How to configure an Anybus CANopen slave module with TwidoSoft
Contents
1. Program QwC1 0 6 Dpram_Byte_6_Out_Are 32768 32767 Mg Macros xXQWC1 0 7 Dpram Byte 7 Out re 32768 32767 F Comm MB R 2 2 2 2 R 4R 4R E Drive ZIWC1 1 0 Dpram Byte 8 In Area 32768 32767 Tesys XIWC1 1 1 Dpram Byte 9 In Area 32768 32767 fl advantys OTB ZIWC1 1 2 Dpram Byte 10 In Are 32768 32767 9 Symbols 4IWCi 1 3 Dpram Byte 11 In Are 32768 32767 Animation Tables ZIWC1 1 4 Dpram Byte 12 In Are 32768 32767 La i XIWC1 1 5 Dpram_Byte_13_In_Are 32768 32767 ocumentation XIWC1 1 6 Dpram Byte 14 In Are 32768 32767 4IWC1 1 7 Dpram Byte 15 In amp Are 327858 32767 Figure 28 The Configuration Editor window www anybus com HMS Industrial Networks AB Page 23 29 ZA How to configure an Anybus CANopen slave module with TwidoSoft AMIS SCM 7032 042 Rev 1 01 The next step 1s to enter some of the addresses seen above in the Animation table Please follow the steps below Enter the Input and Output addresses to be monitored in the Address field 2 Go online by clicking on the connect button 3 Also the PLC has to be set in Run mode f TwidoSoft untitled Q OX File Edit View Tools H oftware Pyggram PLC Window Help Qs Gli BBlO GET he ea Ole TTF r S untitled als ES Animation Tables Editor Animating AOX a i TWDLMDA20DRT fe Hardware Port2. 9eIWCI 1 4 Anybus 51 Dpram Byte 13 In Area 8 IWCI 1 5 nybus I Dpram Byte 14 In rea 8 MWCLLE B m 8 2 Es A 8 IWCI 2 e Rd 2 BOND A 8 IWCI 2 EA a 8 9eWCI 2 SIWCI 3 Dpram Byte 15 In Area 2 3 Y 5 SIWC1 1 7 nybus S1 Dpram Byte 16 In Area STWCI1 2 0 nybus S1 Dpram Byte 17 In Area SoTWCI 2 1 nybus S1 Dpram Byte 18 In Area kZ 2 y 5 iy 0 Dpram Byte 19 In Area nybus S1 Dpram Byte 20 In Area SoIWCI 2 3 SoIWCI 2 4 9 nybus 51 Dpram Byte 21 In Area nybus S1 Dpram Byte 22 In Area HWIWC1 2 6 Dpram Byte 24 In Area 8 9 Dpram Byte 23 In Area EL Anybus 51 E Anybus 51 E E E E Anybus 51 E Anybus 51 EZ E E Anybus 51 E Anybus 51 5 E E Anybus 51 E E EZ E4 E gl E E E z EZ Anybus 51 Cancel Figure 24 The memory access in the PLC Note To make the monitoring easier please note the memory positions in the Access field as seen above Click on Apply and then on OK When the configuration is completed and saved it must be downloaded to the PLC Open the PLC menu and select Transfer PC PLC www anybus com HMS Industrial Networks AB Page 21 29 44 How to configure an Anybus CANopen slave module with TwidoSoft FIgg E S SCM 7032 042 M1 Rev 1 01 6 Testing In this particular case the Communicator with a loop dongle at the sub network connector is used for test purpose This results
3. Rl VDLCDAZ4DRF El PVDLMDA2UDUK E PvVDLMDA20DTE Tv DLMDAZ0DRT 20 vvOLMOAAIDUK Description Modular base unitwith 12 In 24 OC 6 Out 2 Out 0 54 Transistors source and 6 Out 24 Relays Screw terminal blacks rernovable Figure 15 Selecting the type of Controller www anybus com HMS Industrial Networks AB Page 15 29 ZA How to configure an Anybus CANopen slave module with TwidoSoft AS SCM 7032 042 7 Rev 1 01 Right click on the Expansion Bus in the navigation tree to the left and select Add a module fi TwidoSoft untitled File Edit View Tools Hardware Software Program PLC Window Help eo di amp a x v C FIS Sree Q zix AM J Ladder Viewer iy apc 4e z Pe IUE AS Adjustec 9 RUNG 0 END OF PROGRAM a untitled Ri TWDLMDA40DTK FE Hardware F Por1 Remote Link 1 iii Software aaee E Kuss P NN D Constants fh Constants KD Constants KF 1 Counters Drum Controllers 42 Fast Counters LIFO FIFO Registers 4 PLS PWM Schedule Blocks Timers PID Program M Macros E Comm B Drive t Tesys 4 advantys OTB XC Symbols Animation Tables rZ Documentation Figure 16 Opening the Add a module dialogue Then select the type module and click on Add and then on Done Add Module Expansion Address TwwDINIOCOT Ml TWONOI 0M3 TwWDDDIBSDT TWODAISDT TWDDRAGRT TWDDDOGSUT TwWDDLDGOSTT TWiDODMMaDRT Description CANopen Mast
4. Sub Network HE General EE New Node Offline options for sub network Clear Consume 1 El Timing Produce 1 Offline timeout time 10ms 100 E Trigger Trigger byte Disabled Trigger byte address Ox05FF Consume 1 2008 02 18 1319 Config Line 9B 7 Figure 7 Configuring the consume transaction Leave the settings for the consume transaction at the defaults as shown above For the produce transaction the update time is set to 500ms as shown below Note The update time for the produce transaction is to be set to less than the offline timeout time for the consume transaction ABC Config Tool Tor products Manuals Source documents Application Notes Fieldbus Oriented CANOpen Supp OX File Produce 1 Tools View Help Debts 4BeOxe S FaeKRDSTP TA ABC Generic Data Mode CANopen Devices Configuration g Fieldbus Alphabetic Categorized A ABC Sub Network B General New Node Offline options for fieldbus Clear Consume 1 Update mode Cyclically a Produce 1 E Timing Update time 10ms 50 E Trigger Trigger byte address Dx 5FF Produce 1 2008 02 18 1319 Config Line MO 7 Figure 8 Configuring the produce transaction www anybus com HMS Industrial Networks AB Page 10 29 A How to configure an Anybus CANopen slave module with TwidoSoft FI RS SCM 7032 042 Vi Rev 1 01 Right click on the produce and consume transaction respectively and select add data
