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CANopen Configuration Manager

1. nections shall be realized via the master The node IDs are distributed as follows Node ID Device EDS file 30 Master edsfiles master_example eds 40 CO411A0 edsfiles CO4011A0 eds 41 CANopen Chip164 edsfiles coP164_0 EDS 42 BK5120 edsfiles BK1520 eds The following connections shall be configured Producer Consumer Node 30 Input Byte 1 Node 40 Write OutputByte_1 Node 30 Input Byte 2 Node 40 Write OutputB yte_2 Node 30 Input Byte 3 Node 41 Write Output 1h to 8h Node 30 Input Byte 4 Node 42 DigOutput8_1 Node 30 Input Byte 5 Node 42 DigOutput8_2 Node 30 Integer16 Input 1 Node 42 Write Analogue Output 1 Node 30 Integer16 Input 2 Node 42 Write Analogue Output 2 Node 30 Integer16 Input 3 Node 42 Write Analogue Output 3 Node 30 Integer16 Input 4 Node 42 Write Analogue Output 4 Node 40 Read Input Byte_0 Node 30 Output Byte 1 Node 40 Read Input Byte_1 Node 30 Output Byte 2 Node 41 Read Input 1h to 8h Node 30 Output Byte 3 Node 41 Read Input 9h to 10h Node 30 Output Byte 4 Node 41 Analog Input 1h Node 30 Integer16 Output 5 and more At the end of the project configuration DCF files shall be available to configure the partic ular devices The names of the objects are the parameter names from the EDS file Page 30 of 41 CANopen Configuration Manager Version 1 4 3 pert 9 1 2 Step by step guide e run CANopen Configuration Manager e select pre defined connection linking at CANopen Net
2. Enable or disable the auto connect feature Verbose status information Enable or disable verbose status information Copy EDS files to project If this is activated the EDS files are copied from the EDS repository to the project folder Reset default values If this is activated the default settings of the device are restored by writing to the object 0x1011 before the device 1s configured Additionally only value that differ from their default values are written into the DCF or concise DCF file Keep active tab Keeps the active tab when the node id changed Ignore errors at download With this option errors at the download of the configura tion to the devices can be ignored SDO abort or missing devices Font Settings Configure the font settings 4 1 8 Help menu Context Help Show specific help in the standard browser About Show information about the program Install Licence File The way to install a new licence file Latest release info Retrieve information about new releases 4 2 Tool bar The tool bar provides access to the following functions from left to right e File gt New Project e File gt Save Project e File gt Open Project e Add new group e Add new node e Delete active node Page 12 of 41 CANopen Configuration Manager Version 1 4 3 pert e Connect e Disconnect Version 1 4 3 CANopen Config
3. Vista Linux Processor Pentium IN or later RAM 256 MByte Hard disk Space 15 MByte 1 5 Support by port The senior engineers at port support the user by a telephone hot line and by training cour ses Additionally the user can have consultations in the whole field of CAN e g network planning network configuration message distribution selection of devices and CANopen Profile implementations Please ask at email service port de phone 49 345 777 55 0 Fax 49 345 777 55 20 Page 6 of 41 CANopen Configuration Manager Version 1 4 3 pert 2 Installation The installation includes e the CANopen Configuration Manager e the m4d server and e a layer 2 driver for the CAN interface For the installation the following steps are necessary 1 Maybe preparing installation steps are necessary depending on the used CAN Interface 2 Execute setup exe e Full Installation The installation of all software components is happened auto matically and menu driven This includes copying of all manuals e Customized Installation The selection of software components is possible which should be installed For the installation of the CANopen Configuration Manager the following components are necessary CANopen Configuration Manager m4d and layer 2 driver 3 For the icon on the desktop set the options for the call of the m4d server depending on your application An overview of the options are given by the help
4. HTML is created EI s2 cop164 html Documentation Konqueror 000009 A A5M GS E gt Adresse file 22 0 0545 projects s2_cop164 htmittpdolist 32 el da iG Documentation 1 Parts list 2 Link list 3 PDO configuration 3 1 Node 32 CANopen Library Example S2 3 2 Node 64 CANopen Chip164 3 3 Node 65 IEC1131 3 PLC 2 Tx PDO 2 Rx PDO 3 4 Node 127 Control Room PC 4 Network settings 4 1 Network topology 4 2 COB ID usage 1 Parts list 32 0x20 CANopen Library Example S2 0564 1 Example for CANopen Library 64 0x40 CANopen Chip164 MM 215 Y E for CANopen Chip 164 configuration 0 This document was created using CANopen Configuration Manager 2006 Feb 01 created usi using ng CA CANopen Configuration Manager 2006 Feb 01 Documentation of the project The file name of the HTML file is lt ProjectName gt html It contains e alist of the used devices e alist of all object links e the PDO configuration of all nodes e the network settings e and a list of the used COB IDs Version 1 4 3 CANopen Configuration Manager Page 37 of 41 pert 13 Different versions 13 1 Standard versions Depending on the version the following features are available Feature CCMbasic CCM pre definied connection linking D D Creation of DCF files D x PLC Support x x unlimited object linking x Network access x CAN message log X 13 2 Eval Demo version With the eval versionthe numb
