the Node Guarding error control service for the slave Period of transmission defines the time interval within which the slave shall respond to the master request Retry factor defines the number of time intervals that the slave or the master shall wait before indicating the communication error NOTE This service will only be available if the slave has the objects need for its execution that are described in the EDS file 100Ch and 100Dh Only one error control service either Node Guarding or Heartbeat can be enabled in the slave 3 10 4 HEARTBEAT PRODUCER This option enables the heartbeat producer service of the slave This service is used for monitoring the slave communication with the CANopen network This monitoring is carried out only by the master 28 WSCAN V2 0X wey 3 10 5 Node Confi
28. Motors Automation Energy Transmission amp Distribution Coatings Software WSCAN User s Manual IE 0000 eT Py s User s Manual series WSCAN V2 0X Language English Publication Date 11 2010 weg Content 3 Index 0 Parte General Information 6 1 About this manual Ne 6 2 About the WSCAN ccc renner 6 3 Abbreviations and definitions 1 nnn nnn 6 4 Numerical representation eee eee eicere eee eene nenne eheu nnn nnn nnne n nnn nnnm nnn 7 5 Documents ciao ETIN 7 6 Main advantages of WSCAN xcccccccccccccccccccccce eens 7 Parte Il Introduction to the CANopen protocol 7 aes a M M R RQ 7 MS Wig sri NU RS 8 3 Remote frame RET M 8 4 NOeIWOIK a Os Sara cence etn es ene nasa asses isa 8 5 Error control wae ETT 8 6 CAN and CANopen RET 9 7 Characteristics of the CANopen network c cccccceecsssseeeeceeeseeeseeeeseeseeenseesseeesseesseoeaes 9 8 Physical Media usscistucisate ERE xU cp pcecteet oceans ne screenees II sable nnn 9 9 Address on the CANopen network cccccssssecescessseeeccenseeeesennseeeseensseeeseeesseesseonseeeeseonaes 9 10 02318 ACC OS Svea E 10 11 Data transmission casnssunicdenecsiussunecsbuincaunscamesveneuisniedansesastansavacnbaasivaanmse
29. RODUCER This option enables the synchronization service of the CANopen master This service is used for synchronizing the data transmission of the PDO service ensuring that the information will be produced and consumed at the same time in different devices is WSCAN Software 21 Master Configuration Master1 PROD HEARTBEAT FOLLOW NAT PAOD SYNC cng SYNC LOB ID Cycle E is U disable Cancelar Ajuda COB ID indicates the identifier of the SYNC message Modifications in this identifier are not allowed Therefore the default value of the SYNC message on the CANopen network shall be used Cycle defines the cycle time of the SYNC message transmitted by the network master If the communication cycle time is disabled the master will behave as a SYNC Consumer NOTE Very short cycle times for the SYNC message will overload the network and cause communication errors of the various services 3 9 4 SDO Properties of the SDO server of the CANopen master This option configures the properties of the SDO server which is used by the SDO ladder block in the WLP and also in the communication between master and slaves via Modbus protocol 22 is WSCAN V2 0X 3 9 5 Master Configuration Master1 PROD HEARTBEAT FOLLOW NMT PROD SYNC SDO SOO Timeout EI Cancelar Ajuda Timeout defines the time that the network master shall wait for
30. WSCAN V2 0X wey 2 10 2 11 2 12 Data access Each slave on the CANopen network has a list called object dictionary that contains all the data that are accessible through the network Each object in this list is identified by an index which is used during the device configuration and message exchange to identify what is transmitted A more detailed description of how the object dictionary is structured is provided in the Addendum I Data transmission The transmission of numerical data through CANopen messages is carried out by using the hexadecimal representation of the number the least significant data byte must be sent first Example transmission of a 32 bits signal integer 12345678h 305419896 decimal plus a 16 bits signal integer FFOOh 256 decimal in a CAN frame 52 bits Integer 16 bits Integer byte byte 1 byte 2 byte 3 byte 4 Byte 5 78h 56h Communication Objects COBs There are a specific set of objects that are responsible for the communication between the network devices These objects are divided according to the data type they carry and the way how they are transmitted and received by a device The master of a CANopen network supports the following communication objects COBs is Introduction to the CANopen protocol 11 Object Type service Data Object The SD Os are responsible for the direct access to the object dictionary of a device Through th
31. able rl TEGER 18 F100 Acceleration Time INTEC F101 Deceleration Time INTE P111 Direction of Rotation IMT P117 Position Reference INTE P118 Current Reference Torq P121 Speed Reference INTEC F202 Operation Mode IN TEGE P432 Starts STOP Function IP P435 Starts MOVE Function Il Producer T FD LU LE SESSEL M s After connecting all producer objects to their respective consumer objects click on the Apply Connections button so that the connections can be created Several verification procedures are performed during the creation process of the connections Depending on the number of producer and consumer objects the creation time may vary and take a few seconds After this procedure is completed the window the list of connections shows the following data Producer T PDL Consumer AxPDOO Master ID H 1 lt Master gt Made ID 2 Made gt TxPDO 1 COB ID x0181 Enable re 10000 1 COB D 0 0181 Enable rw Connected ta Made ID H 2 Madez2 gt R PDU 1 Connected to Master ID 1 lt Master gt TxPDO 1 Mapped 0 Write WORD 0 UNSIGNED16 Mapped Controlord LINSIBGNED TE It is possible to observe that now the TxPDO and the RxPDO have the same COB ID which means that they are connected this 1s also confirmed from the connection data The Apply Connections procedure does not save the new PDO configurations directly on the object dictionary Press the OK
32. all network devices Therefore these devices SYNC Consumers can transmit for instance a specific data that needs to be available periodically Every CANopen network needs to have a master to control the other devices on the network slaves This master will be responsible for a set of services that control the slaves communication and also their status on the network The slaves are responsible for receiving the commands from the master and executing the requested actions Therefore the NIT object allows the master to execute the network management The communication of the device with the network is always carried out through these objects The data that can be accessed through the network are listed on object dictionary of each device 2 13 COB ID A CANopen message is always transmitted by a communication object COB Every COB has an identifier that indicates the type of data it 19 transmitting This identifier named COB ID has an 11 bits length and it is transmitted in the identifier field of the CAN message It 1s subdivided in two parts Function Code Node Address po Node Address Function code indicates the type of object that is being transmitted 12 WSCAN V2 0X wey 2 14 Node address indicates with which network device the message is related to The default values of the different communication objects that are available in the devices are presented in the table below It is i