5. Fieldbus Appendix Slave Fieldbus Appendix Anybus S CANopen Fieldbus 2 04 Appendix CompactCom Network Interface Appendix Anybus CompactCom CANopen 2 01 Network Interface Appendix Power supply 24VDC Configuration cables www anybus com HMS Industrial Networks AB Page 4 29 ZA How to configure an Anybus CANopen slave module with TwidoSoft FP SCM 7032 042 A Rev 1 01 3 Solution overview This application note describes how to configure an Anybus CANopen Slave product with a Schneider Twido PLC Below you can find an overview of the system described in this document Other nodes may be attached to the network but are not necessary Also make sure the network is terminated in a correct way The configuration is described in two steps 1 The configuration of the communication parameters and the I O data of the Anybus module are described 2 The PLC configuration is explained Note This document is valid for all Anybus CANopen products however sections written in italics describe the configuration of a specific product The contents describe step by step how a configuration is done This document assumes the reader is familiar with industrial communication CANopen networks and HMS Communicator and X gateway CANopen CANopen aa CANopen Slave Anybus Communicator Anybus X gateway Other network i e Ethernet Example of Serial Network Ethernet PC Client n P n A LEE Figure
6. In this case 20 bytes of data is used 9 ABC Config Tool Tor products Manuals Source documents Application Notes Fieldbus Oriented CANOpen Supp OK File Data Tools View Help _ x D Hu5sin nseXi s m Pu tra ABC Generic Data Mode CANopen Devices Configuration H Fieldbus Alphabetic Categorized ABC WA Sub Network E General 2 T New Node Datalength 0x0014 Consume 1 Data location Ox0000 E Operations EW Produce 1 Byte swap No swapping E Data 2008 02 18 13 56 Config Line B Figure 9 Configuring the consume data The next step is to save the configuration Then connect to the Communicator and download the configuration to the module www anybus com HMS Industrial Networks AB Page 11 29 ZA How to configure an Anybus CANopen slave module with TwidoSoft F PJS SCM 7032 042 JA Rev 1 01 4 4 Anybus X gateway configuration Use the HyperTerminal or TeraTermPro on a PC to configure the X gateway Connect a serial cable between the PC and the config port on the X gateway Start the HyperTerminal and Open the File menu and click on new Choose the desired COM port and then click on OK The following window will appear COM1 Properties Port Settings Bits per second Data bits Parity Stop bits Flow control Restore Defaults Apply Figure 10 Configuring the connection in the HyperTerminal M
7. enh i Figure 34 Monitoring the output data of the X gateway using ModScan32 The corresponding value in the PLC can be seen in the figure below jJ TwidoSoft untitled Fie Edit View Tools Hardware Software Program PLC Window Help era S BBloa lk se Sr aM Ole i MEME E untitled fei Animation Tables Editor Animating E d OK v E sssot hal me Pm um ER HM NN m i Expansion Bus 1 QwCto0 Du eres EL a CU Gem Lo 1 TWDNCO1M 2 96QW C1 0 1 2 2 Decimal zu a Software oh Constants r m Constants KD PH fH Constants KF 1 Counters Drum Controllers 48 Fast Counters j K LIFO FIFO Registers 10 6IWCI D 1 E oO l Je PLS PWM Gwei D Ty OUS DEAA EDDIE TI TIT EE P EE eee Ce dde diac i k Ae sesensssscesssssnssnssczenssssoeasecs 2 ER SSA TUM ENES j zon p Schedule Blocks Mgxwcto ESSE VIVERET VO ERR i OT RES YolV C 1 0 E MERI fone ERE i ey goes omen i ce oe sara pONS Very Fast Counters i Re CADRE SENS band ALEALEA IEAA ek i age E e n Ee m eet eed owe denar AUR ER ee p AAR AE AARAA AE ARETA Ra ia oe IEEE eh me AD PID IWC1 0 5 N ra E za Program f B M Macros j E E Comm PHARM TOME eee MEM MEMMEMEMME MM ME E ff Drive Tesys ge il advantys OTB Symbols ey Animation Tables ES Documentation Figure 35 Monitoring the input data in
