sigmadue Control Unit CU-02
Contents
1. Reads 16 digital value from a memory area dedicated to a MB slave Reads registers from a memory area dedicated to a MB slave MODBUS MASTER EXECUTE Executes a query in compliance with the MB protocol MODBUS MASTER STATUS Checks the status of the MB agent MODBUS SET DIGITAL SLAVE Writes 16 digital value to a memory area dedicated to a MB slave MODBUS SET DWORD DATA Writes two contiguous registers 4 bytes to a memory area dedicated to a MB slave MODBUS SET WORD DATA MODBUS SLAVE SETTINGS MODBUS SLAVE STATUS Writes registers to a memory area dedicated to a MB slave Sets node id and timeout parameters of the MB slave agent Checks the status of the MB agent NET ASCON ID Returns information about the modules connected NG RTR It sends a RTR message to a network node address accordingly to the Node Guarding protocol standards OPEN SERIAL COMM Configures the serial port and set the protocol used on it RESET PULSE COUNTER Resets the counter value of the specified DI RAND RTC GET VALUES Generetes random numbers from 0 to 65535 Reads the system clock RTC SETUP Sets the system clock SERIAL IO CONFIG Configures the ASCII serial port SERIAL IO READ Reads data from the ASCII serial port SERIAL IO READ BYTE ASCII serial port Byte reading SERIAL IO WRITE SERIAL IO WRITE BYTE Write data on the ASCII serial port ASCII serial port Byte writ2. MODBUS TCP IP SETUP Messages per cycle 10 Broken connection timeout s 10 Secure Address Setup Priority Address Setup Exit Enter Selection Figure 3 14 Modbus TCP IP Setup Menu Messages per Cycle By the first item the user can insert the number of messages processed dur ing each cycle The inserted value must be comprised between 1 and 50 Broken Connection Timeout s By the second item you can set the inactivity timeout of a TCP IP con nection in seconds The inserted value must be comprised between 10 and 5400 To verify the connection state after a long period of inactiv ity the TCP IP keepalive protocol is used The protocol performs in sequence the following steps 1 At each received messages the timeout is zeroed 2 In the case that the programmed timeout is reached a probe message is sent in order to verify if the connection is still active 3 If an answer to the probe is received then the timeout is zeroed 4 In case of no answer the probe will be sent again three times every 10 seconds 5 X After the fourth probe has got no answer the connection will be closed Secure Address Setup Selecting this item a new window will appear displaying the menu called Secure Address Protocol see next Exit exit this menu and return to the previous menu 3 2 13 3 2 14 Chapter 3 CPU Setup Modbus TC IP Secure ADDRS Table Menu Ascon S p a SigmaPAC Contro
3. Stop eS cise Exit Enter Selection Figure 3 7 Serial Setup Menu Baudrate This choice allows the user to set the baud rate for the RS232 commu nications port The correspondence between the baud rate and the item number is specified in Table 3 3 Serial Port Speed VALUE 0 1 2 3 4 5 6 7 Speed bps 2400 4800 9600 19200 38400 57600 115200 230400 Table 3 3 Serial Port Speed Parity To set the parity for the RS232 communication port according to Table 3 4 Parity VALUE 0 1 2 NONE EVEN ODD Table 3 4 Parity Stop Bit To set the number of stop bits for the RS232 communications Valid val ues arel or 2 Exit To exit this menu and return to the previous one To change the value of an item the user has to select the item number and press ENTER The screen will then change asking the user to Insert new value Sigmadue sigmaPAC CU 02 User manual 3 2 7 CPU Setup Menu 3 2 8 Ascon S p a SigmaPAC Control Unit CU 02 Device configuration CPU SETUP MENU Startup Timeout Setup Persistency Setup Clock Setup Exit Enter Selection Figure 3 8 CPU Setup Menu Startup Timeout Setup To set the startup timeouts Persistency Setup To set the parameters that control the saving of PLC pro gram in the retentive memory CLOCK Setup To set the parameters of the CPU real time clock Exit To exit this menu and return to the previous menu Startup Setu
4. CONTROLLER Heat and Cool Controller S2 TNATFREQ Tuning with Natural Frequency Algorithm for Single Action Loops S2 TSTEPRESP Tuning with Step Response Algorithm for Single Action Loops S2 TFUZZY Tuning with Fuzzy Logic for Single Action Loops S2 HC TNATFREQ Tuning with Natural Frequency Algorithm for Heat and Cool Loops S2 HC TSTEPRESP Tuning with Step Response Algorithm for Heat and Cool Loops Tuning with Fuzzy Logic for Heat and Cool Loops Tuning with Modified Step Response Algorithm for Single Action Loops Tuning with Modified Step Response Algorithm for Heat and Cool Loops AutoMan station for output manual value direct access for single action loop AutoMan station for output manual value direct access for double action loop AutoMan station for output manual value direct access for double action loop with SplitRange First Order Filter 31 Sigmadue sigmaPAC CU 02 User manual 6 4 AsconCPULib The AsconCPULib is a function block library that allows the access to the control unit CU 02 device of the Ascon sigmadue line from the OpenPCS programming tool These FBs allow the user to set and manage the CANopen network activities diagnostic failure management of the connected devices syncronization The table here reported gives the complete list of the function blocks of the library Please note that some of these must be considered as system function blocks in fact these FBs im
5. CPU Al 08HL STD AO 08HL FAST Transfer 8 analogue Input module CPU Transfer 8 analogue Output CPU module in FAST mode AO 08HL ENHANCED Transfer 8 analogue Output CPU module in ENHANCED mode AO 08HL RAMP Manage the generation of 8 ramp type analogue Outputs LM M the Linearization Table of 8 cust anage the Linearization Table of 8 custom AO 08HL LINEARIZATION analogue Outputs Scale and Transfer 8 linear analogue Outputs AO 08HL RESCALE CPU module Select command for FAST ENHANCED BOSDERLZERSTENDONGED working mode of the module Select I O channels and transfer discrete Input DM_08TS_STD states module CPU and discrete Outputs CPU module Manage the generation of PWM AND pulse DM 08TS PWM PULSE onecht Sandi Manage the module s Input special functions DM 08TS DM 08TS LTH TIME Latched Inputs Monostable Inputs Manage the module s Input special functions on ch 1 and 2 DM 08TS FREQ COUNT PERIOD Frequency input Period measurement Counter input gt DM 16TS DM 16TS STD Transfer 8 discrete input states module CPU and transfer 8 discrete Outputs CPU module 34 Applicability Function Block name Chapter 6 ASCON Function Block Library Description DM 32TS DM_32TS_STD Transfer 16 discrete input states module CPU and transfer 16 discrete Outputs CPU module CAN RPDO Receive a PDO from the CANopen ne
6. CPU Remote Access 5 1 TFTP Protocol Access The CU 02 unit allows the user to access to the device using the TFTP Trivial File Transfer Protocol With this protocol it is possible to upload or download device configuration the IEC61131 program the retained variables and error log files For security reasons the name and the number of the accessible files are limited and fixed The following table lists the accessible files AAA A SED 1 EUER 0 1 ts1 restore_file Name of the IEC61131 program file fs1 sys_file Name of the configuration file fs1 errlog_file Name of the RUNTIME errors file fs2 retain Name of the classic retained variable file fs2 perc_ret Name of the retained variable file To connect the unit the user needs the IP address of the device see Ethernet Setup Menu on page 11 for details and the logic port used whic is always 69 for the TFTP The TFTP protocol has only two different services GET PUT The GET service allows the user to upload a file from the CU 02 unit while the PUT service allows files to be downloaded Using the TFTP client present in the Windows installation please see C Windows System32 tftp exe the possible commands are To GET a file from the MPO1 tftp i remote host address get remote file name local file name To PUT a file to the MPO1 tftp i remote host address put local file name remote file name For example if the user wants