33. cal representation Decimal numbers are represented by digits without suffix Hexadecimal numbers are represented with the h letter after the number 1 5 Documents CAN Specification AA Ds 301 4 02 CLA CANopen Application Layer and Communication Profile AA Ds 302 5 2 1 CLA Framework for CANopen Managers and Programmable CANopen Devices CLA Ds 405 2 0 CLA Interface and Device Profile for IEC 61131 3 Programmable Devices Cabling and Connector Pin Assignment Electronic Data Sheet Specification for CANopen 1 6 Main advantages of WSCAN Network definition through graphical environment Network configuration through dialog boxes Download of configuration through the PC serial port Possibility of configuring up to 25CD En slave devices on the CANopen network Possibility of configuring up to 16002 d input digital points and 16002 7 On line monitoring of network status and communication errors output digital points D a for PLC2 or 25 for PLC11 01 2 512 for PLC2 or 1600 for PLC11 01 2 Introduction to the CANopen protocol 2 1 CAN The CANopen network is based on the CAN network In other words it uses CAN messages for network data exchange The CAN protocol is a serial communication protocol that describes the services of layer 2 of the ISO OSI model data link layer This layer defines the different types of messages frames the error detection algorithm and the validation and arbitrat
34. da e Help a WLP v6 00 PR WS AR Y1 OO Related topics Main Window 14 Main Menu 141 Button Bar 15 Device Tree 16 Log window 16 CANopen network 47 Configuring a new network 47 Configuring the master 19 Configuring the slaves 5 Slave Object Dictionary 38 Master Slave PDOs Configuration 36 Viewer Configuration of PDOs connections P Create configuration 48 Transfer configuration 49 Online monitoring 49 Interface with the ladder programming 62 Example of network configuration 57 14 WSCAN V2 0X is 3 2 3 3 Main Window The main window of the WSCAN software has the following appearance EEK Th PLO SCAO S wen Weg Software CAMope Contig Ele Edt Yew Configuration Communication Teos Help D gt Pe et Ae tT Device Tree Master ID X Ex Master h Handrate 10000 Ebith CPw 8 Rev 450 FLC2 Eew LHI PLC Fev 130 WEG Indurtsas SA PLCI Rev 180 Hode ID 2 Hode POS Fev 130 SC A 05 220 2307 4 24 Rew 210 SOAS TAN 24 494 Foe 210 SCA T 220 220 4 BA Fee FO SCA 5 220 2720 8 164 Fev 210 List of available Error log generated by devices the software Main Menu File menu i Edit Communication Tools Help Mew Ctrl M Open Chrl Ctrl 5 View Configuration Save Save As
35. dder Acess Mapping RWO YRW31 Read Words Be2d Master RPDOs Input escravo mestre Write oW WO 22WW31 Write Words Master TPDOs Output mestre gt escravo Read RBO 7c RB31 Read Bytes Master RPDOs Input escravo mestre 95 WWO 1 31 Write Bytes te Master TPDOs d e y Output mestre gt escravo PLC11 01 Address Name Ladder Acess Mapping RWA4200 RW4299 Read Words Master RPDOs Input escravo mestre WW4600 SWW4699 Write Words VY Master TPDOs Output mestre gt escravo RB4400 RB4499 Read Bytes 5628 Master RPDOs Input escravo mestre WWA4800 WW4899 WriteBytes rite Master TPDOs Output mestre gt escravo These are volatile registers that store all data transmitted and received via PDO and EMCY 3 15 3 Control Word and Status Word 3 15 3 1 Control Word and Status Word Some words are available for monitoring the state and controlling the communication of a CANopen network These words are organized in the following way PLC2 Address Name Ladder Acess Status of the CANopen Read ARSO E communication Input escravo mestre RS1 RS63 Status of the CANopen slave 8 24 Input escravo gt mestre Control of the CANopen Write ka Output mestre gt escravo Write WC1 Endereco do escravo destino Omputenieste ic PLCI1 01 54 WSCAN V2 0X ug Address Name Ladder Acess 95R SA000 Status of the CANopen Read communicat
36. e Profle Type IHTEGEF Producer TxPDO SHEESH SHES Ehe LIE 11 1 d pss LJ velocity QNTEGERS2 write WORD 3 UNSIGNEDI6 lt lt is WSCAN Software 61 Il View config PDOs Connections r PDUs Connections E Producer TsPDO Consumer RH PDLJ Made ID H 2 Nodes gt Master ID 1 lt Master gt IT PDO 4 COB ID 0482 Enable re 000 4 COBAD Ox0482 Enable re Connected to Master ID H 1 Master gt APOO 4 Connected to Made ID H 2 Made2 gt T PBU 4 Mapped 0 Statusward LINSIGMHED T5 Mapped 0 Read WORD 0 UNSIGNED16 Mapped 1 Velocity Actual Value INTEGERS Mapped 1 Head WORD 1 LINSIBNEDTE Mapped 2 Head WORD 2 UNSIGNED16 Consumer AsF30 F List E Connections Apply Connections un c Lu eu e wi Fae zz mn Read WORD 4 UNSIGNEDIE Read WORD UNSIGNEDIE Read WORD UNSIGNEDIE Read WORD 7 UNSIGNEDIE Read WORD E UNSIGNEDIE Read WORD UNSIGNEDIE Read WORD 10 UNSIGNED Read WORD 11 UNSIGNED Read WORD 12 UNSIGNED Read WORD 13 UNSIGNED Read WORD 14 UNSIGNED Read WORD 15 UNSIGNED Read WORD IA ES ESIESI EJ ES EJ ES E E Modes of Operation Display INTE B g E p E a E a ES p Position Actual value INTEGERSZ if jf P b Pb Position Actual value in User Unit E if d d d d d d Wd Yd dp dp Velocity Sensor Actual Value INTE B E B EE E B g B E E B E Velocity Demand Value
37. e messages using sD s it is possible to explicitly indicate by the object index which data type is being accessed There are two types of sDOs Client SD which is responsible for the reading and writing requests to a network device and the server SD UO which is responsible for process this request eince the SDOUs are generally used to configure a network node they have low priority when compared to other types of messages Process Data Object The PDOs are used for accessing device data without the need of PLOOY explicitly indicating which dictionary object is being accessed Therefore it is necessary to previously configure which data the PDO will transmit data mapping There are also two types of PDOs Receive POO and Transmit PDO The PDUs are generally used for transmission and reception of real time data that is needed during the device operation thus they have high priority when compared to the sbUs Emergency Object This object is responsible for transmitting messages that indicate EMC Y the occurrence of errors in the device When an error 18 detected in a specific device EMC Y Producer a message can be sent to the network In case a network device is monitoring this message EIC Y Consumer it is possible to set an action to be carried out disable further network devices error reset etc It is possible to set a device S YMC Producer on the CANopen network to transmit periodically a synchronization message to