5. async Transmit PDOs Figure 11 List tab node The list tab for nodes shows the PDOs of a device with their COB ID transmission type event timer inhibit time and their mapping entries Before a valid configuration has been created by activating Data Linking gt Generate PDO Linking default values read from the EDS files are shown If a valid configuration has been created this list shows the configured PDOs as they are written into the DCF files In this view the transmission type and the event timer of the PDOs can be configured Page 26 of 41 CANopen Configuration Manager Version 1 4 3 pert 7 4 Object configuration tab The object configuration tab provides access to all manufacturer and device profile spe cific objects The ParameterValues of these objects can be configured and the configured values can be transferred to the devices when writing the configuration via CAN The modified ParameterValues are saved in the project file and can also be written to the DCF files Mask Table List Object Tree Manufacturer and Device Profile Objects CH 2000 10 Configuration J 2001 NMT Boot Network beC 00 Number of Entries 2 01 NMT Boot Enable CH 02 NMT Start Time 6000 Read Input 8 Bit 6200 Write Output 6 Bit B C 6206 Error Mode Output 8 Bit J 00 Number of Output 8 Bit H 01 Error Mode Output 1h to 8h ao 6401 Read Analogue Input 16 Bit 6207 Error Value Output
6. the previous example any connections are possible now to the same with node 41 e save the project File gt Save Project as e generate PDO configuration Data Linking gt Generate PDO Linking e Write configuration into DCF files if no error is reported The DCF file are now available and can be used to configure the devices If a connection to a CANopen Server is available so the configuration data can be sent directly to the devices Page 34 of 41 CANopen Configuration Manager Version 1 4 3 pert 10 CANopen PLC Support The CANopen Configuration Manager supports CANopen PLCs according to DS405 These devices have dynamical entries in to object dictionary called network variables The usage of dynamic network variables is defined in CiA 302 Framework for Pro grammable CANopen Devices and in CiA 405 Interface and Device Profile for IEC 61131 3 Programmable Devices and shall not be explained here in detail In the connection table each CANopen PLC has one type less network variable as input and output object If this type less variable is connected to another object it changes its datatype into the other s one and a name for this network variable is generated automati cally based on the node ID and the parameter name of the other object If two PLCs are connected a dialog appears that asks for the desired datatype The generated DCF file for the CANopen PLC can be loaded in an IEC61131 develop ment environment e g Ope
7. used projects List of recently used projects Import Project Import an existing project Save Project Save the project Save Project as Save the project using a different name Hint It is highly recommended to save the projects into dif ferent folders The project outputs are generated automatically prior to saving the project Quit Closes the CANopen Configuration Manager 4 1 2 Edit menu Via the edit menu the following functions are available Delete Node Delete the selected node 4 1 3 Data Linking menu Via the data linking menu the following functions are available Generate PDO Linking Generate the pdo configuration Write DCF Files amp Docu Write the configuration into DCF files and generates the mentation documenation 4 1 4 View menu EDS and DCF files can be viewed via the view command Page 10 of 41 CANopen Configuration Manager Version 1 4 3 pert EDS file Show the EDS file of the current node DCF file Show the DCF file of the current node TEC61131 file Show the IEC61131 variable file Project documentation Show the project documentation Log file Show the log file CAN message log Open the CAN message display 4 1 5 Connection menu Via this menu connections to a CANopen Server can be opened configured and closed It is only available if the currently used release of the CANopen Configuration Manage
8. 1 4 3 CANopen Configuration Manager Page 41 of 41
9. 6 Bit 3 00 Number of Output 8 Bit CH 01 Error Value Output 1h to 8h a 6421 Analogue Input Interrupt Trigger L Object Parameters Object 6206 01 Parameter Mame Error Mode Output 1h to 8h Data Type UNSIGNEDS Access Mode rw Default Value OxFF Parameter Value Ox00 Change Parameter Value in DCF File Figure 11 object configuration tree Version 1 4 3 CANopen Configuration Manager Page 27 of 41 pert 8 PDO linking methods 8 1 unlimited object linking The unlimited object linking allows to link objects of different devices The COB IDs of the PDOs and the PDO mapping entries of the devices are modified to realize the selected connections The default mapping entries of devices which support dynamic mapping are overwritten by the CANopen Configuration Manager When the configuration is com puted and written into the DCF files the devices have to be configured with the DCF files If the CANopen Configuration Manager is connected to a CAN network the configura tion can be transmitted to the devices directly PDO connections CANopen device PDO mapping and linking configured by CCM PDO connections The unlimited object linking is not supported by all versions of the CANopen Configura tion Manager 8 2 Pre defined connection linking The pre defined connection linking limits the flexibility of CANopen so that only connec tions between one master and sev
