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User Manual, Anybus Communicator for CANopen

1. 07 Distributed I Os not available 80C5 08 Data record transfer was stopped due to a priority class abort restart or 80C6 background 38 Error while communicating with the CANopen manager The additional error code is equal to the error code from the CANopen manager 00h No error 01h Time out 02h Out of memory 03h Unsupported access 04h Write only 05h Read only 06h Unsupported index 07h No PDO mapping 08h Exceeded PDO length 09h Unsupported subindex 0Ah Invalid data type 0Bh Value too high 0Ch Value too low 0Dh Bad device state DEN General error OFh Can not be stored 10h Can not be stored locally 11h OD file generation failed 3Ah Transparent CAN function block error CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 Error Codes RET 62 emor JaN Description d RET VAL code error code number b 39 Acyclic error Additional error code equals error code from the CANopen manager 00h No error 01h Invalid command 02h Module not initialized 03h Invalid Node ID 04h Invalid length 05h Invalid baud rate 06h General stack init error 07h Invalid NMT command 08h Module in slave mode 09h SDO fragmentation error 0Ah Wrong Mode 0Bh Wrong Backplane OCh Invalid function code 0Dh Invalid communication channel OEh Communication channel is busy try
2. d Description 0000h Error reset or no error 1000h Generic error 2000h Current generic error 2100h Current CANopen device input side generic 2200h Current inside the CANopen device generic 2300h Current CANopen device output side generic 3000h Voltage generic error 3100h Mains voltage generic 3200h Voltage inside the CANopen device generic 3300h Output voltage generic 4000h Temperature generic error 4100h Ambient temperature generic 4200h Device temperature generic 5000h CANopen device hardware generic error 6000h CANopen device software generic error 6100h Internal software generic 6200h User software generic 6300h Data set generic 7000h Additional modules generic error 8000h Monitoring generic error 8100h Communication generic 8110h CAN overrun objects lost 8120h CAN in error passive mode 8130h Life guard error or heartbeat error 8140h Recovered from bus off 8150h CAN Id error 8200h Protocol error generic 8210h PDO not processed due to length error 8220h PDO length exceeded 8F00h Error Control or Heartbeat Consume error 9000h External error generic error F000h Additional functions generic error FF00h Device specific generic error FF10h Missing an assigned slave FF20h ldentity error of an assigned slave FF30h cDCF Mismatch concise DCF of 1F22h does not match the object dictionary of the booted slave FF
3. 1Hz Fatal error contact support On The CAN controller is bus off RUN CANopen Off No power not configured or no CANopen state green network Blinking Pre operational Single flash Stopped Triple flash Transparent CAN mode On Operational 4 3 Maximum Cable Lengths When designing the CANopen network please take into account the maximum cable length for differ ent baud rates Baud rate kilobaud Maximum cable length m 20 2500 50 1000 125 500 250 250 500 100 800 50 1000 25 CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 Installation 9 4 4 Line Termination To minimize the signal s reflections from the end of the cable a line termination is needed close to each end of the bus If the cable you are using is not terminated connect a line termination between contacts 2 and 7 CAN L and CAN Hi beneath the slot where the module is mounted The impedance of the termination should be 120 92 5 1 4 W max CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Doc HMSI 216 117 Chapter 5 5 Configuration 5 1 General Configuration of the SIMATIC S7 1200 PLC to provide connectivity to a CAN CANopen network using the CM CANopen Module for SIMATIC 57 1200 can be done in different ways depending on the application The CANopen network and the behavior of the module on this network have to be configured using an external CANopen configuration
4. Complies to the CANopen communication profile CiA 301 rev 4 2 and the CiA 302 Draft Standard Proposal rev 4 1 Transparent CAN supported CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Doc HMSI 216 117 Chapter 2 2 CANopen Fieldbus Functionality The functionality of the CM CANopen Module for SIMATIC 57 1200 is defined by the CANopen CiA 301 rev 4 2 specification and the CANopen CiA 302 Draft Standard Proposal rev 4 1 The module can be configured either as a manager or as a slave on the CANopen netwotk 2 1 Supported Fieldbus Services Communication and parameters in the CANopen protocol are built around objects There are different services available to communicate with the objects and to perform other CANopen tasks like supervis ing the network The following message types and objects are implemented in the CM CANopen Mod ule for SIMATIC S7 1200 NMT Network Management messages trigger the NMT state transitions for the slaves and ot perform network and device monitoring as well as handle errors If the module is configured as a slave startup is performed by the managet The CMT Configuration Manager configures the CANopen devices This primarily involves PDO parameters and mapping of information If the module is configured as a slave the con figuration is performed by the manager PDOs Process Data Objects are used for I O communication There are 64 Receive PDOs and 64 Transmit PDOs implemented in t
5. CANopen device may be used without prior resetting CANopen device shall be reset to factory default by issuing a restore to default object 1011h Byte 1 8 bit value for the RetryFactor Byte 2 3 16 bit value for the Guard Time Ifa slave does not answer the master will retry the request RetryFactor 1 times with an interval of GuardTime Guarding will be performed only if non zero values are entered for RetryFactor and Guard Time See also Node Guarding on page 24 CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 Request NMT 1F82h Supported Objects 33 Each node on the CANopen network can be controlled individually from the PLC by sending this ob ject The subindex indicates what nodes the request affects subindex Description 0 Largest subindex supported 128 i with i 1 127 Request NMT Service for the slave with Node ID i 128 Request NMT Service for all nodes The desired state is given as a numeric value when writing to or reading from the local object dictionary Value Write access Read access 0 NMT state unknown The node is not configured or otherwise not part of the network 1 CANopen device is missing The node at this Node ID is configured but not available on the network 4 STOP remote node NMT state STOPPED 5 START remote node NMT state OPERATIONAL 6 RESET NODE 7 RESET COMMU
6. Lg FLC tags Ctil Shift O p ig PLC data types GHI aX Totally Integrated Automation PORTAL Topology view Ji Network view I Device view Options m I ections CI SH Qs 100x a y AA T a v Catalog 5 Janis Search fi iit 3 RC 1 fa Filter S CPU 1214c FLO H pj HMI i ec p o 2 4 ig Detecting 8 Monitoring B Iv gt Gi Distributed vo s gt riena J Connections 10 communication D poc p Type Address in subnet Subnet Master system Comment Di S SIMATIC 1200 station 2 B ig Lo 34 Common data 8 Documentation settings LG Languages amp resources gt fad Online access VIS SIMATIC Card Reader modules General S Properties samen t General Ethernet addres b Advanced Ethernet addresses Interface networked with Subnet IP protocol CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Not networked f Add new subnet Doc ld HMS1 216 117 Configuration 17 9 Select the PG PC interface you are using in this example PN IE and the Ethernet interface on your PC in this example Intel 82577 If the IP address entered earlier is found on the network press Load to download to your device If not select the correct device from the list available in the Accessible devices in target subnet window If the