38. eading slave status information from the ladder program 62 Remote frame 8 Running the WSCAN software 12 Ss SAVE RESTORE 31 SDO 21 Selecting the consumer RXPDO 43 Selecting the producer TXPDO 42 Slave configuration SCA 05 57 Slave Object Dictionary 33 Slave PDOs SCA 05 58 Status of the CANopen communication 54 Status of the CANopen slave 55 SYNC 20 Transfer configuration 49 V Viewer Configuration of PDOs connections 41 69 Copyright 2006 2010 WEG All rights reserved
39. ecting the producer TxPDO 42 Selecting the consumer RxPDO 43 Connecting the producer TxPDO to the consumer RxPDO 45 Connecting objects of different sizes 46 42 WSCAN V2 0X wey 3 13 2 2 Selecting the producer TxPDO The producer is the device responsible for transmitting the data to the network Use the following selection box to select the producer Producer T FDL Master ID d 1 lt Master gt Master ID 1 lt Master gt Node ID 2 lt Nodes gt After the producer device was selected a list with the available TxPDOs and their basic information is presented Producer T PDL Master ID 1 lt Masterl gt T FDLU 1 COB ID Os0181 Enable r TePOO 1 COB D 00181 Enable re COBB 00281 Enable rw EOB AD 00381 Enable rw COB ID 00481 Enable rw LOB D 00000 Disable re COB ID 00000 Disable re COB ID Os0000 Disable re COB ID 00000 Disable re IxPDO Number N Mapping access T xPDO COB_ID rw read write ro read only TF DO enabled or disabled When a TxPDO is selected its current mappings and its respective connections are listed Producer T PDL Master ID H 1 z Masterl gt T FDUO 1 COB ID Os0181 Enable rw Mapped 0 Write WORD U DNSI BNEDBTE Mapped 1 Write WORD 1 UN SIGNED165 Mapped 2 Write WORD 2 UN SIGNED165 Mapped 3 W
40. ed along with the WLP software and CANopen master board manuals Related topics About the WSCAN 6 Abbreviations and definitions 6 Numerical representation L7 Documents 7 Main advantages of WSCAN 75 CAN 7 Running the WSCAN software 127 Main Window 14 Main Menu 14 Button Bar 15 Device Tree 16 Log window 46 CANopen network 17 Configuring a new network 17 Configuring the master 19 Configuring the slaves 28 Slave Object Dictionary 33 Master Slave PDOs Configuration 36 Viewer Configuration of PDOs connections 41 Create configuration 48 Transfer configuration 49 Online monitoring 49 Interface with the ladder programming 52 Example of network configuration 57 Example of follow CANopen configuration 6 1 2 About the WSCAN The WSCAN WEG Software CANopen Config is a Windows based software used for configuring and programming the masters designed by WEG for the CANopen network 1 3 Abbreviations and definitions CAN Controller Area Network CiA CAN in Automation COB Communication Object COB ID Communication Object Identifier SDO Service Data Object PDO Process Data Object RPDO Receive PDO TPDO Transmit PDO NMT Network Management Object ASCII American Standard Code for Information Interchange ro Read only access rw Read write access Weg General Information 7 1 4 Numeri
41. ed for transmission and reception of real time data that is needed during the device operation and therefore they shall be configured In order to access the configuration of the master slave PDOs click on the master slave picture and choose the option PDOs Then the following dialog box appears is WSCAN Software 37 PDOs configuration lt Master1 E CORD hess pora E TR EIER EN oap Transmission Type puru EE e SYNC Rate ERE E vent Timer UT RT ma Inhibit Time ees erence TT eh Avalables Objects Mapped Objects Dummy INTEGERS Danny INTEBERTE Dummy INTEGER 32 Dummy UN SIGNEDS Dummy UM SIGNED16 Dummy UNSIGNED 32 3LE2 Read WORD D UNSIGNED TE 3CE3 Read WORD 1 LINSIGNED T5 SCE4 Read WORD 2 LIMSIGNED T6 SCE5 Head WORD 3 LIMSIBNED 15 lt n Pr oem a pop un Cancel Help Related topics PDOs List 37 PDO communication parameters 38 PDO Mapping 391 3 12 2 PDOs List The PDOs are divided into two groups RxPDO and TxPDO where the RxPDO are the Receive PDOs and the TxPDO are the Transmit PDOs ZEH FDLU Receive PDO 1 Receive PDO 2 Receive PDO 3 Receive PDO 4 Hecerve POO 5 Hecerve POO 6 Hecerve POO 7 Hecerve POO 8 T FDU Transmit PDO 1 Transmit PDO 2 Transmit PDO 3 Transmit PDO 4 Transmit POO 5 Transmt POO 6 Transmit PDO 7 Transmit POO 8 The bolded PDOs in this list are enabled 38 WS
42. eeeeeeeeeeeeeeeseaeaaeaaeeeeeeeeeeesseesessessseesssessesseseseeeeceeeeeeceeeeeeeeeeeeeeess 43 Connecting the producer TxPDO to the consumer 0 2 45 Connecting objects of differentsizes cccccccccc ns 46 Listing the CONNECTIONS eeccieeeeee eee iieee ene e eene nnn nean nnn 48 14 Network CONTIG eG 48 CRE ATS COMMUN Ecl lTo DERE DTE QE EC EO D LESE EET 48 Transfer configuration ree 49 Online Monitoring BTE S s 49 15 Interface with the ladder programming nnn 52 Interface with the ladder programming Lceeeee LLL e eee Leere mmm eene nnn n nnn nnn nnn nnn nnn 52 VO ur upblsadurioinrp 53 Control Word and Status Word iecit nete EE eua tuos Posto denso ever tra ebat v vas Fu Ex PER ord edd uaa 53 Control Word and Status Wordsmith atalino 53 Status ofthe CANopen communiCallOn aine cocta eorura Dern nnn 54 Stalus ofthe CANOpEn SIAVE D 55 Control of the CANopen COMMUNICATION cccceeeeeeseseeseennceeeeeeeeeceeeeeeesseseeesnaaeaaeeeeeeeeeeeeeeseeessesesesnaeaeaaeeeess 56 Address ofthe destination Slav E series On cnn ran tna nin haben 56 Ladder Block SDO Geena se aes
43. egister 1003 Pre defined Error Field 1005 COB ID SYNC 100D Life Time Pemovedo DCF 1014 COBID EMEY Adiciona ao DCF 1018 Identity Object aub number of entries sub Vendor Id subz Product Code subs Revision number sub4 Seral number Only add or remove objects from the DCF file if you know specifically the object function 3 11 3 Object Data When an object is selected from the list of objects its information 1s presented on the screen When the selected object has sub objects then the whole list of sub objects will be also presented Subld Mame Value Data Min Mas Acess Default POO 1 Vendor Id OsO0000123 UNSIGNED Osx00000000 QOxFFFFFFFF ro Ox00000123 na The following object information is listed on the screen SubIdx Object sub index Name Object name Value Object current value Data Object numerical type Min Object minimum value Max Object maximum value up WSCAN Software 35 Access Object access rights Default Object default value PDO PDOs mapping Data types BOOLEAN INTEGER8 INTEGER16 INTEGER32 UNSIGNEDS UNSIGNED 16 UNSIGNED32 REAL32 VISIBLE_STRING OCTET_STRING UNICODE_STRING TIME_OF_DAY TIME_DIFFERENCE DOMAIN INTEGER24 REAL64 INTEGER40 INTEGER48 INTEGER56 INTEGER64 UNSIGNED24 UNSIGNED40 UNSIGNED48 UNSIGNED56 UNSIGNED64 Access type rw read an write access wo write only acce