7. Connection In order to connect a VT100 terminal or a PC with Hyper Terminal program install an RS232 cable having the following characteristics VT100 Terminal side CPU side 9 pin sub D male connector RJ45 male connector Upper view Front view ZUM Pin 1 Pin6 y RX 2 TX 6 6TX TX 3 Ro py Guwd 4 x Pin 5 1 Setting the At this point the user must configure the HyperTerminal in order to communications communicate with the correct COM Serial port The number of the COM port parameters linked to the USB connector can be found in Start ControlPanel System Hardware Peripherals Ports COM and LPT Using the COM port number open a new session of HyperTerminal and set the default communication parameters for the service port Pin 9 NURON Baud rate Data Stop bit Parity Flow Control Sigmadue sigmaPAC CU 02 User manual 3 1 2 Installing the cable Installing the USB driver Setting the communications parameters 3 1 3 USB Serial Communications Connection In order to connect a Personal Computer using the USB optional connection install an USB standard cable having an USB type B connector CPU side and an USB type A connector PC side This type of cable is standard for the USB connections and the installation is easy as each connector has only one insertion versus PC side CPU side USB Type A Connector USB Type B Connecto
8. IO modules For a detailed description see 3 and 4 CANopen function blocks enable direct access to specific CANopen services thus offering a high degree of flexibility in the target application Furthermore using these function blocks does not require an additional CANopen configuration tool or EDS files However using the CANopen function blocks assumes that the user has detailed knowledge about CANopen and its services With the help of CANopen function blocks it is possible to directly exchange data with other CANopen nodes via SDO Service Data Object or PDO Process Data Object to enquire and change the state of other CANopen nodes to receive error messages from other CANopen nodes to allow generation of SYNC messages For a detailed description see 3 and 4 The function blocks present in the Ascon IO Library enable the access to Ascon sigmadue CANopen IO modules providing services that allow the CPU program mer to do not deal with the fieldbus directly To provide this level of abstraction the function blocks are based on those described above With the help of the function blocks present in the library is possible to directly exchange data with all sigmadue CANopen module to setup all the module s functionalities to enquire and see the state of the modules to reset the module For a detailed description see 11 and 12 25 Sigmadue sigmaPAC CU 02 User manual 26 Chapter 5
9. MB SLV WR DIGITAL MB SLV WR DWORD MB SLV WR REAL Modbus Slave writing of 1 digital value Modbus Slave writing of 1 DWORD value Modbus Slave writing of 1 REAL value MB SLV WR WORD Modbus Slave writing of 1 WORD value MODEM CHECK Modem operational verification MODEM CONF Modem configuration management MODEM SMS SEND MP SERIAL PORTS PROFIBUS PORT Modem SMS Short text Message Service send management Set the configuration for the Modbus RTU ports of the MP Unit Set the configuration and data exchange for the Profibus DP port of the CU unit SEND EMAIL Set the configuration for a client SMTP to send e mail SERIAL PORTS Set the configuration for the Modbus RTU ports of the CU unit SYS OPRS MNGT Set communication operational parameters on Modbus RTU and TCP agents TCP IP PORT 6 6 AsconLibrary Set the configuration for the Modbus TCP port The AsconLibrary controls all the functions provided by the I O modules of the sigmadue series It masks the fieldbus communications to and from the modules so that the user does not need to deal with the fieldbus directly from explicit use of the protocol messages SDO PDO EMCY SYNC to the use of the configuration files such as EDS and DCF see the O Function Block Library 12 manual for details The table here reported gives the complete list of the function blocks of the library Applicability Function Block na
10. Refresh Exit 0 0 U P U0NH Enter Selection Figure 3 11 Clock Setup Retain Config Ascon S p a SigmaPAC Control Unit CU 02 Device configuration RETAIN CONFIG MENU MB Slave 1 Split register 0 4096 0 MB Slave 2 Split register 0 4096 121 Simple Split byte 0 16364 2056 Exit Enter Selection Figure 3 12 Retain Config Menu Slave 1 Modbus Memory Area 4096 registers MB Slave 2 Split register Slave 2 Modbus Memory Area 4096 registers Simple Split byte Marker Memory Area 16364 bytes Exit Return to previous menu The IEC 1131 programming tools allow to declare retentive variables using a spe cific syntax These variables are saved and load from the retained memory which has a 32kB size for security reasons the memory is duplicated and refreshed during runtime operations Differently from this automatic mechanism it is possi ble to specify during the boot up configuration session the amount of retained variables to be used in the percentage area MB Slave 1 Split register The standard memory locations usable as retentive variables are accessible as registers up to the maximum amount normally available for each Modbus agent Slave 1 and Slave 2 and up to 16 kB in the marker area In particular the range of registers available as retentive are Modbus Slave1 MW1128 0 MW9320 0 Modbus Slave 2 MW10128 0 MW18320 0 Marker Area MB22000 0 MB383
11. theoretical limit Ascon spa reccomends to never exceed the number of 32 units 2 1 1 Installing modules and Removing modules A complete description on how the modules can be mounted on or removed from a DIN Rail can be found in the Control Unit CU 02 Installation Manual 6 2 2 Electrical installation Refer to Figure 1 2 Control Unit I O and Communication Ports Control Unit CU 02 Installation Manual 6 for details 2 2 1 Connect the communication cables CANopen For CANopen I O modules connection X0 I O modules are connected with the remote I O Port included cables in a daisy chain fashion The RJ45 type connectors have the pinout m T 2 13 als 8 17 I 8 Signal CANA CANL CAN GND NC NC CAN SHLD CAN GNO CAN VS Serial Port RS232 service port X1 The connector X1 on the CPU module is an RJ45 type with the following pinout 1 2 3 4 5 6 7 8 NC NC NC GND RX TX NC NC USB service port X1 When installed the connector X1 on the Contro Unit is a B type USB standard connector The pinout of this cable is meaningless as the connection is standard Ethernet For OpenPCS development station X2 The connector on the CPU module is 10baseT an RJ45 type with the following pinout Sigmadue sigmaPAC CU 02 User manual 2 2 2 Connector A connections Power supply Use the 6 poles on the right of the A connector and respect the polarity Each of these terminals is doubled in order to allow the user t
12. 000 OOONNN NNN A AAA SSSS ccc 000 OOONNN NNN AAA AAA SSSS LEG 000 OOONNN NNN AAA AAA SSSS CCC 000 OOONNN NNN AAA AAA SSSSCCC CCOOO OOONNN NNN AAA AAA SSCCC CCCOOO OOONNN NNN AAA SSSCCC cccc 000 000 NNN NNN iECCECEECEEE CEECCEE 0000000000 NNN NNN 000000 NNN NNN AAAAAAAAAAAASSSSSSSSSSSS AAAAAAAAASSSSSSSSSSSS Press Enter to Continue Press ENTER again to reach the configuration session Main Menu Ascon S p a SigmaPAC Control Unit CU 02 Device configuration MAIN MENU 1 Network Setup 2 Cpu Setup 3 Modbus TCP IP Setup 4 Cpu info 5 Exit Enter Selection Figure 3 1 CPU configuration Main Menu Please note that the system has a further timeout that controls the life of the configuration session this is the inactivity timeout If the user does not work with the console for a time greater than this timeout the configuration session will be automatically stopped and the PLC application will be started Both the described timeouts can be set during the configuration The user should not set too short timeouts thus preventing the possibility to work with the configuration console To select an item of a menu or to insert a value for a parameter the user has to type the corresponding number and than press ENTER Sigmadue sigmaPAC CU 02 User manual 3 2 Main Menu 3 2 1 3 2 2 As in Figure 3 1 CPU configuration Main Menu the Main menu has four sub menu selections Network Setup To s
13. 63 0 Slave 1 Slave 2 Marker 4096 4096 16364 registers registers bytes Figure 3 13 Percentage retentive areas Note Publishing I O configuration data Battery and Retain Memory status Chapter 3 CPU Setup In the boot up configuration session by a specific dedicated menu it is possibile to define the number of registers for each areas to be used as retentive From the main menu select CPU setup gt Retain Config From the Retain Config menu it is possible to specify the split point between the retentive and the standard memory location In case the ENTIRE memory will be defined as retentive the cycle time of the application will be increased of around 12 ms In case of a Cold start command the standard retentive variables will be reset or will assume the initialization value whereas the percentage retentive variables will be reset In case of CRC error the 2 areas are separately reset or initialized In case of a Warm Star command both the standard and percentage retentive variables will be unaffected In case of file corruption the percentage retentive var iables will be reset In case of a Hot starf command both the standard and percentage retentive var iables will be unaffected At the moment it is possibile to upload or download both the retentive memory areas for the standard and percentage variables using a TFTP session The timeframe window to perform