10. S unlimited object linking AE 7 250 kBits s 500 kBits s Modified by ged v 7 1000 kBits s Figure 6 Mask tab network Page 18 of 41 CANopen Configuration Manager Version 1 4 3 pert Device Properties M Device is master Device does not use SYNC C Device is SYNC consumer Device is SYNC producer Heartbeat interval ms 2 Heartbeat Consumer Settings Figure 7 Mask tab node settings The mask for nodes contains the following items Section Device Properties Device is master Set the master flag Device does not use SYNC Device is SYNC Consumer Device is SYNC Producer The SYNC behavior of the device is configured according to this selection Heartbeat interval Configure the heartbeat producer interval in ms SYNC Period Configure the SYNC period for SYNC Consumers if supported by this device Synchronous Windows Configure the synchronous windows object Heartbeat Consumer Settings Configuration of Heartbeat Consumer settings if object 1016h exists Version 1 4 3 CANopen Configuration Manager Page 19 of 41 pert Master Settings M Download concise DCF 1F22 M Download NMT startup config 1F80 T Download slave assignment 1F81 1F83 I Download slave ident 1F84 1F88 Figure 8 Mask tab node settings FNMT Startup Configuration 1F 80 Device is NMT master I Start remode node with node ID O Shal
11. System Requirements 2 Installation 3 Hardware Configuration 4 Overview 4 1 Main menu 4 1 1 File menu 4 1 2 Edit menu e 4 1 3 Data Linking menu 4 1 4 View menu 4 1 5 Connection menu 4 1 6 Action menu 4 1 7 Options menu 4 1 8 Help menu 4 2 Tool bar 5 Network tree 6 EDS Settings 6 1 EDS Files 6 2 EDS Repository 7 Configuration tabs 7 1 Mask tab 7 2 Table tab 7 3 List tab 7 4 Object SSC tab 8 PDO linking methods 8 1 unlimited object linking 8 2 Pre defined connection linking 9 Making of an example project 9 1 Example for pre defined connection Linking 9 1 1 Example network pi 3 9 1 2 Step by step guide 9 2 Example for unlimited object Linking 9 2 1 Example network 9 2 2 Step by step guide 10 CANopen PLC Support 11 Import of existing projects Version 1 4 3 CANopen Configuration Manager Page 3 of 41 pert 12 Documentation of the project A 13 Different versions e A 13 1 Standard versions eee A8 13 2 Demo FERINA a s e 4 2 2 6 6 amp 4 ee 2 we Be we eee O 14 About amp Release Info Dialog A8 Appendix 1 DCF creationerrors e 20 Page 4 of 41 CANopen Configuration Manager Version 1 4 3 pert 1 Introduction 1 1 Product Overview The CANopen Configuration Manager of port is a tool for the configuration of CANopen networks Inputs and outputs of different devices can be linked toge
12. anager Page 15 of 41 pert 6 EDS Settings 6 1 EDS Files EDS files describe CANopen devices their properties and objects in a standardized text format The CANopen Configuration Manager is able to read EDS files newer than EDS version 4 0 The main difference to earlier version is the declaration of the PDOs of a device If you get the error message No PDO found your EDS is maybe out of date 6 2 EDS Repository The EDS Repository is a folder that stores all EDS files Via Options EDS Repository the folder for the repository can be chosen 3 CANopen Configuration Manager X Select EDS Repository Z2 projects edsFiles Ok Cancel Figure 4 dialog to select the EDS directory To add files to the EDS repository they have to be copied into the EDS repository folder Additionally the repository data have to be updated by Options Update EDS Repository The EDS selection dialog simplifies the selection of an EDS file for the device by show ing device specific parameter Page 16 of 41 CANopen Configuration Manager Version 1 4 3 pert SS CANopen Configuration Manager EDS Selection VendorName 5 ProductName port GmbH port GmbH port Novotechnik Me Novotechnik Me Novotechnik Me MTS Sensor Te MicroControl G MicroContral G MicroControl G MicroControl G Messung Systems Maccon port Maccon port Leukhardt Keba 4G JUMO GmbH amp Jenae
13. e 40 in the network tree and activate the table tab create more connections according to the list above create some other connections save the project File gt Save Project as generate PDO configuration Data Linking gt Generate PDO Linking Write configuration into DCF files if no error is reported The DCF files are now available and can be used to configure the devices Version 1 4 3 CANopen Configuration Manager Page 33 of 41 pert 9 2 Example for unlimited object Linking 9 2 1 Example network The small example net consists of 3 digital IO devices that exchange data with each other The node IDs are distributed as follows Node ID Device EDS file 40 CO411A0 edsfiles co4011A0 eds 41 CANopen Chip164 edsfiles COP164_0 EDS 42 BK5120 edsfiles BK1520 eds The following connections shall be configured Producer Consumer Node 40 Input Byte_0 Node 41 Write Output 1h to 8h Node 40 Input Byte_0 Node 42 DigOutput8_3 Node 41 Read Input 1h to 8h Node 40 Write Output Byte_1 Node 41 Read Input 1h to 8h Node 42 DigOutput8_1 9 2 2 Step by step guide e run CANopen Configuration Manager select unlimited object Linking at CANopen Network Settings e add 3 nodes and load the corresponding EDS file set the node IDs to their right values select CANopen Network e set baud rate to 125 kBits s in mask tab select node 40 active table tab activate the connections as according to the list above in contrast to
