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XGB CANopen User Manual

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Contents

1. 8 8 8 4 SDO Command 8 11 8 4 1 8 11 8 4 2 PUTCOMM 8 15 8 4 3 Meanings of the Error Code for XBM XBC Series 8 19 8 4 4 Meanings of the Error Code for Series 8 20 8 5 PDO COMManNd 8 21 8 5 1 PDOs Defined in the EDS file 8 21 8 5 2 PDO Setting 8 22 8 6 PDO Mapping
2. 8 3 8 2 2 Heartbeat 8 4 8 3 SDO Setting 8 5 8 3 1 Objects 8 5 8 3 2 Write SDO 8 6 8 3 3 NdEX 8 7 8 3 4 Format 8 7 8 3 5 Minimum MaximUm 8 7 8 3 6 Number of SDOs 8 7 8 3 7 Size of SDOS 8 7 8 3 8 Writeable Object list when XBL CSEA is selected
3. 6 3 6 1 4 Other Functions 6 4 6 2 Interconnection with XG5000_ 6 5 6 2 1 Opening XG CANopen in XG5000_ 6 5 6 2 2 Saving a Project 6 7 6 2 3 Variable Allocation 6 7 6 2 4 Allocating Variables in XG5000_ 6 7 6 2 5 Importing the variable allocation in the 5000 6 7 6 2 6 Compare Project 6 8 6 2 7 Other Functions 6 9 6 3 Edit Network Window Add Delete Master and Slave
4. Properties 1 Error Control Setting Index o Goto Format Hexadecimal SDO Setting Objects PDO Setting PDO mapping Index Sub index Parameter name Data Type Setting value Access properties Use 01000 0 0 Device Type UNSIGNED32 000000000 RO 01001 0 0 Eror Register UNSIGNED 0x00 RO 01003 Pre defined Error Field fai 0 1003 0 0 Number of elements UNSIGNED8 0x00 RW rH 0x1003 0x1 Standard Error Field_1 UNSIGNED32 000000000 RO 01003 0 2 Standard Error Field_2 UNSIGNED32 000000000 RO fE Ox1003 0x3 Standard Error Field_3 UNSIGNED32 0 00000000 RO 01003 054 Standard Error Field_4 UNSIGNED32 0500000000 RO jz Ox1003 0x5 Standard Error Field_5 UNSIGNED32 0 00000000 RO r 0x1003 0x6 Standard Error Field_6 UNSIGNED32 0x00000000 RO 01003 Ox Standard Error Field_ UNSIGNED32 000000000 RO ja 01003 0 8 Standard Error Field_8 UNSIGNED32 0 00000000 RO Ju 0x1003 0x9 Standard Error Field_9 UNSIGNED32 0x00000000 RO jui Ox1003 054 StandardErrorField UNSIGNED32 0 00000000 RO ja 0x1005 0 0 COB D SYNC message UNSIGNED32 0 00000080 Rw 0 1008 0 0 Manufacturer Device Name VISIBLE_STRING XBL CSEA CONST 01009 0 0 Manufacturer Hardware Version VISIBLE_STRING CONST ju 0x1004 0 0 Manufacturer Software Version VISIBLE_STRING CONST 0x1010 Store parameters al nam na Minimum Maximum Nu
5. Process Procedure Ais di Settii PDOs Defined in EDS File Poo Sei Cho gt xem t OTB1CODMOLP setting memes 1 PDO Setting T p RD Receive Parameter Digital 0x214 synchronous cyclic 1 240 zi 9 1 In the XG CANopen project window double click the OTB1CODMOLP added in above paragraph and select PDO set up for the case of the module only 8 bit output module is installed without adding I O 2 In the PDOs setting enter transmission type and transmission type No 1 Transmission type set to Synchronous cyclic type 2 Transmission type No as described in the clause 10 set the type No to 1 for operation at 100ms cycle time Length _ Access proper OTB1CODMOLP setting z 2 PDO Mapping 10 aS ee ee 1 1 Click the PDO mapping 2 Inthe POD type filter select RPDO and in the PDO contents select RECEIVE PDO PARAMETER 3 From the objects available for mapping double click the parameter of the index to be used or click to map the parameter Since OTB1CODMOLP uses only 8 bit output select b bit write parameter which is the No 1 of the sub index of the index No 6200 for the RPDO Receive PDO 10 8 Chapter 10 Examples Process Fed CANopen Network XGB BCS CANopen Master B00 502 XBL CMEA Writing Parameter 1 Select Online Writing 2 Select the CANOpen
6. 7 4 7 2 2 Slave Error Control 7 4 7 3 PDO Variable Table esc 7 6 7 3 1 Variable 7 6 7 7 7 3 3 Monitor 7 7 7 4 SDO Table eee oo nnn nnn nnn ccc cnn cn cc cnn een nec n nenne nennen nnne nnne nnn 7 8 7 5 Diagnostic Variables 7 9 Chapter 8 Slave Setting using XG CANopen ad a M 8 1 8 1 1 Station Number 8 1 8 1 2 Name ee ee en en nn non eene ren nn cc nn nn nnn ne ne ne ne ne nnn n nnne nnn n 8 1 8 1 3 Module 8 1 8 1 AEDS ee ee 8 2 8 1 5 Description 8 2 8 2 Error Control Setting 8 3 8 2 1 Node Guarding
7. ee 47 N O J0O 1 O 0 LAC pesa Field Setting Operand Description Data size No of the slot where communication module is installed set up with hexadecilmal si WORD number S Station number of the slave to be read SDO index sub index WORD D Starting address of the device where the data read from slave is to be stored WORD Max bytes of the data to be read from communication module The actual data are N WORD from after N total size 8 Flag Set Flag Description Device No PUTCOMM If no communication module the bit of the slot turns ON F0015 GETCOMM If the PUTCOMM GETCOMM command failed to be executed properly the bit turns Bit14 of D Error PUTCOMM normal response is received from the corresponding communication module the F0023 GETCOMM bit turns ON Bit15 of D Complete 1 This command is for writing data in the corresponding device via communication module 2 In the communication module designated with sl slot No of the communication module send 6 byte command data from the internal device field designated with S to the communication module and save the return result of the communication module in the internal device field designated by D 3 If there is no communication module at the position pointed by sl slot No of com
8. 6 10 6 3 1 Conditions 6 10 6 3 2 Edit Node 6 10 6 3 3 Deleting Master Module 6 15 6 3 4 Deleting Slave 6 16 6 3 5 Copy Paste CUt 6 17 6 3 6 Drag and Drop 6 19 6 20 6 4 1 Overview 6 20 6 4 2 Library WindOW 6 20 6 4 3 Library Manager 6 22 6 5 Online enne n nennen cc cnn nennen nnn n nnnm nnne n enne n nnne nennen nn 6 25 6 5
9. 3 6 3 5 1 Caution in Configure the System 3 6 Chapter 4 System Configuration 4 1 System Configuration 4 1 Contents Chapter 5 Using XG CANopen 5 1 Screen Configuration 5 1 5 1 1 Menu Structure 5 2 5 1 2 Toolbar 5 5 5 2 Setting up Shortcut Key 5 7 Chapter 6 XG CANopen detail menu La uc s MM C 6 1 6 1 1 Project File Management 6 2 6 1 2 Opening Project 6 3 6 1 3 Open from PLC
10. 8 25 8 6 1 PDO Type Filter 8 25 LS Contents 8 6 2 8 25 8 6 3 PDOs Map 8 25 8 6 4 Mapped Objects 8 25 8 26 Chapter 9 Slave module XBL CSEA Setting using XG5000 9 1 Registration of Communication Module 9 1 9 1 1 Off line Registration 9 1 9 1 2 On line Registration 9 2 9 1 3 Reading Parameters from PLC
11. 6 40 6 5 12 Reset PLC 6 41 6 5 13 Enable Link 6 42 6 6 Print ea a ea A a nequa 6 43 6 6 1 Print Project 6 43 LS Contents C 00000 Chapter 7 Master Setting using XG CANopen 7 1 Properties aa a a ce a ge 7 1 7 1 1 Node Setting 7 1 7 1 2 7 2 7 1 3 Monitor Setting 7 2 7 1 4 PLC Area 7 2 7 1 5 Output data setup in case of emergency 7 3 7 2 Error Control Setting 7 3 7 2 1 Heartbeat Protocol Setting
12. Parameter name 500 Table 20 XBL CSEA 0 1005 0 0 COB4D SYNC message Diagnostic Variabl _20 XBL CSEA 01010 0 1 Parameters that may be stored the CANopen devi _20 XBL CSEA 01011 0 1 Restore all default parameters _20_XBL_CSEA 01014 0 0 COB D Emergency Object 720 5 01015 0 0 Inhibit time EMCY 7 8 LS industrial Systems Chapter 7 Master Setting using XG CANopen a 7 5 Diagnostic Variables This function enables to monitor the status information of the master module and slave modules In the Diagnosis Variable status select Online Start Monitoring to monitor current states where the meanings of the items are presented in the table below The variable names consist of Base Slot Variable Addresses are allocated sequentially starting from the offset address of the diagnosis variable area of the master 96 bytes are used for each master tj CANopen Master Properties Error Control Setting Format v PDO Variable Table SDO Table Variable Type Device Monitor value Description Diagnostic Variables 0002_001_CHANNEL_STATUS_SUBO BIT D00300 0 0 1 Master does not operate 0002_001_CHANNEL_STATUS_SUB1 000300 1 0 1 Slave does not operate 0002_001_CHANNEL_STATUS_SUB2 BIT D00300 2 D 1 Configuration error 0002 COMM STATUS WORD D00301 0 Communication 0002_001_COMM_STATUS_SUBO BIT D00301 0 0 1 CANopen Controller is at BUS Off state 0002_001_COMM_STATUS_SUB1 BIT D00301 1 D 1
13. 1 CANopen Network item is created in the project window 2 Double click CANOpen Network to confirm execution of XG CANopen Chapter 6 XG CANopen detail menu 2 Master module registration by O parameter setting Mocaton P0000 POO Delt P0000 POt1F Parameter 1 a Setting 1 In the XG5000 project window select menu Parameter 2 In the XG5000 I O parameter window select CANopen Master Project Window Items 88 test 1_0208 NewPLC XGB XBCH Stop 4 Variable Comment 4 Parameter E Basic Parameter Bg Parameter CANopen Network H E Embedded Parameter Scan Program NewProgram Executing XG CANopen Project 1 CANOpen Network item is created in the project window 2 Double click CANOpen Network to confirm execution of XG CANopen 6 6 LS industrial Systems Chapter 6 XG CANopen detail menu _ 6 2 2 Saving a Project When the XG CANopen is executed in connection with XG5000 saving the project in XG5000 will save the setting of the XG CANopen too 6 2 3 Variable Allocation PLC devices are allocated to the PDO set up in the XG CANopen When the XG CANopen is opened via XG5000 the variables allocated in the XG CANopen can be used in the XG5000 6 2 4 Allocating Variables in XG CANopen PLC devices are allocated to the set up PDO Procedure Select menu View Build 6 2 5 Impo
14. 7 10 Variable Type Description Master mode information 0x00 initializing or error 0x10 Reset Node 0x20 Reset Communication CANOPEN STATUS WORD 0x30 Stop mode 0x40 Pre Operational mode 0x50 Operational mode Event information BITO 1 PUTCOMM GETCOMM read present screen only read all Reset if error occurs during Writing SDO and cleared if successful with the latest command EVENT STATUS WORD BIT1 1 Error occurred during communication process BIT2 1 when the slaves set up with the parameter differ from those on the network BIT3 1 among the slaves set up with error control 1 or more nodes failed error control MASTER CYCLE MIN WORD Master cycle min value ms MASTER CYCLE CUR WORD Master cycle current value ms MASTER CYCLE MAX WORD Master cycle max value ms Count of generic errors PEENEM DPI woke Count of the received emergency messages having codes 10xxH DEVICE HARD ERR C WORD Count of device hardware errors NT Count of the received emergency messages having codes 50xxH Count of device software errors a TEMNE WORD Count of the received emergency messages having codes 60xxH 61xxH 62xxH 63xxH COMMUNICATION_ER WORD Communication error count R_CNT Count of the received emergency messages having codes 81xxH Protocol error count PROTOCOL ERR NT WORE Count of the received emergency messages having codes 82xxH Count of external errors Count of the
15. 1 Select menu Online Connect 2 Select the master which will conduct Auto Scan 3 Select menu Online Autoscan NewPLC XG Net AutoScan_CANopen_Master 15g Project Edit View Online Tools Window Help 100 AutoScan_CANopen_Master B00 S01 XB 1 800 Kbit s Product code 31 Revision 10000 Device type 0 Hardware version 1 00 Software version 3 00 Activated 1 Parameterized 1 CANopen_Master B00 S01 XBL CMEA 10 012 12_XBL_CSEA_COPY_COPY ID 013 13 _ _ _ CANopen_Master_01 B00 S03 10 050 _50_XBL_CSEA_COPY sxi _12_XBL_CSEA v Jew XBL CSEA_V10 eds Product code 32 Revision 10000 Device type 0 85 CANopen Profile E Drives and motion control 197 CANopen LSIS_S100_CANOPEN1_0 EDS 157 CANopen LSIS_IS7_CANOPEN1_0 EDS SV iG5A CANopen 1515 1654 _0 05 SV iG5A CANopen 1515 165 _ 2_0 5 SV iP5A CANopen LSIS_IP54_CANOPENO_5 EDS amp E Generic 1 0 modules ICO DM3LP OTB_1CO_DMSLP_V5 eds Unknown 0 XBL CSEA XBL CSEA_V10 eds XPO COEA XPO COEA eds Ga Vendor E LS Industrial Systems XPO COEA eds 5 8 LS Industrial Systems Co Ltd 197 CANopen LSIS_S100_CANOPEN1_0 EDS 157 CANopen
16. CiA 303 1 Cabling and Connector Pin Assignment provides the recommendations for various types of cables and connectors 2 10 Chapter 3 Installation Trial Run fn Chapter 3 Installation and Trial Run 3 1 Installation Environment This product is very reliable regardless of installation environments but to guaranty the reliability and stability of the system pay attention to the following items 1 Environment Conditions 1 Install in the control board where waterproof and dustproof are possible 2 Installation Constructions 1 Make sure wiring leavings are not inserted inside the PLC when you process screw holes or do wiring jobs 2 Install the places where it is easy to control 3 Do not install into the same panel as high press machine 4 Make sure the distance to the duct and the surrounding module is maintained to be more than 50mm 5 Put to earth where surrounding noise environment is good Over 100mm Over 50mm Over 50mm 3 1 Chapter 3 Installation and Trial Run 3 2 Cautions when Handling Observe the following directions when you configure the system using CANopen I F module 1 Do not drop or impose strong impact 2 Do not separate PCB from the case It may cause malfunctions 3 Make sure foreign objects are not put into the upper area of the module while you do wiring jobs 4 If foreign objects are entered remove them 5 Do not remove the module when light is On
17. Add All Remove All PDOs Setting UC Transmission Inhibit Event ina 1 gt D aa Sa a da Sa 0x140E 0 214 synchronous cyclic 1 240 1 0x314 synchronous 1 240 1 0414 synchronous cyclic 1 240 1 4 Receive PDO parameter 05514 synchronous cyclic 1 240 1 0x194 event driven manufacturer specific 254 0 200 0x294 event driven manufacturer specific 254 0 200 0 394 synchronous cyclic 1 240 1 0x494 synchronous 1 240 1 8 5 1 PDOs Process Data Objects defined in the EDS file Shows all the PDOs recorded in the EDS To set up PDO select the check box or click the arrow key LS industrial Systems 18 21 Chapter 8 Slave Setting using XG CANopen 8 5 2 PDO Setting The PDOs to be used are displayed Transmission type and transmission type NO Inhibit time Event timer are set up here 1 Transmission type Transmission Type Type No Description h li iodi issi i Synchronous 0 Synchronous acyclic periodic transmission only when the data is changed h m a Synchronous oydi 4 240 Sync ronous transmission Periodically when the SYNC of the transmission type value is received Reserved 241 251 Reserved Synchronous RTR only 252 Only when RTR is received RTR only synchronous Asynchronous RTR only 253 Only when RTR is received RTR only event driven 254 Event driven Manufacturer specific manufacturer spe
18. Right choice for ultimate yield LSIS strives to maximize customers profit in gratitude of choosing us for your partner Programmable Logic Controller XGB CANopen I F Module XBL CMEA XBL CSEA Safety Instructions eRead this manual carefully before installing wiring operating servicing or inspecting this equipment eKeep this manual within easy reach J for quick reference http www Isis biz Safety Instruction Before using the product For your safety and effective operation please read the safety instructions thoroughly before using the product gt Safety Instructions should always be observed in order to prevent accident or risk with the safe and proper use the product gt Instructions are divided into Warning and Caution and the meaning of the terms is as follows Warning This symbol indicates the possibility of serious injury or death if some applicable instruction is violated This symbol indicates the possibility of severe or slight injury and property Z Caution damages if some applicable instruction is violated Moreover even classified events under its caution category may develop into serious accidents relying on situations Therefore we strongly advise users to observe all precautions properly just like warnings gt The marks displayed on the product and in the user s manual have the following meanings NBe careful Danger may be expected NBe
19. View AutoScan with Project The operating conditions of the View Autoscan with Project menu are as follows Checked the information on the project window and Auto Scan information are displayed in comparison Unchecked only the existing Auto Scan information is displayed NewPLC XG Net utoScan CANopen Master 18 Project Edit View Online Tools Window Help losa a z aex s e Project E NewPLC CANopen Network XGB XBCH AutoScan_CANopen_Master B00 S01 XB CANopen_Master BO0 S01 XBL CMEA L CMEA ID 012 12_XBL_CSEA_COPY_COPY 800 Kbit s ID 013 13_XBL_CSEA_COPY_COPY Product code 31 CANopen_Master_01 B00 S03 Revision 10000 ID 050 50_XBL_CSEA_COPY Device type 0 Hardware version 1 00 Software version 3 00 Activated 1 Parameterized 1 12 XBL CSEA COPY COPY XBL CSEA_V10 eds Exists in the only project window CANopen Profile S E Drives and motion control 167 CANopen LSIS_S100_CANOPENI_0 EDS 157 CANopen LSIS_IS7_CANOPENI_0 EDS _13_XBL_CSEA SV iG5A CANopen LSIS_IGSA_CANOPEN1_0 EDS Li XBL CSEA_V10 eds SV iG5A CANopen LSIS IG5A CANOPEN2 0 EDS Product code 32 SV IP5A CANopen LSIS_IPS4_CANOPENO_5 EDS Revision 10000 S E Generic 1 0 modules q Device type 0 OTB 1 DMSLP OTB_1CO_DMSLP_V5 eds Hardware version 1 00 C3 Unknown 0 Software version 1 50 4 XBL CSEA
20. _12 XDL CSEA V10 eds 13 XBL CSEA COPY XDL CSEA V10 eds AN Lem NewPLC XG Net Project Edit View Online Tools Window Help ipsa saeax 6 ee Project ax NewPLC 88 CANopen NetworkCXGB XBCH Og CANopen Master B D SO1 XBL CMEA 8 ID 012 12 XBL Cer Cons CAN 0013 13 XBL ltem 98 C Nopen Master l Slave 8 ID 050 50 XBL C Cut Ctrl X Copy Ctrl C X Delete Del Slave Error History Slave Status by Service Properties E Allow Docking Hide Float In Main Window Q Project 1 In the project window select the slave module to be deleted 2 Select menu Edit Delete From the project window the selected slave module is deleted Or Slave module can be deleted in the network window 6 16 LS industrial Systems Chapter 6 XG CANopen detail menu 6 3 5 Copy Paste Cut No Process Procedure E j Cu Ir lad ar amp gt 88 ure Propet Cue on We MT X Delete Del 0 Open heen 1301 XBL CMEA B 10 013 13 XBL CSEA COPY COPY 9 CANopen Mas 03 XBL CMEA 10 050 50 81 OPY NewPLC XG Net CANopen Master K NewPLC XG Net CANopen Master Project Edi Yew Online Tools Window Help Project Edi View Online Tools Window Help Copy
21. t operate Order 1 Select menu Online Connect to connect the PLC 2 Select menu Online Link Enable 3 Select the module to conduct link enable click the Write button Enable Link Link g Link 1 MAP Link 2 6 42 LS industrial Systems Chapter 6 XG CANopen detail menu 6 6 Print 6 6 1 Print Project This function prints the whole content of the project in order The function can select the items to be printed and set up and preview the setting required for te printing and perform print function Print Project Property v 500 PDO Preview ID 013 13 XBL 7 Property MILs 00 PDO Slave Status by 9 CANopen Master 01 B00 503 XBL CMEA Service Network View In Detail PDO Service Master Setting ME Properties Error control 7 49 PDO Table 1 00 Table 1 Diagnosis Variables ID 050 _50_ BL_CSE4_COPY Property v 500 PDO Close Setting 1 Select menu Project Print Projects 2 Print Project dialogue appears 3 Select the items to be printed and click Print button CS industrial Systems 6 43 Chapter 7 Master Setting using XG CANopen ooo Chapter 7 Master Setting using XG CANopen Edit windows of the master module XBL CMEA will be displayed when double click of project widow master module is executed 7 1 Properties With the master registration information tab the basic dat
22. 00214 02100 Oxf 11015 P0014 0x2000 Oxt 0015 00215 0x2100 0x10 11016 P0015 0x2000 0x10 SQW016 00216 02100 0x11 8101 P0016 0x2000 0x11 001 00217 0x2100 0x12 11018 P0017 0x2000 0x12 0018 00218 02100 0x13 314019 P0018 0x2000 0x13 0019 00219 02100 0x14 11020 P0019 0x2000 0x14 0020 00220 02100 0x15 81021 20020 0x2000 0x15 0021 00221 02100 0x16 11022 0021 0x2000 0x16 0022 00222 02100 0x17 11023 20022 0 2000 0 1 0023 00223 02100 0x18 11024 P0023 0 2000 0x18 0024 00224 02100 0x19 11025 20024 0x2000 0x19 0025 00225 02100 Oxla 11026 P0025 0 2000 0026 00226 02100 Ox1b 8102 P0026 0x2000 0x1b 0027 00227 02100 11028 P0027 0x2000 Oxic 0028 00228 02100 0 1 11029 20028 0x2000 Oxid 0029 00229 0 2100 Oxle 11030 P0029 0x2000 Oxle 010030 CS industrial systems 9 5 Chapter 9 Slave Module XBL CSEA Setting using XG5000 9 2 3 Writing Parameters Apply the basic settings of the slave by selecting Online Write coo i Project Edit Find Replace View Online Monitor Debug Tools Window Help EAR oec E gi Connection Settings A NF 1 4 Safety Lock Esc F3 F4 5 1 sF2 FS F6 sF8 sF9 A Safety Signature Project 4 E JJJ Change Mode 4 38 Network Configuration i Read 4 pected Neto amp NewPLC 8050 Lia lt aR Compare with PLC gt aa NewPLC 8051 gl NewPLC 8052 XBL E Fash Memory NewPLC BOS
23. 0x2000 0x1 210 001 UNSIGNED16 16 Aww 0 2000 02 Ow 002 UNSIGNED16 16 Riww 0 2000 0x3 210 003 UNSIGNED16 15 RWW 0 2000 054 ZOW 004 UNSIGNED16 16 Rw 042000 0 5 0 005 UNSIGNED16 16 RWW 0x2000 0 6 0 006 UNSIGNED16 16 RWW 0x2000 Ox 20 007 UNSIGNED15 15 RWW 0x2000 0 8 20 008 UNSIGNED16 16 RWW 0x2000 0 9 20 009 UNSIGNED16 16 RWW 0x2000 20W 010 UNSIGNED16 16 RWW 0x2000 0xB 20W 011 UNSIGNED16 16 RWW 0 2000 OxC 20W 012 UNSIGNED16 16 Aww 0 2000 OxD QW 013 UNSIGNED16 16 Riww 0x2000 OxE ZOW 014 UNSIGNED16 16 RWW PDO Contents 1 RECEIVE PDO PARAMETI Mapped Objects Index Sub index Parameter Data Type Lenath 0 2000 Ox1 tw 001 UNSIGNED16 16 042000 Ox2 0 002 UNSIGNED16 16 02000 0x3 0 003 UNSIGNED16 16 02000 uU 0 004 UNSIGNED16 16 Up Down Bottom 8 6 1 PDO Type Filter Select Receive PDO or Transmit PDO for setting up 8 6 2 PDO contents The PDOs selected for used in the PDO setting are displayed Indicated PDOs are mapped with objects 8 6 3 PODs Map Show the object recorded in the EDS To start mapping select an object and click the downward arrow key For the meanings of the index sub index parameter and data type see the description of the section 8 3 SDO Setting 1 Object List Size refers to bit size For example UNSIGNED16 refers to 16 bit size 8 6 4 Mapped Objects The objects selected for mapping are displayed To cancel mapping select the object to delete fro
24. 6 Use standard cables and install within maximum distance 7 Make sure communication lines are not affected by surges and inductive noises that may occur from alternating current or current parts 8 In case the machinery or the substances that may generate high temperature are nearby you or when wires directly come into contact oil and other things for a long time when you do wiring jobs it may cause a short cut damage or malfunctions 9 When you do wirings during pipe arrangement it is necessary to put to earth to pipes 3 2 Chapter 3 Installation Trial Run nnn 3 3 The Order for Setting up Products till Running The following describes the order of installing or setting up products Install the system and setting up the parameter so that they can operate in order 3 3 1 Setting Sequence of Master module XBL CMEA 1 Check functions and specifications 2 Mount the module 3 Check I F LED status of the communication module flashing after turning it on 4 Connect with XG 5000 5 Execute module synchronization 6 Double click on CANopen Network from XG5000 parameter window and execute XG CANopen 7 Set basic parameters of the master module XBL CMEA 8 Add slaves by directly inputting them or through auto scan 9 Set parameters of each slave 0 Execute Write Parameter 1 Implement link enable on the master module that sets parameters 2 1 1 12 Implement CANopen master s action 3 3 Chapte
25. 9 3 9 2 Basic Parameter Setting 9 4 9 2 1 Basic Parameter Setting 9 4 9 2 2 Relationship between PLC Address and CANopen Object 9 5 9 2 3 Writing Parameters 9 6 Chapter 10 Examples 10 1 Example of System Configuration 10 1 10 1 1 System Configuration 10 1 10 1 2 Description Operation 10 1 10 1 3 Parameter Setting 10 2 10 1 4 Operation check 10 10 Appendix Terms nn nnn nnn ee nee nn cnc cn ce cnn ne nnn nnn nnn ne ene een A 1 A 3 A 2