7. 127 The date that the Configuration Manager expects to find UNIT32 RW Configuration when comparing signature and configuration Date 1F27h Expected 0 127 The time that the Configuration Manager expects to find UINT32 RW Configuration when comparing signature and configuration Time CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 7 2 3 Network Management Objects Supported Objects 30 The NMT master controls the states of the connected network participants the NMT slaves It moni tors the devices and reports to the application for example if an NMT slave fails Please refer to the CANopen specification see Related Documents on page 1 In more complex systems several devices are able to perform as master which means that the configuration must have an entry defining which device will act as master Once configured the objects carry all information needed for the module to act on the network and the application does not need to be accessed to obtain this information This results in a substantial reduc tion of the overall implementation and maintenance effort when implementing multiple applications Index Object Name Subindex Description Type Access 102A NMT inhibit 0 This object holds the configured U16 RW time inhibit time between two subse quent NMT messages 1F80h NMT Start up 0 Defining whether the device is the
8. Gaba garde Description ad RET VAL code error code number b 31 00 Specified logical address is invalid There is no assignment in SDB1 SDB2x SFB52 8090 or there is no base address SFB53 SFC14 SFC15 32 00 ID mismatch the following modules are permitted 57 300 modules foran SFB52 8093 S7 300 S7 400 modules for an S7 400 S7 DP modules for an S7 300 and SFB53 7 400 33 00 Negative acknowledgement when communicating with the module 80A0 The module was removed during the communication or is defective Unilateral I O of the standby CPU not available with H systems For example standby CPU is in state STOP 34 00 The configured slot is not occupied 80B2 35 00 Actual module type does not match the required module type in SDB1 80B3 36 00 PROFIBUS DP DP protocol error with user interface user 80A3 PROFINET IO General CM error 37 01 DP protocol error at layer 2 for example slave failure or bus problems 80A2 Data record can not be read in DPVO mode ET200S 02 Communication problem on the communication bus 80A4 03 Previous write job for the same data record has not been processed yet 80C1 04 Module is processing maximum number of jobs for a CPU 80C2 05 The required resources memory etc are currently occupied 80C3 06 Internal temporary error The job could not be processed 80C4 Repeatthe job If this error occurs frequently check your system for electrical disturbances
9. Name Data type Description SIZE Uint Number of bytes that have been read Only valid for ReadSDO BUSY Bool If the request isn t finished within one scan cycle BUSY turns TRUE and stays TRUE until the request is finished when it returns to FALSE RET Uint Error code see Error Codes RET on page 59 Available when BUSY turns FALSE until REQ turns TRUE Description ReadSDO Performs an SDO read on the node index and subindex that is defined in the parameters Returned data is saved in the area that DB points to The block will continue to read the SDO even when the data area is filled until the SIMATIC 57 1200 PLC indicates that the complete SDO is read Only the predefined amount of data will be saved SIZE holds the complete SDO size If the size given in the parameter DATA is too small RET will return error 2200h WriteSDO Performs an SDO write on the node index and subindex that is defined in the parameters Data written is fetched from the area pointed to by DB 1 Both function blocks use RDREC and WRREC for the data transfer CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 8 1 4 Get Node amp Network Status Input Parameters Interface Functions 46 Name Data type Description REQ Bool Starts the function Has to be set to TRUE for one scan cycle ID HW IO Logical address of the CANopen module INDEX Byte Dint Int Sint Uint Usint Word Data rec
10. a All error codes are given in hexadecimal format D 2 Message Error Codes Error code hex Description 00 No error 01 Invalid command 02 Module not initialized 03 Invalid Node ID 04 Invalid length 05 Invalid baud rate 06 General stack init error 07 Invalid NMT command 08 Module in slave mode 09 SDO fragmentation error 0A Wrong Mode 0B Wrong Backplane 0C Invalid Function Code 0D Invalid communication channel 0E Communication channel is busy try again OF State error Command cannot be requested in the current state 10 Parameter error FCN 1 CAN ID gt Ox7FF FCN 2 Value gt maximum Number of storable CAN Receive Messages CAN_SND CAN ID gt Ox7FF 11 Send error CAN SND Message cannot be sent 12 No command pending RDREC was received without preceding WRREC FE Command pending WRREC was received but no answer is ready yet FF General error sie Ser Description bun RET VAL code error code number b 00 00 No error 11 00 Nesting depth exceeded SFC20 8091 12 00 Temporary resource bottle neck SFC23 80C1 13 00 Number of retries to read SDO exceeded 14 00 Number of retries to write acyclic request exceeded 21 00 Failed to create DB 22 00 Data did not fit in the specified data area Try increasing the size CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 Error Codes RET 61
11. 29 wecken e cie A100h 15 A040h30 J A040h 31 2008 sade a asa A100h 16 A040h32 j A100h 105 k o ae m 2 pee O UNE Bye240 247 A040h 253 Byte253 A025 cee Y ams Byte255 lau O A100h 127 The picture shows the Transmit data area The Receive data area is structured in the same way see pic ture on next page CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMSI 216 117 Supported Objects 42 Byte object Word object Long object Receive data area Index sub index Index sub index Index sub index AACOh 1 AACOh 2 ja NI SU P AACOh 3 A680h 1 Ee M E A580h 2 Hesse us AMC0h4 Jr A4COh 5 A4COh 6 n A9 S are AACOh 7 A680h 2 e A580h 4 e ___A4COh 8 ___J AACOh 9 AACOh 10 E i TN AACOh 11 _A680h 3 agate A580h 6 ___ A4COh 12___J A4COh 13 A4COh 14 eye et NE AACOh 15 A680h 4 bd E A580h 8 O Mie fa AACOh 17 AACOh 18 D od ees AACOh 19 A680h 5 Tm nx A580h 10 ada A0h20 J AACOh 21 A4COh 22 NELLE AACOh 23 y _A680h 6 li A580h 12 e TTT A4COh 25 A4COh 26 de AACOh 27 ja _A680h 7 SEEEE EE A580h 14 AMC0h28 J A4COh 29 ALD A580h 15 MC0h30 jf 2 AACOh 31 ha A Ln A580h 16 MC0h 32 L C A580h 105 2 m UN L aen ee ee Ai Li AACOh 253 e o MEC CM poses rcc efe A580h 127
12. the module in manager mode is booted or when a request to boot a slave is sent to object 1F25h Index Object Name subindex Description Type Access 1F22h Concise DCF 0 127 The concise compressed DCF files informa Domain Sub 0 RO tion is stored in this object Sub 1 127 RW The configuration is stored in the manager by writing to the subindex corresponding to the Node ID of the module 1F25h Configuration 0 128 subindex 0 is ignored UINT328 Sub 0 RO Request subindex i i 1 127 Request reconfigu Sub 1 128 WO ration of slave with Node ID equal to subindex i subindex 128 Request to reconfigure all slaves a To configure the slave with Node ID i write conf 63 6F 6E 66h to this object 1F25h subindex i Ifan error occurs duting configuration of a mandatory node or a detected optional node an emergency object with the code FF30h with either error code 1 or 4 will be sent Diagnostics error code 9 will be set and the specified node will not be set to Operational See also Error Control on page 23 Check Configuration The Configuration Manager CMT compares signature and configuration with the value from the DCF to decide if a reconfiguration of a CANopen slave device is to be performed or not The comparison values are stored by the Configuration Manager in these objects Index Object Name subindex Description Type Access 1F26h Expected 0