14. CC Native Code Compilation while Size only refers to the standard code Please note that the use of NCC does not permit the user to insert break points in debugging projects There are several conditions that could make it necessary to set the Ethernet Port communication timeout to a value higher than the default value This timeout checks the dialogue between OpenPCS and the target CPU When dealing with large programs it may be necessary to set a longer driver timeout The default value of 20000ms can be increased by using the following register key HKEY_LOCAL_MACHINE SOFTWARE infoteam Software GmbH OpenPCS 6 x x Online TcpDriverTimeout_ms Value 20000 means a timeout of 20 seconds 23 Sigmadue sigmaPAC CU 02 User manual 4 3 Communication Ports Protocols sigmadue CPU has various communication ports and protocols The combinations of ports and protocols are shown below X1 Service Port connector X0 CAN connector Modbus Slave Protocol RS232 or USB CANopen DI ERR RUN CAN PWR 0000 o a l l e o e ee a ee o e 7 i e coM2 3 3 X3 X4 Optional Port connector s lt lt RS485 A 7350777 o rl RS232 RS485 note 1 and 2 x RS232 RS232 note 1 Xe cov A PROFIBUS DP a X2 Ethernet 10 base T LAN Port TCP IP MODbus OPC Server Figure 4 5 Communication Ports Protocols Notes 1 Modbus Master Slave 2 Consult the Installation Guide to polarise an
15. OTUP DEV Function block for sending PDOs and CAN Layer 2 messages throught the network layer Function block for the Bootup messages of any node from the network layer s receiving buffer Function block for reading Bootup messages of a specific node from the receiving buffer of the network layer CAN RECV EMCY Read a node s emergency messages of a node from the network layer receiving buffer CAN RECV EMCY DEV Read a specific node s emergency messages from the network layer receiving buffer CAN REGISTER COBID Register or erase the receipt of PDOs and CAN Layer 2 messages via the network layer CAN SDO READ8 Read strings from a node s Object Dictionary via SDO transfer CAN SDO READ STR Read a node s object entries by way of an SDO transfer CAN SDO WRITE8 writing node s object entries by way of an SDO transfer CAN SDO WRITE STR Write strings to a node s Object Dictionary via SDO transfer CAN SEND SYNC Send an individual SYNC message CAN WRITE EMCY Send application specific Emergency Messages throught the network layer CLOSE MODBUS TCP SERVER Disable MBTCP IP Server CLOSE SERIAL COMM Close the serial communication port CONV ASCII TO CHAR CONV CHAR TO ASCII CTRL HCMV ASCII conversion from binary code to character ASCII conversion from character to binary code Automan Station for heat and cool regulation CTRL MV Automan Station for single action regul
16. ad values MB MST RD8 DWORD Modbus Master conversion and management of 8 DWORD read values MB MST RD8 REAL Modbus Master conversion and management of 8 REAL read values MB MST RD8 UDINT MB MST WR8 DINT Modbus Master conversion and management of 8 UDINT read values Modbus Master conversion and management of 8 DINT write values MB MST WR8 DWORD Modbus Master conversion and management of 8 DWORD write values MB MST WR8 REAL Modbus Master conversion and management of 8 REAL write values MB MST WR8 UDINT Modbus Master conversion and management of 8 UDINT write values MB SLV RD8 DWORD Modbus Slave reading of 8 DWORD values MB SLV RD8 REAL MB SLV RD16 WORD Modbus Slave reading of 8 REAL values Modbus Slave reading of 16 WORD values MB SLV RD32 DIGITAL Modbus Slave reading of 32 digital values MB SLV RD DIGITAL Modbus Slave reading of 1 digital value 32 Function Block name MB SLV RD DWORD Chapter 6 ASCON Function Block Library Description Modbus Slave reading of 1 DWORD value MB SLV RD REAL MB SLV RD WORD MB SLV WR8 DWORD Modbus Slave reading of 1 REAL value Modbus Slave reading of 1 WORD value Modbus Slave writing of 8 DWORD values MB SLV WR8 REAL Modbus Slave writing of 8 REAL values MB SLV WR16 WORD Modbus Slave writing of 16 WORD values MB SLV WR32 DIGITAL Modbus Slave writing of 32 digital values
17. ation CTRL PID PID algorithm CTRL SPLITMV Automan Station for heat and cool regulation with split range CTRL SRV Servomotors algorithm CTRL SRV POS CTRL TPO Servomotors algorithm close loop potentiometer Time proportional output ENABLE MODBUS TCP SERVER Set and activate the MBTCP IP Server agent GET SUPPORTED DIAG It verifies the diagnostic type active on the specific network node address MB TCP CLOSE CONN Close one of the 10 active connections MB TCP CONN STATUS Show the status of a MBTCP IP connection MB TCP GET CONN MB TCP GET CONN BY ADDR MB TCP GET CONN CONFIG Return information of a connection Return information of a connection identified by the client IP address Return configuration data of a specified active connection MEMCOPY FROM M Copies data from M memory areas MEMCOPY TO M Copies data into M memory areas MEMCPY TO M Copies data from a specified 96l memory area to a specified Q memory area 36 Function Block name Chapter 6 ASCON Function Block Library Description MEMCPY M TO M Copies data from a specified M memory area to a specified M memory area MEMCPY M TO Q Copies data from a specified M memory area to a specified Q memory area MEMCPY Q TO M MODBUS GET DIGITAL SLAVE MODBUS GET SLAVE DATA Copies data from a specified Q memory area to a specified M memory area
18. but restricted to SIMULATION Note Installations to substituted drives are not supported by Windows XP 4 1 3 Starting OpenPCS Start Windows and choose Start in the 2 Programs gt infoteam OpenPCS 2008 gt infoteam OpenPCS 2008 start menu to open the Framework 21 Sigmadue sigmaPAC CU 02 User manual 4 1 4 Configuring OpenPCS In order to work with the Ascon CPU target you must install in OpenPCS a cab file The file Ascon_sigmadue_zzzz cab contains all the files describing Ascon sigmadue Hardware drivers examples and utilities zzzz are digits to identify the year of the software release In the OpenPCS Extras menu select tools Driver install Select the desired cabinet e g Ascon sigmadue 2009 cab then Install OpenPCS Add Driver Utility Show target drivers from directory C Programmilinfoteam Software OpenPC52006 Openpcs 520 0EMCAB ml Available target drivers IV Show details Description Version Filepath Sigma2 Driver for Ascon PAC 52 d cAPROGRAMMINNFC Please select a driver cabinet File you wish to install Figure 4 1 OpenPCS OEM Driver Installation 4 2 OpenPCS Setup To connect the OpenPCS development system to the Ascon target a new connection must be defined Select Connections item in the PLC menu In the window of OpenPCS Connection Setup select New Now in the window Edit connection it is possible to set the new connection In t
19. com Prereguisties io oue Sx Xd OR U NEE Chapter 1 Hardware description llle 1 Architecte aussah een a gap 1 1 1 Communication ports i oer dt x eek V Eee Dei e n 1 1 2 P uxiliary digital WO race caia eo aid be 1 1 3 Diagnostics LEDS 3o cemere hr 2 rer Chapter 2 Installation 222 30 re ren 2 1 Mechanical installation 222 arco a 2 1 1 Installing modules and Removing modules 2 2 Electrical installation ordre 2 2 1 Connect the communication cables 2 2 2 Connector A connections lllllllslsllssn Chapter 3 CPU SCD usos EX vu s ae RR Lee ERE Pe ee ee 3 1 Connection of the CPU Setup Terminal 3 1 1 RS232 Serial Communications Connection 3 1 2 USB Serial Communications Connection 3 1 3 Setting the Communications Parameters of the CPU RS232 Service Port 3 1 4 Entering the Setup Menu 0000 ee eee 3 2 M in Men nwt ee dU cie en A edet Gt Duet Dicis AoD MASSE 3 2 1 Network Setup Menu arm rw rer 3 2 2 CPU Setup Menu bana arde o Eta heme tele debe 3 2 3 CAN Setup Meri 2L EPEY3 exe E IRE DP ET S 3 2 4 CPU Into VI us een neueren 3 2 5 ETHERNET Setup Metu ied RE RAF ERRARE 3 2 6 Serial Setup Menu oooocccocccoc ee 3 2 7 CPU Setup Menu reir oros ria 3 2 8 Startup Setup Menu 25 56 non Here 3 2 9 Persistency Setup Menu 22 22 22 3 2 10 CLOCK Setup Menu 3 223 epee ee eat 3 2 11 Re