8. 1 Modbus 1 f Expansion Bus 1 TWDNCOIM 2 45 Software GQ Constants 4 QWC1 0 3 fb Constants KD OWC1 0 4 r Constants KF B 96QWC1 0 5 15 Counters 96 QWC1 0 5 Drum Controllers 4 Fast Counters LIFO FIFO Registers E PLS PWM Schedule Blocks Timers Decimal Decimal Decimal Decimal Decimal Decimal Decimal Decimal Decimal Decimal Decimal Decimal Decimal Decimal Decimal D Decimal oo Oi 0 0 70 co cc oO CoC oO oO 8 PID Program E M Macros Comm Drive t Tesys 4 advantys OTB 2 Symbols Animation Tables Documentation Ole B oelel5iuolBdololjl O00 S amp s amp ssssssses TWDLMDA2ODRT 3 44 P0 0 0 StopExec Eime J Figure 29 Editing the Animation Tables Editor www anybus com HMS Industrial Networks AB Page 24 29 A How to configure an Anybus CANopen slave module with TwidoSoft AMIS SCM 7032 042 Vi Rev 1 01 4 Enter some values in the Retained column for the addresses to be written In this case data to the output bytes QWC1 0 0 QWC1 0 1 and QWC1 0 2 are written 5 Press the Toggle Animation button 9 6 After that press the Write Retained Values button as seen below The values are now written to the respective object mapped in the TPDO of the PLC according to the CANopen configuration 7 The data is looped at the Anybus Communicator and the RPDO are updated with data simultaneously B TwidoSoft WMax1 users ThP Application_notes
9. Alphabetic Categorized Automatic 10 Sizes Sets whether the sizes of the IO areas are user defined or automaticly configured 2008 02 25 08 40 Config Line B 4 Figure 2 Configuring the Fieldbus Note Using the Automatic setting for the IO size the amount of data configured for the fieldbus is depending on the sub network configuration The PDO data will in that case be of the same size as configured for the sub network www anybus com HMS Industrial Networks AB Page 7 29 44 How to configure an Anybus CANopen slave module with TwidoSoft Fg 2H DS SCM 7032 042 MA Rev 1 01 Using SDOs When using SDOs the I O sizes has to be set to user defined as shown below In this case 10 bytes of I O data PDO is used 9 ABC Config Tool Tor products Manuals Source documents Application Notes Fieldbus Oriented CANOpen with LOX File Fieldbus Tools View Help D a bd dh lel ti SAX aA MIEG O Y m tt ABC Generic Data Mode CANopen Devices Configuration Fieldbus A ABC WA Sub Network E Fieldbus Fieldbus Type CANopen B IO Sizes IO Size In Ox0004 IO Size Out Ox000A IO Sizes User defined Alphabetic Categorized IO Size Out 2008 02 25 09 31 Config Line B 4 Figure 3 Configuring the Fieldbus using PCP data Note The IO size IN and Out in this case 10 bytes set the size of the PDOs The number of bytes of SDOs will depend on the data configured for the sub network The data configured for the s
10. Linking tile In this window the PDOs to be transmitted and received by the master is selected Use the scroll bar to toggle betweeen Transmit and Receive PDOs CANopen Configuration Tool Network Mapping Linking symbol Type Transmit Figure 23 Configuring the PDOs for the master module In this case the PDOs of the Anybus module are default mapped The Transmit PDOs with COB ID 181 281 381 and 481 respectively Receive PDOs with COB ID 201 301 401 and 501 are mapped It is possible to remove PDOs if desired www anybus com HMS Industrial Networks AB Page 20 29 A How to configure an Anybus CANopen slave module with TwidoSoft AMIS SCM 7032 042 44 Rev 1 01 The last tile Symbol displays the access of the PDOs in the PLC memory The I represents the RPDOs and Q the TPDOs of the PLC The first 8 input rows are corresponding to the memory in the PLC occuppied by the received PDO the first 8 output rows are corresponding to the transmitted PDO CANopen Configuration Tool Symbol Slave Object Size Access Dpram_Byte_O_In_Area 8 S TWC1 0 0 So TWwC1 0 1 Anybus S1 Dpram Byte 1 In Area c Si IWCI1 0 2 So TWC1 0 3 1 Dpram Byte 4 In Area anybus St anybus St anybus St anybus St Dpram Byte 11 In Area Dpram Byte 2 In Area S IWC1 0 4 EOS l EH Dpram Byte 3 In Area E f EI 8 mwao 8 awene 8 MWCLOT 8 mwena 8 awenn 8 awan 8 wans Dpram Byte 12 In Area 8
11. by mailbox command In the following chapters the I O configuration of the Anybus module is explained 4 1 Anybus Slave configuration The Anybus S is initiated and configured via the host application interface using the mailbox interface Refer to the Anybus S Fieldbus Appendix for details 4 2 Anybus CompactCom configuration The Anybus CompactCom is configured by messages send by the application Refer to the CompactCom Network Interface Appendix for details www anybus com HMS Industrial Networks AB Page 6 29 A How to configure an Anybus CANopen slave module with TwidoSoft Fig TkES SCM 7032 042 7 Rev 1 01 4 3 Communicator configuration Start the Anybus Communicator and create a new configuration Choose the CANopen fieldbus and the desired size of the I O data The configuration differs depending on what type of data is used Using PDOs only please see section Using PDOs only below Using SDOs please see section Using SDOs Using PDOs only In this case Automatic I O Sizes is used This implies the I O size is depending on the sub network configuration please see the note below amp ABC Config Tool Tor products Manuals Source documents VApplication Notes Fieldbus Oriented CANOpen with LOX File Fieldbus Tools View Help D a ad Ss S E Bs A X Ze 45 5 MEE UT PTA BS ABC Generic Data Mode CANopen Devices Configuration 98 Fieldbus A ABC Sub Network E Fieldbus Fieldbus Type CANopen E 10 Sizes