13. 1 00 2013 09 26 KeL All First revision CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMSI 216 117 About This Document 2 P 4 Conventions amp Terminology The following conventions are used throughout this document Numbered lists provide sequential steps Bulleted lists provide information not procedural steps The term user refers to the person or persons responsible for installing the CM CANopen mod ule in a netwotk e Hexadecimal values are written in the format NNNNh where NNNN is the hexadecimal value Decimal values are represented as NNNN where NNNN is the decimal value A byte always consists of 8 bits P 5 Glossary Term Meaning Byte 8 bits COP CANopen User Person or persons responsible for installing the CM CANopen module Higher Level Network CANopen Network Fieldbus RO Read only A register parameter or object labeled RO can only be read not written RW Read Write A register parameter or object labeled RW can both be read and written EDS Electronic Data Sheet A file that describes the properties of a network device in this case a CANopen device P 6 Support For general contact information and where to find support please refer to the contact and sup port pages at www hms networks com CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 Chapter 1 1
14. CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 8 Interface Functions Chapter 8 All interface functions and function blocks are available for download from www hms networks com can for S7 1200 8 1 CANopen Interface Functions 8 1 1 Get Process Data In Input Parameters Name Data type Description REQ Bool Starts the function Has to be set to TRUE for one scan cycle ID HW IO Hardware address of the CANopen module Can be read in TIA Portal INDEX Byte Dint Int Sint Uint Usint Word Data record number Should be set to 0090h MLEN Byte Usint Usint Maximum length in bytes of the data to be read RECORD Variant Destination area for the read data Output Parameters Name Data type Description BUSY Bool The reading process is not yet complete if this parameter is set to TRUE VALID Bool If setto TRUE new data record was received and is valid ERROR Bool If TRUE an error occurred during the reading process STATUS Dword Block status or error information LEN Uint Length of the data that is read a For information see the TIA Information System in TIA Portal Description To read the process data from the CANopen network to the 57 1200 CPU use the RDREC function block and issue an request to record number 0090h You will receive all data configured as process data on the CANopen network The position of the data depends on the CANopen ne
15. RESET Both The CM CANopen is configured as a manager in the NMT startup object 1F80h The object dictionary of the CM CANopen may be configured by SDOs via the CAN bus or the SDO command inter face 41h SLAVE STOPPED Slave The CM CANopen is in the NMT state Stopped 42h SLAVE PREOP Slave The CM CANopen is in the NMT state Pre operational 43h SLAVE OP Slave The CM CANopen is in the NMT state Operational 60h PREPARE NET INIT Manager Bootup according to CiA 302 The CM CANopen verifies the NMT slave assignment 61h NTW RESET Manager The network is reset by NMT reset communication all nodes 62h NTW WAIT Manager The CM CANopen waits for a previously defined time default 2 s to enable the other nodes on the network to execute the NMT reset communication command 64h BOOT CONF Manager The CM CANopen carries out the initialization of the individual devices according to CiA 302 70h BOOT END MISSING MAND Manager The network has been scanned At least one mandatory module is missing and the boot time has not expired 8Xh8 CLEAR Manager The network has been scanned but no commands to start the CM CANopen or the CANopen network has yet arrived Axha RUN Manager The network has been set to the NMT state Operational CXh8 STOP Manager The network has been stopped Exh PRE OPERATIONAL Manager The network has been set to NMT state Pre operational 90h FATAL ERROR
16. RW 02h Mapped object 2 U32 RW 03h Mapped object 3 U32 RW 04h Mapped object 4 U32 RW 05h Mapped object 5 U32 RW 06h Mapped object 6 U32 RW 07h Mapped object 7 U32 RW 08h Mapped object 8 U32 RW 1800h TransmitPDO 00h Largest subindex supported U8 RO 05h e parameter 01h COB ID used by PDO U32 RW 183Fh 02h Transmission type U8 RW See TPDO Transmission Types on page 23 03h Inhibit time U16 RW In steps of 0 1 ms 05h Event Timer ms U16 RW 1A00h Transmit PDO 00h No of mapped application U8 RW d mapping objects in PDO 1A3Fh 01h Mapped object 1 U32 RW 02h Mapped object 2 U32 RW 03h Mapped object 3 U32 RW 04h Mapped object 4 U32 RW 05h Mapped object 5 U32 RW 06h Mapped object 6 U32 RW 07h Mapped object 7 U32 RW 08h Mapped object 8 U32 RW a Relevant only for communication parameters b If entered manually the bytes should be entered in reversed order 65 76 61 73h c If entered manually the bytes should be entered in reversed order 64 61 6F 6C d Only valid in slave mode CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Doc HMSI 216 117 Supported Objects 29 7 2 2 Configuration Manager CiA 302 part 3 Configuration and program download Network Configuration Objects Configuration of the manager and the slaves can be done using concise device configuration files The configuration is stored in the manager by writing to object 1F22h The nodes are configured either when
17. again OFh State error command can not be requested in the current state 10h Parameter error FCN 1 CAN ID gt 7FFh FCN 2 Value gt maximum number of storable CAN receive messages CAN_SND CAN ID gt 7FFh 11h Send error CAN_SND Message can not be sent FFh General error 41 OX DB could not be deleted because SFC23 8092 for the compress user memory is currently active for 4100 4100 the DB to be deleted is currently being copied from the CPU to an offline project the H CPU is running coupling or update functions the WinAC Software CPU has detected an error in the operating sys tem of the computer where WinAC is installed X specifies the offset from DBSTART where the error occurred 42 0X DB could not be created because SFC22 8092 for the compress user memory is currently active for 4200 4200 the number of DBs in the CPU has already reached the maximum pos sible number the H CPU is running coupling or update functions the WinAC Software CPU has detected an error in the operating sys tem of the computer where WinAC is installed the previous delete action is not completed X specifies the offset from DBSTART where the error occurred 43 0X DB number exceeds the maximum number permitted for the CPU SFC24 80A1 X specifies the offset from DBSTART where the error occurred 44 00 DB number entered is less than or equal to 0 CM CANopen Module for SIMATIC S7 1200