14. er of nodes is limited to 2 and only 125 kBit s can be used 14 About amp Release Info Dialog 14 1 About Dialog The about dialog provides information about e the current release e the type of this release e the licensee and e the license 14 2 Latest Release Info Dialog When requesting information about the latest release of the CANopen Configuration Manager a http connection to our server is established and the data approx 10 bytes are downloaded from the server NOTHING except your IP address IS SENT TO THE SERVER WHEN RETRIEVING THE LATEST RELEASE INFO Page 38 of 41 CANopen Configuration Manager Version 1 4 3 pert Appendix 1 DCF creation errors No connection found e No connections between any nodes resp objects has been found More objects to transmit than available mapping entries in transmit PDOs transmit channels The number of the objects to transmit is larger than the number of available mapping entries in the TPDOs More objects to receive than available mapping entries in receive PDOs receive channels s The number of the objects to receive is larger than the number of available mapping entries in the RPDOs More data to transmit than available in transmit PDOs transmit channels e The data size number of bits of the objects is larger than the available size in the TPDOs More data to receive than available in receive PDOs receive channels e The data size number
15. eral slaves are possible but no connections between two slaves At the slaves the access is limited to these objects that are transmitted received via the predefined mapping entries default mapping The information about the predefined Page 28 of 41 CANopen Configuration Manager Version 1 4 3 pert mapping entries is taken from the EDS file A further restriction is that only the first 4 PDOs of the Predefined Connection Set can be used For these PDOs the standard COB ID based on the PDO number and the node ID is used PDO connections CANopen device with default PDO configuration Predefined Connection Set and default mapping L CANopen PLC Master PDO Connections For the user these restrictions are only visible in the connection table where the number of input and output objects is highly limited Furthermore connections between slaves are not possible The advantage of this procedure is that the PDO configuration of the slaves need not to be configured because their default PDO configuration described in the EDS file is used The choice of a linking method has to be done as the very first step It can be configured at the mask tab of the network Version 1 4 3 CANopen Configuration Manager Page 29 of 41 pert 9 Making of an example project 9 1 Example for pre defined connection Linking 9 1 1 Example network The example net consists of a master with several IOs and 3 further IO devices All con
16. hite field activates the connec tion and the field is marked red Object Linking Table Select Producer Node 72 CANopen Chip164 e Figure 9 Table tab Thereby the following restrictions have to be considered e previous connections to an input consumer object are deleted when selecting a new one e an output producer object can be linked with several input objects in different devices e an input object can only be linked with one producer Version 1 4 3 CANopen Configuration Manager Page 23 of 41 SNopen device sl Object information Change denotation I 68 bit objects MM 16 bit objects JM 32 bit objects Figure 10 Context menu within the linking table 7 2 1 Context menu in linking table As figure 10 shows it is possible to filter out different objects Here you can select filter ing of 8 bit 16 bit and 32 bit objects The filter menu can be activated by clicking into the empty field in the upper left corner of the Object Linking Table 7 2 2 Horizontal scrolling For large project with several hundred process data per device the following special fun tions of the horizontal scrollbar are useful Klicksequenz Click into free space between slider and Linking table is moved by one screen arrow lt Ctrl gt Click into free space between Linking table is moved by 4 screens slider and arrow Page 24 of 41 CANopen Configuration Manager Versio