12. con oura ON eseina n inana a ee EAE AGEE EA E NTE E EEA EEA ERRES 7 4 4 ANVOI A pale Ay Cone UE UON separe EE NTE E E NETEN 12 5 CANopen COMMPUT ANON sigciecscasenscortesin sees ccacerassincicsseescacisesoesesaacaxessestasinseeveatieeaneieasnaunstaustainasaenieeanaeniens 14 CS e n 242 6 1 Monitoring in Twido ON e redi atom mm MUI mm MIND MEMINI 22 6 2 Monitoring using th Communicator cse enses intimum Ei ETE S AATE i 26 6 3 Monitorin usinge SX ALC WAY a acessonccaeeicanetecenesacaucncecsesesusoeivanssosedssssacenehesesaeniaseeieeacse ade neasessom 27 www anybus com HMS Industrial Networks AB Page 3 29 A How to configure an Anybus CANopen slave module with TwidoSoft F PPJS SCM 7032 042 Rev 1 01 1 Applicable Anybus products The following table specifies the relevant Anybus products for this document Name Type Anybus X gateway CANopen Anybus Communicator CANopen Anybus Slave CANopen Anybus S Drive Profile CANopen Anybus CompactCom CANopen 2 Requirements The following equipment is needed to setup a successful configuration Telemecanique TwidoPLC TWDLMDAJDRT o o o X gateway Network Interface Addendum Anybus X gateway CANopen Slave 1 02 Network Interface Addendum X gateway User Manual X gateway Generic User Manual Communicator User Manual Anybus Communicator for CANopen User Manual Slave Drive Profile Fieldbus Appendix Anybus S CANopen Drive Profile
13. in the data send from the PLC to the Anybus Communicator on the CANopen network is looped back to the PLC 6 1 Monitoring in TwidoSoft Start the TwidoSoft program again To test the communication right click on the Animation table and select New This will add a new animation table that will make it possible to monitor the configured memory positions in the PLC f TwidoSoft WMax1 users ThP Application_notes CANopen TwidoPLC test twd File Edit View Tools Hardware Software Program PLC Window Help eo OE Sl aB aE ws Mr aa og E untitled fil TWDLMDA20DRT B fe Hardware F Port1 Remote Link 1 E Expansion Bus 1 TWDNCO1M 2 451 Software e Constants fh Constants KD f Constants KF 1 Counters Drum Controllers 42 Fast Counters LIFO FIFO Registers E PLS PWM Schedule Blocks Timers PID Program M Macros E Comm Drive t Tesys 4l advantys OTB 2 Symbols Animatioy Open Animation Table Save Animation Table Save Animation Table As Figure 25 Creating a new Animation Table TE TwidoSoft Tor products Manuals Source documents Application Notes Fieldbus Oriented CANOpen Supplementary files CANopen twd File Edit View Tools Hardware Software Program PLC Window Help ASHES Belo aE wer aH oe EN Animation Tables Editor f TWDLMDA20DRT S Mam Qs laas Gla f Hardware Pee Medus C Mares Current Retained Format Symb
14. mode is selected all other values are left at their defaults The next step is to configure the sub network ABC Config Tool Tor products Manuals Source documents Application Notes Fieldbus Oriented CANOpen Supp L OX Fle Sub Network Tools View Help Debhair S a ae aaa ABC Generic Data Mode CANopen Devices Configuration H 9 Fieldbus Alphabetic Categorized A ABC a Sub Network E Communication Bitrate bits s Data bits Parity Physical standard Stop bits 1 E EndCharacter End character value 0x00 Use End character Disabled E StartCharacter Start character value 0x00 Use Start character Disabled E Timing Message delimiter 10us 100 Bitrate bits s The bitrate on the sub network Sub Network 2008 02 18 1318 Config Line Q 4 Figure 6 Configuring the Sub Network In this case the bit rate is set to 19200 bits s all other parameters are left at their default values Right click on new node and add consume and a produce transaction as shown below www anybus com HMS Industrial Networks AB Page 9 29 44 How to configure an Anybus CANopen slave module with TwidoSoft AMIS SCM 7032 042 44 Rev 1 01 ABC Config Tool Tor products Manuals Source documents Application Notes Fieldbus Oriented CANOpen Supp OX File Consume 1 Tools View Help E Da Edda X5 MIC ABC Generic Data Mode CANopen Devices Configuration g Fieldbus Alphabetic Categorized A ABC
15. the PLC www anybus com HMS Industrial Networks AB Page 28 29 al 7 2 Web interface The configuration can also be verified using the web interface in the X gateway Note To use the web interface it is required that the X gateway has an Ethernet connection To enter the web interface enter the IP address of the Ethernet module in a web browser e g How to configure an Anybus CANopen slave module with TwidoSoft SCM 7032 042 Rev 1 01 http 192 168 0 7 Open the General Status window to view the slave settings for both network sides The I O size is corresponding to the PDO size Anybus X gateway Mozilla Firefox Ark Redigera Visa Historik Bokm rken Yerktyg Ga a E T fit IB http 10 10 12 89 slave general html General Status Hj lp g Anybus X gateway Profibus L Lj Anybus X gateway a Ethernet IP MBTCP WEB Slave General Input I O size bytes Status Input parameter size bytes Output I O size bytes IP Config Output parameter size bytes CANopen Slave soud Input 70 size bytes Input parameter size bytes Output I O size bytes Output parameter size bytes Existing Control word ngai Existing Status word Cycle Counter Error Counter Module Status Fieldbus Status 4005 4 0 Initialized On line Figure 36 Viewing the General Status in the web interface www anybus com HMS Industrial Networks AB Pa