26. 92 CANopen_Master B00 S01 XBL Clv ID 001 _1_ COEA COPY C ID 001 XPO COEA 1 ID 012 12 XBL CSEA COPY C ID 012 XBL CSEA 12 ID 013 13 _ _ ID 013 XBL CSEA 13 ID 030 30 XBL CSEA COPY C ID 030 XBL CSEA 30 ID 050 50 XBL CSEA COPY C ID 050 XBL CSEA 50 _ _01 00 503 XBL 10 050 _50_XBL_CSEA_COPY Opening the file to be 2 gt Open Project Compare Close 1 Click the Open Project button in the dialog box 2 Select the file to compare with and click Open button x Comparing Project CANopen_Master Properties COB ID mismatches 1073741952 vs 128 CANopen_Master Properties Receive area size mismatches 100 vs 15 CANopen MasterProperties Send area size mismatches 200 vs 16 CANopen_Master PDO Variable Table The number of variables in PDO variable table mismatches 160 vs 40 The numbers of items to compare are not same CANopen_Master_01 Properties Communication baud rate mismatches 800 Kbit s vs 800 Kbit s CANopen_Master_01 Properties COB ID mismatches 1073741952 vs 128 CANopen Master_O1 Properties Period mismatches 20 vs 100 Result of CANopen_Master_01 Properties Receive offset mismatches 500 vs 0 CANopen_Master_01 Properties Send offset mismatches 600 vs 200 CANopen_Master_01 Properties Send area size mismatches 1
27. Activated only when synchronous cyclic 1 240 is selected as the transmission type and the PDO transmission period is master side cycle period x transmission type No gt Example master side cycle period is 100ms and the transmission type No is set to 3 Synchronous cyclic period 100x3 300ms l e data communication at every 8 23 Chapter 8 Slave Setting using XG CANopen TT 3 Inhibit time Used when the transmission type is 254 or 255 The time is the minimum time interval for PDO transmission When data exchange occurs frequently and irregularly PDO transmission within this time from the previous PDO transmission is inhibited The value is not changed as long as PDO exists in valid status 4 Event Time Applied when the transmission type is 254 or 255 The time is the maximum time interval for PDO transmission When data exchange occurs infrequently and irregularly PDO is transmitted after this time from the previous PDO transmission forcedly The XGB CANopen module processes 254 and 255 equally and transmits when device value is changed Our own COB ID starts from 0x681 8 24 Chapter 8 Slave Setting using XG CANopen 8 6 PDO mapping Objects can be mapped on the set up PDOs Properties Error Control Setting PDO Type Filter SDO Setting PDO Setting PDOs to Map PDO mapping Index Sub index Parameter Data Type Length Access properties
28. Add Slave dialog will appear As the default product name and EDS file path are displayed 2 Enter station No and name in the slave dialog and OK Confirm LS Industrial Systems 6 19 Chapter 6 XG CANopen detail menu Eo 6 4 Library 6 4 1 Overview The library means the set of the EDS Electronic Data Sheet currently registered in the When the user registers the EDS via library administrator the XG CANopen automatically updates the library and the information is maintained until the EDS registration is revoked 6 4 2 Library Window 1 Library Window Configuration To activate the library window select menu View Library Window The library window consists of the EDS library tab which shows all the registered EDSs and the Favorite tab which shows desired EDS only The EDS registered by the user is classified into manufacturer information and profile information and registered in tree structure From the EDSs desired EDS can be find out easily using the manufacturer and profile information The library window tree consists of the product name and file name of the EDS Library ax 5g Profile a 3 0 Drives and motion control 5 IG CANopen LSIS_S100_CANOPEN1_0 EDS 157 CANopen 515157 _0 05 3 SV iG5A CANopen LSIS_IG5A_CANOPENI_0 EDS 8 SV iG5A CANopen LSIS_IG54_CANOPEN2_0 EDS 8 SV iP54 CANopen LSIS_IP54_CANOPENO_5 EDS 4 Generic 1 0 modules 1CO DMSLP OTB_1
29. Reset PLC Reset the PLC Download OS Used for upgrading the version of the XBL CMEA I F module If you need to Reserved upgrade for firmware please contact near service center Enable Link 5 3 Chapter 5 Using XG CANopen 5 4 Tool Instruction Description Library Manager Register or delete EDS file on from the library Update Library Update the library with the EDS files saved in the library folder Customize User can define the tools and instructions Shortcut Setting User sets up shortcut keys Window Instruction Description Cascade XG CANopen windows are arranged in cascade form Title Horizontally XG CANopen windows are arranged horizontally Title Vertically XG CANopen windows are arranged vertically Arrange Icons XG CANopen icons are arranged Close All Close all the XG CANopen windows Help Instruction Description About XG CANopen Show XG CANopen information Chapter 5 Using XG CANopen 5 1 2 Toolbar XG CANopen provides frequently used menus in icon form Click the desired tool to execute the function The user can create a customized toolbar with frequently used tools He E i amp emue 1 Creating a new toolbar The user can create a customized toolbar with frequently used tools Customize Toolbars Commands Toolbars 7 show tool tp v Cool look Customize 1 Toolbar in the list check the name of th
30. gt EDS Librar Favorite 4 View EDS Content To view the content of a registered EDS right click the mouse on the EDS and select View EDS menu A new window showing the whole content of the EDS will appear showing the following information EIECTUS E 94500 CANperEDS BL CSEA Vil gt File path shows the absolute path of the selected EDS gt Search content enter key word s to search EDS content The keyword is case sensitive and searches unit word basis Use check box 1 Unit word based search the search keyword is considered to be a complete word and searches exact matches only E g If the search object is Object Type 0x7 If ObjectType is entered the search will succeed and fail if ObJect is entered ObjectType 0x7 will succed and ObjectType 0 will fail 6 21 Chapter 6 XG CANopen detail menu TTS 6 4 3 Library Manager The library administrator is used to register a new EDS or revoke one or to modify the image file registered together with the EDS 1 Register EDS file Library Manager Add the selected EDS file to the library Unregister EDS file Remove the selected EDS file from the library Register EDS file 1 Change image Change the registered image file Select Tool Library Manager select Register EDS file and click Next button Library Manager EDS file CAWXGSOODWCANopenEDSWXBL CSEA V10 eds Image file C A XG5000 CANop
31. 00 Embedded Cnet 01 CANopen Slave 02 CANopen Master amp 03 Output module xBE TN TP324 TR OUTPUT 32poir CS industrial systems 9 3 Chapter 9 Slave Module XBL CSEA Setting using XG5000 E A 9 2 Basic Parameter Setting 9 2 1 Basic Parameter Setting The method and procedures of setting up the basic parameters of the CANopen slave are as follows 1 In the project window select CANopen Slave and double click it Standard Settings Settings Station Number Speed 800 Kbit s 600200 Size Word 32 Write area RPDO Area Size Word 2 Enter station No Available station numbers are 1 127 3 Enter communication speed Same as the XGB CANopen master following 9 baud rates are supported 10K 20K 50K 100K 125K 250K 500K 800K 1Mbit s 4 Set up the starting address and size of the area to be read The starting address and size are all word size 5 Set up the starting address and size of the storage area The starting address and size are all word size Available size are 8 256 words In the slave EDS 256 objects can be set up Therefore all 256 objects can be set up when setting up the master However the basic unit and communication module exchanges data by the size set up in the basic parameter As such when the setting is less than 256 the master and slave can conduct PDO mapping and exchange data properly However in case of RPDO it is not reflected on the device of the
32. 1 Select menu Online Connect to connect the PLC 2 From the project tree select the slave item for which error history is to be searched 3 Select menu Online Slave Service by Status 4 The details of the system history are as follows 1 No order of parameter during downloading 2 Station No shows the station No of the slave 3 Kind shows the type TPDO RPDO of the PDO 4 Transmission type shows the transmission type of the PDO 5 COBD shows the COB ID of the PDO 6 Address shows the starting address of the device mapped on the PDO 7 Length shows the entire size of the object mapped on the PDO 8 NMT status shows the status of NMT The NMT status can be INIT PREOPERATIONAL OPERATIONAL or STOPPED 9 Block status shows the status of PDO block The block status can be INIT NORMAL or ABNORMAL 10 Service count shows No of services per one second 11 Flag clear initializes the values of the No of services per s No of services and of errors 12 Multiple Reading reads PDO service status continuously 13 Refresh reads PDO service status again 6 36 Chapter 6 XG CANopen detail menu Te No Process Procedure Status by service PDO Service SDO Service No Station No NMT Status Service cou Service count Error count 0 12 OPERATIONAL 0 Slave Status by Service SDO Service Flag Clear Multiple Reading Refresh Close 1 Select menu Online
33. 1 000 100 3 40 20 000 20 2 000 200 50 4 20 000 50 2 000 200 20 10 20 000 100 2 000 200 10 20 20 000 200 2 000 200 5 40 50 000 20 5 000 500 50 10 50 000 5 000 50 000 5 000 100 000 10 000 100 000 10 000 125 000 12 500 125 000 12 500 250 000 25 000 500 000 50 000 800 000 80 000 1 000 000 100 000 2 4 Chapter 2 Specification M 2 4 Component Names The names of the module components are as follows CD Fixing lever Connector Description Fixing lever Extension module fixing part the upper Display statuses of module and communication LED Display In the next page descript each LED statuses Connector CANopen Connector DIN rail holder DIN rail fixing part Chapter 2 Specification 2 4 1 LED and Description XBL CMEA XBL CSEA 1 Common Display Item Color Operation Description Remark On Operational state Blinking 200ms On Preoperational state Only XBL CMEA 200ms Off RUN Green Blinking Follow CiA303 3 standard 200ms On Stopped 1000ms Off Off Not set parameters or connect the cable Blinkin Normal operation of a CPU and 9 module In case of Abnormal state VF Yellow or Off Abnormal operation of a CPU and Stop On or Off CANOpen module Blinking Transmission state TX Green Off Transmit data frame Blinking Receiving state Green Off Receive data
34. 1 Special Relay F List A 3 A 2 2 Network Register List A 9 External Dimension A 10 LS Chapter 1 Overview m Chapter 1 Overview 1 1 Introduction This user manual describes the CANopen module hereinafter CANopen module of XGB PLC system network The CANopen network is an open type network used for industrial control devices It is driven by CiA CAN in Automation and supported by more than 400 companies across the world On the CAN Controller Area Network standard the application protocol CANopen is built in and is defined as an international standard The transmission method is CSMA BA Carrier Sense Multiple Access Bitwise Arbitration and all the stations on the network can send messages whenever the network is in free state If multiple stations desire to send messages the station having the highest priority has the right to send its message In the programming work please refer to following documents in addition e XG5000 User s Manual e XGK Instruction List e XGR User s Manual Following basic specifications apply to the construction of a XGB CANopen module syst
35. 128 UNSIGNED16 RO h0000 hFFFF h2110 h01 h80 AIW 129 IW 256 UNSIGNED16 RO h0000 hFFFF gt h1003 Pre defined error field This object provides the error occurred in the CANopen device The sub index 0 present the number of error stored from sub index 1 XBL CSEA can store up to 10 errors Only the sub indexes whose values are stored in the sub index 0 can be read For example if the value is 0 which means there has been no error reading sub index value of 1 or higher gives an error message Wrting 0 into the sub index 0 will delete the entire error history Other values than 0 are not allowed to write in gt h1005 SYNC message COB ID COB ID SYNC message The SYNC COB ID can have two values of h40000080 at SYNC creation or h00000080 when SYNC is not created Since SYNC creation exists only one on a network if there is a master only h00000080 is allowed gt 1010 Store parameters The object enables storing parameters in non volatile memory To prevent saving parameter by mistake the object can be activated by a specific sign value The recognizable sign value is save as shown below Signature MSB 1 08859 character hex 8 8 Chapter 8 Slave Setting using XG CANopen _ gt 11011 Restore default parameters The parameter values stored in the flash memory are deleted and the default parameter values kept in the module are restored To prevent restoring to default parameter by mistake the object can be activat
36. 29 Chapter 6 XG CANopen detail menu 6 5 4 Monitor XG CANopen monitor displays PDO variable device values and diagnosis variable values PDO variable values can be viewed in the PDO variable table in the master set up window and the values of the diagnosis variables can be viewed in the system configuration diagram window Order 1 Select menu Online Connect to connect the PLC via online 2 Select menu Online Start Monitor to start monitor 3 If the PDO variable tab and diagnosis variable tab are active monitor mode is activated 4 Select menu Online End Monitor to stop the monitor 1 Monitor function in the View Network Order 1 In the monitor mode select View View Network CANopen_Master B00 501 XBL CMEA 800 Kbit s Channel status Normal CANopen Communication status Normal CANopen status Network Operational mode Event status Normal Minimum CYCLE value ms 127 Current CYCLE value 2 ms Maximum CYCLE value 70 ms General error 0 Hardware error no 0 Software error no 0 Communication error no 0 Protocol error no 0 External error 0 Device specific error no 0 12 XBL CSEA COPY COPY XBL CSEA_V10 eds Parameter status Configuration Setting Slave mode Operational mode _13_XBL_CSEA_COPY_COPY XBL CSEA_V10 eds Parameter status Configuration Setting Slave mode Operational mode For the monitor function accurate monitoring
37. 3 s 3j Unknown 0 Properties Device XBL CSEA XBL CSEA VIO eds Es i XPO COEA XPO COEA eds of slaves E Vendor Description a LS Industrial Systems n XPO COEA eds a LS Industrial Systems Co Ltd 5 167 CANopen LSIS_S100_CANOPENI_0 EDS 5 167 CANopen LSIS_IS7 CANOPENI_0 EDS SV iG5A CANopen LSIS_IG5A_CANOPENI_0 EDS 7 SV IG5A CANopen LSIS_IG5A_CANOPEN2_0 EDS 2 SV IP5A CANopen LSIS_IP5A_CANOPENO_5 EDS 2 2 a 1515 1 Enter following items in the slave window 1 Station No enter the slave node ID 2 Name enter name of the slave node 3 Device enter the EDS product name of the slave node 4 EDS enter the EDS file path of the slave node 2 Click EDS call up button and add the desired EDS 3 Click OK button 8 26 Chapter 8 Slave Setting using XG CANopen i LSIS CANopen_Master B00 S02 1 Mbit s CANopen REM eeccoose GL CSEA_V10 eds Select Add to Master 1 Inthe network window the slave is added beneath the master module 8 27 Chapter 8 Slave Setting using XG CANopen 2 Adding slave in Auto Scan No Process Procedure L CMEA E Project Edit View Online Tools Window Help 1 Mbit s alal amp Disconnect S Product code 31 1D Revision 10000 Project Device type 0 NewPLC Module Synchronization Hardware version 1 00 88 CANopen Ne Software ver
38. 86 411 8730 7560 e mail cuibx lsis com cn m Homepage http eng sis biz 2015 02 information in this manual is subject to change without notice LSIS Co Ltd 2010 All Rights Reserved
39. Connect to connect the PLC 2 From the project tree select the slave item for which error history is to be searched 3 Select menu Online Slave Service by Status 4 In the status by service dialog select SDO Service tab 5 The details of the system history are as follows 1 No order of parameter during downloading 2 Station No shows the station No of the slave 8 NMT status shows the status of NMT The NMT status can be INIT PREOPERATIONAL OPERATIONAL or STOPPED 4 Service count per second shows No of services per one second 5 Service count shows No of all the services 6 Error count shows of all the errors 7 Flag clear initializes the values of the No of services per s No of services and No of errors 8 Multiple reading reads SDO service status continuously 9 Refresh reads PDO service status again 6 37 Chapter 6 XG CANopen detail menu 6 5 9 Autoscan From a real CANopen network whose device configuration is unknown collect slave information via master module and investigate the network configuration to create a configurable topology screen Result of Autoscan is displayed in the network configuration screen The list of the slaves to the master which has conducted Auto Scan is created The display window varies by the View mode of the network window If Autoscan menu is clicked again during Auto Scanning the Autoscan information is read to update the screen Order
40. ERRO1 Bit P2P Parameter 1 block 1 service abnormal end When P2P Parameter 1 block 1 service abnormal end indicates error code Indicates P2P Parameter 1 block 1 service normal L519 LW519 _P2P1_STATUSO1 Word L520 LD260 P2P1 SVCONTO Double Word execution count L522 10264 P2P1 ERRCNTO Double Word Indicates P2P Parameter 1 block 1 service abnormal execution count 99 W 524 524 1529 529 Word P2P parameter block 2 service L530 L535 Word P2P parameter block service LW536 L536 L697 W697 Word P2P parameter1 block 4 30 service 991 W698 L698 L703 W703 Word P2P parameter1 block 31 service A 8 Appendix A 2 2 Network Register N List This chapter describes on communication network register P2P parameter 1 3 P2P block 0 31 Device Key word Description 000 NWO000 _P1BO0SN Word Saves P2P parameter1 block 00 s partner station number N0001 0004 NW0001 0005 P1BOORD1 Word Saves Saves 2 parameter1 block 00 Read area device 1 005 NWO006 _P1BOORS1 Word Saves Saves P2P parameter1 block 00 Read area size 1 N0006 0009 NW0007 0011 P1BOORD2 Word Saves Saves P2P parameter1 block 00 Read area device 2 010 NWO012 _P1BOORS2 Word Saves Saves P2P parameter1 block 00 Read area size 2 N0011 0014 NW0013 0017 P1BOORD3 Word Saves Saves P2P parameter block 00 Read area device 015 NWO018 _P1BOORS3
41. Link Online Module Synchronization Mm S I Create Shortcut OK L Ok 1 Select a macro select the menu for which a shortcut key is to be assigned from the list 2 Create shortcut create a shortcut key for the selected menu item 3 Remove Remove the set up shortcut key 4 Rest all delete all the user defined shortcut keys and reset the shortcut key settings to the default setting Setting up Shortcut Key Assign Shortcut ok Press new shortcut key Gi d Current Assignment Edit Copy the menu item 4 Click the OK button 1 Select menu select a macro for which a shortcut key is to be assigned from the list 2 Click the Create Shortcut Key button 3 Press the shortcut key to be set up For example to set up Ctrl C as a shortcut key keep pressing the Ctrl key and press C key in the keyboard The edit window will show the shortcut key If the key set has already been in use the shortcut key will show Chapter 6 XG CANopen detail menu Chapter 6 XG CANopen detail Menu 6 1 Project The project configuration items are as follows Project 1 x NetProject 98 CANopen Network XGB XBCH Cu Test B00 S01 XBL CMEA ID 001 Testi ID 002 Test 2 ID 003 Test3 project 1 Project represents the project 2 CANopen Network represents the CANopen system respective to one CPU module 3 Master represents the master module 4
42. M Revision History Version Date Contents Revised position V1 0 12 4 First edition V1 1 12 11 Name of XGB CANopen configuration tool changed All gt V1 2 15 2 XG5000 V4 0 UI Updated Entire The number of User s manual is indicated right part of the back cover 20101515 Co Ltd All Rights Reserved About User s Manual M About User s Manual Congratulations on purchasing PLC of LSIS Co Ltd Before use make sure to carefully read and understand the Users Manual about the functions performances installation and programming of the product you purchased in order for correct use and importantly let the end user and maintenance administrator to be provided with the User s Manual The User s Manual describes the product If necessary you may refer to the following description and order accordingly In addition you may connect our website http www lIsis biz and download the information as a PDF file Relevant User s Manuals No of User s Title Description Manual XG5000 User s It describes how to use XG5000 software especially about online functions such as programming printing monitoring 10310000512 Manual debugging by using series products XG5000 User s It describes how to use XG5000 Software especially about online Maii functions such as programming printing monitoring 10130000834 debugging by using XGB
43. R China Tel 86 10 5825 6027 666 Fax 86 10 5825 6028 e mail xunmj Ilsis com cn a LS Industrial Systems Guangzhou Office Guangzhou China Address Room 1403 14FL New Poly Tower 2 Zhongshan Liu Road Guangzhou P R China Tel 86 20 8328 6754 Fax 86 20 8326 6287 e mail chenxs Isis com cn LSIS constantly endeavors to improve its product so that http eng Isis biz 10310001245 LS Industrial Systems Chengdu Office Chengdu China Address 12FL Guodong Buiding No 52 Jindun Road Chengdu 610041 P R China Tel 86 28 8612 9151 9226 Fax 86 28 8612 9236 e mail comysb Isis biz LS Industrial Systems Qingdao Office _ Qingdao China Address YinHe Bldg 402 Room No 2P Shandong Road Qingdao City Shandong province 266071 China Tel 86 532 8501 6068 Fax 86 532 8501 6057 e mail wangzy Isis com cn LS Industrial Systems Europe B V Netherlands Address 1st Floor Tupolevlaan 48 1119NZ Schiphol Rijk The Netherlands Tel 31 0 20 654 1420 Fax 31 0 20 654 1429 e mail junshickp lsis biz Wuxi LS Industrial Systems Co _ Wuxi China Address 102 A National High amp New Tech Industrial Development Area Wuxi Jiangsu 214028 P R China Tel 86 510 8534 6666 Fax 86 510 8534 4078 e mail caidx Isis com cn Dalian LS Industrial Systems Co Ltd _ Dalian China Address No 15 Liaohexi 3 Road Economic and Technical Development zone Dalian 116600 China Tel 86 411 273 7777 Fax
44. Slave represents the slaves connected to the master CS industrial Systems 16 1 Chapter 6 XG CANopen detail menu TTS 6 1 1 Project File Management 1 Creating a New Project Create a new project At the same time a folder of the same name that of the project is created containing the project file Process Procedure New Project Project Name Directory C xG5000 Network Type CANopen Network CPU Type GB XBCH Creating a New Project Project Comment 1 Select menu Project New Project Project name enter desired project name The name will be the name of the project Directory a folder with the entered project name is created and the project file is created in the folder Searching box looking up the existing folders allocate the project file location Network type select the network type CPU type select the CPU type Project comment enter project description text A WO 6 2 Chapter 6 XG CANopen detail menu M No 6 1 2 Opening Project Process Procedure CQ XG5000 9 C3 CANopenEDS My Recent Drivers Documents eps J kor LZ PROFICON Sources Open Project CQXGPM L2 XG SIM My Documents estnetoro My Computer File name Test netproj My Network Files of type XG Net files netproj 1 Select menu Project Open Project 2 Select the file and cli