18. bit 6 1 ignore bit 4 the slave individually 1 If a mandatory slave generates an Error Control Event per form NMT Reset All Nodes see bit 6 and object 1F81h bit 3 5 Not implemented 6 0 If a mandatory slave generates an Error Control Event treat the slave according to bit 4 1 If a mandatory slave generates an Error Control Event send NMT Stop All Nodes including self Ignore bit 4 7 31 Reserved 0 CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Doc Wd HMS1 216 117 Supported Objects 32 NMT Slave Assignment 1F81h This object defines which slaves the master should monitor control and or configure One entry is made for each assigned slave with the subindex corresponding to the slave s Node ID Byte 0 Bit No Description 0 Node with this ID is not a slave Node with this ID is a slave After configuration the node will be set to Operational Reserved On an Error Control Event or on detection of a new slave inform the application but do NOT configure and start the slave On an Error Control Event or on detection of a new slave inform the application and start the process Start Boot Slave Optional slave The network may be started even if this node could not be contacted Mandatory slave The network must not be started if this node could not be contacted during the boot slave process Not implemented Not implemented Not implemented XAO on amp
19. communication 1 4 8 9 NC Not connected a To ensure backwards compatibility these contacts should not be connected A new module is configured from scratch using TIA Portal and CM CANopen Configuration Studio See also e CANopen Network Configuration on page 12 1 Can be downloaded from www hms networks com can for S7 1200 CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc Id HMSI 216 117 Installation 8 4 2 Status LEDs Three status LEDs indicate the status of the module as shown in the table be low The DIAG LED is visible on the front of the module and the other two are found behind the lid at the top of the module The behavior of the LEDs is described in Status LED Timing Diagrams on page 56 LED Indication Status DIAG red green Green Normal operation Blinking green Hardware address not configured yet Blink red CM bus error state Note This LED only report errors on the CM backplane bus Diagnostic errors are indicated by the error LED on the PLC ERR CANopen Off Normal operation error red Blinking General configuration error Single flash Warning limit reached in CAN controller for example due to bad or no signal on the CANopen network cM Ee SEN Double flash A nodeguard event or a heartbeat event has occurred Triple flash Sync error The sync message has not been received within the configured com munication cycle time
20. data that is read RECORD Variant Destination area for the read data see table below for contents The user has to ensure that the data area is able to hold all data Description If a diagnostic message related to the Transparent CAN network status is active information on the cause of the message can be read by using the RDREC function block to issue a request to record number 0092h You will receive the information in the parameter RECORD in the response Contents of Parameter RECORD The parameter RECORD holds all diagnostic information as described in the table below Offset Data type Description Definition 0 Uint16 Number of Errors Current number of errors in the module 2 Uint16 Diagnostic Error 1 Error code see Error Codes on page 52 4 Uint16 Data length Error 1 Length of additional information 6 Unit16 Additional error infor Additional information for Error 1 mation Additional errors with the same structure as Error 1 Error Codes Error Code Description Definition Additional Information 3 BUSOFF error The CAN controller of the CM CANopen has reached a BUS OFF state e g due to a bad network connection or a faulty baud rate 10 Transparent CAN When running Transparent CAN mode this diagnostic is event triggered by an event in the CM CANopen module CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 See Transparent CAN Status Field on page 53 f
21. device is on another subnet and not available in this window the check box Show all accessible devices will have to be checked Extended download to device Configured access nodes of PLC 1 Device Device type Accessible devices in target subnet Type PLC 1 CPU 1214C ACDC PNIIE Type ofthe FGIFC interface PG PC interface WD Intel R 82577LM Gigabit v 9 Address Subnet 10 10 13 207 8 nur O Show all accessible devices Online status information g Connected to address 10 10 13 207 Scanning ended Device Device type Type Address Target device FLC 1 CPU 1214CACDC FINE 101013207 FLC T PRE Access address Flash LED Refresh 10 If the download was successful the following screen will appear asking if the PLC should start Press Finish and the PLC will start running the empty program that was downloaded Toad results Q Status and actions after downloading to device Status Target Message Action Ao vrci Downloading to device completed without error A gt Start modules Start modules after downloading to device Start all Q 15 mes z 11 The configuration of the module is now finished and the PLC programming can start CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 Configuration 18 Configuration of the CANopen network The configuration of the CANopen network including the CM CANopen Module for SI
22. if data is other than zero subindex Description 0 Largest subindex supported 127 i with i 1 127 Compares expected serial number entered into this object with actual serial number object 1018h subindex 4 for the slave with Node ID i Boot up of slave is continued only if they match If not the slave is not put in Operational Boot Time 1F89h The network master will wait the assigned time in ms for all mandatory slaves to boot An error will be indicated to the application if the mandatory slaves have not booted within the assigned time If the assigned time is 0 the timer is disabled and the master will wait endlessly Value ms Description 0 Default No time limit for mandatory slaves to boot 20 Time limit for mandatory slave to boot CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 7 3 Manufacturer Specific Objects Supported Objects 36 One or several variable data objects are connected to each PDO This is configured during the config uration phase There are 64 Receive PDOs and 64 Transmit PDOs Index Subindex Type Access Name and description Comment 5000h RECORD Status CM CANopen 00h U8 RO Largest subindex supported 01h U16 RO Event indication CM CANopen For more information see page 38 02h U8 RO CM CANopen state For more informati
23. in this document is subject to change without notice and should not be considered as a commit ment by HMS Industrial Networks AB HMS Industrial Networks AB assumes no responsibility for any errors that may appear in this document There are many applications of this product Those responsible for the use of this device must ensure that all the necessary steps have been taken to verify that the applications meets all performance and safety requirements including any applicable laws regulations codes and standards HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any problems that may arise as a result from the use of undocumented features timing or functional side effects found outside the documented scope of this product The effects caused by any direct or indirect use of such aspects of the product are undefined and may include e g compatibility issues and stability issues The examples and illustrations in this document are included solely for illustrative purposes Because of the many variables and requirements associated with any particular implementation HMS Industrial Networks AB cannot assume responsibility for actual use based on these examples and illustrations Intellectual Property Rights HMS Industrial Networks AB has intellectual property rights relating to technology embodied in the product de scribed in this document These intellectual property rights may include patents and pend