16. 1 Hardware connection overview www anybus com HMS Industrial Networks AB Page 5 29 A How to configure an Anybus CANopen slave module with TwidoSoft F PI 09S8S SCM 7032 042 lA Rev 1 01 4 Anybus configuration The first step is to configure the baudrate and the node address The Anybus Slave Anybus Communicator and Anybus X gateway are configured by switches Set the baud rate and node address switches in the desired positions as seen below Note The Anybus CompactCom is configured by messages send by the application The switches will be found next to the fieldbus connector please see the respective manual or appendix for details The selected baud rate of the PLC and the Anybus module is to be set to the same rate The baud rate of the PLC is configured by the TwidoSoft software please see Figure 21 Adding the Anybus module to the CANopen network The switches are located as follows e The switch closest to the fieldbus connector sets the baudrate Please see the table to the right 13 eresessed es 250 Kbit s e The next switch sets the 10x address L peres s sexus The third switch sets the Ix address 20 Kbit s 800 Kbit s In this case the baud rate switch is set to 6 thus the baud marum rerom rate used is 5 OOkbit s The address switches are set to 0 A 125 Kbits and I respectively thus the Node address is 1 9 reserved Note Using the Anybus Slave the node address and baud rate can also be set
17. 44 How to configure an Anybus CANopen slave module with TwidoSoft AS SCM 7032 042 Ii Rev 1 01 How to configure an Anybus CANopen slave module with TwidoSoft G Anybus www anybus com HMS Industrial Networks AB Page 1 29 44 How to configure an Anybus CANopen slave module with TwidoSoft FP SCM 7032 042 A Rev 1 01 Document history Revision Date Description Author 1 00 2007 08 31 Created Thorbj rn Palm 1 01 2008 03 14 Minor revision Thorbj rn Palm More information about the network and products For further information about the Anybus products please consult the HMS webpage www anybus com The latest manuals etcetera can be downloaded from that location The CANopen user organisation has a webpage on the Internet www can cia org Several technical guides about CANopen are available in or via this page www anybus com HMS Industrial Networks AB Page 2 29 ZA How to configure an Anybus CANopen slave module with TwidoSoft AS SCM 7032 042 Rev 1 01 Contents 1 JAnphcable Am Dus DEOGUGCIS cerise nias s VENIO REN FEX VERD Ue ERR Fu a dL vERN ERU E EVV I Pa Nu xal Ud 4 2 JROQUIEGIHOTES 1029901020038 950961355252510 109 90008 03 1000092 GROVE FLOS TIU CUI ELIT OU a EES EES 4 3 SOM ONOVEEVICW EET aan S NEEE SESAN SANE EOS S a kaisan 5 4 A D Cn raaa E EA E EE GA 6 4 1 Adiybus Slave COMM CUT ALI Oli eerie a en EN EEEa Ena E N dames ida 6 4 2 Anyous CompaciC om conii OUT ANION serrr rra 6 4 3 CO ii i CAO
18. CANopen TwidoPLC test twd File Edit View Tools Hardware Software Program PLC Window Help u S s Blo ol we Sr a Oe Sl united ES Animation Tables Editor Animating fl TWDLMDA20DRT D Mit Ye QaNtiaaeh amp a f Hardware 7 Port1 Remote Expansion Bus 0 Decimal Y 1 TWDNCO1M 0 Decimal Y 2 45 Software D Decimal Y Constants x 0 Decimal v Constants KD IVV C1 0 4 D Decimal Constants KF IB IWC1 0 5 0 D Decimal of 1 Counters IWC1 0 6 0 0 Decimal 4 Drum Controllers B wwct0 7 Q0 Decimal Y 42 Fast Counters QWC1 0 0 1 Decimal amp LIFO FIFO Registers WQWCIDI 2 Decimal v SPLS 4PWM QWCIO02 3 Decimal y Schedule Blacks QWCIOU3 0 Decimal v xXQwcio4 p Jo Decimal Y QWC1 05 0 Decimal Y Maly QWC1 06 D 0 Decimal i M Macros 96QWC1 07 D 0 Decimal Y Comm Drive t Tesys 4 advantys OTB 2 Symbols Animation Tables Documentation Figure 30 Monitoring the input and output data www anybus com HMS Industrial Networks AB Page 25 29 A How to configure an Anybus CANopen slave module with TwidoSoft AMIS SCM 7032 042 7 Rev 1 01 6 2 Monitoring using the Communicator Using the ABC Config Tool the Node Monitor can be used to monitor the input and output data Open the ABC Config Tool and right click on New Node Select Node Monitor in the menu as seen below amp ABC Config Tool U