20. d terminate the RS485 port 4 4 Auxiliary digital port The auxiliary digital port will be available for a PLC project provided that the resource is mapped on memory area that the project can see The port is mapped as follows Port Mapping WAKE UP output QX0 0 Alarm Output QX0 1 General purpose digital input IX0 0 4 5 Watchdog Timer Ascon CU 02 CPU contain a watchdog control controlled by 2 specific FBs Watchdog is fundamentally a down counter decremented in 100ms intervals When the count value reaches zero two different behaviours of the system may occur depending on how the configuration is PLC program keeps working stores the event and force the Alarm relay to OPEN PLC program performs a Reset and starts execution again Please note that the Watchdog timer is controlled by FB but it runs independently of the PLC program Therefore if the program is stopped e g during a debug session the timer keeps running and behaves as programmed when the count reaches zero During debug sessions it is advisable to maintain the Watchdog function disabled 24 Chapter 4 Programming the CPU 4 6 CANopen Extension for Ascon sigmadue CPU 4 6 1 Using Networked Variables Using CANopen Function blocks Using Ascon I O Library Introduction sigmadue is a system based on two main concepts the CANopen technology and the IEC61131 standard languages The integration of these two different worl
21. ds is performed by Use of networked variables Direct access to CANopen parameters and functions via predefined low level communication function blocks CANopen services for CPU programs according to the IEC61131 3 standard are defined in the CiA CAN in Automation e V Draft Standard 405 Use of Ascon IO Library Networked variables are the easiest way of data exchange in a CANopen network system Within the CPU program access to the network variables occurs in the same way as access to internal local variables on the CPU From the point of view of a CPU programmer it is unimportant whether a input variable is assigned to a local input on the CPU device or to an input on a networked expansion device The use of networked variables only requires basic knowledge of CANopen In general a CANopen configuration tool as well as the availability of EDS files for the individ ual CANopen devices are required for integrating network variables into a CPU With the help of network variables it is possible to expand the number of inputs and outputs on the PLC using distributed CANopen I O devices to exchange process data between various control units thus realizing decen tralized automation control projects to integrate other special CANopen devices from third party vendors into a complex control project and furthermore to build very specific automation con trol systems using modular components in addition to Ascon sigmadue CAN open
22. e kLzsModeConflict kLzsNetlnitError 1501 kLzsNoMem kLzsNetloError 1502 kLzsHardwareError kLzsNetlnvalidNodelD 1503 kLzsInvalidPgm kLzsNetVarCfgError kLzsDwnldError kLzsNetNIOverflow kLzsConfigError kLzsInvalidModCfg kLzsStoreProgInFLash kLzsInvalidPgmNr kLzsNoMemForRetain kLzsInvalidSegNr kLzsNoMemForPersist kLzsInvalidSeg Type kLzsSegDuplicate klpDivisionByZero kLzsNoWatchTabEntry kIpArryIndexInvalid kLzsUnknownCmd klpOpcodelnvalid kLzsModeErr klpOpcodeNotSupported kLzsNetError klpExtensionInvalid kLzsNetRecSizeError 1016 klpTaskCmalnvalid kLzsProclmgRdWrError 1017 klpPflowNotAvailable kLzsTimerTaskError 1018 klpInvalidBitRef kLzslpVerError 111019 klpErrorRestoreData kLzslpExecError 10101020 klpNoValidArrElementSize kLzsNcExecError 10101021 klpInvalidStructSize kLzsNoBkupMem 10101022 kLzslOConfigError 111023 klecGeneralError kLzsNoHDMem 1024 klecFBNotSupported kLzsNotValidInRunState 1025 klecHardwareError kLzsCycleLengthExceeded 1101 kLzsRtxBaseTimerLengthExceeded 1102 kLzsStoreProgInFLash kLzsNetErrorLastSession kLzsNoMemForRetain kLzsUplErrorNotEnabled 1104 kLzsNoMemForPersist kLzsHistNoFreeEntry 1105 kLzsMemAccessAlignErr kLzsHistlnvalidlD 1106 kLzsWatchdogReset The error 1103 it is not saved because it is generated every time the application restarts from a previous error situation The errors log file is generated in FIFO mode First I
23. et the parameters of all the communication ports in the CPU CPU Setup To set some parameter of the CPU Modbus TCP IP Setup Where the user can set the priority connection pool and the security address pool Moreover the user can set the number of messages per cycle and the broken connection timeout CPU info To see the release values of the FW HW of the actual CPU Exit To exit this menu and end the configuration session Network Setup Menu Ascon S p a SigmaPAC Control Unit CU 02 Device configuration Network setup menu 1 CAN Setup 2 Ethernet Setup 3 Serial Setup 4 Exit Enter Selection Figure 3 2 Network Setup Menu CAN Setup To set the parameters for the CAN port Ethernet Setup To set the parameters for the Ethernet port Serial Setup To set the parameters for the RS232 port Exit To exit this menu and return to the previous menu CPU Setup Menu Ascon S p a SigmaPAC Control Unit CU 02 Device configuration CPU SETUP MENU Startup Setup Persistency Setup Clock Setup Retain Config Exit Enter Selection Figure 3 3 Figure 5 CPU Setup Menu Startup Timeout Setup To set the startup timeouts Persistency Setup To set the parameters that control the saving of PLC pro gram in the retentive memory CLOCK Setup To set the parameters of the CPU real time clock Retain Config Retentive Registers Configuration Exit To exit this menu and return to
24. guration ETHERNET SETUP MENU MAC Address 00 50 c2 47 60 6e IP Address 192 168 5 11 Subnet Mask 255 255 255 0 Gateway Address 192 168 5 110 Server Address 192 168 5 110 DHCP DISABLED Port 1200 Exit 1 2 3 4 D 6 7 8 Enter Selection Figure 3 6 Ethernet Setup Menu MAC Address To display the MAC address IP Address To set the IP Address of the device Subnet Mask To set the subnet mask of the device WARNING 3 2 6 Chapter 3 CPU Setup Gateway Address To set the Gateway Address of the device Server Address To set the Server Address of the device DHCP To enable or disable DHCP Client on the device Port To set the Port for the connection with OpenPCS Exit To exit this menu and return to the previous one To set items 2 3 4 and 5 the user must digit on the keyboard the menu item number and press ENTER The screen will then change asking the user to insert new value When the system displays the insert new value message the user can enter the new values in number and dot notation To set DHCP value select item 6 and set 0 to DISABLE or 1 to ENABLE To set the Port select item 7 and enter the desired value Please note that items 2 4 and 5 MUST have the same subnet in order to avoid communications problems Serial Setup Menu Ascon S p a SigmaPAC Control Unit CU 02 Device configuration SERIAL SETUP MENU Baudrate 2 9600bps Parity 0 NO PARITY
25. he field Name you can name the new connection By pushing the Select button you can pick the driver that manages the communication with the target for Ascon CPU is TCP52 Connection Setup Figure 4 2 OpenPCS Connection Setup 22 Setup Communication Timeout Chapter 4 Programming the CPU Now click Settings button to set the communication parameters ICP Settings Port a IP address 182 168 5 1 PLC uses Motorola format big endian eee Figure 4 3 TCP Settings The Port number and IP address must be the same as those configured at the initial CPU configuration session See the Ethernet setup menu items 7 and 2 OpenPCS environment is now ready to communicate with the Ascon target The project must be set up in order to use the CPU Select the Resource Properties item in the PLC menu select Ascon in the Hardware Module field then select the newly created TCP connection in the Network Connection field Edit Resource Specifications Ascon mPAC 4 0 1 0 E Name Resource Options Hardware Module Enable Upload Ascon mPAC 4 0 1 0 x Include Library Blocks Download Symbol Table Network Connection TCP_Ascon_Default y Optimization size only z Cancel Figure 4 4 OpenPCS resource Specifications The code Optimization menu allows for three choices of compilation Normal and Speed only refers to the N