44. elocity IHTEBER 32 Mapped 2 Write WORD 2 UNSIBNEDTE Another example Consumer AxPOO Read WORD 28 UNSIGNED Read WORD 28 UNSIGNED1 Read WORD 30 UNSIGNED1 Read WORD 31 UNSIGNED1 Read BYTE 2 UNSIGNEDS Read BYTE 3 UNSIGNEDS Read BYTE 4 UNSIGNEDS Read BYTE 5 UNSIGNEDS Read BYTE 6 UNSIGNEDS Read BYTE 7 UNSIGNEDS Read BYTE 8 UNSIGNEDS Read BYTE 9 LINSIGMNEDGS Read BYTE 10 UNSIGNEDS Read BYTE 11 UNSIGNED Producer T FDLU J Modes of Operation Display INTE LLLI Position Actual Value IHTEGERSZ Position Actual Value in User Unit Producer T FDU Consumer H PDL Node ID 2 Nodes gt Master ID 1 lt Master gt TsPDO 1 COB ID Ox0182 Enable rw 10000 1 COB ID 00782 Enable rej Connected to Master ID 1 Master gt RePDO 1 Connected to Mode ID H 2 Made2 gt TxPDO 1 Mapped 0 Statugword LIMSIBNED 15 Mapped 0 Read BYTE U UNSIGNEDS Mapped 1 Head BYTE 1 UNSIGNED is 48 WSCAN V2 0X 3 13 3 Listing the connections Click on the List Connection button to list the available connections between PDOs W List PDOs Connections T Mode Tx PDOO Tx Object Ts Mapping H amp Mode As PDO Ax Object Aix Mapping 4 3D 22sub0 write WORD O UNSIGNEDIB me 4 6040sub0 Caontrolwerd UNSIGNED 16 pA 3D z3sub write WORD 1 UNSIGNEDI6 mw BOFFsub0 Target elocity IHT
45. eserved 15 Disables CANopen communication 3 15 3 5 Address of the destination slave Values Management command of the slave status The following values can be used in these bits so that the master can command the slaves on the network 1 Start Node 2 Stop Node 128 Enter pre operational 129 Reset Node 130 Reset Communication The command set in these bits is transmitted to the device indicated in the word address of the destination slave always when the toggle bit value is modified Bit that indicates when a new command can be transmitted to the slave When this bit value changes 0 1 or 1 0 the master transmits the programmed command in bits 0 to 7 to the device indicated in the word address of the destination slave 0 Master is operating normally 1 Interrupts the communication and the processing of the CANopen master When this bit 1s reset set to zero the CANopen interface is restarted and the master repeats the initialization procedure for all slaves This WORD defines the slave address that shall receive a communication management command The possible values for this WORD are 0 Master transmits a broadcast command all slaves on the network must execute the command 127 Specific slave address to which the command must be transmitted 3 15 4 Ladder Block SDO A SDO block was created in the ladder program WLP so that the slave objects can be accessed reading and writing
46. guration lt Node3 gt NMT NODE GUARDING PROD HEARTBEAT EMEY SAVE RESTORE FOLLOW HEARTBEAT Period of transmission o 1 2 ma Cancelar Ajuda Enable it allows enabling or disabling the Heartbeat control error service for this slave Period of transmission defines the time interval within which the slave shall transmit heartbeat messages to the network A communication error is indicated if the network master does not receive any of these messages from the slave within the heartbeat time NOTE This service will only be available if the slave has the objects need for its execution that are described in the EDS file 1017h Only one error control service either Node Guarding or Heartbeat can be enabled in the slave EMCY This option enables the EMCY service of the slave This service is used for indicating a device error These error messages will be stored in up to 8 status words that can be accessed in the ladder program developed through the WLP to the CANopen master is WSCAN Software 29 Node Configuration Mode3 HMT NODE GUARDING PROD HEARTBEAT EMLY SAVE 7 RESTORE FOLLO Error code Disable Error register Disable Manufacturer 1 Disable Manufacturer Disable Manutacturer 3 Usable Manufacturer 4 Usable Manutacturer 5 Disable Cancelar Aplicar Ajuda Enable Mapping it allows enabling or disabling
47. hbues Np ou mM cess FREE Value high mm c a Value low pg p M Error code high m IIT Error cade low ru mu Data cannot be transferred ar shored to the application because of the present device state In the example above when the master attempted to write to the object with index 1A03h and sub index the slave 2 reported an error that is described in the text box Now using the error description it is possible to verify the Object Dictionary and the User Manual of the device and solve the problem The information in this dialog is only valid when an initialization error takes place in a slave 3 15 Interface with the ladder programming 3 15 1 Interface with the ladder programming Once configured the network master 19 responsible for managing the whole communication However it must be possible to access received and transmitted data as well as program the desired logic of operation in ladder language With this purpose some interfaces were defined data that are available on the network ladder blocks and status and control data of the communication Related topics I O memory mapping 53 Control Word and Status Word 53 Ladder Block SDO 56 up WSCAN Software 53 3 15 2 I O memory mapping Read words write words read bytes and write bytes are made available for data mapping in the CANopen network They are organized in the following way PLC2 Address Name La
48. his state when the Transmit Error Counter is greater than 255 In this mode the device cannot send or receive messages acknowledge messages or transmit error frames of any kind CAN and CANopen The definitions of error detection frame generation and message transmission are not sufficient for completely defining the data that is transmitted through network It is necessary that a specification indicates how the identifier and the data should be built and how the information should be exchanged Thus the network elements can properly interpret the data that 1s transmitted The CANopen specification defines how to exchange data between devices and how each device should interpret these data There are several other protocols based on CAN that also use CAN frames for communication such as DeviceNet J1939 etc However these protocols cannot operate in the same network Characteristics of the CANopen network Since message transfer 1s carried out through a CAN bus all CANopen network devices have the same rights for accessing the network where the priority of the identifier defines how to solve the conflicts when simultaneous accesses to the network take place This feature makes possible the direct communication between network slaves in addition to the fact that the data can be made available in an optimized manner without requiring a master which cyclic access all devices on the network to update the data for controlling the communication