19. ake sure the settings are identical to those shown in the window above Alternatively download a HyperTerminal session file from the HMS website double click on it and select COM port Connect and press ESC and the following menu will appear g USB HyperTerminal File Edit View Call Transfer Help Show gateway system information Show fieldbus system information Show gateway system configuration Show fieldbus system configuration Change configuration Configuration upload download Restart Gateway Change operation mode Administration mode 1 2 3 A Operating status information j 8 9 A Figure 11 Anybus X gateway main menu Press 6 and enter the desired configuration 1 www anybus com www anybus com HMS Industrial Networks AB Page 12 29 44 How to configure an Anybus CANopen slave module with TwidoSoft FI SCM 7032 042 VM Rev 1 01 The figure below shows an example in this case a CANopen Slave to Modbus TCP Slave X gateway is used 20 bytes of I O data on the Modbus TCP side and 20 bytes of Input and Output PDO on the CANopen side are configured e USB HyperTerminal File Edit view Call Transfer Help CANopen Slave Upper Input Pdo size bytes 2 Output Pdo size bytes 20 Input Sdo size bytes Output Sdo size bytes Offline option Clear Control word Status word Disabled Offline source Standard Ethernet IP MBTCP WEB Slave Lower Input I 0 da
20. ddresses are used Jj TwidoSoft WMax1 users ThP Application_notes CANopen TwidoPLC test twd File Edit View Tools Hardware Software Program PLC Window Help Osua BRloolR ser aH Ole untitled x Configuration Editor OX IRE DM OF d df CHUA VI NRTASS SOBRE ADB RIQY xK 2 i ardware F Port 1 Remote Link 1 f Expansion Bus Configuration of CANopen master module TWDNCO1M Position 1 1 TWDNCOIM F 2 45 Software Channel symbol Name Minimum Maximum db Constants XIWC1 0 0 Dpram Byte D In Area 32768 32767 df Constants KD IWC1 0 1 Dpram Byte 1 In Area 32768 32767 fe Constants KF XIWC1 0 2 Dpram Byte 2 In Area 32768 32767 a Conn XIWC1 0 3 Dpram Byte 3 In Area 32768 32767 Bits XIWC1 0 4 Dpram_Byte_4_In_Area 32768 32767 Drum Controllers XIWC1 0 5 Dpram Byte 5 In Area 32768 32767 4 Fast Counters IWC1 0 6 Dpram Byte 6 In Area 32768 32767 LIFO FIFO Registers XIWC1 0 7 Dpram Byte 7 In Area 32768 32767 AG PLSI PWM XQWC1 0 0 Dpram Byte 0 Out Are 32768 32767 L Schedule Blocks XQwC1 0 1 Dpram Byte 1 Out Are 32768 32767 Timers xOWC1 0 2 Dpram Byte 2 Out_Are 32768 32767 La XQWC1 0 3 Dpram Byte 3 Out re 32768 32767 ud FestCoumers qb ro 1 0 4 Dprem Byte 4 Out Are 32768 32767 i XQwC1 0 5 Dpram Byte 5 Out Are 32768 32767
21. er expansion module 50mA Figure 17 Selecting the type of CANopen module www anybus com HMS Industrial Networks AB Page 16 29 A How to configure an Anybus CANopen slave module with TwidoSoft AIMS SCM 7032 042 4a Rev 1 01 CANopen configuration To be able to configure the Anybus module the eds file has to be imported Right click on the TWDNCOIM and select configure Note The PLC must be in disconnected mode A TwidoSoft untitled e 7 Sree 21g gt untitled 3 Ladder Viewer Bh pwouoscion v 98 9 se amm reg SEE E Aciustec 2 EB Hardware 0 7 Porti Remote Link 1 PO E ims Bus Po Lf i a Software i Constan f Constan Delete i Pk Constan 1 Counters Drum Controllers 48 Fast Counters 48 Very Fast Counters L PID B Program iM Macros 7 Comm 0 Drive E Tesys d advantys OTB Symbols Figure 18 Opening the CANopen Configuration Tool The following window will appear CANopen Configuration Tool pdate button EXE ER Rd d lad d all i a Figure 19 Updating the CANopen network Click on the tile Network and then on the import update button www anybus com HMS Industrial Networks AB Page 17 29 A How to configure an Anybus CANopen slave module with TwidoSoft FI g2HXLS SCM 7032 042 7 Rev 1 01 Select the eds file for example EDS ABS COP F040 8PDO V 3 07 Ol eds and click on open as shown below Look in S
22. ge 29 29
23. ntitled File New Node Tools View Help D c kd 5 amp e X F SOU E ABC Generic Data Mode CANopen Devices 98 Fieldbus A ABC Sub Network Copy Add Transaction Consume Add Transaction Produce Add Command Insert New Node Save Node Insert from File Rename Figure 31 Opening the Node Monitor in the ABC Config Tool 9 Monitor New Node File Mode Command Columns wiew s5cowWo In Area 20 bytes 512 Out Area z0 bytes 612 General Area 0 bytes 384 000g D Oy T a 020g 0 0 O0 4 0400 nana D 0 a nana 0 0 O0 040g nnin n 0210 n 0410 0018 0218 0418 0020 0220 0420 0026 228 0426 nn3n 0230 0430 Figure 32 Monitoring using the Node Monitor The Node Monitor shows the data send and received on the sub network The In Area represents the data send to the fieldbus side and the Out Area the data received from the fieldbus side e The Output Data from the fieldbus can be seen at byte 200 to 203 in the Out Area The value is corresponding to the value written in Figure 30 Monitoring the input and output data e Data to the fieldbus can be seen at byte 0 to 2 in the In Area 8 The value is corresponding to the value read in Figure 30 Monitoring the input and output data www anybus com HMS Industrial Networks AB Page 26 29 ZA How to configure an Anybus CANopen slave module with TwidoSoft AMIS SCM 7032 042 44 Rev 1 01 6 3 Monitoring using the X gateway T