26. ibrary that allows the OpenPCS programming environment to access di Ascon s sigmadue devices These FBs free the user from controlling the communications details of CANopen protocol Using these FBs the user simply accesses the communications basic functions of each I O module see the IEC 61131 3 Function Block Library 11 manual for details A list of available I O FBs follows bDOO4TX FB to interface the module DO 04TX bDO16TS FB to interface the module DO 16TS bDO16TP FB to interface the module DO 16TP bDO32TS FB to interface the module DO 32TS 30 Chapter 6 ASCON Function Block Library 6 3 AsconControlLib The AsconControlLib is a function block library dedicated to the process control It uses the basic functionalities dedicated to the PID implementation present in the firmware of the control unit CU 02 device in order to provide solution ready to use In fact in the library there is the implementation of a complete standard regulator in both versions single action and double action for heat and cool application Please note that are present also different function blocks dedicated to the tuning algorithms in both version Step Response and Natural Frequency The table here reported gives the complete list of the function blocks of the library see the IEC 61131 3 Function Block Library 11 manual for details Function Block name Description S2 CONTROLLER _ Single Action Controller S2 HC
27. inal by the CPU 3 1 4 Accessing the Main Menu Main Menu Chapter 3 CPU Setup Entering the Setup Menu The two types of CPU RS232 and USB have activation modes of CPU setup pro gram that differ for few actions Fora RS232 service port CPU it is enought to run the HyperTerminal pro gram using the correct configuration file and pressing the connect button n case an USB service port CPU after having installed and configured the USB driver and HyperTerminal the user must 1 Runthe HyperTerminal program using the correct configuration file 2 Power on the sigmadue CPU 3 Wait for the audio notification that means that the Personal Computer has recognized and installed the USB to COM Driver 4 Press the connect button This procedure is valid for both the types of CPU RS232 and USB To start the setup session press the ENTER the PC sends a CR character to the CPU key on the setup terminal while CAN and ERR LEDs are blinking on the CPU If the character CR is not sent before a predefined time start up timeout the system ends the configuration session and starts the PLC application In this chapter some templates of a configuration session made with Windows Hyper Terminal are shown After the reception of the first CR character the welcome screen appears AAA SSS GGGGCC 000000 NNNNNNNNNNNNN AAA sss CCCCCCCCCCCC 0000000000 NNNNNNNNNNNNNN AAA SSS Cece CCC 000 000 NNN NNN AAA SSSS Clee
28. ing WATCHDOG SET Configure the system watchdog WATCHDOG STATUS Checking the status of the system watchdog 37 Sigmadue sigmaPAC CU 02 User manual 38 1 2 3 4 5 6 7 8 9 10 11 12 Appendix A Reference documents OpenPCS 5 4 4 User Manual IEC 61131 3 Programming Industrial Automation Systems Karl Heinz John Michael Tiegelkamp Springer CANopen Extension for IEC61131 3 User manual Edition March 2005 Systec Electronic CiA DS 405 V2 0 CANopen Interface and Device Profile for IEC61131 3 Programmable Devices CiA 301 DSP V4 1 CANopen application layer and communication profile CU 02 Installation manual code J30 658 1ACU 02 E CU 02 User manual code J30 478 1ACUO2 E sigmadue I O modules Installation Manuals DI 16LV DI 32LV DO 04RL DO 04TX DO 08RL DO 16TS DO 16TP DO 32TS Al 02Ul AI 08HL AO 08HL DM 08TS DM 16TS sigmadue I O modules User Manuals DI 16LV DI 32LV DO 04RL DO 04TX DO 08RL DO 16TS DO 16TP DO 32TS Al 02Ul Al 08HL AO 08HL DM 08TS DM 16TS Ascon Firmware Function Block Library IEC 61131 3 Function Block Library I O Function Block Library 39 Sigmadue sigmaPAC CU 02 User manual 40
29. l Unit CU 02 Device configuration MODBUS TCP SECURE ADDRRESSES TABLE MENU 0 Insert New Address 1 192 168 0 10 472 21 2 192 168 0 25 12 22 3 192 168 0 100 13 23 4 14 24 5 15 25 6 16 26 Ts du 27 8 18 28 9 295 29 10 20 30 31 Exit Enter Selection Figure 3 15 Modbus TCP IP Secure Address Table Menu By this menu in the case the security functions are enabled the addresses that the Modbus TCP IP Server can access are set out To insert a new address select 0 first then type in the new address it will be inserted in the first free position To delete an address select the number of the address you want to remove Modbus TC IP Priority ADDRS Table Menu Ascon S p a SigmaPAC Control Unit CU 02 Device configuration MODBUS TCP PRIORITY ADDRESSES TABLE MENU 0 Insert New Address 1 192 168 0 12 11 21 2 12 22 3 13 23 4 192 168 0 75 14 24 5 192 168 0 123 15 25 6 16 26 7 17 27 8 18 28 9 19 29 10 o N o w o 31 Exit Enter Selection Figure 3 16 Modbus TCP IP Secure Address Table Menu The insertion rules are the same as described for the security address pool Addresses inserted in the priority connection pool are managed by the system in a privileged way The Modbus TCP IP server agent can maintain up to 10 TCP connections at the same time When a new connection request arises and all available connections are engaged the system shall make a ch
30. ly by qualified application programmers and software engineers who are almost familiar with EN 61131 3 concepts of PLC programming automation safety topics and applicable national standards Using this manual Note Specifications within the text of this manual are given in the International System of Units SI with non SI equivalents in parentheses Fully Capitalized words within the text indicate markings found on the equipment Words in bold style within the text indicate markings found in the Configuration Tools Warnings Cautions and Notes are used to emphasize critical instructions DANGER Indicates an imminently hazardous situation which if not avoided will result in death or serious injury WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Caution Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage Highlights important information about an operating procedure or the equipment Sigmadue sigmaPAC CU 02 User manual Current Documentation on the Internet Make sure you are always working with the latest version of this document Ascon Tecnologic Srl reserves the right to make changes to its products in the name of technological advancement New manual revisions when published and can be found online at http www ascon it vi Chapter 1 Hardware descriptio
31. me Description Transfer from PLC and display a value on OP Transfer a value OP CPU interface slave UPDATE OP Keep updated a local copy of OP database DI 16LV STD Transfer 16 discrete inputs states module CPU DI 16LV LTH TIME Manage the module s Input special functions Latched Inputs Monostable Inputs DI 32LV STD DO O4RL STD Transfer 32 discrete input states module MW CPU Transfer the 4 relay Outputs CPU module DO 04RL DO 04RL PULSE Manage the module s Output special functions Pulse Output 33 Sigmadue sigmaPAC CU 02 User manual Applicability Function Block name Description DO 04TX DO 04TX STD Transfer 4 discrete Outputs CPU module DO 04TX PULSE Manage the module s Output special functions Pulse Output DO O8RL STD DO O8RL PULSE Transfer 8 relay Outputs CPU module Manage the module s Output special functions Pulse Output DO 16TS STD Transfer 16 discrete Outputs CPU module DO 16TS PULSE Manage the module s Output special functions Pulse Output DO 16TP STD Transfer 16 discrete Outputs CPU module DO 16TP PULSE Manage the module s Output special functions Pulse Output DO 32TS STD Al 02UI STD Transfer 32 discrete Outputs CPU module Transfer 2 analogue Input module gt CPU Al 02UI RESCALE Scale and Transfer 2 linear analogue Inputs from module to
32. n The system described in this User Manual is mainly composed of three components Ascon sigmadue series CPU CU 02 ready to work with OpenPCS EN 61131 3 compliant programming system e Ascon sigmadue l O CB remote I O series of modules Infoteam OpenPCS programming system sigmadue CPU is a powerful processing unit based on an ARM RISC processor different types of memory and several communication ports sigmadue l O CB is a complete family of I O analogue and digital remote modules with special functions based on the CANopen protocol over a CAN bus Infoteam OpenPCS is a powerful and useful standard programming system for PLC applications It is a clearly structured easily operated tool for editing compiling debugging managing and printing PLC applications in all the development phases OpenPCS supports EN61131 3 programming under Windows server 2003 Windows XP SP2 or Windows Vista 32 bit Ascon sigmadue line is based on the sigmadue remote I O system combining its functionality with the capabilities of a PLC The modular concept and the possibility of fieldbus networking means that you can adapt the system to your requirements quickly and easily This gives the sigmadue automation system an especially economical price performance ratio This User Manual handbook introduces you to work with sigmadue CPU line and the Infoteam OpenPCS programming system It explains how to install the hardware and software and how t