17. l not switch into Operational I Master shall not start the slaves M Reset all nodes with node ID O I Node is flying master M Stop all nodes with node ID O The mask to set the configuration for this nodes contains the following items Section Master Settings Download concise DCF 1F22 Download of the particular DCFs from slaves onto the master Download NMT startup config 1F80 Download of the particular slave startup configuration from slaves onto the master Download slave assignment 1F81 Download of particular slave assignments onto the master Download slave ident 1F85 1F88 Download of slave identification information object 1018h onto the master Boot Time 1F89 in ms Configuration of the boot time of the master in milliseconds Page 20 of 41 CANopen Configuration Manager Version 1 4 3 pert Section NMT Startup Configuration 1F80 Device is NMT master If marked so the device is the NMT master Start remode node with node ID 0 If marked so the NMT will start the remote node with ID 0 Shall not switch into Operational If marked so the device does not switch into operational mode by itself Master shall not start the slaves If marked the master shall not start the NMT slaves this will be done by the application Reset all nodes with node ID 0 If marked reset all nodes if an error control event occurs send n
18. lar performance characteristics and technical data given in this document may not be constituted to be guaranteed product features in any legal sense For consequential damages which are emerged on the strength of use the program and the hardware boards therefore every legal responsibility or liability is excluded port has the right to modify the products described or their documentation at any time without prior warning as long as these changes are made for reasons of reliability or technical improvement All rights of this documentation lie with port The transfer of rights to third parties or duplication of this document in any form whole or in part is subject to written approval by port Copies of this document may however be made exclusively for the use of the user and his engineers The user is thereby responsible that third parties do not obtain access to these copies The soft and hardware designations used are mostly registered and are subject to copy right We are thankful for hints of possible errors and may ask around for an information We will go all the way to verify such hints fastest Copyright 2010 port GmbH Regensburger StraBe 7b D 06132 Halle Tel 49 345 777 55 0 Fax 49 345 777 55 20 E Mail service O port de Internet http www port de Page 2 of 41 CANopen Configuration Manager Version 1 4 3 pert Table of Contents 1 Introduction 1 1 Product Overview 1 3 Product Delivery 1 4
19. ll other options in the dialog are disabled The following options are available for all supported hardware interfaces Page 8 of 41 CANopen Configuration Manager Version 1 4 3 pert Option Description CANopen Server path to the CANopen Server m4d Baud Rate CAN Baudrate kbit s TCP port TCP port used for the communication between the CCM and the CANopen Server m4d local node ID Node ID of the CANopen Server m4d Send PREOP at exit automatic transmission of the NMT command ENTER PREOPERATIONAL to all devices when the CANopen Server is shut down Keep server running at exit the CANopen Server will not be closed when the CCM is closed Depending on the hardware interface some additional options like device channel board or unit can be present These options distinguish the connected device or the desired communication channel The CANopen Configuration Manager searches for all installed drivers and CANopen Server and offers only the installed drivers at the option CAN Interface Mostly it s only one driver plus TCP as default option Network access is not available in the version CCMbasic Version 1 4 3 CANopen Configuration Manager Page 9 of 41 pert 4 Overview 4 1 Main menu 4 1 1 File menu Via the file menu the following functions are available New Project Create a new project Load EDS Load a EDS file Open Project Open a project Recently
20. m4d h Alternatively the CANopen Configuration Manager is able to start the CANopen server m4d For additional hints please see section Hardware Configuration 4 Define the working directory for the shortcuts on your desktop depending on your application Version 1 4 3 CANopen Configuration Manager Page 7 of 41 pert 3 Hardware Configuration As alternative to the previous described method the CANopen Configuration Manager is also capable to start the CANopen Server by itself Thereby the CANopen Configuration Manager handles the start the connection establishment and the closing of the CANopen Server m4d automatically At the first start of the CANopen Configuration Manager after the installation the config uration dialog opens automatically After that the hardware configuration can be opened by Connection gt CAN Interface Configuration The other method with a separate start of the CANopen Server is still possible so that its advantages like a remote control of device via a TCP IP network can be used too 3 1 Configuration Dialog CAN Interface cand4linux Se CANopen Server ust share port bin m4d_s aj Device Cant e Baud Rate 125 e Timeout q Advanced Settings TCP port local node ID send PRE OP at exit of server Keep server running at exit Figure 2 Hardware configuration dialog Is TCP selected as CAN Interface so the CANopen Server has to be started separately and a