45. Unit mm e XBL CMEA and XBL CSEA have the same dimension EXPANSION CONNECTOR 90 GND CAN_H SHIELD CAN_L CS industrial Systems MADE IN KOREA 1 01 LS industrial Systems Warranty and Environmental Policy _ Warranty 1 Warranty Period The product you purchased will be guaranteed for 18 months from the date of manufacturing 2 Scope of Warranty Any trouble or defect occurring for the above mentioned period will be partially replaced or repaired However please note the following cases will be excluded from the scope of warranty 1 Any trouble attributable to unreasonable condition environment or handling otherwise specified in the manual Any trouble attributable to others products If the product is modified or repaired in any other place not designated by the company Due to unintended purposes Owing to the reasons unexpected at the level of the contemporary science and technology when delivered Not attributable to the company for instance natural disasters or fire Saran 3 Since the above warranty is limited to PLC unit only make sure to use the product considering the safety for system configuration or applications Environmental Policy LSIS Co Ltd supports and observes the environmental policy as below Environmental Management About Disposal LSIS considers the environmental preservation LSIS PLC unit
46. Word Bit Variable Function Description F0028 BPRM ER BASIC PARAMETER Errors in Basic Parameter F0029 OPRM ER IO PARAMETER Errors with IO Configuration Parameter SPECIAL MODULE a F002A SPPRM ER PARAMETER Special Module Parameter is in Abnormal State COMMUNICATION MODULE m F002 3 F002B CPPRM ER PARAMETR Communication Module Parameter is in Abnormal State FO02C _ PROGRAM ERROR Errors in Program 0020 _ ER CODE ERROR Errors in Program Code F002E _SWDT_ER SYSTEM WATCH DOG Scan Watchdog Operated F0030 _WDT_ER SCAN WATCHDOG Scan Watchdog Operated i _CNF_WAR SYSTEM WARNIGN Reports on the Light Errors of the System F00041 _DBCK ER BACKUP ERROR Problem Occurred in Data Back Up F00043 ABSD ER OPERATION Stops due to Abnormal Operation ERROR STOP ps P F00046 _ANNUM WAR EXTERIAL DEVCIE ERROR The Light Error of the External Device Detected F00048 HS WARI ka High Speed Link abnormal F00049 HS WAR2 ai ae High Speed Link abnormal F004 P2P F0054 P2P WAR PARAMETER 1 P2P abnormal P2P F0055 _P2P_WAR2 PARAMETER 2 P2P abnormal P2P F0056 _P2P_WAR3 PARAMETER 3 P2P abnormal FIXED FOO5C _CONSTANT_ER PERIOD Fixed Period Errors ERROR F USER USER CONTACING POINT _ User Usable Timer F0090 T20MS 20ms 20ms Periodic Clock F0091 100MS 100ms 100ms Periodic Clock F0092 T200MS 200ms 200ms Periodic Clock F0093 TS 1s 1s Periodic Clock F0094 _ 25 25 2s Periodic Clock F0095 _T10S 10s 10s Periodic Clock roe
47. a new project Open Project Open an existing project Open form PLC Upload the project and program in the PLC Save Project Save a project Save As Save the project under a different name Close Project Close a project Export Save the contents of the XG CANopen project in a file Import Upload the exported file from the XG CANopen Export as package Save the contents of the XG CANopen project and used EDS files Import from package Upload the exported file from the XG CANopen and used EDS files Compare projects Compare two project and show the result Print Print the content of the active window Print Preview Show the screen to be printed Project Print Select and print project item Print Setup Set up printer options End Terminate XG CANopen Edit Instruction Description Cut Delete a block and copy the content to the clip board Copy Copy the content of the block to the clip board Paste Copy the content of the clip board to the edit window Delete Delete a block or selected item Open Item Open the item selected in the project window 5 2 Chapter 5 Using XG CANopen View Instruction Description Build Perform parameter inspection and allocate variables Status Bar Show or hide the status bar at the bottom screen of XG CANopen Project Window Show or hide project window Library Window Show or hide libr
48. careful Electric shock may occur The user s manual even after read shall be kept available and accessible to any user of the product LSis Safety Instruction Safety Instructions for design process Please install a protection circuit on the exterior of PLC so that the whole system may operate safely regardless of failures from external power or PLC Any abnormal output or operation from PLC may cause serious problems to safety in whole system Install protection units on the exterior of PLC like an interlock circuit that deals with opposite operations such as emergency stop protection circuit and forward reverse rotation or install an interlock circuit that deals with high low limit under its position controls If any system error watch dog timer error module installation error etc is detected during CPU operation in PLC all output signals are designed to be turned off and stopped for safety However there are cases when output signals remain active due to device failures in Relay and TR which can t be detected Thus you are recommended to install an addition circuit to monitor the output status for those critical outputs which may cause significant problems Never overload more than rated current of output module nor allow to have a short circuit Over current for a long period time maycause a fire Never let the external power of the output circuit to be on earlier than PLC power which may cause accidents from
49. command is not processed in scan synchronous manner That is the response from the corresponding device may arrive after several scans the result cannot be known right after processing the command 5 Process result check can be confirmed with flag 6 sl slot No of communication module is set up with two digits in hexadecimal and if h0002 as shown in the figure below the h0002 refers to the slot No 7 S 8 Byte or D N Byte exceeds the range F110 and F115 bits are set gt Exemplary application of GETTCOM The exemplary software program below reads 4 bytes of data from the index h2000 and h0072 sub index of the slave station 1 CANOpen master module installed in slot No 2 and save the data in D6300 ETCOMM h 002 001000 006300 Station No of Slave 001000 h2000 001001 Index of Slave Sub index of Slave D01002 001003 Reserved gt Meanings of the operands 1 sl h0002 base No 00 slot No 02 2 S D1000 D1003 slot and object index Device Bit 15 8 Bit 7 0 Hagan 5 0 Station No of Slave D1000 1 Slave side object index High Slave side object index Low D1001 5 2 Slave side object sub index D1002 3 Reserved Reserved D1003 3 D 6300 D6304 Device Bit 15 8 Bit 7 0 D 0 NDR Bit15 ERR Bit14 D6300 D 1 Length High Length Low D6301 D 2 Error Code High Error Code Low D6302 D 3 Reserved Reserved D6303
50. object list and minimum and maximum values 8 3 5 Minimum Maximum Refer to the minimum and maximum values of the object selected from the object list When editing the value in the Current Value cell if the value exceeds the min max value range an error message is triggered 8 3 6 Number of SDOs Show the maximum number of available SDOs and the number of currently set up SDOs The maximum number is the maximum that can be set up in the master module 8 3 7 Size of SDOs Show the maximum size of available SDOs and the size of currently set up SDOs The maximum SDO capacity is the largest capacity that can be set up in the master module Chapter 8 Slave Setting using XG CANopen TT 8 3 8 Writeable Object list when XBL CSEA is selected Index un Parameter name Data type Min Max h1003 h00 Number of elements UNSIGNED8 RW h00 h00 h1005 h00 COB ID SYNC message UNSIGNED32 RW h1010 hot Parameters that may be stored UNSIGNED32 RW _ _ on the CANopen device h1011 h01 Restore all default parameters UNSIGNED32 RW h1014 h00 COB ID Emergency Object UNSIGNED32 RW h1015 hoo Inhibit time EMCY UNSIGNED16 RW h1016 h01 Consumer heartbeat time 1 UNSIGNED32 RW h1017 hoo Producer Heartbeat Time UNSIGNED16 RW h0000 hFFFF h2000 h01 h80 001 QW 128 UNSIGNED16 RWW h0000 hFFFF h2010 h01 h80 129 256 UNSIGNED16 RWW h0000 hFFFF H2100 h01 h80 AIW 001 IW
51. received emergency messages having codes 90xxH DEVICE SPEC ERR C WORD Count of device specific errors NT Count of the received emergency messages having codes FFxxH SLAVE NUM BYTE of the slaves set up in parameter max 32 Reserved 3 BYTE Reserved SLAVE ID O n BYTE ID of the slaves set up in parameter 1 127 BITO 1 slave configuration progress completed BIT1 1 slave configuration error BIT2 1 when slave EMCY error exists Cleared if the latest recorded Emcy is h8140 SLAVE INFO 0 n BYTE BIT3 1 Init status 4 1 Stop mode BIT5 1 Pre Operational mode BIT6 1 Operational mode BIT7 Reserved Chapter 7 Master Setting using XG CANopen Note 1 CHANNEL_STATUS master module s channel information a BITO 1 if stack initialization error 0 if initialization normal Set to 1 at reset link inactive or parameter downloading then set to 0 after parameter download success or link becomes active after stack initialization b BIT1 1 if 1 or more slaves set up in the parameter have non operational modules or 0 when all the slaves set up in the parameter are operational If the BIT6 of SLAVE_INFO_nis 1 the status is Operational c BIT2 1 if 1 or more slaves set up in the pmt have modules having configuration errors 0 otherwise If the BIT1 of SLAVE_INFO_ nis 1 the status is Configuration error 2 CHANNEL STATUS master module s communication status information a BITO 1 if t
52. station number ranging from 1 to 127 within the network 8 1 2 Name Name of the slave assigned by the user The name must be unique to identify the slave Like the master node Slave names have restrictions It length must not exceed 20 Alphabets with the first letter in an Alphabet or Korean alphabets or followed by Alphabets or Korean alphabets figures oo or 8 1 3 Module Moules porduct name specified in the EDS file of the slave Automatically entered when the EDS file is selected and cannot be changed Chapter 8 Slave Setting using XG CANopen 3 8 1 4 EDS Shows the EDS file path selected by the user from library EDS file can be changed using the button to the right 8 1 5 Description Enter the description of the slave node Allowable length is 256 bytes 128 Korean letters 256 Alphabets of any character When registration information has been modified click the Apply button to apply the cahnge 8 2 Chapter 8 Slave Setting using XG CANopen 8 2 Error control setting Select error control method for the slave module When the slave error control setting button is clicked following screen will appear The error control service is used to detect the error in the CAN based networks This is mainly implemented with the message sent from CANopen device on regular basis Two types of error control methods are available Node Guarding and Heartbeat protocols Sinc
53. using XG CANopen gt Guard time or node guard time NMT master sends RTRs to check the state of slave at constant time intervals which is the guard time This can be set up differently for different slaves gt Node lifetime Calculated with the formula Guard time x Lifetime Factor This can be set up differently for different slaves 8 2 2 Heartbeat Heartbeat producers send heartbeat messages and heartbeat consumers receive heartbeat messages The heartbeat is different from guarding by that the roles of the master and slave are not divided and the heartbeat producers send heartbeat messages by broadcasting Therefore the messages transmitted from a producer is received by multiple consumers If heartbeat message is not received for a given time period the device acting as the heartbeat producer determines an error The error status is reset when a heartbeat message is received gt Producer time the period at which a heartbeat producer transmits heartbeat messages Error control setting of our CANopen slave module XBL CSEA supports only heartbeat protocol 8 4 Chapter 8 Slave Setting using XG CANopen 8 3 SDO setting SDO Service Data Object transmission is mainly used to set up the initial values of the devices in the CANopen network The priority level is low and non periodic The objects are classified into 16 bit indexes and 8 bit sub indexes W _20_XBL_CSEA
54. xBL CSEA_V10 eds Activated 1 XPO COEA XPO COEA eds Parameterized 1 3 Vendor S E LS Industrial Systems i XPO COEA XPO COEA eds LS Industrial Systems Co Ltd 167 CANopen LSIS_S100_CANOPENI_0 EDS 57 CANopen LSIS_IS7_CANOPENI_0 EDS SV iG5A CANopen LSIS_IG5SA_CANOPEN1_0 EDS 5 ES eu c r4 ATDAN We Favorite Jg AutoSca CANopen amp The background colors of the station number indicate following information 1 Green the project window and Auto Scan information are identical 2 Red EDS cannot be found or the station number read by Auto Scan exists on the project but the EDS information is different 3 Orange exists in the Auto Scan information only and no parameter exists 4 Gray exists only in the project window LS industrial systems 16 39 Chapter 6 XG CANopen detail menu 6 5 11 Add Autoscan in Project Although not actually registered with the master not registered project window in XG CANopen as a slave the EDS information acquired from the Auto Scan is added in the project window Order 1 Select menu Online Connect 2 Select the master which will conduct Auto Scan 3 Select menu Online Autoscan 4 Select menu Online Add Autoscan in Project Delete the slave information added in the existing project window and configure the project window with the data
55. 00 vs 200 Com ari ison CANopen Master_01 Properties Diagnostic offset mismatches 800 vs 300 p CANopen_Master_O1 Error control setting The time of Heartbeat Producer mismatches 100 vs 200 3 CANopen Master_O1 PDO Variable Table The number of variables in PDO variable table mismatches 145 vs 0 The numbers of items to compare are not same Message Window CQ Error list LE Output S Result Click the Compare button The result of the comparison is displayed in the message window Chapter 6 XG CANopen detail menu 6 2 7 Other Functions Function Meaning Execution Method Select menu Project Export Save the contents of the XG CANopen project Export Enter the name for saving and click in another file Save button Select menu Project Import Load the contents of the XG CANopen project Import Enter the file name and click Open saved in another file button 1 Select menu Project Export as Save the project contents in a file archive Package Export as Package Exporting file archive also saves the EDS file 2 Enter the name for saving and click information used in the project Save button 1 Select menu Import the project archive file Project Import from Package Import from Package Importing file archive also loads the EDS file 2 Enter the name of the archive file and information used in the project click Open button C
56. 1 Deron Qraf 1 Select the module to be copied Select menu Edit Copy Or select the slave and right click the mouse to select Copy Paste Properties Station No 1 127 2 Name _12_XBL_CSEA_COPY_COPY_COPY Device EDS Description 1 Select a slave and select menu Edit Paste 2 Add Slave dialogue will appear 3 Suffix COPY is attached to the end of the name of the copied slave 4 Enter basic entries for the slave LS industrial Systems 16 17 Chapter 6 XG CANopen detail menu Procedure NewPLC XG Net CANopen Master Project Edit View Online Tools Window Help Project NewPLC 25 CANopen NetworkCXGB XBCH fg CANopen_Master B00 S01 XBL CMEA B ID 012 _12_XBL_CSF4 CADY caps 003 13 XBL C Item CANopen_Master_01 Add SI 10 060 50 02 9 amp Cut Ctrlex Copy Ctrl C Delete Del Slave Error History Slave Status by Service Properties Allow Docking Hide Float In Main Window Q Project 1 Select the slave to be cut off 2 Select menu Edit cut Or select the slave and select Cut from the context menu 3 The cut slave can be pasted with the method described in the above Clause 2 Chapter 6 XG CANopen detail menu No 6 3 6 Drag and Drop Slave modules can be added by drag and drop Process Procedure D
57. 1 Connection Setting 6 25 6 5 2 Write 6 25 6 5 3 Read 6 28 6 5 4 Monitor 6 30 6 5 5 Write SDO 6 32 6 5 6 Read SDO 6 33 6 5 7 Slave Error History 6 34 6 5 8 Slave Status by Service 6 36 6 5 9 y Woo 6 38 6 5 10 View Autoscan with project 6 39 6 5 11 Add Autoscan in project
58. 2 Click the diagnosis variable table 3 Select Online Start Monitor 4 Check up the states of the master module and slave module referring to the monitor values and explanation R Ege Yew Onine Toots Window a zx KG Ne AutoScun CANopen Master I z 5u e Popa FR ChNspen Network BCS w lamps lasot AutoScen CANopen MasterBoo L CMEA 0010 XBL CSEA 10 1 Mowe 000 OTBICOOMOLP 20 Not match Santon No code 31 Hardware version 1 00 Sotware version 1 90 10 10 LS industrial Systems Auto Scan Service Sex amp CANopen Ca Profo Drives and conval 16 1515 5100 C IST CANopen L515 JS7 CANOPENI IGSA CANopen LSIS JGSACANOPE GSA C ANopen LSS IGSACANDPL VAP6A CANapen LSIS IPSA Generic VO modes OTB ICO OTB ICO DMILP vE C XEL CSEA VIG edu 0 edi Venton Y 1 OTBICOOMERP_20 1CO V in t only proja Zoom n Zoom Qu Bj Vae Ded E Vew Briety 3 Vow As Ust 00 Vow As Table WS Ate Scam Add Apocan in Project 2 Autoscin yit Project Rawsa Stave Emor history 1 Select Online Auto Scan 2 The entire network condition can be checked up with the report of the Aut
59. 3 XBL C Control Redundancy System Variable 4 BD NewPLC XGB XECU Stop Communication module setting Global Direct Variables Reset Clear i Parameter Diagnosis Bl Basic Parameter E Parameter 9 Force yo 9 6 LS industrial Systems Chapter 10 Examples fn Chapter 10 Examples 10 1 Examples of System Configuration 10 1 1 System Configuration The following example is for a configuration with the CANOpen master module XBL CSEA and slave module XBL CSEA and the slave module from another manufacturer Schneider OTB1CODMOLP The layout is shown in the figure below Product settings are presented in the table below Slave 10 XBL CMEA 1 XBL CSEA 10 u Type XBL CMEA XBL CSEA OTB1CODMOLP Station No 1 10 20 Baud rate 1Mbps 1Mbps 1Mbps RPDO 4 No of PODs TPDO 4 RPDO 1 1byte Transmission period ms 100 100 100 Transmission type Synchronous cyclic Synchronous cyclic Synchronous cyclic Error control setting Heartbeat Heartbeat Heartbeat Produce time 200ms 200ms 200ms Device allocation 0 RPDO DO RPDO DO 10 1 2 Description Operation 1 CANOpen master I F Module XBL CMEA 1 16 words M49 M64 data are sent to 10 station 2 Receive 16 word of data from 10 station and store them in the 20 015 area 3 Send 1byte which is No zero in the M65 area to 20 station 2 CANOpen slave I F module XBL CSEA 1 Receive 16 word
60. 5 Using XG CANopen 5 1 Screen Configuration The XG CANopen screen has 6 configurations as shown on the figure below XG Net Broject Edit View Online Tools Window Help 022 8 amp amp amp 6 laa Project NewPLC XBL_CSEA_50 8 CANopen Network XGB XBCH 5 CANopen Master B00 S01 XBL CM 5650 ID 001 1 10 012 XBL CSEA 12 XBL CSEA I19 ID 013 XBL CSEA 13 XBL CSEA 12 ID 030 XBL CSEA 30 10 050 XBL CSEA 50 XPO COEA I Error Control Seti Station No ax vus amp CANopen AAA LS Industrial Systems 6 XPO COEA XPO COEA e LS Industrial Systems Co Ltd 167 CANopen LSIS S100 C A BIS CANopen SIS JST CAI SVAGRA ANanen 1 SIS gt 28 Error let D Output Ready 3 Menu the main menu of the program Toolbar menu items can be selected and executed conveniently Project window shows the components of the currently active project Library window shows the slave module list where EDS file is registered Edit window network configuration master module and slave module can be configured Message window show the messages generated during XG CANopen operation LS industrial systems 571 Chapter 5 Using XG CANopen 5 1 1 Menu Structure There are configured as following Project Instruction Description New Project Create
61. 5 action Communication mode 05 action Normal H w Version A P Version Ver 1 00 x 05 Version Ver 1 00 2012 01 18 OS Date 2012 02 17 Fig 1 4 3 Checking Module Version with XG5000 2 Checking the version with product case label The label on the outer package case of each communication module contains module information If the version cannot be checked up via online because no external access devices such as a PC is available you can check the version by disconnecting the module The information label is attached on the backside of the product printed with type and version information CLS industrial Systems 11 7 Chapter 2 Specification Chapter 2 Specification 2 1 General Specification The general specification of XGT series is as follows e mme meme menie Ambient 0 55 C temperature 1 Storage 2 25 70 temperature Ambient humidi 5 95 RH Non condensing Storage humidity 5 95 RH Non condensing a Once van mem 5ztcBdE om 5 Vibration resistance Shock 84 lt f lt 150Hz 98m amp 1G uw Continuous vibration M reas site oy X YandZ J twm 84 lt f lt 150 49ms 05G Peak acceleration 147 m s 15G e Duration 11ms IEC61131 2 e Half sine 3 times each direction per each axis Square wave AC 1 500 V Impulse noise DC 900V LSIS standard Electrostati IEC61131 2 4kV Contact discharge di
62. 5000 and select Online Diagnosis I O Information Sync 3 Confirm that CANOpen Network is created in the XG5000 parameter 2 Master module registration by parameter addition 1 Execute XG5000 and double click the I O parameter in the project window 2 Select CANOpen Master in the slot where the module is mounted and click Confirm 3 Confirm that CANOpen Network is created in the XG5000 parameter 10 4 Chapter 10 Examples No Process Procedure Project Window ax Items a XBC test NewPLC XGB XBCS Offline 24 Variable Comment amp 8 Parameter 15 Basic Parameter d O Parameter Embedded Parameter a Scan Program test Project lt CANOpen Network gt Executing leas XG CANopen 38 8 5 Master BOO 500 XBL CMEA Ni AEDS SV AGSA CANopen LSIS_JGSA CANOPENZ Q EDS 9 SVAPSA CANopen LS15 P5A CANOPENO S EDS Generic YO modules 4 B OTB ICO OTE 1CO DMSLP Vs 00 XG CANopen Window 1 In the project window click CANOpen Network to execute XG CANopen Properties Properties Station No 10 e 1 127 Station No 20 s Name CSEA 10 1 127 Name OTBICODMOLP_20 Device Device OTB 1 0 DMSLP EDS EDS EDSNOTB 1E0 DMSLP V Description Test of CANOpen slave module Adding slave a module Description Test of CANop
63. 6 XG CANopen detail menu 2 Adding Slaver in the AutoScan No Process Procedure AutoScan_Test B00 S01 XBL CMEA 1 Mbit s Product code 31 Revision 10000 Test XG Net AutoScan Test Device type 0 F Hardware version 1 00 i5 Project Edit View Online Tools Window Help Software version 3 00 n 1 Activated 1 y Disconnect Parameterized 1 E aX 12 XBL CSEA za Module Synchronization XBL CSEA_V10 eds CAN Ne Exists in the only autoscan information 9 5 open Ne amp Write Product code 32 Oe Test B D Revision 10000 Read Device type 0 E N SI Hardware version 1 00 i Software version 1 70 dding a ave Activated 1 Parameterized 1 1 13 XBL CSEA XBL CSEA_Vil eds Exists in the only autoscan information Autoscan ome Add in Project evision 5 Device type 0 View Autoscan with Project Hardware version 1 00 Software version 1 70 Reset PLC Activated 1 Parameterized 1 Download 05 Enable Link Project 1 Select Online Auto Scan 2 Select Online Add AutoScan in Project Check Slave Registration 25 CANopen Network XGB XBCH Og Test B0D S01 XBL CMEA ID 012 _12_XBL_CSEA ID 013 _13_XBL_CSEA 9 Project Check that the slaves are added in the project window 6 14 LS industrial Systems Chapter 6 XG CANopen detail menu 6 3 3 Deleting Master M
64. 80 points at D00255 Chapter 8 Slave Setting using XG CANopen Standard Settings Settings Station Number 800 Kbit s v Read area TPDO Area Size Word Wrke areal RPDO n nnnnnnnennnn Area saauauauua nuuauauasauaucua Size Word gt Object h2000 h2010 equivalent to the storage field of our slave module When the settings are as shown in the dialog shown below the sub index 1 of the object h2100 corresponds to the word address M00000 field and the sub index h80 corresponds to M00127 The sub index 1 of the object h2110 points at the word address M00128 and the sub index v h80 points at M00255 8 10 LS industrial Systems Chapter 8 Slave Setting using XG CANopen 8 4 SDO Command The SDO command can be classified into GETCOMM and PUTCOMM which are for reading and writing respectively The commands canbe set up for only one sub index 8 4 1 GETCOMM gt Using in the XBM XBC Series Device Flag Command Con Step error zero carry 5 4 Dx Rx st U N D R F110 F111 F112 sl f fe pepe e fe fe fs 101 0 1 1 1 1 10101010 GETCOMM o l lolo olo 47 NIO 0 4L s 5 T T8 1 Field Setting Operand Description Data size the slot where communication module is inst