33. n First Out 28 Chapter 6 Ascon Function Blocks Libraries In this chapter are listed all the libraries present in the Ascon installation of the OpenPCS programming tool and all the function blocks present in the firmware of the CU 02 device For each library is also indicated the complete list of the function blocks with a little description For more details please refer to the specific dedicated documentation 6 1 AsconACLib The AsconACLIb is a function block library that contains a set of generic functionalities that come from the Ascon AC Station Device useful for the IEC 61131 programming see the EC 61131 3 Function Block Library 11 manual for details The table here reported gives the complete list of the function blocks of the library Function Block name Description ALARM_ABS Absolute Alarm ALARM_ADVANCED ALARM_BND Advanced Alarm Band Alarm ALARM_DEV Deviation Alarm ALARM_RATE Rate Alarm AVG_ADV_8REAL Advanced Instantaneous Average calculation AVG_MOVING AVG_RUNNING Moving Average calculation Rumning Average calculation CHARACTERIZER_8 8 points linearization CHARACTERIZER_16 COMPARATOR 16 points linearization Comparator with hysteresis CONV_AD8 CONV_AD16 Conversion from BYTE to 8 bits Conversion from WORD to 16 bits CONV_AD32 Conversion from DWORD to 32 bits CONV DA8 CONV DA16 Conversion from 8 bits to BYTE Conversio
34. n from 16 bits to WORD CONV DA32 Conversion from 32 bits to DWORD COUNTER Rising Edge Counter DECODER 8 8 bit Decoder DEW POINT Dew Point calculation 29 Sigmadue sigmaPAC CU 02 User manual FO_CALCULATION Sterilization time for bacterial load reduction calculation FLIPFLOP_D Flip Flop D Type FLIPFLOP_JK Flip Flop JK Type HOLD_ VALUE Analogue Holding value HR_DRY_WET_BULB Relative humidity calculation method with dry wet bulb INBETWEEN Analogue Middle Selector LIMITER_VALUE Analogue value Limiter MASS FLOW Compensate Flow calculation MIN_MAX_SELECTOR Minimum Maximum analogue Selector MONOSTABLE_DS Monostable with Delay MONOSTABLE_NED Monostable with Delay on the Negative Edge MONOSTABLE_PED Monostable with Delay on the Positive Edge MONOSTABLE PUL Monostable Pulse Generator MP_RTD_LIN RTD Linear rescaling for microPAC ONLY MUX_A8 Analogue Multiplexer 8 Input selection MUX_A16 Analogue Multiplexer 16 Input selection MUX_D8 Digital Multiplexer 8 Input selection MUX_D16 Digital Multiplexer 16 Input selection RESCALE Analogue Rescaling SAMPLING_TIME Application Sampling Time Statistics SLOPE_LIMIT Analogue step variations Slopes Limiter TIMER_ADV Advanced Timer TOTALIZER Analogue Totalizer TOTALIZER_ADV Advanced Analogue Totalizer with Time Base selection 6 2 AsconBasiclOLib The AsconBasiclOLib is a Function Block l
35. o the system memory with regards to the previously described parameters CANOPEN_NETWORK_STATUS It returns information on the network status in case it has been changed for some reasons CANOPEN_NET_CONTROL_START It executes the agent able to verify and control the CanOPEN events and stores possible anomaly s situations CANOPEN_SCAN_DEVICE_COM It performs the scan of the specified device address to identify the communication characteristics and refreshes the network image acquired by the system within the CanOPEN Network Compare It must be called cyclically until the end of operations CANOPEN_SCAN_DEVICE_ID It performs the identification of the device at the specified address and replace it into the network image created by the system using CanOPEN Network Compare FB It must be called cyclically until the end of operations CAN ENABLE CYCLIC SYNC Function block for enabling or locking cyclical SYNC messages CAN GET CANOPEN KERNEL STAT E Function block for state query of the CANopen kernel of the local PLC CAN GET LOCAL NODE ID Function block for a local node address query 35 Sigmadue sigmaPAC CU 02 User manual Function Block name Description CAN_GET_STATE Function compent for node state query of various devices CAN PDO READ8 Function block for reading a node s object entries by way of an SDO transfer CAN PDO WRITE8 CAN RECV BOOTUP CAN RECV BO
36. o power using an additional terminal block other devices or sensors Pin Name Function WAKE UP Signal Power Supply Auxiliary ports The 5 poles on the left of the A connector are auxiliary ports Pin 10 Name M L Function POWER SUPPLY COM OUT INPUT Auxiliary ports Wake up Software activated Digital Output 24Vdc 0 2A high side power switch terminals 1 and 2 Alarm Relay type digital output SPST NO 24V 1A terminals 3 and 4 DI 24Vdc digital Input terminal 6 The return path can be linked to terminal M terminal 8 or 9 or to Wake Up terminal teminal 1 Chapter 3 CPU setup At start up the system starts a configuration session to perform the setup of the CPU devices The user can insert the CPU setup data using a dumb VT100 terminal or a Personal Computer with Hyper Terminal program In Appendix B is inserted the tree structure of the setup menus 3 1 Connection of the CPU Setup Terminal There are 2 ports available on the CPU to enter the configuration session the XO port for the serial RS232 connection or the LAN port for the ethernet connection Depending on the setup method used the user must Setthe XO or the LAN port consult the CU 02 Installation Manual 9 for details Provide the proper connection cable Setthe correct communications parameters Run the communications program 3 1 1 RS232 Serial Communications
37. o start up the system Information on maintenance troubleshooting and service are also included Sigmadue sigmaPAC CU 02 User manual 1 1 Architecture From the programmer s point of view a complete system is made up as in Figure 1 1 Programming the sigmadue Control Unit below 1 Configuration station RS232 USB Service port Programming station Ethernet 10 Mbit base T m Output In Power II Controller X Figure 1 1 Programming the sigmadue Control Unit In Figure 1 1 Programming the sigmadue Control Unit the configuration station VT100 terminal and the PC with OpenPCS are displayed as two different devices but it is possible to use just one PC to run both OpenPCS and a VT100 emulator e g HyperTerminal 1 1 1 Communication ports The CPU has 3 fixed communication ports see figure 2 The CAN port will be used for the connection through a CANopen network to the distributed I O The Ethernet port TCP IP will be used for the connection through a LAN network to the PC with the Infoteam OpenPCS environment for Programming Debuging and commissioning Modbus TCP data exchange The Service RS232 port will be used as QConfiguration port of the device with VT100 terminal Standard ASCII serial port Modbus RTU data exchange In addition to the three mentioned fixed ports a plug in board can be added see Ordering Codes by which the communication capabilitie
38. ogram in persistent memory is a time consuming activity This wait time can be annoying during program development and debugging For that reason the user may want to disable the automatic program save in persistent memory making development activities more efficient Sometimes can be useful to prevent executing any program at startup time Selecting the item Erase PLC program the retentive memory area reserved to store PLC programs is erased This activity take some seconds When the Persistency setup menu screen reappears then the memory has been erased Erase PLC Program Selecting the item Erase PLC program the retentive Memory area reserved to store PLC programs is erased PLC Program Persistency 0 1 The item PLC program persistency allows the user to configure the program store memory to be retentive or volatile memory DI Control Program Exec 0 1 The Digital Input Control Program Execcan be used as a generic input addressed as x0 0 default or can be set as a START 1 or STOP 0 contact for the actual program that is downloaded on the CPU Exit To exit this menu and return to the previous one Sigmadue sigmaPAC CU 02 User manual 3 2 10 CLOCK Setup Menu 3 2 11 Standard and Retentive memory management Ascon S p a SigmaPAC Control Unit CU 02 Device configuration CLOCK SETUP MENU Day of the Month 1 Month 4 Year 5 Day of the Week 5 Hour 15 Minutes 23 Seconds 7