21. n 1 4 3 pert 7 3 List tab Connection list Mask Table Jorjects Connection List Producer Index Nam Zeie Index Nam Type 0x6000 men DIO_ ge Ox6200 men El OF o Ox6000 001 0x01 Read In z 0x6200 001 0x01 DOO_D o 72 0x6401 001 0x01 Analog l 64 0x6500 001 0x01 400 i16 72 0x6401 002f0x02 Analog l 64 Ox6500 002f0x02 401 116 64 Ox6000 001 0x01 DIO_DI T2 0x6200 001 0x01 Write O ud 72 Ox6000 001 0x01 Read In 73 0x6200 001 0x01 Write O ud 72 Ox6422 001 0x01 Interrupt 73 Ox6424 001 0x01 Analogu i32 72 0x6426 001 0x01 Analogu 73 0x6425 003 0x03 Analogu 132 72 0x6426 002f0x02 Analogu 73 Ox6425 004 0x04 Analogu 132 72 Ox6000 001 0x01 Read In 74 0x6200 001 0x01 Value_ ud 72 Ox6000 001 0x01 Read In 75 Ox6002 001 0x01 Polarity ud 72 0x6000 002 0x02 Read In 75 0x6002 002 0x02 Polarity ud A Y Clear all connections Figure 11 List tab network The list tab for the CANopen network shows all connections within the network By pressing the button Clear all connection all connections can be deleted Version 1 4 3 CANopen Configuration Manager Page 25 of 41 pert PDO configuration list Mask Table List Jobjects Config PDO List Receive PDOs PDO COB ID 1 ox000001C0 E 0x80000000 Oxff async Oxff
22. nPCS There the network variables can be within PLC pro grams Usually they have to be declared as extern for this purpose For further informa tion please have a look into the manual of your IEC61131 development environment Additionally the CANopen Configuration Manager creates a file with the variable decla rations for each CANopen PLC The content of this file may be copied directly into the IEC61131 programming environment Version 1 4 3 CANopen Configuration Manager Page 35 of 41 pert 11 Import of existing projects Existing projects which consist of a set of DCF files in one directory can be imported into the CANopen Configuration Manager Before the import please ensure that all EDS files of the used CANopen devices can be found by the CANopen Configuration Man ager too Put the EDS files either into the EDS repository or into the project directory The import itself can be started by File gt Import Project and it will run autonomously If the configuration of the project is invalid the import is aborted Reasons for an invalid configuration may be e missing EDS files e multiple usage of node IDs e multiple usage of COB IDs in TPDOs e or RPDOs without fitting TPDO Please try to fix these problems before the import Page 36 of 41 CANopen Configuration Manager Version 1 4 3 pert 12 Documentation of the project After the output of the DCF files a documentation of the project in
23. ode ID 0 Node is flying master If marked the device will participate the NMT flying master negotiation Stop all nodes with node ID 0 If set stop all nodes if an error control event occurs by sending node ID 0 Version 1 4 3 CANopen Configuration Manager Page 21 of 41 pert Section Slave Assignment Configuration 1F81 Node is NMT slave and available If marked so the device is a NMT slave and available in the network Node shall be bootup by NMT Master If marked so the NMT service start remote node will be performed if an error control event or NMT service Node is mandatory in network If marked so the device is present prior to network startup Node shall not be reset in Operational If marked the NMT service reset communication shall not be executed if the device is in state operational Check software version If set so a software verification shall be performed for this device Do software update If marked a software update shall be performed for the device Restore factory default before use If set so the device shall be reset to factory defaults Guarding Time ms This value indicates the cycle time for node guarding of this device Value 0 disables node guarding Retry Factor A value of 0 disables the node guarding for that device Other values define the number of retries the NMT master issues node guarding e
24. of bits of the objects is larger than the available size in the RPDOs More data from different nodes to receive than available receive PDOs receive channels e The number of nodes that want to transmit data to this node is bigger than the number of available receive PDOs Node xx RPDO with COB ID yyy expects n mapping entries but only m shall be transmitted by the master e Error in pre defined connection linking mode This error occurs if less data shall be sent to a node than it expects In the pre defined connection linking mode the configuration of the slaves shall not be changed so it is necessary to send as much as data to the slave as it expects Le The size of the TPDO the master sends to the slave must be the same as the size of the slave s RPDO Linking failed due to undefined error at node xx e Undefined error at node xx e Such error may point to an unrealizable configuration An example for an unrealizable configuration is Version 1 4 3 CANopen Configuration Manager Page 39 of 41 pert a node has only one PDO to transmit this node wants to send some data altogether 8 bytes to two different devices one consumer has only 4 mapping entries per PDO this consumer cannot be configured to receive data from an PDO with 4 Dummmy Mapping entries and the producer cannot split the data to 2 PDOs Page 40 of 41 CANopen Configuration Manager Version 1 4 3 pert Version