49. hrough the RPDO 01 COB ID hexa It is the TPDO 01 or RPDO 01 identifier in the CANopen network In order that the Follow data produced in one equipment be consumed in another the value of this parameter must be the same in both equipments Speed Source It selects which speed the follow producer actual speed or speed reference will transmit Refer to the programming example of the Follow 63 block via CANopen for more details 1 Available only for the PLC11 01 and PLC11 02 with firmware gt 1 20 2 Available only for the PLC11 01 and PLC11 02 with firmware gt 1 30 up WSCANSoftware 33 3 11 3 11 1 3 11 2 Slave Object Dictionary Slave Object Dictionary As previously mentioned all the objects accessible via the network are listed on the object dictionary inside the EDS file and sometimes it may be interesting to access the content of these objects In order to access the slave object dictionary click on the slave picture and select the option Object Dictionary The following dialog box appears Object Dictionary Node Communication Protile Area Sublds Mame Value Data Min Mas cess Default Manufacturer Profile Area Standart Profile Area Related topics List of Objects 33 Object Data 34 Changing the numerical base 35 Changing the object value 36 List of Objects The object dictionary is divided into three groups Com
50. in the TxPDO rw and wo will be available and for the TxPDOs the objects with access type rw and ro will be available a list of mapped objects in the PDO a button to add a mapped object a button to remove a mapped object a button to move the mapped object up Up and a button to move the mapped object down Down NOTE For the RxPDOs the object with access type rw and wo will be available and for the TxPDOs the objects with access type rw and ro will be available Weg WSCAN Software 41 3 13 Viewer Configuration of PDOs connections 3 13 1 Viewer Configuration of PDOs connections This window is used to connect Transmit PDOs TxPDO to Receipt PDOs RxPDO in different devices WE View config PDOs Connections PDOs Connections Producer T PDO Consumer AxPDO Consumer HxP30 List Connections Apply Connections Producer T PDU Cancel Help Related topics Procedure for connecting PDOs 4t Listing the connections 48 3 13 2 Procedure for connecting PDOs 3 13 2 1 Procedure for connecting PDOs The procedure for connecting PDOs consists basically on selecting a device that produces determined information Producer and a device that consumes this information Consumer The example presented here is based on the network configuration created in item 9 of this manual Related topics sel
51. ion Input escravo gt mestre RS4001 Z9RS4063 Status of the CANopen slave Pn Input escravo mestre WC4136 Control of the CANopen Write commnication Output mestre gt escravo WC4137 Control of the CANopen Write commnication Output mestre gt escravo The next sections describe each one of these words Related topics Status of the CANopen communication 54 Status of the CANopen slave 55 Control of the CANopen communication 56 Address of the destination slave 56 3 15 3 2 Status of the CANopen communication This word indicates the communication status of the CANopen master Each bit has one specific purpose Bit Description Values 0 2 Reserved 3 Slaves initialization 0 Initialization procedure of the CANopen network is not concluded 1 All slaves configured as mandatory were initialized successfully 4 Error in the slaves 0 Slaves were initialized successfully initialization 1 An initialization error was detected in a slave If this is a mandatory slave the initialization procedure cannot be concluded until the master is able to configure it 5 Failure in the error 0 All the slaves with error control service Node Guarding control service of or Heartbeat are correctly operating the slave 1 A failure was detected in the error control service of at least one slave 6 Slave transmitted 0 No Emergency objects were detected an EMCY object 1 At least
52. ion of messages NOTE On the CAN protocol specification the ISO 11898 standard is used as reference for defining the layer 1 of this model physical layer is WSCAN V2 0X 2 2 2 3 2 4 2 5 Related topics Data frame 8 Remote frame 8 Network acess 8 Error control 8 CAN e CANopen 9 Characteristics of the CANopen network Eb Physical Media ES Address on the CANopen network 97 Data access 10 Data transmission 10 Communication Objects COBs 10 COB ID 11 EDS file 12 Data frame In a CAN network the data are transmitted through a data frame telegram This type of frame is basically composed of an 11 bitsstandard 11bits and extended 29 bits Only standard frames 11 bits are accepted for the CANopen protocol of the WEG master identifier field arbitration field and a data field that may contain up to 8 data bytes NOTE The CAN 2 0 specification defines two types of data frames standard 11bits and extended 29 bits Only standard frames 11 bits are accepted for the CANopen protocol of the WEG master Remote frame Besides the data frame there is also the remote frame RTR frame This type of frame does not contain the data field only the identifier It works as a request so that another device on the network can transmit the intended data frame Network acess Any device on a CAN network can try transmitting a frame to
53. mportant to notice that the object default value is dependent upon the slave address except the COB Ids for NMT and SYNC objects that are common to all network devices These values can also be changed during the device configuration step bits 10 7 ee SS ses 8 EDS file Each device on a CANopen network has a configuration file called EDS which contains several data about the operation of the device over the CANopen network as well as a description of all available objects for communication In general this file 1s used by the master or by the configuration software for programming the devices connected to the CANopen network WSCAN Software Running the WSCAN software The WSCAN can be executed in two modes Ist Via WLP software by using the option CANopen under the Tools menu or by using the shortcut keys Shift F11 7005 Build Communicate Macro Parameters Values F10 CAMopen Shift F 1 1 Fieldbus Fil NOTE The CANopen master function is available only on versions 1 30 or later of the PLC2 board When the WSCAN software is executed from the WLP a configuration file of the CANopen Weg WSCAN Software 13 network with the same name of the current WLP project will be created opened and will be stored inside the current project folder 2nd Through the shortcut created in the Windows Start menu WLP v4 01 WLP v4 20 WLP 5 00 m WoL W500 Aju