39. oice Since every new request must be satisfied one of the present active connections shall be closed The first candidates that are to closed are the addresses not belonging to the priority connection pool The second choice is to close the connection not active for the greater amount of time Sigmadue sigmaPAC CU 02 User manual 20 Chapter 4 Programming the CPU 4 1 Installing OpenPCS 4 1 1 Hardwa Open re and Software Requirements PCS requires a PC with at least Pentium Il 1 GHz 512 MB RAM 16 GB of free disk space CD ROM and 1024 768 resolution Windows 2003 Windows XP SPII or Windows Vista 32bit 4 1 2 Installation OpenPCS is provided on CD ROM The CD auto starts a screen where you can select work the software you want to install If auto start is not activated or does not please start the last distributed OpenPCS programming tool version e g OpenPCS_Ver_631e exe file available in x SETUP folder X is the letter assigned to the CD ROM drive in your PC At the end of the installation you will be asked if you want to install hardware drivers If you received drivers with your PLC enter the path to the hardware driver otherwise select Quit If you received drivers for your PLC you also received a licence key for OpenPCS See Licence Editor for how to insert a licenc still fu e key If you do not have a hardware driver or a licence key OpenPCS is nctional
40. p Menu Ascon S p a SigmaPAC Control Unit CU 02 Device configuration STARTUP TIMEOUT MENU Startup Timeout 2 120s 10 Inactivity Timeout 2 120s 30 DO1 used for watchdog 0 1 Disabled A w N r Exit Enter Selection Figure 3 9 Startup Setup Menu Startup Timeout To set the Startup Timeout Inactivity Timeout To set the Inactivity Timeout DO1 used by watchdog If enabled the digital output DO1 could be connected to a software function block to signal a watchdog event Exit To exit this menu and return to the previous one To change the value of an item the user has to select the item number and press ENTER The screen will then change asking the user to insert new value Chapter 3 CPU Setup 3 2 9 Persistency Setup Menu Ascon S p a SigmaPAC Control Unit CU 02 Device configuration PERSISTENCY SETUP Erase PLC Program PLC Program Persistency 0 1 ENABLED DI Control Program Exec 0 1 DISABLED vou N H Exit Enter Selection Figure 3 10 Pesistency Setup Menu The CPU is able to save a PLC program in persistent memory This means that when PLC Program Persistency is ENABLED the program will be automatically loaded and executed at start up Every time the user during the development activities downloads a new program to the CPU this is saved in the persistent memory so at next device start up the last downloaded program will be executed Saving a pr
41. plement particular functionalities dedicated to the global managment of the CANopen network see the EC 61131 3 Function Block Library 11 manual for details Function Block name 2 CU02 Description Function block interface for the Control Unit Module SPLIT_ENABLE Extract the enable signal from the Network connection of the modules SET_TT note Set the communication type of a CANopen node SET_TT_MODULE note RECOGNIZESIGMAIO note Note 6 5 Set the transmission type parameters of all PDOs of a device Recognize the module name of a device coming from the sigmadue I O line These are system Function Blocks AsconMBCommLib The AsconMBCommLib is a Function Block library that allows a simplified access to the communications port of Ascon s CU 02 sigmadue CPU see the IEC 61131 3 Function Block Library 11 manual for details A list of FBs available in the library follows Function Block name Description MB MST SYNC Modbus Master Synchronization of operations MB MST RD COIL Modbus Master Coil reading MB MST WR COIL Modbus Master Coil writing MB MST RD WORD Modbus Master Word reading MB MST WR WORD Modbus Master Word writing MB 16WORD TO ARRAY Modbus Master packaging of 16 WORD in an array MB ARRAY TO 16WORD Modbus Master un packaging of an array into 16 WORD MB MST RD8 DINT Modbus Master conversion and management of 8 DINT re
42. r id 1 In Internet at the address http www ftdichip com Drivers VCP htm locate the FT232B device and download the latest driver for the Operating System installed on the PC 2 Connect the USB cable between the CPU and the PC 3 Install the 2 drivers as explained in the installation manual first the one of the USB device then the driver that links the USB port to a COM port in the Personal Computer Once connected the CPU to the PC with the USB cable the user must configure the HyperTerminal in order to communicate with the USB port The number of the COM port linked to the USB connector can be found in Start ControlPanel System Hardware Peripherals Ports COM and LPT locate the USB to COM entry Using the COM port number open a new session of HyperTerminal and set the default communication parameters for the service port Baud rate Data Stop bit Parity Flow Control Setting the Communications Parameters of the CPU RS232 Service Port The default configuration for the Service RS232 port is Baud rate Data Stop bit Parity Flow Control None During the configuration session it will be possible to change the baudrate stop bit and parity When the communications parameters of the CPU are changed the communications parameters of the terminal or PC must be changed accordingly The setup is performed by browsing the menus sent to the VT 100 terminal or to the terminal emulation program HyperTerm
43. ram stop with no errors Flickering Back Up battery low Single flash Error in configuration file reset to default Blinking Checksum error in VAR RETAIN data Triple flash Checksum error VAR 96 RETAIN note 2 ON OFF RUN LED for CANopen Network ON Power Supply ON Table 1 1 Diagnostics LEDs description Sigmadue sigmaPAC CU 02 User manual Notes 1 As the ON OFF sequence of the LEDs has a specific meaning it is important that the user recognizes each LED status Sequence Meaning OFF the LED is not lit Steady ON the LED is lit in a stable way Blinking the LED blinks at a frequence of 2 5 Hz slow Flickering the LED blinks at a frequence of 10 Hz fast Single flash the LED lits once for at least 200 ms Double flash the LED lits twice with pulses of 200 ms each Triple flash the LED lits three with pulses of 200 ms each 2 The first time some M variable has been defined as RETAIN see Retain Config Menu on page 16 the system needs to reboot in order to create the dedicated files The error indication will disappear automatically Chapter 2 Installation 2 1 Mechanical installation The sigmadue Control Unit and the I O modules are designed to be installed on standard DIN rails As the CPU has on board a CAN termination it must be installed at one end ofthe CAN chain Up to 127 I O modules can be connected in chain to each CPU This value is the
44. s are increased e g Two channels RS232 485 with Modbus RTU protocol master or slave Profibus DP slave Pinout of all communication Ports are described hereafter and in the CUO2 Installation Manua 6 Chapter 1 Hardware Description 1 1 2 Auxiliary digital VO DI General Purpose Digital Input or RUN STOP program functionality ALARM General Fault Relay Output IEC 61131 Watch Dog function WAKE UP Isolated General Purpose Digital Output can be used in conjunction with the Real Time Clock for unattended applications Serial Connector X1 RS232 or USB CAN Connector X0 CANopen y CANopen T Control Unit CU 02 N S Diagnostics LEDs E e DI DI ERR RUN CAN PWR M O sigmaPAC co RE A co a ee ee A e CAN RS232 RX e PWR 2 A Connector UU C0 Bin Terminals coms Ge nones E icw S NENNEN IE 0V 8 9 7 S 1 x E 24 Vac dc 10 11 Optional Ethernet Wake UP Alarm output Digital Communications 10 Base T output terminals Input expansion port port X2 terminals 1 2 3 4 terminal 5 Figure 1 2 Control Unit I O and Communication Ports 1 1 3 Diagnostics LEDs Referring to Figure 1 2 Control Unit I O and Communication Ports a description of the LEDs functions is given in the table below Color Action note 1 Description Yellow ON Digital Input active ON Error on CANopen network ON Program running with no errors OFF Prog
45. tain Config cepo e 3 2 12 Modbus TCP IP Setup u ren ern a 3 2 13 Modbus TC IP Secure ADDRS Table Menu 3 2 14 Modbus TC IP Priority ADDRS Table Menu 00000 Q O O ODDPD ONNN Chapter 4 Programming the CPU llle 4 1 Installing OpenPCS 4 1 1 Hardware a 4 1 2 Installation Index continue nd Software Requirements 4 1 3 Starting OpenPCS disc Ru cR ER dC x ee 4 1 4 Configuring OpenPCS asic insect rasen 4 2 OpenPCS Setup uu u844 4 por una a en RR PUR ter Rus eee 4 3 Communication Ports Protocols 0 00 eee eee eee 4 4 Auxiliary digital port 2o arie er ee gah ee Se 4 5 Watchdog Timer A O er i etta 4 6 CANopen Extension for Ascon sigmadue CPU 4 6 1 INMOCUCION er at er DRE ADR atc v E Chapter 5 CPU Hemote ACCeSS 2 be SHEDPOPIOIGOOLAGUOSS ias doe os me cr dee name Chapter 6 Ascon Function Blocks Libraries 54 ASCONAQUID os Suen ee ex Ns eR cs ita E dico RO 6 2 ASCOMBASICIOLID srt crue eim ere cetera ted o ee Qo TUR 6 3 AsconControlLib eor RA Eo Pad is Dueb een dra es 64 ASCOHOPIUEID 54r u Ag vee VO UL fL LAC ter nic Be a A 6 5 AsconMBCommlLib ore road he ake 6 6 ASCORLIDFAIV orita E 6 7 Firmware Function Blocks List oooooooooooo Appendix A Reference documents Prerequisites The products described in this manual should be installed operated and maintained on