65. ANopen detail menu E 6 5 3 Read This function reads CANopen parameters from the CANopen master module Reading can be conducted in the XG CANopen or XG5000 1 Read in XG CANopen Read the parameters stored in the CANopen master module Read form PLC Reading completed 1 Select menu Project Open From PLC 2 Enter connection setting and click the Confirm button 3 When reading has been completed finish window appears Reading completed 1 With the project open select menu Online Read to connect the PLC via online 2 Select menu Online Read 3 If there are two masters in the open project select Master 6 28 Chapter 6 XG CANopen detail menu 2 Read in XG5000 If reading is carried out in the XG5000 and if CANopen master module is installed CANopen parameters are read too No Process Procedure Open from d Reading completed PLC 1 Select menu Project Open From PLC 2 Enter connection setting and click the Confirm button 3 When reading has been completed finish window appears Read Reading completed 1 With the project open select menu Online Connect to connect the PLC via online 2 Select menu Online Read Only when the CANopen module is set up in the base slot information of the l O parameter CANopen parameter information is read from the CANopen master module 6
66. Controller FIFO Overflow 0002 001 COMM STATUS SUB2 BIT 000301 2 D 1 Error Passive state 0002 001 COMM STATUS SUB3 BIT 000301 3 0 1 Transmit Queue Overflow 0002 001 COMM STATUS 5084 BIT D00301 4 0 1 Error Warning state 0002 001 COMM STATUS 50865 D00301 5 0 1 Receive Error Overflow 0002 001 COMM STATUS SUBG D00301 6 0 1 Receive Queue Overflow 0002 CANOPEN STATUS WORD D00302 80 CANopen 0002 EVENT STATUS WORD 000303 0 Event D002 001 EVENT STATUS SUBO 000303 0 0 1 Errors that can occur in the transfer of 5003 0002_001_EVENT_STATUS_SUB1 D00303 1 D 1 Errors that were found in the communications process 0002 001 EVENT STATUS SUB2 D00303 2 0 1 Errors occurring during Network Settings 0002 D01 EVENT STATUS SUB3 000303 3 0 1 Error information related to any error control mechanisms Guarding He 0002_MASTER_CYCLE_MIN WORD D00304 1 Master cycle minimum value 0002 MASTER CYCLE CUR WORD D00305 2 Master cycle Current value 0002 MASTER CYCLE WORD D00306 104 Master cycle maximum value 0002 GENERIC ERR CNT WORD 000307 0 Error number 0002 DEVICE HARD ERR CNT WORD D00308 0 Hardware error number 0002 DEVICE SOFT ERR CNT WORD D00309 0 Software error number 0002 COMMUNICATION ERR CNT WORD 000310 0 Communication error number 0002 PROTOCOL ERR CNT WORD D00311 0 Protocol error number 0002 EXTERNAL ERR CNT WORD D00312 0 Extension error number 0002 DEVICE SPEC ERR CNT WORD
67. D 4 Data0 Data1 D6304 4 N 10 total data length Pure data length is 2 bytes of N 8 a Chapter 8 Slave Setting using XG CANopen gt Using in the Series Input REQ executes the function in case of 1 BASE No of Base installed with the communication module GET COMM SLOT No of Slot installed with the communication REQ DONE module BASE a NODE 10 Station No of Slave 1 127 SLOT MADDR SDO index sub index of the slave to be read NODE 10 DATA Address of the device where the data read MADDR from slave is to be stored ARRAY of BYTE DATA SIZE Data size 1 512 byte SIZE Output DONE If normal response is received from the corresponding communication module the bit tums ON STAT Error code Flag Set Flag Description Device No PUTCOMM If no communication module the bit of the slot turns ON F0015 GETCOMM If the PUTCOMM GETCOMM command failed to be executed properly the bit Bitl4 of D Error turns ON PUTCOMM If normal response is received from the corresponding communication module F0023 GETCOMM the bit turns ON Bit15 of D Complete 1 This command is for reading the data of the corresponding device via communication module 2 Inthe communication module designated base and slot No send designed command to module and save the return data from the communication module Then the maximum allowable reception byte is SIZE 3 This command is not
68. D00313 0 Special error number 0002 SLAVE NUM WORD 000314 1 Slave number 0002 SLAVEOD WORD 000316 16660 Slave 0 information Slave 010 0002 O01 SLAVE 1000 BYTE 0003160 20 Slave 0 ID 0002_001_SLAVE_INFOOO_SUBO BIT 000316 8 1 1 Slave configuration completed D002 001 S LAVE NFOOQ0 5081 BIT D00316 9 0 1 Slave configuration error 0002_001_SLAVE_INFOOO_SUB2 BIT D00315 A D 1 Slave EMCY error 0002_001_SLAVE_INFOOO_SUB4 000316 0 1 Slave on Stop mode 0002_001_SLAVE_INFOOO_SUB5 000316 0 0 1 Slave pre operational mode 0002_001_SLAVE_INFOOO_SUB6 BIT 200316 1 1 Slave is on operational mode D002 SLAVEOT 000317 0 Slave 1 information Slave 1 ID A lj Anna ne ci ames nnm 0002 001 SLAVE INFOOO_SUB3 BIT 000316 0 1 Slave is on Init status Variable Type Description Channel information CHANNEL STATUS WORD BITO 1 master is not activated BIT1 1 1 or more slaves are not in Operational mode BIT2 1 1 or more slaves have configuration error Communication information 0 1 CAN controller BUS Off status BIT1 1 CAN controller receiver buffer overflow COMM STATUS WORD BIT2 1 CAN controller in Error Passive status BIT3 1 internal transmission queue overflow BIT4 1 CAN controller in Error Warning status BIT5 1 received message exceeds CANID valid range error BIT6 1 internal reception queue overflow Chapter 7 Master Setting using XG CANopen
69. F0096 _T20S 20s 20s Periodic Clock F0097 _T60S 60s 60s Periodic Clock F0099 _ON ALWAYS ON Always On State Bit F009A OFF ALWAYS Always Off State Bit F009B 1 ON 1 Scan Only On State FOO9C _10FF 1 SCAN OFF 1 Scan Only Off State 20090 _STOG ANTi CLOCK Every Scan Anti Clocked A 4 Appendix BO Word Bit Variable Function Description _USER_CLK USER CLOCK User Set up Available Clock F0100 _USR_CLKO DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 0 F0101 USR CLK1 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 1 F0102 _USR_CLK2 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 2 F0010 F0103 _USR_CLK3 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 3 F0104 _USR_CLK4 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 4 F0105 _USR_CLK5 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 5 F0106 _USR_CLK6 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 6 F0107 _USR_CLK7 DEGIGNATED SCAN REPEATED On Off Clock as much as Designated Scan 7 _LOGIC_RESULT LOGIC RESULTS Displays Logic Results F00110 _LER CALCULATION ERROR On during 1 Scan when Errors made to Calculation F00111 ZERO ZERO FLAG On if Calculation Result is 0 Bi F00112 _CARRY CARRY FLAG On if Carry occurred during Calculation F00113 _ALL
70. ICO_DMSLP_ 5 eds Sy Unknown 0 XBL CSEA XBL CSEA VIO eds XPO COEA XPO COEA eds 9 Vendor Sy LS Industrial Systems XPO COEA XPO COEA eds 3 0 LS Industrial Systems Co Ltd IG CANopen LSIS_S100_CANOPEN1_0 EDS 157 CANopen LSIS_IS7_CANOPEN1_0 EDS SV iG5A CANopen LSIS_IG54_CANOPEN1_0 EDS SV iG5A CANopen LSIS_IG54_CANOPEN2_0 EDS SV iP54 CANopen LSIS_IP54_CANOPENO_5 EDS 3 LSIS XBL CSEA XBL CSEA VIO eds 30 Telemecanique 5 1CO DMSLP OTB_ICO_DMSLP_ 5 eds EDS Library 77 Favorite 2 Find EDS From the EDSs desired EDS can be find out easily using the Find control at top of the library window Any character can be used in the search key word Use the for search after entering the search key word The directions of the buttons are the directions of the search The ENTER key has the same function as that of the button 6 20 Chapter 6 XG CANopen detail menu _ 3 Registering favorite EDSs If many EDSs are registered it is recommended to control the My Favorite EDSs separately for convenience To register an EDS in the My Favorites right click the mouse and select Register in Favorites The registered EDSs can be confirmed with the My Favorites tab of the library window library 2x Device Description 167 CANopen LSIS_S 167 EDS File 157 CANopen LSIS_IS 157 EDS File XBL CSE XGB CANopen Slave Device lt
71. IEC XGK XGB Series It describes how to use the instructions for programming using 10310000510 Instruction XGK XGB series XGI XGR XEC It describes how to use the instructions for programming using 40130000833 Series Instruction XGB IEC series XGB Hardware It describes how to use the specification of power input User s Manual output expansion modules system configuration and built in 10310000926 High speed counter for XGB basic unit XGB Hardware It describes how to use the specification of power input User s Manual IEC output expansion modules system configuration and built in 10130001059 High speed counter for XGB basic unit It describes how to use the specification of analog input analog XGB Analog User s Manual output temperature input module system configuration and built 10310000920 in PID control for XGB basic unit XGB Position ror Doe It describes how to use built in positioning function for XGB unit 10310000927 User s Manual Contents nnn _ Chapter 1 Overview 1 1 Introduction 1 1 ge ES 1 2 1 2 1 protocol 1 2 1 3 Prod
72. LSIS_IS7_CANOPEN1_0 EDS SV iG5A CANopen 1515 165 _ _0 5 SV iG5A CANopen LSIS_IG5SA_CANOPEN2_0 EDS 321 SV IP5 CANopen LSIS_IP54_CANOPENO_5 EDS lt Hardware version 1 00 Software version 1 70 Activated 1 Parameterized 1 _13_XBL_CSEA XBL CSEA_V10 eds Product code 32 Revision 10000 Device type 0 Hardware version 1 00 Software version 1 50 Activated 1 Parameterized 1 W Favorite EDS Library Ag AutoSca t CANopen 88 AutoSca At Auto Scan only the information of the slaves whose baud rate is the same as that of the master can be obtained Following information can be obtained in Auto Scan 1 Product code information in the EDS file 2 Revised version information in the EDS file 3 Device type information in the EDS file 4 Hardware version information in the EDS file 5 Software version information in the EDS file 6 Operating state shows the operating state of the module 7 Parameter existence shows the existence inexistence of module parameter 6 38 LS industrial Systems Chapter 6 XG CANopen detail menu 6 5 10 View Autoscan with Project The data obtained from Auto Scan are compared with the project window and displayed in network configuration screen Order 1 Select menu Online Connect 2 Select the master which will conduct Auto Scan 3 Select menu Online Autoscan 4 Select menu Online
73. OFF ALL OUTPUT OFF On if All Outputs are OFF F00115 _LER LATCH ERROR On Maintained when Errors made to Calculation _CMP_RESULT COMPARISION RESULTS Display Comparison Results F0120 LT LT FLAG On if Less Than F0121 _LTE LTE FLAG On if The Same or Less Than F0012 F0122 EQU EQU FLAG Onif The Same F0123 _GT GT FLAG On if Larger Than F0124 _GTE GTE FLAG On Larger Than or The Same F0125 _NEQ NEQ FLAG On if Not The Same F014 FALS NUM FALS NUMBER Displays the Number of FALS F015 _PUTGET_ERRO PUT GET ERROR 0 Main Base PUT GET ERROR F023 _PUTGET_NDRO PUT GET COMPLETED 0 Main Base PUT GET COMPLETED F044 _ CPU TYPE Displays the Information on CPU Type F045 _CPU_VER CPU VERSION Displays CPU Version F046 OS VER O S VERSION Displays O S Version F048 OS DATE O S DATE Displays O S Distribution Date F050 SCAN MAX E Displays Maximum Scan Time F051 SCAN MIN MINIMUM SCAN TIME Displays Minimum Scan Time F052 SCAN CUR CURRENT SCAN TIME Displays Current Scan Time F0053 MON YEAR MONTH YEAR Month Year Data of PLC F0054 TIME DAY HOUR DATE Hour Date Data of PLC F0055 SEC MIN SECOND MINUTE Second Minute Data of PLC F0056 HUND WK 100 YEARS DAY 100 Years Minute Data of PLC A 5 Appendix Word Bit Variable Function Descripti
74. Occurred F0093 JO RWER N RW ERROR SLOT Displays Module Read Write Error Slot No F0094 IFER I F ERROR SLOT Displays Interface Error Slot No 0096 _lO_TYERO MODULE TYPE 0 ERROR Main Base Module Type Error F0104 DEERO MODULE REMOVALO ERROR Main Base Module Removal Error F0120 RWERO MODULE RW 0 ERROR Main Base Module Read Write Error F0128 IFER 0 MODULE I FO ERROR Main Base Module Interface Error F0140 FAIL MM Stores the Frequency that Power has been Shut out A 6 Appendix Word Bit Variable Function Description ERROR OCCURRENCE F0142 ERR HIS FREQUENCY Stores the Frequency that Error s were Made MODE CONVERSIO N F0144 MOD HIS FREQUENCY Stores the Frequency that the Mode has been Converted HISTORY OCCURRENCE F0146 SYS HIS CNT FREQUENCY Stores the Frequency that the System History Occurred F0148 LOG ROTATE LOG ROTATE Stores Log Rotate Information F0150 BASE INFOO SLOTINFORMATION 0 Main Base Slot Information USER WRITE USABLE CONTACTING POINT Contacting Point Usable in Program F2000 _RTC_WR RTC RW Writes and Read Data to RTC F200 F2001 _SCAN_WR SCAN WR Scan Value Initialization EXTERNAL 2002 _ ANC ERR SERIOUS FAILURE REQUEST Requires Serious Failures from External Devices F2003 CHK WAR EXTERNAL WARNING REQUEST Requests to Detect Light Failures from External Devices USER STAUS
75. S 301 The CiA 301 specification describes about the overall features of the CANopen including CANopen protocol and Object Dictionary 2 Message classification and communication entities 1 Communication service model If classified by communicating entities Producer Consumer and Server Client models are used 2 Message types CANopen sends data in two methods of PDO and SDO Process Data Object The PDO communication is an unconfirmed type communication in Producer Consumer configuration Therefore it is used for the process data transmission which requires high speed communication Communication method and data are determined by PDO communication parameter and mapping parameter According to the PDO communication parameter setting various types of transmission can be performed such as sync timer COS change of state The mapping parameter connects PDO and a certain area of the internal Object Dictionary so that the received data are stored in the mapped area and transmit the data in the mapped area The transmission and reception data in the mapping area are controlled by high level application Chapter 1 Overview gt Data transmission types Transmission Type Description Synchronous acyclic Synchronous acyclic periodic transmission only when the data is changed Synchronous transmission periodically when the SYNC of the transmission type value is Synchronous cyclic 1 240 received Reserve
76. SUBINDEX 0 8004 The sub index is bigger than 255 In the PUTCOMM command failed to stack on the stack queue due COMM ERR SDO WRITE FAIL 0x8005 queue overflow Data overload adjust the communication load In the GETCOMM command failed to stack on the stack queue due COMM ERR SDO READ FAIL 0 8006 queue overflow Data overload adjust the communication load COMM ERR NOT READY 0x8007 The slave is not ready for service yet Check the installment of slave The master module is not ready for service yet COMM ERR MASTER NOT READY 0x8008 Check the Link Enable of master module or master module is initializing parameter Edit program It need to execute command just few second ago 1 SDO Write error occurred at stack limited for PUTCOMM Station No error of slave module or NAK response from slave oe NAK response occurrences unsupported index sub index of the slave or data length is in discard with object length of the slave SDO Read error occurred at stack limited for GETCOMM Station No error of slave module or NAK response from slave SO PAR PERD TAL response occurrences unsupported index sub index of the slave SDO_ERR_TIMEOUT OxF003 Reached to the communication module but time out occurred Chapter 8 Slave Setting using XG CANopen 8 4 4 Meanings of the Error Code for XEC series Status Description 0x0000 Executed successfully Base setting error MI Che
77. USER CONTACTING POINT User Contacting Point F201 F2010 DONE INTIALIZATION COMPLETED Displays Initialization Task Performance Completed EXTERNAL SERIOUS FAILURE F202 _ANC_ERR INFORMATION Displays Serious Failures Information of External Devices F203 WAR EXTERNAL LIGHT FAILURE Displays the Light Failures Information of External Devices WARNING F210 MON YEAR DT MONTH YEAR Clock Information Data Month Year F211 TIME DAY DT HOUR DAY Clock Information Data Hour Day F212 SEC MIN DT SECOND MINUTE Clock Information Data Second Minute F213 HUND WK DT 100 YEARS DAY Clock Information Data 100 Years Day 7 Appendix 2 Common area Communication flag according to P2P service setting In case of XGB P2P parameter 1 3 P2P block 0 31 Device IEC type Key word Type Description L5120 LX8192 _P2P1_NDROO Bit P2P Parameter 1 block 0 service normal end L5121 LX8193 _P2P1_ERROO Bit P2P Parameter 1 block 0 service abnormal end When P2P Parameter 1 block 0 service abnormal end indicates error code Indicates P2P Parameter 1 block 0 service normal L513 91513 _P2P1_STATUSOO Word L514 910257 P2P1 SVCONTOO Double Word execution count 1516 LD258 P2P1 ERRCNTOO Double Word Indicates P2P Parameter 1 block 0 service abnormal execution count L5180 LX8288 _P2P1_NDRO1 Bit P2P Parameter 1 block 1 service normal end L5181 LX8289 P2P1
78. Warming state U002 001 COMM STATUS 5085 000301 5 0 1 Receive Error Overflow U002 001 COMM STATUS SUBE 000301 6 D 1 Receive Queue Overflow Diagnosis Variable 0002_CANOPEN_STATUS WORD 000302 80 _0002_EVENT_STATUS WORD 000303 0 Event 0002_001_EVENT_STATUS_SUBO 0003030 D 1 Errors that can occur in the transfer of SDOs 0002_001_EVENT_STATUS_SUB1 000303 1 D 1 Errors that were found in the communications process D002 001 EVENT STATUS SUB2 D00303 2 0 1 Errors occurring during Network Settings 0002 001 EVENT STATUS SUB3 D00303 3 0 1 Error information related to any error control mechanisms 1 _0002 MASTER CYCLE MIN WORD 000304 1 Master cycle minimum value 0002 MASTER CYCLE CUR WORD 000305 1 Master cycle Current value _0002 MASTER CYCLE WORD D00306 58 Master cycle maximum value _0002 GENERIC ERR CNT WORD 000307 D Error number 0002 DEVICE ERR CNT WORD D00308 D Hardware error number 0002 DEVICE SOFT ERR CNT WORD D00309 D Software error number 0002 COMMUNICATION ERR CNT WORD 000310 0 Communication error number _0002 PROTOCOL ERR CNT WORD 000311 0 Protocol error number 0002 EXTERNAL ERR CNT WORD 000312 D Extension error number 0002 DEVICE SPEC ERR CNT WORD D00313 D Special error number 0002 SLAVE NUM WORD 000314 1 Slave number Taman arn samme nane FAAEA A eoa uL VALLI ATA 1 Double click the master module of the XG CANopen
79. Word Saves Saves P2P parameter1 block 00 Read area size N0016 0019 NW0019 0023 P1BOORD4 Word Saves Saves P2P parameter1 block 00 Read area device 4 20 NW024 _P1BOORS4 Word Saves Saves P2P parameter1 block 00 Read area size 4 N0021 0024 NW0025 0029 _P1BOOWD1 Word Saves Saves P2P parameter1 block 00 Save area device 1 N025 NW030 _P1BOOWS1 Word Saves Saves 2 parameter1 block 00 Save area size 1 N0026 0029 NW0031 0035 _P1BOOWD2 Word Saves Saves P2P parameter1 block 00 Save area device 2 N030 NW036 _P1BOOWS2 Word Saves Saves P2P parameter1 block 00 Save area size 2 N0031 0034 NW0037 0041 _P1BOOWD3 Word Saves Saves P2P parameter1 block 00 Save area device 5 NW042 _P1BOOWS3 Word Saves Saves P2P parameter1 block 00 Save area size 3 N0036 0039 NW0043 0047 _P1BOOWD4 Word Saves Saves P2P parameter1 block 00 Save area device 4 N040 9 9NWO0048 _P1BOOWS4 Word Saves Saves 2 parameter1 block 00 Save area size 4 N0041 0081 9 9NW 0049 0097 Word P2P parameter 1 block 01 Save area N0082 0122 NWO0098 0146 Word P2P parameter 1 block 02 Save area N0123 1311 NWO0147 1567 Word P2P parameter 1 block 03 31 Save area N1312 2623 NW1568 3135 Word P2P parameter 2 Save area N2624 3935 NW3136 4703 Word P2P parameter 3 Save area Network register is Read Only device in the XGB A 9 Appendix A 3 External Dimension Dimension
80. a new project and select Online Diagnosis Read I O Information Sync 10 2 LS industrial Systems XBL CSEA parameter setting 2 Basic Setting Standard Settings Settings Station Number Speed 1 Mbit s Read area TPDO Area Size Word Write area RPDO Area 000000 Size Word 32 details OK Cancel Chapter 10 Examples Process 1 Double click CANOpen Slave 2 As suggested in the system configuration enter the station No baud rate TPDO RPDO area and size Write Parameter VIE NewPLC PLC Configuration 1v 5 Parameter 1v Program VE Network Parameter E Standard settings i E Cnet base0 slot0 FEnet base0 slot1 FEnet base0 slot2 E CANopen Slave base0 slot3 15 High speed Link H 2 P2P 01 Internal P2P 02 Internal 1 Select Online Write 2 Click OK button OTB1CODMOLP 1 Set up parameters referring to OTB1CODMOLP datasheet and user manual 1 Station No set up open the front cover of OTB1CODMOLP and set the Address switch to No 20 2 baud rate set up Set the BAUD RATE rotary switch to No 7 No 7 1000kbps Chapter 10 Examples 2 CANOpen master I F module XBL CMEA No Process Procedure VO information Project Window ax Base module information Slot 1 0 information 3 Base 00 Module items 0 XBC DN DP20S DC 24V INPUT 12poi 3 Va
81. a of the master are set up Registration information can be coarsely classified into node setting SYNC setting monitor setting and PLC reception transmission area setting Properties Error Contral Setting Node Setting PDO Variable Table Node Name 500 Table P Diagnostic Variables Station No 127 1 127 Baud Rate 800 Kbit s v SYNC Setting v COB ID 0x00000080 Cycle 100 20 75000 ms Monitor Setting SDO Receive Timeout 1000 200 5000 ms PLC Area WORD Receive Send Diagnostic Area D v D v D v Offset 0 200 400 Size 100 200 Output data setup in case of emergency CPU Error O Latch Clear CPU Stop O Latch Clear 5 CANopen 7 1 1 Node setting 1 Node name enter name of the master node master module The restrictions are as follows 1 Shorter than 256 Alphabet letters 2 The first letter must be an Alphabet or a Korean letter or _ 3 The following letters can be Alphabets or Korean letters figures or _ 2 Station No Enter station No to the modules operating as a master within the range of 1 127 3 Baud rate Enter the communication speed within the range of 10kbps 1 Mbps 7 1 Chapter 7 Master Setting using XG CANopen 7 1 2 SYNC Setting 1 SYNC messages are received only when SYNC is checked If not checked the data which need to be synchronized to SYNC for transmission cannot be transmitted In other words if the PDO t
82. abnormal output oroperation Please install interlock circuits in the sequence program for safe operations in the system when exchange data with PLC or modify operation modes using a computer or other external equipments Read specific instructions thoroughly when conducting control operations with PLC Safety Instruction Safety Instructions for design process I O signal or communication line shall be wired at least 100mm away from a high voltage cable or power line Fail to follow this Safety Instructions on installation process Use PLC only in the environment specified in PLC manual or general standard of data sheet If not electric shock fire abnormal operation of the product may be caused Before install or remove the module be sure PLC power is off If not electric shock or damage on the product may be caused Be sure that every module is securely attached after adding a module or an extension connector If the product is installed loosely or incorrectly abnormal operation error or dropping may be caused In addition contact failures under poor cable installation will be causing malfunctions as well Be sure that screws get tighten securely under vibrating environments Fail to do so will put the product under direct vibrations which will cause electric shock fire and abnormal operation Do not come in contact with conducting parts in each module which may cause electric shock malfunctions or abnormal ope