25. pert SS CANopen Configuration Manager z2 2007 projects bottlingplant net connected to 19417333129 User Manual CANopen Configuration Manager File Edit Data Linking View Connection Actions Options Help D sO Frrlgys amp g CANopen Network group 0 IO devices node 1 CANopen I0 X5 node 2 CANopen IO X2 node 3 CANopen IO X3 EDS loX3_24DO eds 4 DCF lox3_24DO_3 dcf node 4 CANopen 10 X4 4 EDS loX4_8Al eds Y DCF loX4_8A l_4 def node 5 CANopen 10 X6 Y EDS lox6_840 eds DCF lox6_840_5 dcf E group 1 Control devices node 126 1EC61131 3 PLC 64 EDS plc64pdo eds DCF plc64pdo_126 dcf node 127 IEC61131 3 PLC 64 4 EDS ple64pdo eds DCF ple64pdo_127 def F Mask pg List Objects Object Linking Table Select Producer Node 126 lEC61131 3 PLC 64 ei Linking Mode unlimited object linking port GmbH Halle 20 09 2010 CANopen Configuration Manager Version 1 4 3 pert Disclaimer All rights reserved The programs boards and documentations supplied by port GmbH are created with due diligence checked carefully and tested on several applications Nevertheless port GmbH can not take over no guarantee and no assume del credere lia bility that the program the hardware board and the documentation are error free respec tive are suitable to serve the special purpose In particu
26. r supports it Connect Connect to a CANopen server Disconnect Disconnect CAN Interface Configuration of the CANopen server 4 1 6 Action menu The action menu allows access to the CANopen network It is only available if the cur rently used release of the CANopen Configuration Manager supports it Stop Network Send the NMT command STOP Preop Network Send the NMT command ENTER PREOPERATIONAL Reset Communication Send the NMT command Reset Communication Reset Node Send the NMT command Reset Communication Start Network Send the NMT command START Send Configuration Transmit the current configuration to the nodes Subsequent to the transmission the parameters can be stored in non volatile memory if it is supported by the devices H Handle network access with caution 4 1 7 Options menu Different options can be configured using this menu The number of the options and their availableness depend on the kind of the CANopen Configuration Manager and on the cur rent linking mode Version 1 4 3 CANopen Configuration Manager Page 11 of 41 pert Menu item Description EDS Repository Configuration of the EDS repository Update EDS Repository Update repository information Ask before network access Toggle this option COB ID Distribution Configuration of the COB ID Distribution settings Auto Connect
27. r Antriebst Java Process contr CANopen manager 520 example TMI CANopen Sens TMI CANopen Sens TMI CANopen Sens Temposonics_R Ser Temperature Acquis uCAN 6 dio BOX uCAN 4 t IP65 Temperature Acquis indiCAN 6416 DSM DSM DEASY 4K 100 21 BL210 JUMO CANtrans P ECOSTEP 200 Profile Description 0 Java Process controller with JNI bindi 0 CANopen manage for DESY using po 0 Win32 MFC Example 406 CANopen position sensor DS406 C1 406 CANopen position sensor DS406 C1 406 CANopen position sensor DS406 C1 406 EDS for Temposonics R 2004 transdu 404 EDS for uCAN sensor 401 EDS for uCAN 6 dio BOX 404 EDS for uCAN 4 ti IP65 404 EDS for uCAN 4 ti IP65 401 Remote IO with 8 digitak inputs amp 8 di D Servo Controller 402 Servo Controller 401 EDS for Leukhardt DEASY 4K 100 21 401 Die BL210 ist eine KEBA Baugruppe f 404 EDS Datei fuer JUMO CANtrans P 402 ECOSTEP 200 DCS RPDOs TPDOs Gran FileName ot of offs off off off of of of 512 ooowooocoo oo o0o00o0o0oA 512 o Bm mn yy ERRECHEN CCRN 000 00000000000000 java_prcO eds 00000034_comgr eds s20 eds tmi_ssi0 eds tmi_ssil eds tmi eds MTSCO201 eds m13200 eds mcan dio_box_v2r03 meand4ti_box_v3r00 ec 1240010 eds indiCAN_6416 eds dsm_n eds dsm eds L5219126 EDS bI210 eds CANtransP eds ECO200 eds Figure 5 EDS selection dialog The following
28. table explains the columns of the list Column header Description VendorName Name of the device s vendor read from Devicelnfo section ProductName Name of the device read from DeviceInfo section Profile Used device profile lower word of the value of object 0x1000 Description Description of the device read from DevicelInfo section DCS Value of the DynamicChannelsSupported Entry RPDOs Number of Receive PDOs value of NrOfRXPDO Entry TPDOs Number of Transmit PDOs value of NrOfRXPDO Entry Gran Value of the Granularity Entry Version 1 4 3 CANopen Configuration Manager Page 17 of 41 pert 7 Configuration tabs According to the selected element in the network special tabs are available at the right side When dealing with large projects on slow computers the activation and updating of these tabs can take a noticeable time Depending on the active tree element the mask tabs provide access to node or network settings or present only general information 7 1 Mask tab If the CANopen network is selected the mask tab provides access to network settings like baud rate reset timeout global SYNC parameters or the desired linking mode 1 Mask Table List II Network Settings Network Network Baud rate Sync Settings Name bottling plant 10 kBits s Sync Producer ei Number Di us 20 kBits s Sync Interval us E _ pre defined connection linking 50 DES