54. munication Profile Area that contains the communication specific objects Manufacturer Profile Area that contains the manufacturer specific objects and Standard Profile Area that contains the standard objects common to a class of devices I ommunicalioan Profile Area Manufacturer Profile Arasa Standart Profile Area The objects are always identified by its index and sub index when it exists which have a hexadecimal representation For example the object Device Type has an index 1000h and a sub index Oh as it does not exist while the object Vendor Id has an index 1018h and a sub index 11 is 34 WSCAN V2 0X Communication Profile Area 1000 Device Type 1001 Error Fegister 1003 Pre defined Error Field 1005 COB ID SYNC 100C Guard Time 100D Life Time Factor 1014 COB ID EMDY zE 1018 Identity Object sub number of entries sub Vendor Id subz Product Code subs Revision number subd Serial number The bolded objects in this list belong to the DCF file which is a specific list used by the CANopen master during the slave initialization If an object belongs to the DCF file it means that the master will be responsible for defining the object value during the initialization It is possible to add objects to or remove objects from the DCF file by right clicking the intended object Then the following menu appears Communication Profile Area 1000 Device Type 1001 Error R
55. necessary to define whether the speed is theoretical or actual as the next figure illustrates is WSCAN Software 65 Master Configuration Master1 NMT PROD SYNC PROD HEARTBEAT FOLLOW Disable Producer Enable Consumer Enable 00810 hexa 0183 SPEED SOURCE f Real C Reference Cancelar Splice Ajuda The next step is the consumer configuration according to the next figure The consumer COB ID must be equal to the COB ID defined for the producer Mode Configuration Mode7 NRT HODE GUARDING PROD HEARTBEAT EMEY FOLLOW FOLLOW Disable Producer Enable f Consumer Enable COB ID hesa i aq SPEED SOURCE 5 Cancelar plic Ajuda The definitions made through the Follow configuration dialog box can be observed at the 66 WSCAN V2 0X wey PDOs configuration dialog box The next figure illustrates the transmission PDO TPDO 01 configuration at the Follow producer All the TPDO 01 configuration options are locked because the Follow function is enabled PDOs configuration Master mos de M n ees COB D hexa Transmit PDO 2 6 gt Transmission Type SYNC Hate Transmit PDO 3 Transmit PDO 4 Event Timer ms Transmit POO 5 Transmit POO 6 Inhibit Time E x1 00u Compatibility LE Ene Transmit PDO 7 Transmit PDO 8 Avaliables Objects Mapped Objects Transmit POO 9
56. nnn 31 FOLEOW eee ese eee oa oes 32 11 Slave Object Dictionary ccc enero nnn 33 Slave Object Dictionary AMETE TEE DE 33 DASE OP OCG Ss DE I SN 33 sjlcq5 Wc AUR 34 Changing the numerical Base nt 35 Changing the object Valle e 36 12 Master Slave PDOs Configuration cccscsceceeseeeeenneeeeenseeseenseeeeaaseecoaseeseenseeseannenees 36 Master Slave PDOs Configuration Me 36 59 387 eee A os 37 PDO communication parameters sssssssssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn enhn n nnn nnn nnn 38 PDO Mapping eens 39 13 Viewer Configuration of PDOs connections eere eeee eere nennen 41 Viewer Configuration of PDOs connections eece eee nnn 41 Procedure for connecting PDOS c anani aidan i 41 Procedure for connecting 0625 41 selectingtheproducer T XP P0 ens 42 Selecting the consumer RXPDO cccccccccccece
57. number of mapped bits in the PDOs This is also needed because the CANopen master does not have INTEGER32 objects for mapping Besides the SCA 05 objects Target Velocity and Velocity Actual Value only use the least significant bits that 1s the first 16 bits Only the enabled PDOs are listed The other PDOs were disabled 58 WSCAN V2 0X wey PDOs configuration lt Masteri gt Ax POO lf Enable COB ID pesa 0502 We RTRA Allowed Receive PDO 2 Transmission Type asynchronous M anuf Event SYNC Hate E Receive POO 3 10 Receive PDO 5 a Receive POO 6 Inhibit Time Receive PDO 8 Avaliables Objects Mapped Objects Tx PDO 3D 22 Write WORD 0 UN SIGNED165 0 3022 Write WORD 0 UNSIGNED16 Transmit POO 2 3024 write WORD 2 LINSIGNEDTE 2 3024 write WORD 2 UNSIGNED16 Transmit PDO 3 3025 Write WORD 3 UN SIGNED16 Receive POO 1 Receive PDO 4 Event Timer i 0 1008 Compatibility ms Receive POO rarierut POU T 3D 23 Wile WORD 1 UNSIGNED 1 3023 Wile WORD 1 UNSIGNED16 meer 3D 25 Write WORD 4 LINSIGBMEDTE 3D27 Write WORD 5 UNSIGNED Transmit POO 5 Transmit POO B Transmit PDO 7 Transmit POO 8 3028 Write WORD 6 UNSIGNEDTE 3029 Write WORD 7 UNSIGNED 3024 Write WORD 8 UN SIGNED16 S026 Write WORD 9 UNSIGNED16 lt m ja 2 m ga Up Down Cancel Help PDOs configuration lt Masteri gt R FD v Enable COB ID heal 0482 i ATR Allowed Hece
58. one slave reported an error through the Emergency object Reserved Toggle bit feedback Indicates the value of the toggle bit that was written in the control word The toggle bit alternates between two consecutive requests first request has toggle bit set to 0 After executing the command the slave copies the master toggle bit to inform that the action was successfully performed An incorrect toggle bit value means communication error 9 14 Reserved 13 Bus Off 1 55 0 Master OK is WSCAN Software 55 14 15 Power Oft LL 5 Communication is disabled 1 Master with communication disabled by bus off error 0 Master OK 1 Mestre without power supply on can interface 0 Communication operating normally 1 Master received a command for disabling the communication through the control word and the communication was disabled 1 Bus Off e Power Off indication only for PLC11 01 3 15 3 3 Status of the CANopen slave This is an ARRAY with 63 words where each array position represents the slave address on the network and each word indicates the slave status Each bit of each slave has the following function Bit Description Values 0 Slave identified 0 Slave identification was not performed 1 Slave identification by reading the device type was carried out successfully Slave configured 0 Slave configuration was not performed 1 Procedure for
59. open communication will be interrupted After the transmission is completed the ladder program is executed again and the master reinitializes the CANopen network runs the initialization services and configures all slaves The following window appears in case the communication with the CANopen master via Modbus is not available WSCAN V1 10 In this case check the serial cable connection between the serial port on the PC and the board serial connector Besides that verify the serial configuration set in the WSCAN software as well as the board configuration To access the serial configuration see Figure 67 go to the Configure Serial option under Communication menu or press the Shift F8 keys at the same time Serial Communication Serial Port Seral port ak Address B audrate Parity Ma Number of data bits 8 Number of stop bits 1 OF Cancel 3 14 3 Online monitoring After transmitting the master configuration may be necessary to monitor the devices to check if all configured devices are connected to the network and effectively communicating To monitor the network devices go to the Online Monitoring option under Communication menu press the F9 key or click on the button 50 WSCAN V2 0X wey At this moment the WSCAN will attempt to establish the communication with the board by testing the serial communication If the communication is properly working the follo