83. alled WORD set up with hexadecilmal number S Station number of the slave to be read SDO index sub index WORD D Starting address of the device where the data read from slave is to be stored WORD Max bytes of the data to be read from communication module The actual data are N WORD from after N total size 8 Flag Set Flag Description Device No PUTCOMM If no communication module the bit of the slot turns ON F0015 GETCOMM If the PUTCOMM GETCOMM command failed to be executed properly the bit Bit14 of D Error turns ON PUTCOMM If normal response is received from the corresponding communication module the F0023 GETCOMM j bit turns ON Bit15 of D Complete 1 This command is for reading the data of the corresponding device via communication module 2 In the communication module designated with sl slot No of the communication module send 6 byte command data from the internal device field designated with S to the communication module and save the return result of the communication module in the internal device field designated by operand D Here the maximum allowable reception byte is N 3 If there is no communication module at the position pointed by sl slot No of communication module or the GETCOMM command has failed to be executed properly the respective location bit of the PUTCOMM GETCOMM error flag F0015 WORD is set Chapter 8 Slave Setting using XG CANopen OO 4 Ths
84. are check up Type name XBL CMEA XBL CSEA Component Product Communication module for XGB Communication Set up tool XG CANopen XG5000 Communication module for XGB 1 The above software can be downloaded from our Website If necessary please visit your nearest distributor to obtain respective installation manual in CD ROM Internet Website http www lsis biz XG5000 and XG CANopen can be programmed via the RS 232C port and USB of the CPU module Refer to the catalog for the connecting cable specification USB 301A K1C 050A Chapter 1 Overview 1 4 2 XG CANopen The XG CANopen is dedicated software to the CANopen Master communication module with the functions for the operation of the CANopen master module including the basic parameter set up frame preparation module and network diagnostics The figure below is a snap shot of the initial screen of the XG CANopen J Project Edi view online Tools Window Help psan mexa 2 86 Him s sm smssmsjee Ji amp eaiesnms CANopen 5 0 Profile Drives and motion control IS CANopen 1515 157_ 100 CANopen LSIS_S100_ r 4 EDS Library Favorite Fig 1 4 1 Initial screen of the XG CANopen LS industrial Systems 1 5 Chapter 1 Overview 1 4 3 XG5000 The XG5000 is dedicated software to the communication
85. ary window Message Window Show or hide message window View Network For each master module activate a window where slave can be added or deleted Default Window Position Shift the project window library window and message window to the initial positions Zoom In Enlarge the network setting screen Zoom Out Reduce the network setting screen size In the network setting window show the master and slave information in detail portrait View In Detail configuration In the network setting window show the master and slave information in simple form View Brief landscape configuration View As List In the network setting window show the master and slave information in list form View As Table In the network setting window show the master and slave information in tabular form Properties View and modify the registered information of the selected master or slave Online Instruction Description Connect Connect or disconnect from PLC Connection Setting Set up connection method Module Synchronization Write Write the project in the PLC Read Read the project from the PLC Start Monitor Start stop monitoring PDO data or Device status Write SDO Write data in the designated SDO Slave Error History Instruction Description Slave Status by Service Autoscan Show the information of the slave connected with the master Add to Autoscan in project View Autoscan with project
86. ave Setting using XG CANopen gt Exemplary application of PUTCOMM The exemplary software program below writes 2 bytes of data from the index h2000 and h0056 sub index of the slave station 1 CANOpen master module installed in slot No 2 INST3 DONE DON 16 0000 1825 STAT E SLO 164200000 56 datal 4 1 BSAE base NO of master 0 2 SLOT slot NO of master 2 3 NODE 10 station NO of slave 2 4 MADDR OD Index 2000 Sub Index 0056 of slave Variable Description Variable Description High word OD index Low word Sub index 5 DATA write data of slave Data0 Data1 Variable Description Variable Description data 1 Length High data 0 Length Low data 3 DataO 2 Data 6 SIZE Data length byte data length 2byte data 2byte 7 DONE Status of command Chapter 8 Slave Setting using XG CANopen 8 4 3 Meanings of the Error Code for XBM XBC series Symbol Code Description COMM_ERR_SUCCESS 0x0000 successfully COMM ERR IF TIMEOUT 0 8001 Timeout error no response for 5 s between the basic and link module COMM ERR NODEID 0 8002 The station No of the corresponding device is not within 1 127 1 SIZE is small than 1 or bigger than 520 COMM ERR LENGTH 0 8003 2 Receviced byte No for GETCOMM command is over max byte size COMM ERR
87. b in the slave edit window by viewing all or viewing current screen only Write SDO Object Index 0 1003 Sub Index 0x0 Value Hex 1234 Project Properties Bh NewPLC 2 88 CANopen Network XGB XBCS _ setti Sg CANopen Master B D S02 XBL CME A ang ID 010 XBL_CSEA_10 PDO Setting 10 020 OTBICODMOLP_20 PDO mapping 1 Select menu Online Access to connect the PLC 2 Select menu Online Writing SDO or click SDO setting in slave side and right click the mouse at the object with which Write SDO will be executed and carry out write SDO 3 In the Write SDO dialog edit the object index and sub index values and select the Write button Here Write SDO is allowed only when the access attribute of the object list is RW 6 32 Chapter 6 XG CANopen detail menu 6 5 6 Read SDO The current value of the SDO in the slave module can be read Select Read All or Read Current Screen Only from the SDO setting tab in the slave edit window Met 12 XDX CGEA COP Y COPN C Ea Chine Toeh Sai van cma ra MONDE FR T Select SDO 11323332333333333332233 750 te Croo 7 uL S Ok Rouen 1 Double click the slave item in the project tree open the specification edit window 2 In the slave edit window select SDO Setting Read SDO 1 Select menu Onlin
88. basic unit and in the case of TPDO the value changed in the basic unit is not transferred to the slave module and not reflected on the master _9 4 Chapter 9 Slave Module XBL CSEA Setting using XG5000 9 2 2 Relationship between PLC Address and CANopen Object If the basic parameters are set up as follows the relationship between the PLC address and XGB CANopen slave object can be checked up with the Detail View of Basic Setting Standard Settings Settings Station Number Speed 800 kbit s Read area TPDO Area Size Word Write area RPDO Area Size Word 32 Detailed View Object Object Object Object PLC Address Index Hex Subindex Hex Parameter Mame PLC Address Index Hex Subindes Hex Parameter Mame 00200 02100 0x1 11001 20000 02000 0 1 010001 00201 02100 Ox2 11002 20001 02000 0 2 0002 00202 02100 0x3 11003 20002 0x2000 0x3 0003 00203 02100 0 4 11004 20003 0 2000 054 0004 00204 02100 0x5 11005 20004 0x2000 0x5 0005 00205 02100 0 6 11006 20005 0x2000 0x6 0006 00206 0x2100 Ox 11007 20006 0 2000 Ox 0009 00207 0 2100 0 8 11008 20007 0x2000 0x8 Quad 00208 02100 0x9 11009 20008 0 2000 0 9 0009 00209 02100 11010 20009 0 2000 01010 00210 0 2100 Oxb 81011 P0010 0x2000 Oxb SQUOT 1 D0211 0x2100 11012 P0011 0x2000 Oxc 0012 00212 02100 Oxd 11013 P0012 0x2000 Oxd 0013 00213 02100 11014 P0013 0x2000 Oxe 0014
89. c 1 240 synchronous cyclic 1 240 synchronous cyclic 1 240 synchronous cyclic 1 240 synchronous cyclic 1 240 synchronous cyclic 1 240 synchronous cyclic 1 240 1 In the PDOs setting set up the transmission type and transmission type numbers for each TPOD and RPDO as suggested in the system configuration 1 Transmission type set to Synchronous cyclic type 2 Transmission type No for Synchronous cyclic data are transmitted after the master cycle periodic signal is generated set up with 1 After set up Synchronous cyclic if the transmission type No is 2 data communication starts after 2 cycle signals of the master XBL CSEA setting 2 PDO Mapping 1 Click the PDO mapping 2 In the POD type filter select RPDO and in the PDO contents select No 1 RECEIVE PDO PARAMETER 3 From the objects available for mapping double click the parameter of the index to be used or click to map the parameter In the example QW1 4 is selected for convenience 4 In the same methods as of above clauses 2 and 3 map the 2 4 RECEIVE PDO PARAMETER the entire mapping parameter is QW1 16 5 In the POD type filter select and in the PDO contents select No 1 TRANSMIT PDO PARAMETER 6 In the same method as of above clause 2 map the 1 4 TRANSMIT PDO PARAMETER the entire mapping parameter is IW1 16 Chapter 10 Examples __
90. cific t driven aa 255 Event driven device profile and application profile are unique profile specific 1 PDO Transmission mode PDO transmission modes are classified as follows a Synchronous transmission b Event driven transmission 2 PDO start up mode are as follows a Event and time driven Messages are transmitted by the events unique to the application as specified in the device profile or application profile or unique to the manufacturer Or transmitted after a certain time event time without an event b Remotely requested The event driven transmission of PDO starts on receiving the RTR initiated by PDO consumer c Synchronously triggered Message transmission is triggered by generation of SYNC object The trigger conditions are No of SYNC and selective internal event 3 TPDO transmission type a The term synchronous means that the PDO is transmitted after the SYNC object On receiving SYNC the CANopen devices starts data sampling If acyclic sampling begins at the next SNC after triggering of CANopen device internal event followed by PDO transmission In case of cyclic sampling begins when receiving from 1 to 240 SYNC according to the transmission type Chapter 8 Slave Setting using XG CANopen nn value followed by PDO transmission b Only when RTR is received RTRPDO is not transmitted in normal situation except when RTR has been received If the transmissio
91. ck Open No 6 1 3 Open from PLC Read the memory stored in the PLC and create a new project If a project is open in the XG CANopen close the project and create a new project Process Procedure Online Settings Connection settings v General Open from PLC Timeout interval 5 Retrial times 1 Read Write data size in PLC run mode ONomal Maximum Send maximum data size in stop mode 1 Select menu Project Open From PLC 2 Select the connect option and click Connect 16 3 gt Industrial Sys Chapter 6 XG CANopen detail menu 6 1 4 Other Functions Function Meaning Execution Method Save Project Save the modified project Select menu Project Save Project 1 Save the project in a different file Save As Save the project in a different file 2 Enter the project name and click Confirm button 1 Select menu Project Export as Save the project contents in a file archive Package Export as Package Exporting file archive also saves the EDS file information used in the project 2 Enter the name for saving and click Save button Import from Package 6 4 Import the project archive file Importing file archive also loads the EDS file information used in the project 1 Select menu Project Import from Package 2 Enter the name of the archive file and click Open button Chapter 6 XG CANope
92. ck the base In case of XGB series Base No is always 0 0x0003 The slave No is over 0x0004 Set module at slot is not installed 0x0005 Installed module is not matched 0x0006 Size is over about Data Array size Next command is executed despite existing uncompleted command Command of CANopen is possible to run one command per 1 scan 0x8001 Timeout error no response for 5 s between the basic and link module 0x8002 The station No of the corresponding device is not within 1 127 1 Size is small than 1 or bigger than 520 2 Recevice byte No for GETCOMM command is over max byte size 0x8004 The sub index is bigger than 255 In the PUTCOMM command failed to stack on the stack queue due to queue overflow 0x000A 0x8003 ee Data overload adjust the communication load In the GETCOMM command failed to stack on the stack queue due to queue overflow 0x8006 d Data overload adjust the communication load 0x8007 The slave is not ready for service yet Check the installment of slave The master module is not ready for service yet 0x8008 Check the Link Enable of master module or master module is initializing parameter Edit program It need to execute command just few second ago 1 SDO Write error occurred at stack limited for PUTCOMM Station No error of slave module or NAK response from slave response occurrences unsupported index sub index of the slave or data length is in
93. cluding the master module should be different 2 Use a designated cable for communication If you use other cables it may cause serious communication problems Inspect whether the cable is disconnected or short circuited before installing the communication cable Firmly tighten the communication cable connector to make sure the cable is completely connected If the connection is loose it will cause serious communication problems If the length of the communication cable is longer keep the cable away from power line or inductive noise 3 4 5 6 wee gt 3 6 Chapter 4 System Configuration Chapter 4 System Configuration 4 1 System Configuration In XGB CANopen I F module and all other modules can be mounted up to two on one basic unit regardless of the module type Since the open protocol CANopen is used bus topology system configuration is available using other supplier PLC s CANopen module Inverter and HMI 1 Network Configuration Up to 127 CANopen slaves can be connected The maximum number may be limited by the number of the slaves allowed by the master see the technical document of the master Up to 32 XBL CMEA can be connected CANopen Slaves CANopen Configuration tool CANopen Master Speed driver Encoder 1 Make sure to connect the terminating resistor 120 1 2 W 2 GND may be connected to the system as necessary LS industrial Systems 4 1 Chapter 5 Using XG CANopen Chapter
94. d 241 251 Reserved Synchronous RTR only Only when RTR is received RTR only synchronous Asynchronous RTR only Only when RTR is received RTR only event driven event driven Event driven Manufacturer specific manufacturer specific event driven Event driven device profile and application profile are unique profile specific b SDO Service Data Object The SDO communication is a confirmed type communication in Client Server configuration SDO communication is used to access the entries of the Object Dictionary of the CANopen devices by which the device parameters can be set up stored and monitored SDO communication is not conducted periodically but whenever necessary SDO download expedited SDO upload expedited Server Client Server Client SDO download initiate SDO upload initiate 1 e 1 Example of 500 transmission using Server Client configuration Chapter 1 Overview 1 3 Production Configuration 1 3 1 Type Indication The product configuration of the XGB CANopen I F module is described hereinbelow XBL CMEA CANopen Master I F Module Type name Description Remarks CANopen Slave I F Module XBL CSEA 1 4 Software for using products This section describes the major programming tools and other software for using the CANopen module For further details of the programming and communication application refer to the following descriptions 1 4 1 Softw
95. discard with object length of the slave SDO Read error occurred at stack limited for GETCOMM OxF002 Station No error of slave module or NAK response from slave NAK response occurrences unsupported index sub index of the slave OxF003 Reached to the communication module but time out occurred 8 20 Chapter 8 Slave Setting using XG CANopen 8 5 PDO Setting All the nodes slaves have the PDOs Process Data Objects containing the actual process data In the CANopen classified into Receive PDO and Transmit PDO In the view point of node slave the Transmit PDO are the data generated by nodes and Receive PDO are the data consumed by nodes In the view point of the master the Receive PDO contains the process output data transmitted to the nodes and the Transmit PDO contains the input process data received from the nodes In PDO setting the PDOs used by the slaves are set up Properties Error Control Settii PDOs Defined in EDS File SDO Sening neg Ue 5 PDOnm 1 POO Setind 1 Receive PDO parameter PDO mapping 2 Receive PDO parameter E 3 Receive PDO parameter 4 Receive PDO parameter 5 Receive PDO parameter B Receive PDO parameter 7 Receive PDO parameter 8 Receive PDO parameter 3 Receive PDO parameter 10 Receive PDO parameter 11 Receive PDO parameter 12 Receive PDO parameter 13 Receive PDO parameter 14 Receive PDO parameter 15 Receive PDO parameter v
96. e Connect to connect the PLC 2 Select Read All SDOs or Read Displayed SDOs button 3 The SDO value read from the object list in the SDO setting tab is displayed in the monitoring value CS industrial Systems 6 33 Chapter 6 XG CANopen detail menu 6 5 7 Slave Error History Shows the latest 5 errors of the individual slave which is conducting CANopen communication adaga NewPLC XG Net CANopen Master Project Edit View Online Tools Window Help um imm 8 visesiesme B NewPLC Module Synchronization 98 CANopen Ne a g CANopen m n CANopen Master B00 S01 XBL CMEA 002 Bead 127 800 Kbiys 013 Start Monitor CANopen 8 0 050 Slave Error History Slave Error Slave Status by Service 12 XBL CSEA COPY COPY History 8 Autoscan MBL CSEA Vi0 eds Project Library 1 c ET 19 XBL_CSEA_coPY_coPY S 25 CANopen eene XBL CSEA_Vi0 eds E C3 Profil tana Gu Drives and motion control E3 167 CANopen _515_5100 0 LL IS CANopen 1519187 _0 SV iG5A CANopen LSIS IG5A SV IGSA CANopen 1516 185 2 SV iP5A CANopen LSIS IP5A CANOPEI Generic 1 0 modules 1 Select menu Onl
97. e POD Variable Table shows the names of the PDO mapping object variables set up at the slave These variables can be used by XG5000 Properties Error Control Sering UNSIGNEDT6 000200 UNSIGNED1G 000201 UNSIGNEDIG 000202 UNSIGNED I6 000203 UNSIGNEDTE 000204 UNSIGNEDI6 000207 UNSIGNEDIG 000206 UNSIGNEDI 000209 UNSIGNEDI6 000210 UNSIGNEDI amp 000211 UNSIGNEDIE 000212 UNSIGNEDI 000213 UNSIGNEDI 000214 UNSIGNEDIE 000215 UNSIGNEDIS 000000 UNSIGNEDIS 000001 UNSIGNEDTE 000002 UNSIGNEDIE 000003 QQUC 2 Tiam POO parameter E UNSIGNEDI6 000004 UNSIGNEDIG 00006 UNSIGNEDTE 000005 UNSIGNED16 000007 6 1902 0505 3 Trerami parameter 0001 1 312 Iw 005 UNSIGNEDIE 000008 13 12 1 Iw 010 UNSIGNEDI amp 000009 200m T3 12 2 1 UNSIGNEDIG 000010 h 12 3 012 UNSIGNEDTE 000011 MAAN k Tene PAN nere 7 3 1 Variable Variables represent the mapping information per PDO object set up in the respective slave Variables are in the form of Base and slot positions of master module_Transmission reception type Sv station No Mapped order_ Parameter name Object name Variable 1 Receive PDO parameter _0001_Rx1_12_0_ OW_001 _0001_Rx1_12_1_ OW_002 _0001_Rx1_12_2_ 003 0001 Rxl1 12 3 Qw 004 E g 0001 Rx1 12 0 QW 001 0001 No 0 base o 1 slot in the order of Base Slot Rx1 Receive PDO1 12 slave station No 0 mapped order QW 001 name o
98. e is not 0 and does not process the SYNC message 0x8220 PROTOCOL_ERR_CNT 0x8240 When the Error Clear button is selected in the Diagnosis Device following items are cleared 1 COMM_STATUS BIT3 1 internal transmission queue overflow BIT5 1 received message exceeds CANID valid range error BIT6 1 internal reception queue overflow 2 EVENT_STATUS BITO 1 error occurred during SDO transmission 1 1 Error occurred during communication process 3 MASTER CYCLE MIN MASTER CYCLE CUR MASTER CYCLE MAX 4 GENERIC ERR DEVICE HARD ERR DEVICE SOFT ERR COMMUNICATION ERR ONT PROTOCOL ERR EXTERNAL ERR DEVICE SPEC ERR Chapter 8 Slave Setting using XG CANopen Fn Chapter 8 Slave Setting using XG CANopen The slave setting window consists of registration information error control setting SDO setting PDO setting and PDO mapping Edit windows of the Slave module will be displayed when double click of project widow Slave module is executed 8 1 Properties With the slave Properties tab the basic data of the slave are set up The Properties consist of station No name module name EDS and description t _20_XBL_CSEA Properties Error Control Seti Station No 20 2 1 127 Y SDO Setting PDO Setting Name 20 XBL CSEA PDO mapping Module EDS Description Figure 8 1 1 Slave Setting 8 1 1 Station No Aslaves must have a unique
99. e the XGB CANopen master supports both heartbeat and node guarding it can control error with the slaves supporting heartbeat by heartbeat method and with the slaves supporting node guarding by node guarding method t _20_XBL_CSEA Properties Error Control Setting Bero Eun SDO Setting O Not Use PDO Setting PDO mapping Guard Time 100710000 ms Life Time Factor 17100 Heartbeat Protocol Producer Time 300 100 710000 ms Apply Figure 8 1 2 Error control setting window 8 2 1 Node Guarding Node Guarding is conducted by NMT Network Management master sending guarding request RTR Remote Transmission Request The meanings of the guard time and node lifetime are as follows If a slave device fails to receive the RTR from NMT master within the node lifetime it judges that it is a remote node error NMT master and notices a life guarding event to the application When is received after an error occurrence the error status is reset If the master device fails to receive the reply to RTR from the slave within the node lifetime or reply has been received but the state of the NMT slave in the response frame fails to meet the expectation it notices a node guarding event to the application When the reply to the RTR from the slave is received after a timeout error or the master has received expected NMT slave state after an error caused by NMT state the error status is reset Chapter 8 Slave Setting
100. e toolbar to view or hide it 2 New Tools create a new toolbar 3 Reset reset the toolbar 4 View toolbar tip 5 Cool shape CS industrial Systems 575 Chapter 5 Using XG CANopen New Toolbar Toolbar name reating a new Creating a ne Tes toolbar 1 Select the menu Tool Customize 2 Click the New Tools button 3 Enter the toolbar name in the New toolbar dialogue box 4 Click the OK button A toolbar without a tool is created Customize Toolbars Commands Categories Buttons Window Filling Toolbar Select category then click a button to see its description Drag the button to any toolbar Description 1 Click the Command tap 2 Drag and drop frequently used tools into the new toolbar with the mouse 3 Click OK button 5 6 LS industrial Systems set up procedures are as follows Chapter 5 Using XG CANopen 5 2 Setting up Shortcut Key All the instructions can be assigned with a shortcut key When set up the old key if any is deleted The Shortcut Key Dialogue Description Shortcut Keys Select a macro Description E Edit Cut Edit Delete Edit Open Item Edit Paste Help About XG Net Online Add Autoscan in Project Assigned shortcuts Online Autoscan Online Connect Online Connection Settings nline Download 05 Online Enable
101. ed by a specific sign value The recognizable sign value is load as shown below Signature MSB LSB 1 08859 character gt 11014 EMCY COB ID COB ID EMCY The COB ID configured for emergency writing service When the object uexists and the valid is 1 the bit 0 29 is not changed gt h1015 EMCY Inhibit time EMCY Even when an EMCY has occurred no message is transmitted until the inhibit time has not been elapsed after sending a previous EMCY message The default value is a multiple of 100uZ5 and 0 inactivates the inhibit time Allowable setting range is h000 hFFFF gt h1016 Consumer heartbeat time The structure of the consumer heartbeat time is as shown below When XBL CMEA is used as a master enter the node ID of the master as the Node ID The setting range of the heartbeat time is a h0000 hFFFF and a multiple of 1ms If 10000 is set the consumer heartbeat becomes inactive 31 24 23 16 15 0 reserved 00 Node ID Heartbeat time MSB LSB gt h1017 Producer heartbeat time The setting value is a multiple of 1ms and h0000 inactivates the producer heartbeat gt h2000 h2010 equivalent to the storage field RPDO of our slave module When the settings are as shown in the dialog shown below the sub index 1 of the object h2000 corresponds to the word address D00000 field and the sub index h80 corresponds to 000127 The sub index 1 of the object h2010 points at the word address D00128 and the sub index h