46. the item number pressing the correnspondig item digit on the keyboard and press ENTER The screen will then change asking the user to Insert new value Value 0 10kbps is not currently supported by sigmadue l O modules Sigmadue sigmaPAC CU 02 User manual 3 2 4 CPU Info Menu Ascon S p a SigmaPAC Control Unit CU 02 Device configuration CPU INFO HW Version 3 0 FW Version De OEM ID 536 Virtual Machine 1 PLC Status 0 2 Exit Enter Selection Figure 3 5 CPU Info HW version Revision of the CPU Hadrware FW version Revision of the CPU Firmware OEM ID ASCON code for the runtme Software V MACHINE Version of the runtime Software 5 3 2 PLC Status In this field is pointed out the CPU status VALUE Meaning Normal status Data Configuration Error DCE Retain Error RE Data Configuration Errorr Retain Error DCE RE Battery Low BL Battery Low Data Configuration Error BL DCE Battery Low Retain Error BL RE Battery Low Retain Error Data Configuration Error BL RE DCE NI O 01 B OINI O Table 3 2 Error codes that can be displayed in CPU Info screen Entering 1 and pressing the return key the user acqnowledges the alarms active displayed by CPU Info screen Exit To Exit this menu and return to the previous menu 3 2 5 ETHERNET Setup Menu Ascon S p a SigmaPAC Control Unit CU 02 Device confi
47. the previous menu 3 2 3 Note Chapter 3 CPU Setup CAN Setup Menu Ascon S p a SigmaPAC Control Unit CU 02 Device configuration CAN SETUP MENU CAN Baudrate 0 2 4 8 1 20kBps CAN Node ID 32 Diagnostics 0 1 1 Node Guarding Enable Sync 0 1 DISABLED Sync Time 0 1000000ms 0 Exit Enter Selection Figure 3 4 Figure 6 CAN Setup Menu CAN Baudrate To set the baud rate for the CAN network The correspondence between the baud rate and the number of this item is indicated in Table 3 1 CAN Network speed note ww To TI T2 a TS I ET 7 CI Speed kbps 10 20 50 15 250 800 800 1000 Table 3 1 CAN Network speed CAN node ID To set the Node ID of the CPU in the CAN network Diagnostic It is possible to work with Heartbeat protocol default that allows the CPU to receive a message from every node that is in the network or it is possile to select the Node Guarding protocol 1 in order to set the CPU to send and receive an Alive message from every node of the network and let the CPU and the nodes to understand if they are working well or there is a problem Enable Sync It is possible to set the Sync communications process data objects on the CAN network are exchanged when a sync message occours Sync time Generation time in millisecond of the sync message Exit To exit this menu and return to the previous menu To change the value of an item the user must select
48. this operation is available only during the boot up phase before the configuration access To upload or download the retentive mem ory files please follow the procedure described at paragraph TFTP Protocol Access on page 33 in chaper 6 paragraph6 1 The name of the files are Retentive standard fs2 retain Retentive percentage fs2 perc ret During 1131 program execution is possible to recall some information present in certain particular addresses of the percentage memory In particular MO0 0 Battery satus 1 low O ok MO 1 Classic retain memory status at startup 1 corrupted 0 ok MO 2 Percentage retain memory status at startup 1 corrupted 0 ok The battery status is runtime calculated and updated at the beginning of each cycle The remaining two flags are released at startup and the value remains unchanged after a warm or a cold startup WARNING At each warm cold start the I O configuration codes are loaded written in the marker percentage memory If the same marker percentage memory areas are used to store user application data pay extreme attention to the fact that at each warm cold start these memories are written with the I O configuration codes causing the destruction of the application data Sigmadue sigmaPAC CU 02 User manual 3 2 12 Modbus TCP IP Setup Selecting item 3 on the Main Menu you will arrive at the following menu Ascon S p a SigmaPAC Control Unit CU 02 Device configuration
49. to GET the configuration file from the CU 02 unit and store it in a local file named configuration bin the command is tftp i 192 168 5 11 get fsl sys file configuration bin where the IP address of the MPO1 is 192 168 5 11 If the user wants to PUT the IEC61131 program file to the CU 02 unit using the source file Resource prs the command will be tftp i 192 168 5 11 put Resource prs fsl restore file Please note that the application binary file that contains the program compiled with OpenPCS is located in the project folder project_root GENS Resource and has always the name Resource prs 27 Sigmadue sigmaPAC CU 01 User manual 5 2 1EC61131 3 OpenPCS Runtime Errors log file In same cases it is very useful to have a report of errors organized by date and time in order to understand the source of a possible problem in the application For this reason it is now available inside the unit a file called s1 errlog file that can be downloaded from CU 02 The file is in text mode can be opened by Windows Notepad for example and it is organized in rows The history goes back to maximum 10 events and it is organized as day of the week hh mm ss dd mm yy error code Following an example Wed 16 37 28 23 04 08 2002 Wed 16 37 25 23 04 08 2002 Wed 16 36 36 23 04 08 2001 Thu 11 56 29 22 04 08 2002 The table of error codes is the following Error name Error Code Error name Error Cod
50. twork MESSAGES WPDO 6 7 Send a PDO on the CANopen network Firmware Function Blocks List In this section are listed the firmware function blocks that are present on the CU 02 from hardware version 3 0 3 0 For each of the function block here reported a short description is provided see the Ascon Firmware Function Block Library 10 manual for details for more details please refer to the specific documentation Function Block name Description ASCON_FLATTEN_TO_REAL ASCON_REAL_TO_FLATTEN Convert the 4 bytes of the input parameters as the flatten equivalent of a real number which is then output returned Convert the REAL variables in their FLATTEN equivalents CANOPEN_AUTOLEARN It performs the network scan and stores the main important parameters of the connected l O modules CANOPEN _DEVICE_COMPARE It compares the characteristics of an I O module already recognized and saved by the system between the two network images flash and RAM memory CANOPEN_GET_DEVICE_COM_PAR If used in conjunction with CanOPEN_Network_Compare and CanOPEN Autolearn returns the I O module mapping information stored by the previously by the system It should be used after the network scan has been saved into the memory CANOPEN_GET_DEVICE_ID Device data identity retrieval CANOPEN_NETWORK_COMPARE It performs a comparison between the connected l O modules network image and the one already saved int
51. ylascon Siomadue Control Unit CU 02 wa TECNOLOGIC User Manual so jo M U CPU CB CU 02 3d 11 07 Cod J30 478 1ACU02 E Copyright 2007 2011 Ascon Tecnologic Srl All rights reserved No part of this document may be stored in a retrieval system or transmitted in any form electronic or mechanical without prior written permission of Ascon Tecnologic Srl Ascon Tecnologic has used the best care and effort in preparing this manual and believes that the information contained in this publication is accurate As Ascon Tecnologic continues to improve and develop products the information contained in this manual may also be subject to change Ascon Tecnologic reserves the right to change such information without notice Ascon Tecnologic makes no warranty of any kind expressed or implied with regard to the documentation contained in this manual Ascon Tecnologic shall not be liable in any event technical and publishing error or omissions for any incidental and consequential damages in connection with or arising out of the use of this manual sigmadue gammadue and deltadue are trademarks of Ascon Tecnologic Srl All other trade names or product names are trademarks or registered trademarks Ascon Tecnologic srl Headquarters via Indipendenza 56 Milan office Via Falzarego 9 11 27029 Vigevano PV 20021 Baranzate MI Phone 39 02 333 371 Fax 39 02 350 4243 www ascontecnologic com sales ascontecnologic
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