24. o monitor the data in the X gateway a program that scans the other network side is needed If the other network is Ethernet or Modbus based the tool ModScan32 can be used In the Ethernet case the X gateway also has a web interface where the configuration can be viewed Note If the X gateway has an Ethernet connection use the Anybus IPconfig to find or set the IP address The tool can be downloaded at www anybus com 1 Monitoring using ModScan32 Start the ModScan32 program and connect to the module E ModScan32 ModSca1 Em Ele Connection Setup View Window Help Gal Gel E Ed OX Number of Polls 3073 Yalid Slave Responses 3059 Reset Ctrs a Figure 33 Monitoring the input data of the X gateway using ModScan32 The window above shows the Output data from the PLC The data value is corresponding to the data value written in Figure 30 Monitoring the input and output data www anybus com HMS Industrial Networks AB Page 27 29 44 How to configure an Anybus CANopen slave module with TwidoSoft AMIS SCM 7032 042 44 Rev 1 01 The same values are written to the first Holding Registers as seen below The window shows the Input data written to the PLC ModScan32 ModScat TOK File Connection Setup View Window Help Sa ar Tear Dieja sle ama a e e a A A EE ModScal Address HEX Length JAK Number of Polls 217 Valid Slave Responses 208 Reset Ctrs Device Id I
25. ot Vata o E untitled olkd fil Expansion Bus 1 TWDNCOIM Software D Constants a Constants KD Constants KF 1 Counters Drum Controllers 42 Fast Counters LIFO FIFO Registers 13 PLS PWM Schedule Blocks C Timers PID E3 Program My Macros E Comm I Drive t Tesys Al advantys OTB 2 Symbols Animation Tables e Documentation Figure 26 Editing the Animation Tables Editor window The first step 1s to enter the addresses of the Input and Output bytes of interest in the Address field www anybus com HMS Industrial Networks AB Page 22 29 ZA How to configure an Anybus CANopen slave module with TwidoSoft AMIS SCM 7032 042 V4 Rev 1 01 If necessary follow the steps below to find out what address are used in the PLC Otherwise please go to the next page To find out the addresses used by the PLC right click on the TWDNCOIM module and select Configure the Configuration Editor is now opened JJ TwidoSoft Tor products Manuals Sour File Edit View Tools Hardware Software Pro eLA BB o a R xx a untitled a TWDLMDA20DRT cff Hardware 9 Porti Modbus 1 E Expansion Bus s8 Software Eroper es d Constent Configure fh Constants KI Delete Constants KF 19 Counters Drum Controllers 3 Fast Counters LIFO FIFO Registers 15 PLS PWM Schedule Blocks E0 PID Figure 27 Opening the Configure window From this it is easy to find out what a
26. own in the window below It is possible to remove PDOs or Objects if desired Use the scroll bar to toggle betweeen Transmit and Receive PDOs CANopen Configuration Tool Network Mapping Linking Symbol Available Objects 2000 Dpram Byte 0 127 In amp rea Type Transmit 2200 Bus state Indicator 2205 Module state Indicator 2210 Module Serial Humber 1400 181 2211 Vendor d 281 2212 Module_Status Set 2920 Interrupt Count si 222 Interrupt Cause 2222 Interrupt Notification 2230 Watchdog Counter In Mapped Objects 2231 Watchdog_Counter_Out a 3 2 2240 IO In length 2241 Dpram In Length 2242 Total In Length 2000sub01 2243 IO Out Length 2000sub 2244 Dpram Out Length 2000sub03 2245 Total Out Length 2000sub04 2260 Top Left Led Status 2000sub05 2261 Top_Right_Led_Status 2000sub06 2262 Bottom Left Led Status s000sub07 2263 Bottom Right Led Status nn sub a 2800 Bus aff control BN Memory space ama e Figure 22 PDO configuring In this example only one node is attached If several nodes are attached to the network it is possible to see them in the list to the left under Anybus S1 www anybus com HMS Industrial Networks AB Page 19 29 A How to configure an Anybus CANopen slave module with TwidoSoft AMIS SCM 7032 042 44 Rev 1 01 The next step is to open the