102. ed while Run FO00C CMOD KEY OPERATION MODE Operation Mode Transformed by the Key FO00 1 FOOOD CMOD LPADT OPERATION MODE Operation Mode Transformed by the Local PADT FOOOE CMOD RPADT OPERATION MODE Operation Mode Transformed by Remote PADT FOOOF _CMOD_RLINK EET Mode Transformed by Remote Communication F0010 FORCE IN FORCIBLE ENTRY Forcible Entry State F0011 FORCE OUT FORCIBLE OUTPUT Forcible Output State F0014 MON ON MONITOR Executing Monitor F0015 USTOP ON STOP Stopped by Stop Function F0016 ESTOP ON ESTOP Stopped by EStop Function F0017 _ CONPILE MODE COMPILING Performing Compiling F0018 INIT RUN INITIALIZING Performing Initializing Task F001C _ 1 PROGRAM CODE 1 Program Code 1 Selected F001D _ 2 PROGRAM CODE 2 Program Code 2 Selected FOO1E _ 1 COMPILE CODE1 Compile Code 1 Selected FOO1F _CB2 COMPILE CODE 2 Compile Code 2 Selected _CNF_ER SYTEM ERROR Reports Serious Failure State of the System F0021 TYER MODULE TYPE ERROR Module Type does not corresponds F0022 DEER MODULE REMOVAL ERROR Module Removed F002 3 F0024 RWER MODULE INOUTPUT ERROR Problems occurred in to Module In Output F0025 IP IFER MODULE INTERFACE Problems occurred in the special communication module interface F0026 ANNUM ER EXTERNAL DEVICE ERROR Serious Errors detected from External Devices A 3 Appendix TTT
103. em e XGT PLC XG5000 Programming Tool V3 64 or newer e XG CANopen V1 0 or newer e XBC CPU Type Version Type Version XBM oxxS 3 1 or above XEC xxxxSU 1 0 or above XBC xxxxSU 1 2 or above 1 4 or above 2 03 XEC xxxxU 1 0 or above XBC xxxxU 1 0 or above 1 International standard specification CAN ISO 11898 CANopen CiA CAN in Automation DS 301 Chapter 1 Overview 1 2 Features The XGB CANopen module has following features 1 Satisfies CANopen CiA s DS301 specification 2 Up to 2 sets can be installed on one unit 3 For XBL CMEA up to 32 slaves can be connected 4 10K 20K 50K 125K 250K 500K 800K 1Mbps speeds are provided 5 For XBL CMEA various diagnosis functions and module and network status information is provided gt Provide the communication statuses of the master and slave are provided via device diagnosis function gt The Auto Scan function which provides the information of the modules including from other suppliers connected on the network gt Display latest 5 error histories 6 For XBL CSEA up to 10 latest error histories can be stored 1 2 1 CANopen protocol 1 Overview 1 On the CAN Controller Area Network standard the application protocol CANopen is built in 2 Designed for mobility oriented industrial control systems 3 International standard specification gt CAN ISO 11898 gt CANopen EN 50325 4 CiA D
104. enEDSWCANopenimage4 bmp Preview a image Register EDS EZ file 2 88000086 lt Back Next gt Cancel 1 Select the EDS file and image file and click Next button The selected image be viewed in the Image Preview in square form proceed to the next step without selecting an image 2 Click OK button to complete the EDS registration 6 22 Chapter 6 XG CANopen detail menu a 2 Unregister EDS file Library Manager O Register EDS file Add the selected EDS file to the library Remove the selected EDS file from the library Unregister EDS file 1 Change image 1 Change the registered image file Select Tool Library Manager select revoke EDS file registration and click Next button Library Manager EDS file CAWXGSODDWWCANopenEDSWXPO COEA eds Image file U nregister Preview a image EDS file 2 2 l F appear at the same time 1 Select the EDS file to be deleted and click Next button The image if any registered with the EDS will 2 Click Finish button to complete the EDS revocation 3 The revoked EDS file is stored in the Deleted EDS folder of the XG5000 folder 16 23 Chapter 6 XG CANopen detail menu TTT 3 Change Image No Process Procedure Library Manager O Register EDS file Add the selected EDS file to the library Unregister EDS file Remove the selected EDS file from the libra
105. f 50xxH 10 DEVICE ERR device software error count No of the received Emcy messages having the error codes of 60xxH 61xxH 62xxH and 63xxH 11 COMMUNICATION ERR communication error count No of the received Emcy messages having the error codes of 81xxH 12 PROTOCOL ERR ONT protocol error count No of the received Emcy messages having the error codes of 82xxH 13 EXTERNAL ERR ONT external error count No of the received Emcy messages having the error codes of 90xxH 14 DEVICE SPEC ERR ONT Device specific error count No of the received Emcy messages having the error codes of FFxxH 15 SLAVE NUM No of the slaves set up in the parameter max 32 16 SLAVE ID n n th slave set up in the parameter ID 1 127 17 SLAVE INFO n status to SLAVE ID n 8 BITO slave configuration completed PDO mapping parameter and SDO default value downloading have been completed and SDO write read Auto Scan and 5000 command execution are possible When the value is 0 SDO write read Auto Scan and XG5000 command request are processed as an error b BIT1 slave configuration error meaningful only when BITO is 1 When the BITO is 1 the value is 0 If the slave node status is Operational or 1 if it is not Operational and judged to be normal configuration has failed C BIT2 slave EMCY error occurred Referring to the slave history stored up to latest 5 per slave 1 if there is saved error s and the latest error code is nei
106. f the parameter declared in EDS 7 6 LS industrial Systems Chapter 7 Master Setting using XG CANopen 7 3 2 Device This means allocating the mapping information of the objects set up in slave to the master devices To allocate devices automatically select menu View Build or execute Online Write menu me To Te 0 1400 0x214 1 Receive PDO parameter 0002 Rd 20 0 QW 001 UNSIGNED16 D00200 70002 Rx1_20 1 GW 002 UNSIGNED16 D00201 70002 20 2 QW 003 UNSIGNED16 000202 70002 203 QW 004 UNSIGNED16 000203 7 3 3 Monitor This is used to monitor the master device values Click online monitor execution to check the respective device value 0x1400 0x214 1 Receive PDO parameter ERI _0002 R 1 20 0 Qw 001 UNSIGNED16 000200 21845 70002 Rx1_20 1 QW 002 UNSIGNED16 000201 21845 70002 Rx1_20 2 QwW 003 UNSIGNED16 000202 21845 70002 Rxi 20 3 QW 004 UNSIGNED16 000203 21845 CLS industrial systems Chapter 7 Master Setting using XG CANopen 7 4 SDO Table SDO table shows the entire list of the SDOs which are set up to be used by the slave Here only monitoring of the SDOs set up per slave is allowed and editing is not allowed If editing is required use the SDO setting tab of the respective slave Properties Error Control Setti Eermat Hexadecimal __ vj PDO Variable Tab StationNo
107. frame Onor Blinkin Error occurrence ERR Red g Follow 3 standard Off Normal operation 2 Error Details Operation Off Description Normal operation XBL CMEA XBL CSEA Blinking 1 note1 Not equal a number of slaves having setting parameter and connected slaves Blinking 2 note1 Error Passive state TEC gt 128 or REC gt 128 2 Not equal baud rates or error cable connection Blinking 3 note1 Error control event occurrence heartbeat error On 2 6 not connected 1 Blinking details a Blinking 1 200 200 4 gt ms ms b Blinking 2 Chapter 2 Specification 2 REC Receive Error Counter TEC Transmit Error Counter Chapter 2 Specification 2 5 Cable Specification The cables connectors and terminal resistors used in the CANopen network must be in compliance with the ISO 11898 specification 2 5 1 Bus cable and Terminal resistor According to the ISO 11898 specification the CAN bus network must be terminated with the 2 end resistors as shown in the figure below In most cases the wires with 0 25 0 34m of cross section area are recommended for the drop cables The actual resistance of the connector must be included in the voltage drop calculation in addition to the cable resistance The transmission resistance of the connector shall be between 2 5 10 The table below presents the leng
108. g the periodic action of the master monitoring the communication connection of slave 11 OD Object Dictionary The list of all the values and functions of the parameters of the device Each entry can be accessed using index 16 bit and sub index 8 bit 12 Parameter the data and value of device which can be set up by users 13 PDO Process Data Object A practical means for transmitting process data It is a communication object having high priority transmitted by 1 producer and received by 1 or more stations of consumers One PDO can have up to 8 bytes and unique COB ID and does not require the acknowledgement from the receiver station The meaning of the transmitted data is determined by COB ID and PDO Mapping The PDO priority and operating mode are determined by communication parameter setting PDO producer and consumer must have the same data structure to process The data structure of the Producer and consumers are determined by TPDO and RPDO respectively Appendix TTS 14 PDO Mapping Means allocation of application object to the data field of PDO Mapping has two methods of static and dynamic In the static mapping the objects of the PDO must be continuous and cannot be omitted or allocated with a dummy object 15 Predefined Connection Set The COB ID pre allocated with reference to the station No and function code The communication object by such predefined connection set are Node guarding heartbeat emergency ob
109. hapter 6 XG CANopen detail menu E 33 AM 6 3 Edit Network Window Add Delete Master and Slave Master and slave nodes can be added or deleted to configuration the network Detail set up can be conducted by calling up the registration information window of the nodes 6 3 1 Conditions Following functional restrictions are imposed when configuring a network Item Description Max No of masters Max of the masters allowed to be mounted on a PLC Max No of slaves Max No of the slaves allowed to be mounted on a PLC Slave station No Slave ID No of copy nodes No of the nodes which can be copied at once Max No of paste nodes Max No of the nodes which can be pasted at once 1 6 3 2 Edit Node 1 Entering master module name Procedure Master additional selection 1 Enter master node in the CANopen Network 2 In the project window select CANopen Network and right click the mouse to select Add Master 6 10 Chapter 6 XG CANopen detail menu Add Master Name Test Module IXBL CMEA he Base Entering Detail i Contents 1 Select Add Master to pop up add master module dialogue 2 Enter following information in the master module window and click Confirm The meanings of the items are as follows 1 Name enter name of the master node 2 Module select master module type 3 Base select the base on which the master module is to be mo
110. he CAN controller is Bus Off status Occurs when TEC Transmit Error Counter is 256 or more b BIT1 1 if CAN controller receiver buffer overflow This occurs when another message is received before the received message in the CAN controller buffer is read c BIT2 1 if the CAN controller is in error passive status This occurs when TEC Transmit Error Counter or REC Receive Error Counter is 128 or more d BITS 1 if internal transmission queue overflow This occurs when other data is added to the transmission queue of the master before transmitting data BIT4 1 of the CAN controller is in error warning status This occurs when TEC Transmit Error Counter or REC Receive Error Counter is 96 or more f BIT5 1 ifthe CAN ID exceeds the range This occurs when the CAN ID of the received message is not extended id and h800 or above and not h801 error no event 9 BIT6 1 if internal reception queue overflow This occurs when other data is added to the receiver queue of the master before receiving the data 3 CANOPEN STATUS master status information a h0000 Master Init or Error Master stack s initial status or error status b h0010 Reset Node Module reset after parameter downloading master status is changed to node reset status h0020 Reset Communication After node reset completed Changed to communication reset status In this status Communication objects are initialized d h0030 Stop status h0040 Pre Ope
111. in XG CANopen 1 Select menu Online Connect to connect the PLC via online 2 Select menu Online Write 3 Select the master to which write parameter Writing Writing completed Complete When writing is completed finish window is created cen Chapter 6 XG CANopen detail menu TTS 2 Write in XG5000 When the XG CANopen is called in the XG5000 the XG CANopen is synchronized with the XG5000 Therefore if writing is conducted in the XG5000 and if the CANopen module has been set up CANopen parameters are also written No Process Procedure Set Base amp Base 00 Default Slot Module Comment t Input Filter Emergency Allocation d 00 DC 24V INPUT DC 24V INPUT TR 3 Standard ms Default P0000 POOSF amp 01 CANopen Mast CANopen Master amp 02 TR OUTPUT 3 2 Digtal Module List Defaut P0080 POTIF amp 03 CANopen Mast Special Module List P0120 PO15F 04 Default 4 amp Bl Communication Module List 05 Default B Fere 06 Default 5 B Chet zs 07 Default 5 RAPIEnet 08 Default 7 EtherNeviP za 09 Default 8 8 y 10 Default 3 CANopen Slave 10 gt Delete sia Cancel Adding Module Adding CANOpen Master using I O parameter 1 0 information Base module information Slot 1 0 i
112. ine Connect to connect the PLC 2 From the project tree select the slave item for which error history is to be searched 3 Select menu Online Slave Error History Slave Error History Stati Error code hex Contents Manufacturer Error reset or no error 0000000000 CAN in error passive mode 00 00 00 00 00 Error reset or no error 0000000000 CAN in error passive mode 00 00 00 00 00 00 00 00 0000 Detail Slave Error History lt gt 2 1 Station No shows the station No of the slave 2 Error code shows the error code 3 Content shows the content of the error 4 Manufacturer error code shows the error code inscribed by the slave manufacturer 5 Clear History Clear the slave error histories 6 Close close the dialog 6 34 LS industrial Systems Chapter 6 XG CANopen detail menu M CiA CAN in Automation Standard defines error code as follows CAN overrun objects lost not available istrial Systems indi 16 35 Chapter 6 XG CANopen detail menu 13O 6 5 8 Slave Status by Service Shows the PDO SDO service statuses No Process Procedure Status by service 3 PERATIONAL NORM NORMAL No Stat Kind Transm 0 Address Length NMT Status Block Status 2 8 1 A 1 12 Ir 000000 OPERATIONAL Slave Status by Service PDO service gear _ Roading
113. input 8 Use select use or no use If checked registered with the SDO table of the master module 8 3 2 Write SDO Write SOD can be conducted in the 3 methods as follows 1 Write after module initialization The value entered into the setting value is downloaded at the time of parameter writing and the n downloaded to slave device from the master when the slave id initialized At this time the setting value can be entered both online and offline 2 Writing in operation this function enables SDO parameter writing during normal operation SDO writing window appears when Online Write SDO is selected or right click the mouse on the setting value and select Write SDO from the context menu Check the object index and sub index enter value and click Write after Input Write SDO is completed The result of writing can be checked by selecting Read All Screens or Read Current Screen menu Writing in operation is applicable in online mode only Write SDO Object Index 0 2000 Sub Index 0x1 Value 0001 8 6 Chapter 8 Slave Setting using XG CANopen nnn 3 Write SDO using instruction GETCOMM and PUTCOMM commands are used to write and read SDO For further details see section 8 4 SDO Command 8 3 3 Index The function to search the index presented in the object list of the EDS Write the index to be searched and select GO to button 8 3 4 Format Select decimal or hexadecimal system to express
114. is designed to protect the as the preferential management subject and environment For the disposal separate every staff of LSIS use the reasonable aluminum iron and synthetic resin cover from endeavors for the pleasurably environmental the product as they are reusable preservation of the earth LS values every single customers Quality and service come first at LSIS Always at your service standing for our customers LS HEAD OFFICE LS Tower 127 LS ro Dongan gu Anyang si Gyeonggi do 431 848 Korea Tel 82 2 2034 4870 Fax 82 2 2034 4648 e mail cshwangQlsis biz a LS Industrial Systems Tokyo Office Tokyo Japan Address 16FL Higashi Kan Akasaka Twin Tower 17 22 Akasaka Monato ku Tokyo 107 8470 Japan Tel 81 3 3582 9128 81 3 3582 2667 e mail jschuna Isis biz a LS Industrial Systems ME FZE Dubai U A E Address Jafza View Tower Lob 19 Room 205 Along Sheikh Zayed Road Jebel Aali Free Zone Dubai United Arab Emirates Tel 971 4 886 5360 Fax 971 4 886 5361 e mail jungyongl Isis biz LS Industrial Systems Shanghai Office Shanghai China Address Room E G 12FL Hiamin Empire Plaza No 726 West Yan an Road Shanghai 200050 China e mail liyong Isis com cn Tel 86 21 5237 9977 609 Fax 89 21 5237 7189 LS Industrial Systems Beijing Office Beijing China Address B Tower 17FL Beijing Global Trade Center B D No 36 East BeisanHuan Road DongCheng District Beijing 100013 P
115. it 7 0 md D 0 NDR Bit15 ERR Bit14 D7000 D 1 Length High Length Low D7001 D 2 Error Code High Error Code Low D7002 D 3 Reserved Reserved D7003 4 N 10 total data length Pure data length is 2 byte by N 8 Chapter 8 Slave Setting using XG CANopen a gt Using in the Series Function Block Description Input REQ executes the function in case of 1 BASE No of Base installed with the communication module PUTCOMM SLOT No of Slot installed with the communication REQ DONE module BASE STAT SLOT NODE 10 Station No of Slave 1 127 NODE 10 MADDR SDO index sub index of the slave to be read DATA Writing data ARRAY of BYTE SIZE Data size 1 512 byte DATA SIZE Output DONE If normal response is received from the corresponding communication module the bit tums ON STAT Error code 1 This command is for reading the data of the corresponding device via communication module 2 Inthe communication module designated base and slot No send designed command to module and save the return data from the communication module Then the maximum allowable reception byte is SIZE 3 This command is not processed in scan synchronous manner That is the response from the corresponding device may arrive after several scans the result cannot be known right after processing the command 4 If SIZE is over the data array length do not execute the command Chapter 8 Sl
116. ject sync message time stamp server SDO 1 RPDO1 4 and TPDO1 4 16 RPDO Receive PDO PDO used for reception 17 SDO Service Data Object A communication object used to initialize CANopen device set up parameters or to transmit long data records e g domain data and has low priority The entries in the object dictionary can be written and read using SDO and the entry designation is performed with index and sub index 18 Producer An entity crating information 19 Consumer An entity receiving and consuming information 20 Server The subject providing information on request 21 Client The subject requesting information 2 nnn Appendix A 2 Flag List A 2 1 Special Relay F List Word Bit Variable Function Description SYS STATE Mode and State Displays the Mode and Run State of PLC F0000 RUN RUN Run State F0001 STOP STOP Stop state F0002 ERROR ERROR Error state F0003 DEBUG DEBUG Debug State F0004 LOCAL CON LOCAL CONTROL Local Control Mode F0006 REMOTE CON REMOTE MODE Remote Control Mode F0008 RUN EDIT ST CORRECTING WHILE RUN Downloading Correction Program while Run F0009 RUN EDIT CHK CORRECTING WHILE Internal Processing for Correction while Run FOOOA _RUN_EDIT_DONE LETED Correction Completed while Run FOOOB RUN EDIT END CORRECTION END WHILE RUN Correction End
117. l the communication modules are searched and displayed in the project window If the modules registered offline differ from the information of the currently connected PLC or differ from the type of the communication module worked in the previous project check the change in addition with the above message XG5000 Overwrite parameters of the PLC with modules installed in the PLC Detailed module parameters will be reset as the default if module type mismatch Continue 5 The list of the communication modules installed in the product is created in the project window Project 58 JJ Network Configuration 4D Unspecified Network NewPLC BOSO Cnet a NewPLC 8051 FEnet 5 NewPLC 8052 XBL EMTA 5 NewPLC 8053 XBL CSEA Chapter 9 Slave Module XBL CSEA Setting using XG5000 9 1 3 Reading Parameters from PLC The default parameters stored in PLC can be loaded with following procedures 1 From file menu select Open from PLC Online Settings Connection settings Depth Local v General Timeout interval Retrial times Read Write data size in PLC run mode Maximum Send maximum data size in stop mode 2 Set up access method and step click Connect or OK 3 The default parameters stored in the PLC is loaded PLC Project window x amp sampel NewPLC XGB xBCS 00
118. lated parameters while not in connection with PLC 1 Run XG5000 select Project New Project or click icon 2 Enter project name in the project name field select PLC series and CPU type of the selected PLC in the PLC type Project name test File directory C XG5000 Wtest m CPU Sees xes Product Name CPU type Program name NewProgram Program language Project description 3 In the Project Window of the XG5000 right click on Unspecified Network and select Add Item Communication module Click Add Module and set the type base and slot of CANopen I F module to registration Chapter 9 Slave Module XBL CSEA Setting using XG5000 9 1 2 Online Registration To register communication module using XG5000 in online status conduct the steps No 1 and 2 of the off line registration and conduct following steps 1 Enter project name in the project name field select PLC series type and select the PLC CPU type in the CPU type 2 If unable to connect check the connectivity with the PLC select Online Connect Setting or click icon to select connection method Available connection methods are RS 232C cable USB cable Ethernet module and EtherNet IP module 3 When normally connected the submenus of the online menus are enabled 4 Tocheck up the module currently mounted in the basic unit select Online Diagnosis Read IO Information And al
119. le below Supportability CANopen Service XBL CMEA XBL CSEA CAN 2 0A CAN 2 0B Frame tructure PDO SDO SYNC TIME STAMP EMCY NMT ERROR CONTROL LSS Later Setting Service FLYING MASTER 2 3 Chapter 2 Specification 2 3 Load Specification The specification to transmit PDO without loss is defined with the following formula Assuming that the communication setting variables are as follows 1 Baud rate B baud rate 2 Transmission period T ms 3 Data size S if the mapping data size is 8 byte 10 byte including overhead 4 Bits to transmit 1 byte 10 bits including overhead The number of PDOs which can be transmitted is as follows 1 Number of transmitted bytes per s N B 10 bit 2 Number of PDOs that can be transmitted per s at the communication speed B PB N 10 byte 3 Number of PDOs that can be transmitted per s at the transmission period T PT 1000 ms T ms 4 Number of PDOs that can be transmitted per s at the communication speed B transmission period T PBT PB PT The exemplary number of PDOS that can be transmitted according to the values of T and B are as follows Transmission speed ead Transmitted bytes per PB PT PBT B baud rate T ms second N 10 000 20 1 000 100 50 2 10 000 50 1 000 100 20 5 10 000 100 1 000 100 10 10 10 000 200 1 000 100 5 20 10 000 400