24. is checked against its expected product code The subindex indi cates which node is checked The node in question is only checked if data is other than zero subindex Description 0 Largest subindex supported 127 i with i 1 127 Compares expected product code entered into this object with actual product code object 1018h subindex 2 for the slave with Node ID i Boot up of slave is continued only if they match If not the slave is not put in Operational Revision Number 1F87h Each node on the CANopen network is checked against its expected revision number The revision number includes major and minor revision For a match to occur the major revision has to be exactly the same and the minor revision of the module has to be greater than or equal to the expected minor revision number The subindex indicates which node is checked The node in question is only checked if data is other than zero subindex Description 0 Largest subindex supported 127 i with i 1 1127 Compares expected revision number entered into this object with actual revision number object 1018h subindex 3 for the slave with Node ID i Boot up of slave is continued only if they match If not the slave is not put in Operational Serial Number 1F88h Each node on the CANopen network is checked against its expected serial number The subindex indi cates which node is checked The node in question is only checked
25. supported U8 RO 04h 01h Vendor ID U32 RO 1Bh HMS Industrial Networks 02h Product Code U32 RO 1Fh CM CANopen Module for SIMATIC S7 1200 03h Revision Number U32 RO Current software revision 04h Serial Number U32 RO 32 bit serial number 1020h Verify Configu 00h Number of entries U8 RO ration 01h Configuration date U32 RW 02h Configuration time U32 RW 1029h Eror Behavior 00h Number of entries U8 RO Oth 01h Communication Error U8 RW 00h default Change to NMT Defined by CANopen loss of state PRE OPERATIONAL if CAN messages transmit currently in NMT state OPER queue overrun RPDO length ATIONAL error CAN ID error slave 01h No change of NMT state guarding by master guarding 02h Change to NMT state time out consumer heartbeat STOPPED time out 02h Manufacturer Specific Error U8 CONST PLC changes from RUN to STOP while CANopen man ager is in state OPERA TIONAL 1400h Receive PDO 00h Largest subindex supported U8 RO 02h e parameter 01h COB ID used by PDO U32 RW 143Fh 02h Transmission type U8 RW See RPDO Transmission Types on page 23 CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 Supported Objects 28 Index Object Name subindex Description Type Access Notes 1600h Receive PDO 00h No of mapped application U8 RW bi mapping objects in PDO 163Fh 01h Mapped object 1 U32
26. synchronization mechanism is described by the values of bits 6 7 c Bits 10 14 describe life guarding status Only one of these bits can be set at a time CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 Supported Objects 41 7 3 1 I O Buffer Addresses and Object Dictionary Indices Relation The Q area application data bytes 0 31 are mapped to three different areas in the Local Object Dic tionary The same data is mapped to each area but as different data types For example byte to index A040h subindex 1 32 word to index A100h subindex 1 16 and double word long to indexA200h subindex 1 8 Byte object Word object Long object Transmit data area Index sub index Index sub index Index sub index Byte 0 7 A040h 1 Byte 8 15 A040h 2 EPIS Uo Byte 16 23 A040h 3 A200h 1 Byte 24 31 A040h 4 SE Byte 32 39 A040h 5 Byte 40 47 A040h 6 ja EU M A040h 7 A200h 2 a na A100h 4 SE A04h8 Jr A040h 9 A040h 10 ja ALL Biag A040h 11 A200h 3 EE A100h 6 A040 12 X J A040h 13 A040h 14 BE oL NN A040h 15 k _A200h 4 EE A100h 8 A040h16 J A040h 17 A040h 18 a MUS red A040h 19 A200 5 o E A100h 10 A04020 J A040h 21 A040h 22 CC ists A040h 23 ha _A200h 6 A AR A100h 12 A04024 J A040h 25 A040h 26 H DEEN A040h 27 pa _A200h 7 AA A100h 14 A040h28 J A040h
27. time span node lifetime or if the communication status of the slave has changed the master takes appropriate action according to its configuration In case of the CM CAN open Module for SIMATIC S7 1200 being the master the PLC will be informed about the disappear ance of the slave on the CANopen network Any data to or from the disappeared slave will be frozen If Life guarding the slave guards the master is supported the slave uses the guard time and lifetime factor from its Object Dictionary to determine the node lifetime If the slave does not receive a guarding request within its lifetime a node guard event is registered The ERROR LED on the front of the CM CANopen Module for SIMATIC 7 1200 will indicate the event and a diagnostic error will be logged on the channel diagnostics If the guard time or the lifetime factor are 0 default the slave does not guard the master The guarding can be initiated at boot up or later Note 1 If heartbeat is enabled node guarding is disabled Note 2 When node guarding is used for master supervision a GuardTime and a RetryFactor is set for each node in its slave assignment object see NMT Slave Assignment 1F81h on page 32 6 3 3 Emergency Object EMCY The Emergency Object is used for etror reporting on the CANopen network when a fault has occurred and for reporting when all faults in a module have been cleared The error codes are saved in a list in the Communication Profile Object 10
28. tool on the PC and the configuration is downloaded to the CM CANopen module through the module USB connection CM CANopen module Y Y LAN PROFINET PC with configuration tools CANopen a a Slave devices on the CANopen network The module can be configured either as a manager or as a slave depending on the application 5 2 SIMATIC S7 1200 PLC Configuration Siemens TIA Portal is used to configure the SIMATIC 87 1200 PLC and the CM CANopen Module for SIMATIC S7 1200 The module can be imported into the tool The CM CANopen module offers the SIMATIC 87 1200 PLC access to a CAN CANopen network where the CM CANopen module either acts as a Transparent CAN module or acts as a slave or a man ager on a CANopen network depending on the settings in the parameter list The SIMATIC S7 1200 may act as a PROFINET slave with another PLC on the PROFINET netwotk as master If so the SI MATIC 57 1200 together with the CM CANopen module can act as a gateway between PROFINET and CANopen A example on how to configure the system is given on page 12 1 The configuration procedure in TIA Portal is the same for CANopen and CAN networks CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMSI 216 117 Configuration 11 Double clicking on the CM CANopen Module for SIMATIC S7 1200 in the list of modules in TIA Por tal will open a window where the user can set the values of the module parameters The following
29. 0 5005h ARRAY Stopped slaves bit list 00h U8 RO Largest subindex supported 01h U32 RO Node ID 1 32 Bit n represents Node ID n 1 02h U32 RO Node ID 33 64 Bit n represents Node ID n 33 03h U32 RO Node ID 65 96 Bit n represents Node ID n 65 04h U32 RO Node ID 97 127 Bit n represents Node ID n 97 Bit 31 is always 0 CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 Supported Objects 37 Index Subindex Type Access Name and description Comment 5006h ARRAY Pre operational slaves bit list 00h U8 RO Largest subindex supported 01h U32 RO Node ID 1 32 Bit n represents Node ID n 1 02h U32 RO Node ID 33 64 Bit n represents Node ID n 33 03h U32 RO Node ID 65 96 Bit n represents Node ID n 65 04h U32 RO Node ID 97 127 Bit n represents Node ID n 97 Bit 31 is always 0 5007h ARRAY Error state bit list This list reflects the state of bit 0 in object 1001h of the slave devices 00h U8 RO Largest subindex supported Oth U32 RO Node ID 1 32 Bit n represents Node ID n 1 02h U32 RO Node ID 33 64 Bit n represents Node ID n 33 03h U32 RO Node ID 65 96 Bit n represents Node ID n 65 04h U32 RO Node ID 97 127 Bit n represents Node ID n 97 Bit 31 is always 0 5008h ARRAY Inconsistent concise DCF bit list 00h U8 RO Largest subindex supported Oth U32 RO Node ID 1 3