60. rite WORD 3 UNSIGNED TE The producer table moves to the position of the first mapped object when the mapping information is double clicked The data related to the TxPDO connections if any will be presented according to the following example is WSCAN Software 43 3 13 2 3 Connected to Made ID H 2 z Node gt AxPOO 1 Mapped 0 Write WORD 0 UNSIGNEDT6 Mapped 1 Write WORD 1 LINSIBNEDTE Mapped 2 Write WORD 2 LINSIBNEDTB Mapped 3 Write WORD 3 UNSIGNEDTE This figure shows that the TxPDO is connected to the RxPDO 1 of the Node ID 2 By double clicking the connection data the device and its respective RxPDO will be selected in the consumer configuration If there are no connections for that TxPDO and it is enabled it means that the TxPDO is configured to produce data to the network but that no other device is configured to consume this data Selecting the consumer RxPDO The consumer is the device responsible for receiving the data from the network Use the following selection box to select the consumer Consumer HsPDU OOOO Master ID 1 lt Master gt Node ID 2 lt Nodes gt After the consumer device was selected a list with the available RxPDOs and their basic information is presented Consumer AxPOO Node ID 1t 2 Node gt AxPOO 1 COB JD 00202 Enable rw HsFDLU 1 COB ID 00202 Enable re AxPOO 2 COB ID Os0302 Enable me RAxPOO
61. rve POO 1 Receive POU 2 Transmission Type asynchronous M anuf Event SYNC Rate LE Receive PDO 4 Event Timer Receive POO 5 d0Dus Compatibility a ss n Hecerve POO 7 t Receive PDO 8 Avalables Objects Mapped Objects Receive POO 3 ms Receive POO 6 Inhibit Time Tx POO Dummy INTEGERS 0 SCE Read WORD 0 LIMSIGMED TE rarismiE PUL 1 Transmit POO 2 Transmit POO 3 Transmit PDO 4 Transmit POO 5 Transmit POO B Transmit POO 7 Transmit POO 8 3 16 5 Slave PDOs SCA 05 Danny INTEBGERTE Dummy INTEGER 32 Dummy UN SIGNEDS Dummy LIMSIBMED TE Dummy UNSIGNED 32 3LE2 Read WORD D UNSIGNED TE 3CE3 Read WORD 1 UNSIGNED16 SCE4 Read WORD 2 UNSIGNED16 SLES Head WORD 3 UNSIGNED16 li 1 3CE3 Read WORD 1 LINSIGHED T8 2 3LE4 Read WORD 2 UNSIGNED16 I n ga Cancel Help gt Up Down A receive PDO RxPDO with COB ID 0502h was created for the slave and the following objects were mapped Controlword UNSIGNED 16 and Target Velocity INTEGER32 Also a transmit PDO TxPDO with COB ID 0482h was created for the slave and the following Only the enabled PDOs are listed The other PDOs were disabled objects were mapped Statusword UNSIGNED 16 and Velocity Actual Value INTEGER32 is WSCAN Software 59 PDOs configuration Node Ax POO lf Enable COB ID pesa 0502 We RTRA Allowed Receive POO 1
62. ss ro read only access const value is constant read only access 3 11 4 Changing the numerical base In order to change the numerical base of an object right click the intended object choose the option Format and then select the new numerical base Subld Mame Value Data Min Max Acess Default POU Vendor Id Ox00000123 UNSIGNEDS OxFFFFFFFF ro OxOO000123 no Edit Value Decimal w Hexadecimal Binary 36 WSCAN V2 0X Weg 3 11 5 Changing the object value Objects that have access type rw and wo can have their values modified When the object value changes it is automatically added to the DCF file In order to change the object value double click the object or right click the object information that you want to change and choose the option Edit Value Then the following dialog box appears Edit Value lt COB ID SYNC gt Data type UNSIGNED 32 80 Apply Default Value Decimal 128 Hexadecimal OxUDUOOUSH Binary HOODOO 0000 0000 0000 0000 OOOO 1000 0000 a TA Carcel Help Use this dialog box to change the object value in one of the three numerical bases the conversion to the other bases is automatic or apply the default value When the default value is applied the object is removed from the DCF file 3 12 Master Slave PDOs Configuration 3 12 1 Master Slave PDOs Configuration As previously mentioned the PDOs are generally us
63. stenatustvageaneunddiaptanied 10 12 Communication Objects COBS e eee nnn nnn aan 10 13 es cro 11 M EDS le 12 Parte lll WSCAN Software 12 1 Running the WSCAN software 1 ee eiieeeeeeiieeeene eene nennen nnn nnn sn anna nn sena nasa n nnn nis 12 2 Main WINGOW etr 14 3 Main Menudo sessions n 14 T BUNN GAT ora een ses em eno ies 15 5 Device Tree wissen ei sano 16 6 Log Windows uae ese 16 7 CANopennework EE EE DEED 17 8 Configuring a new network e liieeee eee ene 17 9 Configuring the master siusecetosussvwaspuciuuEeiva bas du su desde ios dE suas focus Rez COEUR ME Dv INA P rdeds rn ad nn 19 COMMOURING the master srera inti 19 Copyright 2006 2010 WEG All rights reserved WSCAN V2 0X wey D MP cote mme m en nee M 20 SY ING PRODUC EFi M 20 SDO ee 21 HEARTBEAT PRODUCER wiisnews 22 FOLEOW sono eo ana nase eee 24 10 Configuring the slaves ccccccccccccccccccccccecee eens 25 Conliguring the Slaves TETTE TTE TEL tet mE 25 NME c ee 26 lecce 26 HEARTBEAT PRODUCER iwi nnn enn nnn nanan 27 EMC Cen E 28 SAVE RESTORE ison oe anes aeons
64. synchronism is established through the transmission of PDO type telegrams from the Follow producer to the Follow consumers In a CANopen network one producer can be configured for one or several consumers It is also allowed to configure several producers for several consumers provided that each producer uses a different COB ID The Follow function when activated reserves the RPDO1 and the TPDOO1 Producer V ETE PPOO U1 Velocity Position TRDO 01 Velocity Position E is t CAN open is 64 WSCAN V2 0X See also WSCAN configuration 64 WLP configuration 67 CFW11 and PLC11 parameterization 67 3 17 2 WSCAN configuration In the WSCAN the whole communication configuration is set up and it is defined who is the Follow producer and who is the consumer The next figure shows a CANopen network configuration example with three equipments one master and two slaves The slave 2 is configured as Follow consumer and the slave 3 as Follow producer Master ID 1 Masterl gt Bandrate 250 Ebiti s PLC11 Rev 120 Mode ID 2 Hode consumidor gt PLCIl Rev 120 Mode ID Hode3 prodator gt PLCIl6 Rev 120 In the Configuration dialog box at the FOLLOW tab the whole configuration of the Follow function PDOs is performed The equipment that will be the producer must be initially defined informing the PDO COB Id It is