27. ta size bytes 20 Output I 0 data size bytes 2 Offline option Clear Control word Status word Disabled Modbus Address Mode Enabled Press ESC to continue Figure 12 The X gateway configuration Note To use SDOs set the Input and Output Sdo to the desired data size www anybus com HMS Industrial Networks AB Page 13 29 44 How to configure an Anybus CANopen slave module with TwidoSoft FIEg IAS SCM 7032 042 i i Rev 1 01 5 CANopen configuration To configure the PLC and the CANopen bus the tool Twidosoft is used Start a new project from the File menu The first step is to decide if to use the online or offline alternative 1 If the PC is connected to the controller chose Online to Controller 2 Use the Offline alternative when not connected to the Controller When using the Offline alternative you have to specify the type of Controller manually Online Firstly start a new project and press the connect button The current PLC configuration will now be seen fi TwidoSoft untitled File Edit View Tools Hardware Software Program PLC Window Help Ase amp Xo cma wl Og izis ANM s S E untitled Ladder Viewer fl TWDLMDA20DRT Di Mak oe Set mee ge SE Be E fe Hardware Port 1 Remote Link 1 RUNG 0 END OF PROGRAM Expansion Bus 1 TWDNCO1M Software D Constants h Constants KD Constants KF 1 Counters Drum Controllers Fast Counters LIFO FIFO Registers E PLS PWM IB Sched
28. ub network indicates the total I O size The number of bytes of SDOs is the difference between the data size configured for the sub network and the IO Size In and IO Size Out In this case the total I O size is 20 bytes configured for the sub network and the size of PDOs is 10 bytes The size of the SDOs is then 20 10 10 bytes IO Size In and Out PDOs 10 bytes byte 1 10 Sub network data size 20 bytes Sub network data size IO Size In and Out SDOs 10 bytes byte 11 20 Figure 4 Configuring the size of the PDOs and SDOs in ABC Config Tool www anybus com HMS Industrial Networks AB Page 8 29 A How to configure an Anybus CANopen slave module with TwidoSoft AMIS SCM 7032 042 44 Rev 1 01 amp 9 ABC Config Tool WTor products Manuals Source documents Application Notes Fieldbus Oriented CANOpen Supp LOX File ABC Tools View Help Ded Ss S toeaxk S PS Mees aaa ABC Generic Data Mode CANopen Devices Configuration E G Fieldbus Alphabetic Categorized A PS WA Sub Network H Interface Physical Interface Serial Module Control Status Word Disabled Module Reset Disabled Protocol Protocol Mode Statistics Receive Counter Location Ox0002 Statistics Disabled Transmit Counter Location Ox0002 2008 02 18 13 16 Config Line OB 7 Figure5 Configuring the ABC In this case a loop back dongle at the serial connection of the Communicator is connected To loop data the generic data
29. ule Blocks PID Program I My Macros FE Comm B Drive t Tesys 4 advantys OTB Symbols Animation Tables 2 Documentation TWDLMDA2ODRT V3 44 P0 0 0 Figure 13 Uploading the current PLC configuration Then please proceed to section CANopen configuration www anybus com HMS Industrial Networks AB Page 14 29 44 How to configure an Anybus CANopen slave module with TwidoSoft AMIS SCM 7032 042 Vi Rev 1 01 Offline Start a new project and right click on the PLC in the navigation tree and select Change Base Controller fi TwidoSoft untitled File Edit View Tools Hardware Software Program PLC Window Help ASE SSBB c REDE aM oe izi xd untitled 33 Ladder Viewer EM Change Base Controller oe Sf Se me TE Oe Adjustec bd 9g j F Po Functional level management 0 END OF PROGRAM g Ex 2 45 Softwe Check PLC Dn Backup 42 Fa X Restore LIF Erase Sc Edit Input Configuration Tir Edit Output Configuration PIL Display Dedicated I O Map Program z t Macros E Comm Drive t Tesys 4 advantys OTB Symbols Animation Tables Documentation Properties Figure 14 Opening the Change Base Controller dialogue Select the desired type of Controller and click on the change button Then click on Done Change Base Controller Controller TWDLCAATBDRF Rl VDLCDATBEDRF 2 El PVDLCAA2A4DRF
30. upplementary files rz ns ex E23 2 Anybus x WinxP Hyper Terminal sample session file i S EDS ABS COP FO40 BPDO V 3 07 Ol eds My Recent Documents 3 Desktop My Documents My Computer eoi Eo Fland EDS ABS COP F040 BPDO V3 07 leds v Files of type Electronic Data Sheet eds v Cancel Openas read only Figure 20 Importing the EDS file for the Anybus module The next step is to configure the PDOs used by the Anybus module and the PLC First the Anybus module has to be set up as a node on the CANopen network Double click on the CANopen Anybus S as shown below CANopen Configuration Tool Network Mapping Linking Symbol Catalogue Network Slave Type Supervision e Anybus S V3 7 a b DS 401 1 0 Modules DS 402 Drives and Motion Control 1 Anybus S1 Anybus S V3 7 None n3 O0 0 01 amp w Properties Value Descrip EDS file for CANopen ABS modul Mikael Martensson HMS Industri S Creation 03 16 1999 2 K Baudrate son Kbit s Supervision 1000 ms sea ok I Figure 21 Adding the Anybus module to the CANopen network Make sure the selected baudrate is the same as for the Anybus module in this case 500 Kbit s www anybus com HMS Industrial Networks AB Page 18 29 ZA How to configure an Anybus CANopen slave module with TwidoSoft AMIS SCM 7032 042 Vi Rev 1 01 Next click on the tile Mapping The default PDOs are configured as sh
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