30. 03h see page 26 and a message is produced on the CANopen net wotk A list of emergency error codes that can be produced by the module is available in CANopen Emergency Codes on page 57 CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 CANopen Module Specification 25 6 3 4 Diagnostics When an event or alarm is generated by the CM CANopen module the device alarm code 1Ah external error is transmitted and will trigger an interrupt in the PLC user program This interrupt indicates that there is an alarm event to be polled out from the module Using the interface function Get Node amp Network Status CANopen mode or Get Diagnostic Information Transparent CAN mode informa tion about the alarm event can be polled out from the module For more information see Get Node amp Network Status on page 46 and Get Diagnostic Information on page 52 CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc Wd HMS1 216 117 7 Supported Objects Chapter 7 The following sections describe the CANopen objects according to CiA 301 and CiA 302 implemented within the module and described in the EDS file 7 1 Static Data Types According to CiA 301 7 2 Communication Profile Area 7 2 1 CiA 301 Communication Profile Objects The table below shows the objects according to CANopen specification CiA 301 rev 4 2 Index Object Name subindex Description Typ
31. 2 Bit n represents Node ID n 1 02h U32 RO Node ID 33 64 Bit n represents Node ID n 33 03h U32 RO Node ID 65 96 Bit n represents Node ID n 65 04h U32 RO Node ID 97 127 Bit n represents Node ID n 97 Bit 31 is always 0 5009h ARRAY Wrong concise DCF bit list 00h U8 RO Largest subindex supported Oth U32 RO Node ID 1 32 Bit n represents Node ID n 1 02h U32 RO Node ID 33 64 Bit n represents Node ID n 33 03h U32 RO Node ID 65 96 Bit n represents Node ID n 65 04h U32 RO Node ID 97 127 Bit n represents Node ID n 97 Bit 31 is always 0 500Ah ARRAY Identity error bit list 00h U8 RO Largest subindex supported 01h U32 RO Node ID 1 32 Bit n represents Node ID n 1 02h U32 RO Node ID 33 64 Bit n represents Node ID n 33 03h U32 RO Node ID 65 96 Bit n represents Node ID n 65 04h U32 RO Node ID 97 127 Bit n represents Node ID n 97 Bit 31 is always 0 5010h ARRAY Node error count Contains the number of emergency 00h U8 RO Highest subindex supported messages currently buffered in 01h U16 RW Node error count Node ID 1 3018h Wriung O nis E resets the DOMAIN entries in 5 5018h 7Fh U16 RW Node error count Node ID 127 5011h U16 RO Generic error count Counts emergency messages caused by emergency error code class 10XXh 5012h U16 RO Device hardware error count Counts emergency messages caused by emergency error code class 50XXh 5013h U16 RO Device software error count Counts emergency messages caused by emergency error co
32. 256 frames For polling operation set REQ to TRUE permanently CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 8 2 3 CAN CTRL Input Parameters Interface Functions 50 Name Datatype Description REQ Bool Starts the block Has to be set to TRUE for at least one scan cycle to start the block ID Word Hardware address of the CM CANopen module FCN Int Function code 1 Set acceptance filter in the module 2 Set number of frames to store before warning BUFFER LIMIT REACHED 3 Clear RX buffer No data is used 4 reserved 5 Reset CAN controller implies Clear Bus Off No data is used LEN Uint Only valid when FCN 1 otherwise ignored Defines the size of the acceptance fil ter array that is sent in PARAM DB Dint Parameter data block location to be sent along with the function Only valid when FCN 1 or 2 FCN Contents 1 Acceptance filter array 2 Buffer limit Output Parameters Name Datatype Description BUSY Bool If the function block needs more than one scan cycle to complete a command this output is set to TRUE It stays TRUE until the function block is done when it is cleared to FALSE RET Uint Error code see Error Codes RET on page 59 Valid once the BUSY signal turns FALSE until the next time the function block is started i e when REQ is set to TRUE Description This block is used to control the state of the transparent CAN lay
33. 4 RPDOs e RPDO Default Default RPDO no COB IDs Mapped to Relating to State 1 200h Node ID Object index A4COh subindex 1 8 Output data buffer bytes 0 7 Enabled 2 300h Node ID Object index A4COh subindex 9 18 Output data buffer bytes 8 15 3 400h Node JD Object index A4COh subindex 17 24 Output data buffer bytes 16 23 4 500h Node ID Object index A4COh subindex 25 32 Output data buffer bytes 24 31 5 80000000h Object index A4COh subindex 33 40 Output data buffer bytes 32 39 Disabled 16 Object index A4COh subindex 121 Output data buffer bytes 120 127 128 31 Object index A4COh subindex 241 Output data buffer bytes 240 247 248 32 Object index A4COh subindex 241 Output data buffer bytes 248 255 248 Object index A4C1h subindex 1 2 33 No default mapping 64 No default mapping 1 There is no default mapping for master mode CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Doc ld HMS1 216 117 CANopen Module Specification 22 e TPDO Default Default TPDO no COB IDs Mapped to Relating to State 1 180h Node ID Object index A040h subindex 1 8 Input data buffer bytes 0 7 Enabled 2 280h Node ID Object index A040h subindex 9 16 Input data buffer bytes 8 15 3 380h Node ID Object index A040h subi
34. 4 x 24VDC SINKISOURCE DQ10 x relay gj CPU 1215C ACIDCIRIy and AI2 on board 6 high speed counters and 2 PC systems Gm cru 1215c bebe pulse outputs on board signal board expands on board I O up to 3 communications modules EE for serial communication up to 8 signal D Unspecified CPU 1200 modules for UO expansion 0 1 ms 1000 m SIMATIC instructions PROFINET interface for gt m SIMATIC programming HMI and PLC to PLC communication ig SIMATIC ET Help CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 Configuration 15 S Select the CM CANopen module in the list as shown in the picture Drag and drop an instance of the module to the left side of the PLC module Siemens TestProjectDeleteLater Project Edit View Insert Online Options Tools Window Help Tela GR D saveprjes M pO X TLC H Gh Hf D A coonine A cootline BO IRR x d PORTAL TestProjectDeleteLater PLC 1 CPU 1214C ACDCRIy E Topology view dh Network view El Device view Options mo S sl Selz Q z 100 Tel _ TestProjectDeleteLater Bi Add new d sh Devices amp networks 57 1200 rack 1 Ca PLC_1 CPU 1214C AC DC RIy gi Common data EI Documentation settings i Signal board lj communications boards i Languages amp resources ifi Battery board gioi Ng Online access ip SIMATIC Card Re
35. 40h Formal inconsistent cDCF in 1F22h of an assigned slave FF50h SDO error detected by the boot slave process SDO time out or SDO error except cDCF mismatch See FF30h FF51h SDO timeout detected A request to write an SDO to the module timed out FF60h Reset timeout of a booted slave FF70h Presence of a device that uses the node id of the CM FF80 Presence of a device that is not assigned as slave CM CANopen Module for SIMATIC 57 1200 Doc Rev 1 00 Doc ld HMSI 216 117 CANopen Emergency Codes 58 Emergency RS Code Description FFAOh PLC has entered STOP state while network is in OPERATIONAL Module goes to PRE OPERATIONAL Only in slave mode These codes confotm to the CANopen standard CM CANopen Module for SIMATIC 87 1200 Doc ld HMS1 216 117 Doc Rev 1 00 Appendix D D Error Codes RET D 1 Function Block Error Codes Each function b ock has a separate set of error codes that are returned when an error is detected CAN CTRL Error code Description 109B Function code FCN not allowed 109C If FCN 1 Length of filter is too big gt 2048 1013 Read response failed after 1000 tries 3100 3799 Internal read write error 39XX CM message error XX Message error code see Message Error Codes on page 60 FF00 Error code missing a All error codes are given in hexadecimal format CAN RCV Error code Description 1013 Read respo