29. ther in a comfortable way Based on these links the PDO configurations for each device are created automati cally The configurations are written into DCF Files or can be send directly to the devices if a CAN hardware interface is available 1 2 Specialities at network access Versions of the CANopen Configuration Manager which have the abbility of a network access perform this access via a so called CANopen Server This CANopen Server may run on the local computer on a remote computer or in an embedded device The CANopen Configuration Manager uses TCP IP to communicate with this server m4d using the protocol CiA 309 3 standardized by CAN in Automation COMPUTER A COMPUTER A COMPUTER B CANopen Server CANopen Server CAN Interface CAN Interface CAN Bus CAN Bus Figure 1 Structure of the CANopen Configuration Manager 1 3 Product Delivery The scope of delivery of the CANopen Configuration Manager basic e User Manual Version 1 4 3 CANopen Configuration Manager Page 5 of 41 pert e software for CANopen Configuration Manager The CANopen Configuration Manager contains additionally e CANopen Server m4d e a CAN hardware interface All software components are available for download 1 4 System Requirements The CANopen Configuration Manager runs on PC s with Microsoft Windows 2000 Windows XP Windows Vista or Linux Operating System Windows 2000 Windows XP
30. uration Manager Page 13 of 41 pert 5 Network tree Y CANopen Network DCH group 0 Master node 32 SYSTEC IEC1131 3 PLC 6 CH EDS PLC64PDO EDS GC DCF PLC64PD0_32 dcf DC group 1 1O Devices 2 3 node 40 BK5120 BKS120 eds BK5120_40 dcf DC node 41 BK5120 EDS BK5120 eds DCF BK5120_41 dcf D node 42 CANopen Chip164 9 EDS COP164_0 EDS 9 DCF COP164_0_42 dcf Figure 3 Network tree The network tree contains all nodes of a network in groups A group is a set of nodes with a common attribute E g it is possible to arrange all input devices and all outputs in different groups or to arrange them according to their topology Popup menus that are available via the right mouse button are assigned to different tree elements of the tree Page 14 of 41 CANopen Configuration Manager Version 1 4 3 pert These elements are e CANopen Network Groups Nodes The elements of these popup menus are CANopen Network Add new Group Adds a new group group Rename Group Renames the group Delete Group Deletes the group Add new node Adds a new node node Change Node ID Changes the node ID Rename node Renames the node Move node Moves node to another group Delete node Deletes the node Load EDS file Loads an EDS file Change DCF name Renames the DCF file of the node H It is not possible to undo changes here Version 1 4 3 CANopen Configuration M
31. vents At groups only the group members are listed And if an EDS file is selected an overview about all main EDS parameters is shown 7 2 Table tab The table tab provides access to the main part of the CANopen Configuration Manager the link table The output objects of the node selected at Select Producer are listed at the left legend of the table The names of the objects are taken from the parameter name from the EDS file If the output objects are network variables according to DSP302 their names are built from the node ID and the EDS Name of the corresponding consumer object For these network variables a popup menu is available that allows deleting and renaming of them Page 22 of 41 CANopen Configuration Manager Version 1 4 3 pert The top bar shows the input objects of the other nodes arranged in groups and nodes To keep track of these objects nodes and groups can be folded together by a popup menu that is available via the right mouse button Additionally the objects can be filtered by data types In the table body all objects can be linked with each other If a link between two objects is possible the intersection is displayed lightgreen If the background of the intersection is yellowgrey it is not possibly to link the objects because of different data types For connections between nodes that are folded or are generally not possible also a yellowgray background is used Pressing the left mouse button in a w
32. work Settings e right mouse click on group 0 select Rename group Rename group Delete group Add new node Figure 14 Popup menu of a group rename group 0 to Master CANopen Configuration Manager DI Enter name for group 0 Ok Cancel Figure 15 Rename dialog of a group e right mouse click on CANopen Network select Add new group e rename group to Slaves e right mouse click on node 1 select Change Node ID Change Node ID Rename node Move node to group Delete node Load EDS file Figure 16 Popup menu of a node e change node id to 30 Version 1 4 3 CANopen Configuration Manager Page 31 of 41 pert reselect node 30 e select Device is Master in the mask tab e right mouse click on node 30 select Load EDS File select EDS file master_example eds select group 1 e right mouse click on group 1 select Add new node create 3 nodes change node IDs to 40 41 and 42 load EDS files for these nodes according to the table above select CANopen Network set baud rate to 125 kBits s in mask tab Select node 30 activate table tab create links according to figure 17 Page 32 of 41 CANopen Configuration Manager Version 1 4 3 Select Producer Node 30 example master Figure 17 Part of the linking table scroll down in the linking table using the right scroll bar connect the first 4 Integer16 objects left with the 4 analogue objects of the node 42 select nod

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