120. lectric shock or abnormal operation may occur Prior to cleaning or tightening the terminal screws let all the external power off including PLC power If not electric shock or abnormal operation may occur Don t let the battery recharged disassembled heated short or soldered Heat explosion or ignition may cause injuries or fire a Caution Do not make modifications or disassemble each module Fire electric shock or abnormal operation may occur Prior to installing or disassembling the module let all the external power off including PLC power If not electric shock or abnormal operation may occur Keep any wireless equipment such as walkie talkie or cell phones at least 30cm away from PLC If not abnormal operation may be caused When making a modification on programs or using run to modify functions under PLC operations read and comprehend all contents in the manual fully Mismanagement will cause damages to products and accidents Avoid any physical impact to the battery and prevent it from dropping as well Damages to battery may cause leakage from its fluid When battery was dropped or exposed under strong impact never reuse the battery again Moreover skilled workers are needed when exchanging batteries Safety Instruction Safety Instructions for waste disposal Product or battery waste shall be processed as industrial waste The waste may discharge toxic materials or explode itself Revision History
121. m the mapped objects and click upward arrow key Chapter 8 Slave Setting using XG CANopen 8 7 Add slave Slaves can be added by two methods The first method is to add a slave directly to the master module and the second is using Auto Scan To use the Auto Scan function the slave must be connected to the network with the same baud rate and different station No 1 Adding at master module Project NewPLC 88 CANopen Network XGB XBCS E CANopen_Master BO0 S12 MF A1 E 00 020 _20 CS Open Network View Add Slave amp Cut CtrleX Ha Copy Ctrl C Add slave X Delete Del CANnnen Ma terfRfi 802 CMEA 83 Autoscan Add Slave Properties ppa v Allow Docking n Hide Float In Main Window L 99 Q Zoom In Q Project CQ Zoom Out 1 Selectthe master module and right click the mouse to select Add Slave 2 in the edit window click the master module and select Add Slave EDS List Lg CANopen Profile jj Drives and motion control i G CANopen LSIS_S100_CANOPEN1_0 EDS amp 157 CANopen LSIS_IS7 CANOPENI_0 EDS Properties is SV IG5A CANopen LSIS_IG54_CANOPEN_0 EDS SV iG5A CANopen LSIS_IG5A_CANOPEN2_0 EDS Gra B 2 127 SV iP5A CANopen LSIS_IP5A_CANOPENO_5 EDS lt Y Generic 1 0 modules Name Test OTB 1CO DMSLP OTB_1CO_DMSLP_V5 eds
122. master set up with parameter and click Confirm 12 Enable Link EL 1 Link 2 Link 3 Enable Link 1 Select Online Enable Link 2 Check the No of the link set up with parameter and click Write The link No must be selected in the order to the communication module installation Ex If another communication module is installed before CANOpen master module set up the link No with 3 Chapter 10 Examples 10 1 4 Operation Check 1 Network state check using diagnosis function No Process Procedure Properties Error Control Setting Format Decimal Clear PDO Variable Table SDO Table Variable Device Monitor vaiue Description Diagnostic Variables 0002 CHANNEL STATUS WORD D00300 0 Channel 0002_001_CHANNEL_STATUS_SUBO BIT 000300 0 D 1 Master does not operate 0002 O01 CHANNEL STATUS SUBT BIT 000300 1 D 1 Slave does not operate _0002_001_ _5 _5082 BIT 000300 2 D 1 Configuration error _0002_COMM_STATUS WORD 000301 0 Communication 0002 001 COMM STATUS SUB D00301 0 0 1 CANopen Controller is at BUS Off state 0002_001_COMM_STATUS_SUB1 BIT 000301 1 D 1 Controller FIFO Overflow 0002_001_COMM_STATUS_SUB2 D00301 2 D 1 Error Passive state 0002 001 COMM STATUS SUB3 000301 3 D 1 Transmit Queue Overflow 0002_001_COMM_STATUS_SUB4 000301 4 D 1 Error
123. mberofSDOs 0 480 Size of SDOs 0 bytes 7 760 bytes Read All 500 Read Displayed 500 a lt 3 8 3 1 Objects Shows all the object information recorded in the EDS For each cell the Setting Value and Use cells are activated for editing when the access attribute is RW and inactive otherwise If the user checks the check box of the Use cell and setup the current value the setting value is transferred to the respective object when the slave starts operation 1 Index the objects in the Object Dictionary are searched using 16 bit indexes 2 Sub index the 8 bit values used for searching the records in the objects 4 Data type a Table presents the types of all the data 5 The data types used in the XBL CSEA are 4 type of 5 UNSIGNEDS 6 UNSIGNED16 7 UNSIGNED32 and 9 VISIBLE STRING 6 Setting value enter the value of the object item checked for use Entered values are stored in the parameter when the project is saved 3 Parameter name the text string describing an object LS industrial Systems 18 5 Chapter 8 Slave Setting using XG CANopen 7 Access attribute the attribute of the object accessibility For example writing is allowed by W Write attribute Access Attribute Description RW Read Write access allowable WO Write Only RO Read Only CONST Read Only constant value RWW Read Write accessibility to process output RWR Read Write accessibility to process
124. module with the functions for the operation of all the communication modules including the CANopen slave module providing the basic parameter set up frame preparation module and network diagnostics The figure below is a snap shot of the initial screen of the XG5000 If Project Edit Find Replace View Online Monitor Debug Tools Window Help Qe BBX ERK i A A A td es eX C3 B Gb a 2 C GE 9E Gl ds w 4141 91 5 sg HERE eA eSUa Sees Ts 2 3 waysis uoneuuoju 43 au View High speed Link View P2P Function FB Most Recently Used Function Name Monitor 1 v 4x Findi 4 mE Monitor Result Check Find2 Comm Cross Used Dupli Offline 5 10 di Fig 1 4 2 Initial screen of XG5000 1 6 LS industrial Systems Chapter 1 Overview 1 4 4 Version check Before using the XGB CANopen I F module please check the version of the module 1 Check up via XG5000 If normally interfaced with the CPU following information can be obtained 1 Run XG5000 2 Connect to the CPU via online access 3 Select I O information from the online menu Double click or select the respective communication module and click the Details button Module Info CANopen Slave Deal Conen Module Name CANopen Master Module Name CANopen Slave Communication mode 0
125. munication module or the PUTCOMM command has failed to be executed properly the respective location bit of the F0015 WORD is set 4 The command is not processed in scan synchronous manner That is the response from the corresponding device may arrive after several scans the result cannot be known right after processing the command Chapter 8 Slave Setting using XG CANopen 1 3 5 Process result check can be confirmed with flag 6 sl slot No of communication module is set up with two digits in hexadecimal and if h0002 as shown in the figure below the 0002 refers to the slot No 7 S N Byte or D 8 Byte exceeds the range F110 and F115 bits are set gt Exemplary application of PUTCOMM The exemplary software program below writes 2 bytes of data from the index h2000 and h0072 sub index of the slave station 1 CANOpen master module installed in slot No 2 TIS p PUTCOMM 0002 001000 007000 Station No of Slave h2000 0010 Index of Slave Reserved Data gt Meanings of the operands 1 sl h0002 Base No 00 Slot No 02 2 S D1000 D1004 slot and object index data Device Bit 15 8 Bit 7 0 0 Station No of corressponding device D1000 S 1 Slave side object index High Slave side object index Low D1001 5 2 Slave side object sub index D1002 3 Reserved Reserved D1003 5 4 Data0 Data1 D1004 3 D 7000 D7003 Result of command Device Bit 15 8 B
126. n type is 252 the CANopen devices begins sampling at each reception of SYNC to buffer the PDO If the transmission type is 253 the CANopen device begines sampling on receiving RTR and transmits PDO immediately Event drive PDO be transmitted every time when CANopen device internal event occurrence Event definition can be specified in the devide profile and application profile The XGB CANopen module processes 254 and 255 equally and transmits when device value is changed Transmission Description Type Value 0 Synchronous acyclic 1 240 Synchronous transmission periodically when the SYNC of the transmission type value is received 241 251 Reserved 252 Only when RTR is received RTR only synchronous 253 Only when RTR is received RTR only event driven 254 Event driven Manufacturer specific Event driven Manufacturer specific 255 M m Device profile and application profile specific 4 RPDO transmission type In the table below the term synchronous means that the CANopen device applies the received data to the reception of the next SYNC object Event driven means that PDO can be received whenever and that the CANopen device applies received data immediately Transmission Type Value Description 0 240 Synchronous 241 253 Reserved 254 Event drive manufacturer specific 255 Event drive device profile and application profile specific 2 Transmission type No
127. n detail menu 6 2 Interconnection with XG5000 XG CANopen supports interconnection with XG5000 If XG CANopen is opened via XG5000 the project file and Write PCL functions are interlocked with the XG5000 project To use the devices allocated by the XG CANopen in XG5000 run XG CANopen in the XG5000 6 2 1 Opening XG CANopen in XG5000 To run XG CANopen in XG5000 the CANOpen master module XBL CMEA must be registered in the I O parameter Master module can be added in I O parameter by two methods 1 Master module registration by I O synchronization No Process Procedure 1 0 information Base module information Slot 1 0 information Slot Module 0 DC 24V INPUT TR OUTPUT 32points 1 CANopen Master 2 TR OUTPUT 32points 3 CANopen Master 4 yo 5 6 Synchronization 2 8 1 10 Show Existing Base Only 1 0 Sync Details OK Cancel 1 Select menu Online Change Mode Stop to switch to CPU stop mode 2 Select menu Online Diagnosis I O Information and select I O Sync in the information window 3 When the module has been synchronized click OK button Project Window Items 3B test 1_0208 NewPLC XGB XBCH Stop 4 Variable Comment Parameter Basic Parameter Tg Parameter Executing T CANopen Network a E Embedded Parameter XG CANopen Scan Program NewProgram Project
128. ne I F slave 1 In the XG CANopen project window select CANOpen_Master right click the mouse and select Add Slave Module Set up station No and name EDS path to register XBL CSEA and OTB1CODMOLP LS industrial systems 11079 Chapter 10 Examples No Process Procedure Properties TENA Error Control Setting tode Setting 200 Table Node CANopen Master D agnostic Variables Station No 127 Baad Hate 1 MbR v TUM Lite 200 Kes Master module S parameter setting s 1 Properties vui a SN 000000 000200 4 Sye 200 CPU Eme en CPU Sto gt Latch Dev 1 In the XG CANopen project window double click CANOpen Master and select register information 2 Set upthe station No baud rate cycle PLC reception transmission are as suggested in the system configuration 3 Make sure to click Apply after entering the setting values Properties Error Control Setting Heartbeat Protocol PDO Variable Table SDO Tabl Producer Time poo 100 10000 ms Master module Diagnostic Variables parameter setting Slave Error Control Station Node name Protocol Guarding Time Lifetime Producer time 5 2 Error Control Setting 1 10 XBL_CSEA_10 Heartbeat 200 5 FE 200 E 20 OTBICODMOLP_20 Heartbeat 200 200 1 Set up the master side Heartbeat producer type and slave prod
129. nformation T Base 00 Slot Module 0 DC 24V INPUT TR OUTPUT 32points CANopen Master TR OUTPUT 32points 1 CANopen Master 1 2 3 4 5 6 7 8 8 10 Z Show Existing Base Only Coca lt Adding Master by I O synchronization gt 1 Add master module to create the CANOpen Network menu in the XG5000 project window 1 In the XG5000 project window double click I O parameter to add CANopen module or 2 Select Online I O Information menu of XG5000 and select VO sync To execute synchronization the CPU must be in stop state 2 Confirm that CANOpen Network is created in the XG5000 project window when the module has been added Writing Parameter c Vs P J omment arameter Cancel rogram Program Upload Prohibit Clear PLC 6 26 3 Save project in the XG5000 4 Conduct XG5000 menu Online Write 1 Double click the CANopen Network added in the project window 2 The XG CANopen will start up and edit parameter for CANOpen Chapter 6 XG CANopen detail menu _ The content edited in the CANopen connection with the CPU module is saved the CANopen master module When replacing the CANopen master module backup the parameter setting using the XG5000 or XG CANopen 6 27 Chapter 6 XG C
130. nstant time intervals which is the guard time This can be set up differently for different slaves gt Node lifetime calculated with the formula Guard time x Lifetime Factor This can be set up differently for different slaves 3 Heartbeat Heartbeat producers send heartbeat messages and heartbeat consumers receive heartbeat messages The heartbeat is different from guarding by that the roles of the master and slave are not divided and the heartbeat producers send heartbeat messages by broadcasting Therefore the message transmitted from a producer is received by multiple consumers If heartbeat message is not received for a given time period the device acting as the heartbeat producer determines anerror The error status is reset when a heartbeat message is received gt Heartbeat producer time The period at which a heartbeat producer transmits heartbeat messages gt Heartbeat consumer time A heartbeat consumer judges error if it fails to receive a heartbeat message within the heartbeat consumer time In the XGB CANopen master the consumer time is not set up as a parameter but as 1 5 times of the producer time internally That is all the slaves set the consumer time by 1 5 times of the producer time The master also sets up with 1 5 times of the producer time set up in the slaves The consumer time of master can be set up differently for different slaves 7 5 Chapter 7 Master Setting using XG CANopen 7 3 POD Variable Table Th
131. o Scan 3 To check the status of each slave select the slave right click the mouse to check specification error history and slave service status Appendix A 1 Terms 1 CAN Controller Area Network The open type field bus specified in 13011898 to enable communication between various heterogeneous devices of different manufacturers 2 CANopen A description language for communication on CAN bus independent of devices and manufacturers It is an application layer 3 CiA CAN in Automation a group conducting standardization of CAN and CANopen 4 COB The basic communication object on the CAN network All the data are communicated using COB 5 COBID The unique numbers designating the COBs on the CAN network consists of station number and functional code This determines the communication priority of the COB 6 DCF Device Configuration File The file in EDS structure containing the configuration information baud rate station No PDO mapping etc determined by project 7 EDS Electronic Data Sheet The standardization file containing the communication method of the device and parameter description 8 Heartbeat The message transmitted from a device at preset cycles to notice other devices of the connection 9 NMT Network Management A component of the CANopen communication profile which conducts the initialization of the network and device start up termination and monitoring of the device 10 Node guardin
132. obtained from the Autoscan lt NewPLC XG Net AutoScan_CANopen_Master 15 Project Edit View Online Tools Window Help xk sex m 85 5 8 Qiu Project NewPLC 2 CANopen Network XGB XBCH AutoScan_CANopen_Master B00 S01 XB CANopen_Master B00 S01 XBL CMEA L CMEA ID 012 _12_XBL_CSEA_COPY_COPY 800 Kbit s ID 013 13 XBL CSEA COPY COPY Product code 31 CANopen_Master_01 B00 S03 XBL CMEA Revision 10000 ID 050 50_XBL_CSEA_COPY Device type 0 Hardware version 1 00 Software version 3 00 Activated 1 Q Project Parameterized 1 ges si _12_XBL_CSEA Find XBL CSEA_V10 eds E Product code 32 22 CANopen Revision 10000 a Profile Device type 0 S E Drives and motion control Hardware version 1 00 IG CANopen LSIS_3100_CANOPEN1_0 EDS Software version 1 70 157 CANopen LSIS_IS7_CANOPEN1_0 EDS Activated 1 SV iG5A CANopen LSIS_IG54_CANOPENT_0 EDS Parameterized 1 SV iG5A CANopen LSIS_IG54_CANOPEN2_0 EDS ve a ae eee LSIS_IP54_CANOPENDO_5 EDS 13 XBL CSEA OTB 1CO DMSLP OTB 1CO DMSLP V5 eds Unknown 0 Revision 10000 4 XBL CSEA XBL CSEA_V10 eds Device type 0 XPO COEA XPO COEA eds Hardware version 1 00 Ea Vendor Software version 1 50 B E LS Industrial Systems Activated 1 XPO COEA XPO COEA eds Parameterized 1 S E LS Indus
133. odes 32 The number TPDO of supported PDOs Total 32 Maximum data length PDO 8Byte Transmission type of PDOs synchronous acyclic 0 synchronous cyclic 1 240 RTR 252 253 time event trigger 254 255 Supported 00 Client 127 Server 1 Server 1 Transmission type of SDOs Expedited Normal Communication Zone Excess Method CSMA BA Carrier Sense Multiple Access Bitwise Arbitration Topology BUS SYNC Service NMT Node Control Producer cycle 20 5000ms NMT Master Consumer NMT Slave NMT Error Control Heartbeat Life Guarding Heartbeat Network Scan Dimension mm Supported 90 H X 27 W X 60 D Consumption Current mA Weight g 1 SDOs services At the initialization the object set up can be done in the XG CANopen SDO Set up After initialization SDO services can be used during module operation in the two methods as set forth below a Using XG CANopen Inthe SDO set up window Read All SDOs or Read Displayed SDO to read the object value of the slave Write SDO to modify the object value of the slave b XG5000 Command GETCOM to read the object value of the slave PUTCOMM to modify the object value of the slave 2 2 Chapter 2 Specification 2 2 1 CANOpen Service For the supportability of the XGB CANopen module CANopen service please refer to the tab
134. odule No Process Procedure Test XG Net AutoScan_Test im Project Edit View Online Tools Window Help insa amp amp x 5 ee Project ax Test 28 CANopen Network XGB XBCH fp 00 501 XBL CMEA ID 012 12 _ ID 013 _13_XBL_CSEA Og 02 00 502 CMF A 10 001 Test Item 10 002 Test Open Network View Add Slave Cut Cirlex Ctrl C Deleting Master Paste Ctrl X Delete Del 1 Ba Autoscan Add Autoscan in Project View Autoscan with Project Properties v Allow Docking Hide Float In Main Window 9 Project 1 In the project window select the master module to be delete 2 Click select Delete or Select menu Edit Delete If delete the master module parameter of slaves set in master will be deleted 6 15 Chapter 6 XG CANopen detail menu 6 3 4 Deleting Slave No Process Procedure Deleting Slave NewPLC XG Net CANopen Master R Erolect Edit View Online Tools Window Help losak cu z 5 Aas Boom 509 805 Project Ne 9 EUN Delete Joy a 1501 XBL CMEA 127 CANopen Measter D00 S01 XDL CMEA Xr TocorcczrczrucSEA COPY COPY 800 Kbit s 10 013 13 XDL CSEA COPY COPY CANopen Og 1 00 509 XBL CMEA a 10 050 50_XBL CSEA COPY
135. of data from 1 master station and store them in the 00 015 area 2 Send the data of MO M15 to the 1 master station 3 Schneider slave module OTB1CODMOLP 1 Receiver 1 byte data from the 1 master station Chapter 10 Examples 10 1 3 Parameter Setting 1 CANOpen Slave setting XBL CSEA OTB1CODMOLP No Process Procedure amp i Project Edit Find Replace View Online Monitor Debug Tools Window Help D Od NOO LZIXWPxxHSEISYIMARRNA mami mEGSeSLuEO S s TREE HRID cy 43 NOM iA SBS snes AD a eas 8 91 PR SE 1 OX 4 GU te Esc FJ F4 321 322 FS 325 FS FIT SE XBL CSEA parameter setting 1 1 Execute XG5000 2 Set up the project name and applied PLC type and click OK button f Select communication module PLC type NewPLC X Communication module Number BASE S Communication Module Settings 1 XBL CSEA parameter setting 1 Basic Setting 2 Add Module Delete module OK 1 Offline setting 1 Right click on Unspecified Network of project window Add Item Communication Module Add Module Select XBL CSEA 2 in the communication module set up select the CANopen Slave and mounted slot and click OK 2 Online mode setting 1 Select File gt Open form PLC or execute XG5000 create
136. of the current status is possible only when the error control setting of the slave is selected In the default network view the meanings of the states are as follows 1 No monitor value in the monitor mode monitor value has yet not been read after starting up the monitor Momentarily appeared and then disappeared soon 2 If the master status is error a When no monitor value is available b When the channel status is error if any one or more of the channel status is 1 c When the common status is error if any one or more of the common status is 1 d When the event status is error if any one or more of the event status is 1 6 30 Chapter 6 XG CANopen detail menu ne 3 About the slave node a No monitor value in the monitor mode monitor value has yet not been read after starting up the monitor Momentarily appeared and then disappeared soon Slave status not allocated to the master b If the slave status is error 1 No monitor value is available 2 Configuration error 3 EMCY error 4 If not in operational mode 4 Color indication 8 if in monior mode 1 Green normal 2 Red Error For master node refer to master status error For slave node refer to slave stauts error b If not in monitor mode edit mode white 6 81 Chapter 6 XG CANopen detail menu TTT 6 5 5 Write 500 The SDO value of slave module can be modified The changed value after SDO writing can be checked using the SDO setting ta
137. on _FPU_INFO Not used F00570 FPU LFLAG Not used F00571 _FPU_LFLAG_U Not used F00572 _FPU_LFLAG_O Not used F00573 FPU LFLAG Z Not used F00574 LFLAG V Not used F0057 F0057A FPU FLAG Not used F0057B FLAG U Not used F0057C FPU FLAG O Not used F0057D FPU FLAG Z Not used F0057E FPU FLAG V Not used F0057F FPU FLAG E IRREGULAR VALUE ENTRY Reports when Entering Irregular Value F0058 _ STEP pue Stores Error Step F0060 REF COUNT REFRESH Increases if Module Refresh Performed F0062 REF OK REFRESH OK Increases if Module Refresh is in Normal State F0064 REF REFRESH NG Increases if Module Refresh in Abnormal State F0066 REF REFRESH LIMIT Increases if Module Refresh in Abnormal State Timeout F0068 REF ERR REFRESH ERROR Increases if Module Refresh in Abnormal State F0070 MOD RD ERR Not used F0072 MOD WR ERR Not used F0074 _ Not used F0076 _ Not used F0078 _ ERR Not used F0080 _ FULL BUFFUR FULL Increases if CPU Internal Buffer FULL F0082 PUT ONT PUT COUNT Increases if Performing PUT F0084 GET GET COUNT Increases if Performing GET F0086 _KEY CURRENT KEY Displays the Current State of Local Key F0088 KEY PREV PREVIOUS KEY Displays the Previous State of Local Key F0090 TYER N INCONSISTENT SLOT Displays Module Type Inconsistent Slot No F0091 _ DEER REMOVAL SLOT Displays Slot No where Module Removal
138. on decides in case of CPU error or CPU is changed to stop whether the data is cleared initialized to Zero or latched maintain the last data value 7 2 Error Control Setting Sets up the error control related values of the master nodes and slave nodes of the CANopen network in the current configuration XG CANopen supports Heartbeat protocol and Node Guarding protocol Newly set parameters are effective when Apply button is clicked Pra Em PD c Producer Time 290 1001000 0 7 3 Chapter 7 Master Setting using XG CANopen TS 7 2 1 Heartbeat Protocol Setting Note1 This means the producer time of the heartbeat protocol for the master module 7 2 2 Slave Error Control This is activated only when the error control protocol is selected in the slave error control setting From the slave error control list select an error control protocol for each slave For heartbeat enter producer time only but for node guarding enter guard time and lifetime factor too Heartbeat Protocol Producer Time 200 100 1 0000 ms Slave Error Control Station No Node name Protocol Guarding Time Lifetime factor Producer time 13 _13 BL CSEA Not use 200 5 300 1 When setting up the heartbeat producer time if the baudrate is 100kbps or less the producer times of the master and slave must be set to 500ms or above for normal operation Chapter 7 Master Setting using XG CANopen 1 The erro