36. Doc Rev 1 00 Doc HMSI 216 117 Error Codes RET 63 EU kapang Descripti n P RET VAL code error code number b 45 1X DB could not be deleted because it was created with the keyword SFC24 80B2 UNLINKED 87 400 only X specifies the offset from DBSTART where the error occurred 2X DB could not be deleted because it is stored on a flash card SFC24 80B3 X specifies the offset from DBSTART where the error occurred 3X DB can not be deleted Possible causes SFC24 80B4 t belongs to an F program tis an instance DB of a block for S7 communication 87 400 only tis a technology DB X specifies the offset from DBSTART where the error occurred 4X The DB with the specified number does not exist in the CPU SFC24 80B1 X specifies the offset from DBSTART where the error occurred 46 1X There is not enough free memory available SFC22 80B2 X specifies the offset from DBSTART where the error occurred 2X There is not enough continuous memory space available Compress mem SFC22 80B3 ory are the offset from DBSTART where the error occurred 47 0X The length of the DB is not equal to the DBSIZE input parameter and has not been created using the download block X specifies the offset from DBSTART where the error occurred 48 00 DBSIZE must be in the range 262 50000 49 00 DBSIZE must be an even number 4A 00 Slot must be in range 0 7 51 00 No DP module PROFINET
37. E Manager Error control event of a mandatory device 3 MNCE Manager Identity error of at least one mandatory device 4 OIE Manager Identity error of at least one optional device 5 reserved Both Always 0 6 reserved Both Always 0 7a NMTE Both Set if any bit in any of the diagnostics bit lists has been updated 8 ASE Manager The slave assignment entry of a device contains features that are not supported by the CM CANopen e g bits 4 6 of the slave assignment object 1F81h ga PDOLEN ERR Both The CM CANopen has received an RPDO with too few data bytes 10 CONFIG ERR Manager On download of a concise DCF by the boot slave process the CM CANopen has detected that the concise DCF is either inconsistent or does not match the object dictionary of the slave module 11 reserved Both Always 0 128 SAVE ERR Both Processing of the save command failed 138 ALONE Both The CM CANopen is alone in the network or not connected to the network 14 reserved Both Always 0 15 reserved Both Always 0 a Valid in slave mode CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 Supported Objects 39 Status CM CANopen 5000h subindex 02h The table below gives the state of CM CANopen that can be read from subindex 02h of the Status CM CANopen object The bits are valid either in manager or slave mode or in both Value Name Mode Description 00h INIT Both The CM CANopen is not initialized 40h MASTER STATE
38. IO device from which you can read consistent SFC14 8093 data exists at the logical address specified in LADDR SFC15 52 00 Access error detected while I O devices were being accessed SFC14 80A0 SFC15 80A1 53 00 Slave failure on external DP interface module SFC14 80B0 SFC15 54 00 The length of the specified destination area is not identical to the user data SFC14 80B1 length configured with STEP 7 SFC15 55 00 The data of the previous read write job on the module have not yetbeen SFC14 80C0 processed by the module SFC15 80C1 56 00 System error with external DP interface module SFC14 808X SFC15 80B2 80B3 80C2 80FX 87XX CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 Error Codes RET 64 Es T Description d RET VAL code error code number b 91 00 Parameter BPSIZE contains invalid value 92 00 IN parameter is not of type BYTE 93 00 OUT parameter is not of type BYTE 94 00 Illegal syntax ID of the IN parameter valid value is 10h 95 00 Illegal syntax ID of the OUT parameter valid value is 10h 96 00 Either the size of the IN parameter exceeds 1024 bytes or the size of the IN parameter exceeds the maximum size for the chosen backplane size 512 for 4 byte backplane 1024 for the rest 97 00 Either the size of the OUT parameter exceeds 1024 bytes or the size of the OUT parameter exceeds the maximum size for the c
39. MATIC S7 1200 is done separately with CM CANopen Configuration Studio Important Before downloading the configuration to the CANopen network make sure that the PLC is set to STOP 1 Open CANopen configuration tool 2 Add nodes to CANopen network 3 4 Check that there is no conflict between the parameters downloaded from the CANopen config Configure each node with the necessary parameters uration tool and the parameters set up with TIA Portal regarding operation mode and process data size Download the configuration to the CANopen manager as Concise DCF files The configuration is automatically stored locally in nonvolatile memory Please consult the user manual for the configuration tool for details and or contact HMS suppott see Support on page 2 CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Doc Wd HMS1 216 117 Chapter 6 6 CANopen Module Specification 6 1 NMT State Machine The function of the CM CANopen Module for SIMATIC 7 1200 can be described as a state machine with four states Power on 11 Pre operational Stopped 8 J Operational lt gt a 4 4 o State Description Initialization When the power is switched on the module starts initializing This is done in three steps basic initialization reset application and reset communication The parameters are set to the so called power on values which are the default values or the latest stored values I
40. Manager A fatal error has occurred The CM CANopen must be reinitialized a The last four bits contain additional information Bit No Description 0 Error bit for optional or unexpected modules 0 No error 1 At least one optional or unexpected module does not correspond to the expected network configuration 1 Error bit for mandatory modules 0 No error 1 At least one mandatory module does not match the expected state 2 General operational bit 0 No CANopen slave is in NMT state Operational 4 At least one CANopen slave is in NMT state Operational 3 CM CANopen operational bit 0 The CM CANopen is not in NMT state Operational 1 The CM CANopen is in NMT state Operational Status CM CANopen 5000h subindex 03h The table below gives the CM CANopen communication state that can be read from subindex 03h of the Status CM CANopen object BitNo Description 0 Not supported always 0 1 An overrun of the CAN controller occurred 2 The CAN controller is bus off 3 0 The CAN controller is in error active state 1 The CAN controller is in error passive state 4 The CAN controller error state has changed Bit is reset after a read access CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Doc HMSI 216 117 Supported Objects 40 BitNo Description 5 An overrun of the low priority transmit queue occurred Bit is reset after a read access The CM CANopen transmits heartbeat emergency messages n