65. t contains the list of available devices that can be used as slaves on the CANopen network This list is created from the content of the EDS folder that 1s located inside the WSCAN installation folder which is the same of the WLP usually C Weg WLP VX YZ where X YZ is the WLP version In order to add a device to this list just copy the EDS Electronic Data Sheet file provided by the device manufacturer to the EDS folder mentioned previously It is necessary to restart the software so that the added files can be included in this list Device Tree Se Fhoens Contact IL CAN BE TC Rev 000020004 WEG Industrias 5 4 LFW O08 Rev 450 PLE1 Rev 160 PLC Rev 100 POS Rev 110 SLA 5 220 230 4 84 Rew 210 Log Window It contains the list of registers errors generated by the software Registers or errors that may happen during the analysis of the EDS files and creation of configuration will be listed on this window 11 24 57 Configuration file generation initiated 11 24 57 Configuration File generation sucssesfullu finalized Logs Weg WSCAN Software 17 3 CANopen network The network structure will be always graphically represented on the WSCAN software The main data related to master and slaves are listed in this representation Master ID 1 Masterl gt Bandrate 500 Ebitls PLC2 Rev 130 Hode ID amp 2 HodeZ2 gt 0 4 045 220 230
66. the network in a certain instant In case two devices try accessing the network at the same time the message with higher priority will be transmitted The message priority is defined by the identifier of the CAN frame the lower the identifier value the higher the message priority Consequently a message with identifier 0 zero has the higher priority Error control The CAN specification defines several error control services which renders it a very reliable network with a very low rate of transmission errors that are not detected Each network device must be able to identify this error and inform the other network elements that an error was detected A CAN network device has internal counters that are incremented every time a transmission or reception error is detected and decremented when a telegram is successfully received When a substantial number of errors is detected the device may enter into the following states wey Introduction to the CANopen protocol 9 2 6 2 7 2 8 2 9 Warning the device enters into the warning state when the counter exceeds a predefined number of errors which means that a high error rate was detected Error Passive the device enters into the error passive state when the counter value exceeds a higher limit In this state the device is not active anymore on the network cannot send or receive messages It can only transmit Error Passive Flags Bus Off the device goes into t
67. tion Inhibit time TxPDOs inhibition time that is the device may not transmit the PDO again before expiry of the inhibit time Compatibility reserved NOTE On master the Asynchronous manufatures event transmission type 1s only by Event Timer programing 3 12 4 PDO Mapping Every PDO can transmit or receive up to 64 bits of data These data shall be configured through the PDO Mapping that basically defines which application objects will be transmitted within a TxPDO and which objects will receive an RxPDO There will be a list of objects that can be mapped for each device as well as the maximum number of mapped objects by TxPDO or RxPDO As previously described the TxPDO and the RxPDO must have the same COB ID so that they can be connected In the same way the total size of mapped bits in these PDOs must be the same The TxPDO can transmit more data than the RxPDO is programmed to receive but never the inverse 40 WSCAN V2 0X Weg E Awvaliables Objects Mapped Objects Dummy INTEGERS 0 6040 Controlvord UM SIGNED TE Dummy IM TEGERTE Dummy INTEGER SZ Dummy UNSIGNED S Dummy UM SIGNED TRE Dummy UM SIGNED Se 2063 P099 Enable IM TEGERTE 2064 F100 Acceleration Time IM TEGERT5 2065 F101 Deceleration Time IH TEGER TE 206F F111 Direction of Rotation IBHTEGER15 r4 TIT gt ll gt The dialog box contains a list of objects available for mapping in the RxPDO or
68. tion fraction of revolution IH 1 2035 P053 Position number of revolutions IM gt ss fo Up Down Cancel Help 3 16 6 PDOs connections The previous example presented how to configure the PDOs individually However it is also possible to configure the PDOs directly on the PDOs Connections window as described in the following figures WSCAN V2 0X wey SAIS De TET PDOs Connections PDUs Connections Producer T PBU Consumer AxPOO Master ID 1 lt Master gt Node ID 4 2 Node gt T PDU 4 COB ID Ox0502 Enable rej 10000 4 00810 Ox0502 Enable rv Connected to Made ID d 2 Made2 gt APOO 4 Connected to Master ID 1 lt Master gt T 4PDU 4 Mapped 0 Write WORD 0 UN SIGNED16 Mapped Cantralward UN SIGNED16 Mapped 1 Write WORD 1 UNSIGNED 6 Mapped 1 Target Velocity INTEGER 32 Mapped 2 Write WORD 2 UNSIGNED16 Consumer AxPlO List Connections Apply Connections Ww HP PY x i n n Ln C o a m s ar ae CL P118 Current Referenze Torq P121 Speed Reterenc INTEC P202 Operation Made IMTEGE P432 Starts STOP Function I P435 Starts MOVE Function it Modes of Operation IHTEGER Target Torque INTEGER16 Target Position INTEGER 32 Profle Acceleration UN SIG ME Profle Deceleration UN SIG AE Motion Profle Type INTEGER Torque Slope LIMSIGMED 32 Torqu
69. wing message is displayed in the status bar at the bottom of the WSCAN software A Serial port 1 open successful A flashing blue LED also located in the status bar will indicate that the communication 1s properly working After the online monitoring is effectively operating the network will be represented as shown in the following figure Master ID 1 Masterl gt Bandrate 1000 Ebiti d PLC2 Rev 130 Hode ID amp 2 Hode2 gt hel C A 045 220 230V 4 84 Rev 210 The status of each device is represented by its LED color The following table describes the LED colors and their respective state LED Color Communication 1s enabled Identified All slaves were initialized Configured successfully Error control initialized when necessary Ho communication error was Master completed the initialization detected 1n a slave No mitialization error No slave reported an EMC Y error Ho communication error Ho EMCY error was reported Hot executing reset Yellow Initialization error was detected ina EMCY error reported flashing slave Executing reset Communication error was detected Error control not initialized when in a slave necessary Slave reported an EMC Y error Red Communication is disabled Not initialized flashing Communication error detected The detailed status of each device can also be accessed during the online monitoring To monitor

WSCAN - Software Manual

Contents

Download Pdf Manuals

Related Search

Related Contents