139. processed in scan synchronous manner That is the response from the corresponding device may arrive after several scans the result cannot be known right after processing the command 4 If SIZE is over the data array length do not execute the command Chapter 8 Slave Setting using XG CANopen gt Exemplary application of GETCOMM The exemplary software program below reads 4 bytes of data from the index h2000 and h0056 sub index of the slave station 1 CANOpen master module installed in slot No 2 and save the data in data array variable 16 01 DONE 8 14 16 200000 56 Address data 4 BSAE base NO of master 0 10 station NO of slave 2 1 2 SLOT slot NO of master 2 3 4 MADDR OD Index 2000 Sub Index 0056 of slave Variable Description Variable Description High word OD index Low word Sub index 5 DATA read data of slave Data0 Data1 Variable Description Variable Description data 1 Length High data 0 Length Low data 3 Data0 2 Data 6 SIZE Data length byte data length 2byte data 2byte 7 DONE Status of command Chapter 8 Slave Setting using XG CANopen nnn 8 4 2 PUTCOMM gt Using in the XBM XBC Series Device Flag Command Con Step error zero carry PMK 5 4 Dx Rx zb U N D R F110 F111 F112 si af fete fe fe 101 0 1 1 1 1 10101010 PUTCOMM aoc ses
140. r 3 Installation and Trial Run TTT SSF 3 3 2 Setting Sequence of Slave module XBL CSEA 1 Check functions and specifications 2 Mount the module 3 Check I F LED status of the communication module flashing after turning it on 4 Connect with XG5000 and execute Read I O Information 5 Select CANopen slave from the basic setting window 6 Set basic parameters station number communication speed readable area saving area 7 Download parameters 8 Implement CANopen slave s action 3 4 Chapter 3 Installation Trial Run nnn 3 4 Installation of Product 3 4 1 Installing CANopen I F Module female CANopen s maximum segment length may vary depending on speed Use shielded cables Description Ground CAN_L CAN_L bus line dominant low SHIELD Optional CAN Shield CAN_H CAN_H bus line dominant high N C Not Connected Recommended cable AC parameter 1200 impedance 5ns m 3 5 Chapter 3 Installation and Trial Run 3 4 2 Transfer distance by communication speed The transfer distance by communication speed specified in the CANopen specification is as follows Bit rate Bus Length 1 Mbit s 25m 800 kbit s 50 500 kbit s 100m 250 kbit s 250 125 kbit s 500 50 kbit s 1 000 m 20 kbit s 2 500 m 10 kbit s 5 000 m 3 5 Trial Run 3 5 1 Caution in Configure the System 1 All station numbers in CANopen device in
141. r control service is used to detect the error in the CAN based networks This is mainly implemented with the message sent from CANopen device on regular basis Two types of error control methods are available Node Guarding and Heartbeat Since the XGB CANopen master supports both heartbeat and node guarding itcan control error with the slaves supporting heartbeat by heartbeat method and with the slaves supporting node guarding by node guarding method 2 Node Guarding Node Guarding is conducted by NMT Network Management master sending guarding request RTR Remote Transmission Request The meanings of the guard time and node lifetime are as follows If a slave device fails to receive the RTR from NMT master within the node lifetime it judges that it is a remote node error NMT master and notices a life guarding event to the application When RTR is received after an error occurrence the error status is reset If the master device fails to receive the reply to RTR from the slave within the node lifetime or reply has been received but the state of the NMT slave in the response frame fails to meet the expectation it notices a node guarding event to the application When the reply to the RTR from the slave is received after a timeout error or the master has received expected NMT slave state after an error caused by NMT state the error status is reset gt Guard time or node guard time NMT master sends RTRs to check the state of slave at co
142. rag 9 NewPLC XG Net CANopen Master fx Prolect Edit Waw Online Toots Window losa amp gt x 5 AaS m Project 8 CANopen Networki XGB XBCH CANopen Master B00 S01 XBL CMEA CANopen MasterB00 501 XDL CHEA ID 012 12 XBL CSEA COPV COPY 127 800 Kbit s Ip 013 CSEA COPV COPY CANopen 3 Og 010800 503 9 10 50 50 81 IL CSEA COPY COPY SEA V10 eds _13_XBL_CSEA_COPY_COPY Project XBL CSEA V10 eds 00 LS Industrial Systems Co Lid 5100 CANOPENI 0 E05 JG5A CANOPENIT EDS 1 515 65 C ANOPEN2 0 EDS JP5A CANOPENO 5 EDS 0 1G CANopen LSI CANopen 1 Select EDS file from the library window 2 Drag the file and drop it in the network window Drop V NewPLC XG Net CANopen Master 1 S Proiect Edr View Qnine Window a amp amp 6 mssseasw v s5 a57 _ 800 901 XBL CMEA 800 w _12_XBL_CSEA_COPY_COPY COPY COe Y hOeds 10 013 13281 Og CANegan Mastar O1 EOQ S03 10 50 S0XEL CSEA COPY Properties LS Industrial Systems Co Ud 187 CANopen LSIS S100 CANO 1
143. ransmission type is 0 240 or 252 transmission cannot be carried out 2 The value of COB ID is SYNC h0000080 when SYNC is set up h00000080 when SYNC is not set up and cannot be changed 3 Cycle period must be entered within the range of 20 5000ms The structure of SYNC COB ID is as follows 31 30 29 28 11 10 0 0 0000 11 bit CAN ID X Gen Frame 29 bit CAN ID MSB LSB The meanings of bits of the SYNC COB ID is as follows 1 x not in use 2 Gen 0 CANopen device does not generate SYNC message 1 CANopen device generates SYNC messages 3 frame 0 stands for 11 bit CAN ID CAN basic frame 1 stands for 29 bit CAN ID CAN expanded frame 4 The meanings of bit 0 28 differs by frame value as in the above structure 7 1 3 Monitor Setting Means SDO reception time out and the input range is 200 5000ms 7 1 4 PLC Area Set up the addresses and sizes of the devices to be allocated to the objects of the mapped RPDO TPDO parameters Available address types are P M and D for type K and l Q M and D for type IEC The areas are allocated to reception and transmission areas and 48 words XGB are allocated for the area for the diagnosis variables used for monitoring communication error and monitor information PLC Area WORD Receive Send Diagnostic Area D v D wi v Size 100 200 7 2 Chapter 7 Master Setting using XG CANopen i 7 1 5 Output data setup in case of emergency This functi
144. ration Safety Instruction Safety Instructions for wiring process Prior to wiring works make sure that every power is turned off If not electric shock or damage on the product may be caused After wiring process is done make sure that terminal covers are installed properly before its use Fail to install the cover may cause electric shocks Caution Check rated voltages and terminal arrangements in each product prior to its wiring process Applying incorrect voltages other than rated voltages and misarrangement among terminals may cause fire or malfunctions Secure terminal screws tightly applying with specified torque If the screws get loose short circuit fire or abnormal operation may be caused Securing screws too tightly will cause damages to the module or malfunctions short circuit and dropping Be sure to earth to the ground using Class 3 wires for FG terminals which is exclusively used for PLC If the terminals not grounded correctly abnormal operation or electric shock may be caused Don t let any foreign materials such as wiring waste inside the module while wiring which may cause fire damage on the product or abnormal operation Make sure that pressed terminals get tighten following the specified torque External connector type shall be pressed or soldered using proper equipments Safety Instruction Safety Instructions for test operation and maintenance Don t touch the terminal when powered E
145. rational status f h0050 Operational status 4 EVENT STATUS event status information a 1 if the error occurred at SDO transmission exists otherwise set to 0 1 if error occurs during PUTCOMM GETCOMM read current screen only read all or writing SDO or 0 if the latest command succeeds b BIT1 error occurred during communication 1 if the slave is set up with mapping parameter or comes under anyone of the following cases during communication 0 otherwise Count 8 which is the maximum number for mapping is exceeded 64 bits which is the entire mapping size is exceeded Set up object cannot be mapped Access right is illegal Object type or size is different Chapter 7 Master Setting using XG CANopen Object does not exist c BIT2 0 if the nodes set up in the parameter and network coincide 1 otherwise d BITS 1 if guarding or heartbeat error has occurred 0 otherwise 5 MASTER_CYCLE_MIN min scan cycle time in the master module ms 6 MASTER_CYCLE_CUR current scan cycle time in the master module ms 7 MASTER_CYCLE_MAX max scan cycle time in the master module ms Under 8 14 at each reception of Emcy event from slave the respective error count is increased according to the error code range 8 GENERIC_ERR_CNT generic error count No of the received Emcy messages having the error codes of 10xxH 9 DEVICE HARD ERR ONT device hardware error count No of the received Emcy messages having the error codes o
146. riable Comment CANopen Mase Parameter Basic Parameter Parameter CANopen Network Embedded Parameter can Program test v errem W Project 3E hu 1511 YT H T m e co 1 D ce 5 Show Existing Base Only Base SetBase Base 00 Default Slot Module Comment Input Filter Emergency Out Allocation amp 00 XBC DABOS D XBC DRGOS DC 24V 1 3 Standard ms Default P0000 7 01 CANopen Mast CANopen Master v 0080 02 Default 2 amp E Digital Module List 03 Default Special Module List Communication Module List a 04 Default 5 Default E B FEnet ex 06 Default 5 B Cret Master module x UT Deu 5 8 RAPIEnet e 08 in 7 registration c 10 lt gt 1 Delete Slot Print Y OK Cancel Project Window ax Items 4p NewPLC XGB XBCS Offline 3 Variable Comment Parameter Basic Parameter 1 0 Parameter CANopen Network Embedded Parameter Scan Program test I E Project Example of master module registration by O parameter addition 1 Master module registration by I O synchronization 1 Mount the XBL CMEA to basic unic 2 Connect XG
147. rives and motion control E 167 CANopen LSIS_S100_CANOPEN1_0 EDS 1 167 CANopen LSIS IS7 CANOPENI 0 05 Dome pen SV iG5A CANopen LSIS_IG5A_CANOPENI_0 EDS Dom SV iG5A CANopen LSIS_IG54_CANOPEN2_0 EDS Bevice SV iP5A CANopen LSIS_IP54_CANOPENO_5 EDS Generic 1 0 modules EDS amp OTB 1CO DMSLP OTB_ICO_DMSLP_V5 eds SI V Unknown 0 ave Description Test of XGB CANOpen 5 XBL CSEA XBL CSEA VIO eds P rti S XPO COEA eds ri Vendor es 3 3 LS Industrial Systems te XPO COEA XPO COEA eds LS Industrial Systems Co Ltd amp G CANopen LSIS_S100_CANOPEN1_0 EDS amp 157 CANopen LSIS_IS7_CANOPEN1_0 EDS 5 SV iG5A CANopen LSIS_IG5SA_CANOPEN1_0 EDS amp 5 65 CANopen LSIS_IG5A_CANOPEN2_0 EDS SV iP5A CANopen LSIS_IP54_CANOPENO_5 EDS a LSIS 2 Lx 1 Enter following items in the slave window Station No enter the slave node ID Name enter name of the slave node Device enter the EDS product name of the slave node EDS enter the EDS file path of the slave node 2 Click EDS call up button and add the desired EDS 3 Click OK button 6 12 LS indus Chapter 6 XG CANopen detail menu Test BOO 501 XBL CMEA Mbit s CANopen Select Add to Master XBL CSE4_ 10 eds In the network window the slave is added beneath the master module Chapter
148. rting the variable allocated in the XG5000 The variables allocated in the XG CANopen can be imported to XG5000 to use the variables in the PLC program Procedure 1 Select XG5000 menu Edit Automatic allocation of network variables 2 Network variables are added to the global variables or variables description window Variable allocation is carried out in the following cases 1 Menu Build of the XG CANopen is executed 2 Project is saved in the XG CANopen 3 XG5000 menu Automatic allocation of network variables is selected Chapter 6 XG CANopen detail menu TTS 6 2 6 Compare Projects Two projects can be compared item by item The result of the comparison is displayed in the message window No Process Procedure Compare Project Current project Project to compare NewPLC 28 CANopen Network XGB XBCH oe CANopen_Master BO00 S01 ID 001 1 XPO COEA COPY C ID 012 _12_XBL_CSEA_COPY_C ID 013 13 XBL CSEA COPY C 10 030 30 XBL CSEA COPY C 10 050 50_XBL_CSEA_COPY_C 01 00 503 XBL Execute E 1D 050 50 1 Projects Open Project Compare Close Select menu Project Compare Projects Compare Project Current project Project to compare NewPLC NewPLC CANopen Network XGB XBCH 28 CANopen Network XGB XBCH fr CANopen Master BOO S01
149. ry Change Image 1 1 Change the registered image file Select Tool Library Manager select Change Image and click Next button Library Manager EDS file G5000WCANopenEDSWLSIS S100 _0 05 Image file C XG5000 CANopenEDS Y CANopenlmage2 bmp Change Image Preview a image lt 2 lt Next gt Cancel 1 Select the EDS file and image file to be changes and click Next button The selected image be viewed in the Image Preview in square form 2 Click Finish button to complete the change into the selected image 6 24 Chapter 6 XG CANopen detail menu 6 5 Online The functions available only when connected with PLC are described below 6 5 1 Connection Setting The connection method of XG CANopen can be classified into RS 232C USB modem and Ethernet according to the connection media Local and remote connection are supported For further details see Chapter 10 Online of the XG5000 User s Manual 6 5 2 Write This function writes the CANopen parameter set up in the XG CANopen to the CANopen master module The CANopen parameter can be written in the XG CANopen or via XG5000 1 Write in XG CANopen Transmit the set up master and slave information to the CANopen master module Writing Parameters 125 CANopen Network XGB xBCH 4g 2 C amp Nopen Master BOD S01 XBL CMEA g CANopen_Master_01 800 503 XBL CMEA Write
150. scharge IEC61000 1 2 7 Noise resistance Radiated 10 times each IEC61131 2 resistance IEC61131 2 electromagnetic 80 1 000 MHz 10V m IEC61000 1 3 field noise Segme Power supply Digita analog input output IEC61131 2 Fast transient bust nt module communication interface Cona noise IEC61000 1 4 8 Environment Free from corrosive gasses and excessive dust Up to 2 000 ms 9 p Polluti degree Ain pc 1 IEC International Electrotechnical Commission An intemational nongovemmental organization which promotes intemationally cooperated standardization in electric electronic field publishes intemational standards and manages applicable estimation system related with 2 Pollution degree An index indicating pollution degree of the operating environment which decides insulation performance of the devices For instance Pollution degree 2 indicates the state generally that only non conductive pollution occurs However this state contains temporary 2 Chapter 2 Specification TTT 2 2 Performance Specification The following table describes the specification of system configuration in accordance with CANOpen module s media When you configure systems refer to the below table Baud rates kbps XBL CMEA XBL CSEA 10 20 50 100 125 250 500 800 1000 kbps Number of communication Port 1 The number of maximum Installments 2 The number of maximum connection n
151. sion 3 10 m CANopen Activated 1 amp Read Parameterized 1 ir 20 XBL CSEA Add Slave XBL CSEA_V10 eds Exists in the only autoscan information 85 Product code 32 Autoscan 1 Revision 10000 Add Autoscan in Project Device type 0 117 View Autoscan with Project Hardware version 1 00 Reset PLC pon 1 90 Download OS vated n Parameterized 1 Enable Link 5 5 AutoScan_CANopen_Master B00 S02 NewPLC XG Net AutoScan CANopen Master Project 1 Select Online Auto Scan 2 Select Online Auto Scan Add Project Project ax NewPLC Check Slave 20 CANopen Network XGB XBCS Registration Oe CANopen_Master B00 S02 XBL CMEA 2 ID 020 _20_XBL_CSEA 1 Check that the slaves are added in the project window 8 28 LS industrial Systems Chapter 9 Slave Module XBL CSEA Setting using XG5000 a Chapter 9 Slave Module XBL CSEA Setting using XG5000 9 1 Registration of Communication Module To used the XGB CANopen slave I F module XBL CSEA make out the communication parameters with XG5000 Before preparing the parameters register the slot of the module mounted in XG5000 The registration procedures of the CANopen I F modules are as follows according to the online or off line status 9 1 1 Off line Registration This method applies for communication module setting and preparing communication re
152. sistor seas aes 2 8 2 5 2 CAN Ground and Galvanic Isolation 2 9 2 5 1 Communication 2 10 Chapter 3 Installation and Trial Run 3 1 Installation Environment 3 1 3 2 Cautions when Handling 3 2 3 3 The Order for Setting up Products till Running 3 3 3 3 1 Setting Sequence of Master module XBL CMEA 3 3 3 3 2 Setting Sequence of Slave module XBL CSEA 3 4 3 4 Installation of Products 3 5 3 4 1 Installing CANopen I F Module 3 5 3 4 2 Transfer distance by communication speed 3 6 3 5 Trial RUN E AAAA
153. ther 00XXh Error reset or no error nor h8140 0 if there is no saved error or the latest error code is either 00 Error reset or no error or h8140 d BITS Init status 1 if configuration has not been completed or the status is not Stop Pre Operational or Operational 0 otherwise BIT4 Stop mode 1 if in Stop status 0 otherwise f BIT5 Pre Operational mode 1 if in Pre Operational status otherwise 0 9 BIT6 Operational mode 1 if in Operational status otherwise 0 Chapter 7 Master Setting using XG CANopen the above Note 8 14 the Emcy errors received from XBL CSEA are as presented in the table below Error Code Classification Error Code Remark Los of message occurred due to CAN controller receiver buffer overflow or internal transmission reception queue overflow 0x8110 0x8120 CAN controller is in Error Passive status COMMUNICATION_ERR_CNT 0x8130 Heartbeat error has occurred 0x8140 CAN controller has recovered from Bus Off status Invalid COB ID has been received The message is not processed PDO was not processed as a length error Length of the received 0x8150 0x8210 3 tee PDO is shorter than the initial mapping value Length of the received PDO is longer than the initial mapping value The PDO data are processed SYNC data length error Since the CSEA does not support SYNC counter judges an error if the dic data length counter of the received SYNC messag
154. ths of the bus cables per baud rate Baud rate bit sec Length of BUS cable m 1M 25 800k 50 500k 100 250k 250 125k 500 1000 20 2500 10 5000 1 Recommended cable AC parameter 1200 impedance 5ns m 2 8 Chapter 2 Specification M Assuming that the following values are given the maximum wire length varies by the bus cable and the number of connected bus nodes 1 Min dominant value Vdiff out min 1 5 V 2 Min differential input resistance Rdiff min 20 kW 3 Required differential input voltage Vth max 1 0 V 4 Min terminating resistance RT min 118 W Cross section Maximum length m Maximum length m mr n 32 n 64 n 100 n 32 64 100 0 25 200 170 150 230 200 170 0 5 360 310 270 420 360 320 0 75 550 470 410 640 550 480 1 Safety margin for 0 2 2 Safety margin for 0 1 2 5 2 CAN Ground and Galvanic Isolation In general CAN ground has to be connected However in a perfectly galvanic isolated CANopen network the CAN ground may not be connected 2 9 Chapter 2 Specification 2 5 3 Communication Connector XGB CANopen uses open type connectors See CiA 303 1 for other connectors recommended by CiA CANH SHIELD Description Ground CAN L bus line dominant low 2 4 CAN H CAN bus line dominant high 5 NC 5 Not Connected
155. trial Systems Co Ltd 167 CANopen LSIS_S100_CANOPEN1_0 EDS 3 157 CANopen LSIS_IS7_CANOPENI_0 EDS SV iG5A CANopen LSIS_IGSA_CANOPEN1_0 EDS SV iG5A CANopen LSIS_IG5A_CANOPEN2_0 EDS S SV iP54 CANopen LSIS_IPS5A_CANOPENO_5 EDS EDS Library 3 Favorite B AutoSca E CANopen f AutoSca The slave name added to project is set up Station No Module name format The messages which can be generated when adding to a project are as follows 1 Master name is in the project after Auto Scan master name changed thus cannot be added to the project 2 Data obtained from previous Auto Scan are deleted from the memory no Auto Scan data thus cannot be added to the project 3 Slave station No exceeds the range of 1 127 the slave station No is invalid thus cannot be added to the project 6 40 LS industrial Systems Chapter 6 XG CANopen detail menu o 6 5 12 Rest PLC PLC can be reset PLC can be reset with the reset dip switch of the PLC too Order 1 Select menu Online Connect to connect the PLC 2 Select menu Online Reset PLC 3 Select reset type and click Confirm button to reset the PLC Reset PLC that PLC is energized again after reset 6 41 Chapter 6 XG CANopen detail menu 6 5 13 Enable Link Link Enable starts CANopen communication in accordance with the downloaded parameter If not checked CANopen communication doesn
156. ucer type 2 Select Heartbeat as the protocol from the slave error control list Properties Error Control Setti PDOs Defined in EDS File 2 Index PDO name etting 0x1400 v 1 Receive PDO parameter PDO mapping 0x1401 2 Receive PDO parameter 01402 3 Receive PDO parameter XBL CSEA setting 0 1403 4 Receive PDO parameter 1 PDO Setting Properties Error Control Setti PDOs Defined in EDS File aa Index PDO name etting 0 1800 I 1 Transmit parameter 6 PDO mapping 0 1801 2 Transmit PDO parameter 041802 Vv 3 Transmit PDO parameter 0 1803 4 Transmit PDO parameter 1 In the XG CANopen project window double click the XBL CSEA added in above paragraph 3 and select PDO set up 2 Select 4 TPOD and 4 RPDO suggested in the system configuration The T RPDO of the XBL CSEA are arranged in the order of TPDO1 64 after P RPOD1 64 10 6 Procedure Chapter 10 Examples XBL CSEA setting 1 PDO Setting PDOs Setting Add All PDO name Transmission type Transmission Inhibit Event type no time 100us timer ms 1 Receive parameter 2 Receive PD parameter 3 Receive parameter 4 Receive parameter 1 Transmit parameter 2 Transmit parameter 3 Transmit parameter 4 Transmit PDO parameter synchronous cyclic 1 240 synchronous cycli
157. uction Configuration 1 4 1 3 1 Type Indication 1 4 1 4 Software for Using Products 1 4 1 4 1 Software check up 1 4 1 4 2 XG CANopen e o ee een een ne nnne nnne nnne nee e ne ne n 1 5 1 4 3 CccuU e 1 6 1 4 3 Version check 1 7 Chapter 2 Specification 2 1 General Specification ee ce eee 2 1 2 2 Performance Specification ei ri ees es ee eee 2 2 2 1 1 CANopen Service 2 3 2 3 Load Specification Sea ase eee 2 4 2 4 Component Names seca ee eee 2 5 2 4 1 LED Name and Description 2 6 2 5 Cable Specification Stee 2 8 2 5 1 BUS cable and Terminal re
158. unted 4 Slot select the slot in which the master module is to be inserted 5 Comment enter other information of the master module Check Edit Window Creation After finishing the entry and select View View Network the network window of the master module is created in the edit window Chapter 6 XG CANopen detail menu TSF 2 Adding Slaver modules Slaves can be added by two methods The first method is to add a slave directly to the master module and the second is using Auto Scan To use the Auto Scan function the slave must be connected to the network with the same baud rate and different station No 1 Adding at Master module No Process Procedure Project ax Test 9 CANopen Network XGB XBCH PM E Tes B00 S01 xBL CMEAY CME AY Open Itern Open Network View Add Slave Cut Ctx amp 22i Copy Ctrl C B Zoom jn Zoom Qut Add Slave X Delete Del View In Detall s 2 View Briefly E3 View As List 1 ES View As Table IN B Sean Properties m v Allow Docking Project Hide Tu Float In Main Window Library x Module Property or 1 Select the master module and right click the mouse to select Add Slave 2 in the edit window click the master module and select Add Slave Properties 3 CANopen Profile Station No 1 1 127 5 3 D

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