41. N antes 54 Environmental Chafacteristics naa ti tie a eite e ra ides 54 Regulatory Compliance een etre etate dee ie a ee at te re ERRORS ais 55 Appendix B Status LED Timing Diagrams Appendix C CANopen Emergency Codes Appendix D Error Codes RET Function Block Ettor Codes peti d ete sete et ed ite cit nacida 59 Message E 60 Preface P About This Document P 1 How To Use This Document This document contains a general introduction as well as a description of the technical features pro vided by the CM CANopen Module for SIMATIC 57 1200 including configuration of the device The reader of this document is expected to be familiar with PLC and software design as well as with communication systems in general The reader is also expected to be familiar with the Microsoft Win dows operating system P 2 Related Documents Document name Author CiA 301 rev 4 2 CAN in Automation CiA 302 Draft Standard Proposal 302 rev 4 1 CAN in Automation CiA 303 1 rev 1 7 CAN in Automation CiA 303 3 rev 1 3 CAN in Automation TIA Portal configuration tool user manual Please visit the support pages at the HMS Industrial Networks web site at www hms networks com can for S7 1200 for more documents P 3 Document History Summary of Recent Changes 1 00 Change Page s Revision List Revision Date Author Chapter Description
42. NICATION 127 Enter PRE OPERATIONAL NMT state PRE OPERATIONAL The entire network can be started with one command subindex 128 Examples Node 5 should be transferred to the OPERATIONAL state An SDO write access with the value 5 is executed to object 1F82h subindex 5 in the local object dictionaty All the nodes in the network should be transferred to the PRE OPERATIONAL state An SDO write access with the value 127 is executed to object 1F82h subindex 128 in the local object dictionary CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 Supported Objects 34 Request Guarding 1F83h Guarding can be initiated from the object dictionary in a similar way Guarding is initiated with the values stored in NMT Slave Assignment 1F81h on page 32 provided that at the same time no parameters are entered for that node as a Heartbeat Consumer Note This functionality is only supported in master mode subindex Description Access 0 Largest subindex supported 128 RO i with i 1 127 Request Guarding for the slave with Node ID i RW 128 Request Start Stop Guarding for all nodes WO Value 8 Write access Read access 1 Start guarding Slave is guarded 0 Stop guarding Slave is not guarded Example Guarding should be started for node 5 500 ms Life Time Factor 3 An SDO write access with the value 00000001h is executed to object 1F81h subindex 5
43. Product Overview 1 1 Introduction The CM CANopen Module for SIMATIC 87 1200 is a plug in IP20 compliant communication module designed to be used as an accessory to a SIMATIC 87 1200 PLC It provides the user with the possibility to connect a CANopen network to a SIMATIC 57 1200 PLC The figure below shows a CM CANopen module attached to a SIMATIC 87 1200 PLC to provide the connection from the PLC to CANopen In this case the PLC is standalone but it is possible to connect it to a PROFINET network CM CANopen module CANopen Slave devices on the CANopen network The CM CANopen Module for SIMATIC S7 1200 can be configured either as a CANopen manager or as a slave depending on the application The network and the module are configured using external con figuration tools TIA Portal and CM CANopen Configuration Studio See Configuration on page 10 CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMSI 216 117 Product Overview 4 1 2 Features Powerful CANopen module for SIMATIC 587 1200 PLC 3 modules per CPU can be connected Connects up to 16 CANopen slave nodes per module in manager mode 256 byte input and 256 byte output per module e CANopen slave functionality supported 3 LEDs provide diagnostic information on module network and I O status The module can be integrated in the hardware catalogue of TIA Portal CANopen configuration via CM CANopen Configuration Studio external tool
44. Project Open existing project E Path WodunusersMiMWorkinglConfiguration FileslTIA Portal Create new project Author Mikael M rtenssor Comment l Migrate project Welcome Tour Installed software Help User interface language CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 Configuration 14 3 Select Devices amp networks to the left and then press Add new device DA Siemens Test Project BEA Totally Integrated Automation Show all devices Devices amp Show all devices Details List Thumbnails networks Add new device Configure ne 4 Select the PLC type used in the configuration Select correct software version and optionally en ter a name for the PLC default PLC_1 Press Add TA Siemens TestProjectDeleteLater 1X Totally Integrated Automation DS Add new device Devices amp b Show all devices Device name networks y Add new device and E pai PLC Device im simatic 57 y i cru p ifj CPU 1211C ACIDCIRIy 9 gj CPU 1211c DEDEDE gj cru 1211c DCIDCHRI AD E i CPU 1214C ACIDCIRly gj CPU 1212C AciDoRly e LE ijj CPU 1212c DODCDC gi cru 1212 m GES 214 1BE30 0XBO m 6E57 214 18G31 0XB0 jj cru 1214c DODC DC 6ES7 214 1BE30 0XB0 E Configure networks E Work memory 50 KB 120 240VAC power supply gg cro 121ac nana n with DI1
45. S error in module 4 7 reserved 2 Uint8 Error flags network Bit Definition 0 Network not ready 1 Node error control event 2 7 reserved 3 Uint8 CANopen Module Value Definition mode 00h Master 01h Slave 02h Transparent CAN CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 Interface Functions 47 Offset Data type Description Definition 4 Uint8 CANopen Node sta Node NMT status tus 00h NMT State Unknown 04h NMT State Stopped 05h NMT State Operational 06h Reset Node 07h Reset Communication TFh NMT Pre operational 5 Array of Uint8 up Network status only Mainly reflects object 1F82h subindices 01h to 7F Each entry to 127 elements available if module is manager reflects a node ID Bits 0 3 Oh 1h 4h 5h Bits 6 7 Node State NMT State Unknown CANopen Device missing NMT State Stopped NMT State Operational NMT Pre operational Configuration Error bit No error Error Node mandatory bit Node optional Node mandatory reserved CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Doc Wd HMS1 216 117 Interface Functions 48 8 2 Transparent CAN Interface Functions There are separate function blocks handling the transparent CAN functionality These are available for download from www hms networks com can for S7 1200 The functionality is described in Transpar ent CAN Mode on page 6 CAN SEND and CAN RCV hand
46. U32 RW NMT master 1F81h NMT Slave ARRAY Module list Entry of all slaves to U32 Sub 0 RO Assignment be managed including guarding Sub 1 127 RW values and the entry of actions to be taken in event of guarding errors The array subindex corre sponds to the Node ID of the CAN open slave 1F82h Request NMT ARRAY Remote control initiation of NUT U8 Sub 0 RO services For example tools can Sub 1 127 RW use this to request intentional start Sub 128 WO stop of individual slaves Remote query of the current state 1F83h Request Guard ARRAY Remote control start stop of guard U8 Sub 0 RO ing ing Remote query of the current Sub 1 127 RW state Sub 128 WO 1F84h Device Type ARRAY Verify expected device types for U32 Sub 0 RO Identification the slaves Sub 1 127 RW 1F85h Vendor Identifi ARRAY Verify vendor identifications for the U32 Sub 0 RO cation slaves Sub 1 127 RW 1F86h Product Code ARRAY Verify product codes for the slaves U32 Sub 0 RO Sub 1 127 RW 1F87h Revision ARRAY Verify revision numbers for the U32 Sub 0 RO Number slaves Sub 1 127 RW 1F88h Serial Number ARRAY Verify expected serial numbers for U32 Sub 0 RO the slaves Sub 1 127 RW 1F89h Boot Time VAR Maximum slave boot time before U32 RW the configuration manager indi cates boot error 1F8A Restore Config ARRAY The values in this array define U8 Sub 0 const uration whether the corresponding node Sub 1 127 RW add
47. User Manual CM CANopen CANopen Module for SIMATIC 87 1200 Doc ld HMSI 216 117 Rev 1 00 11 HITIS FF Connecting Devices HALMSTAD CHICAGO KARLSRUHE TOKYO BEIJING MILANO MULHOUSE COVENTRY PUNE COPENHAGEN HMS Industrial Networks Mailing address Box 4126 300 04 Halmstad Sweden E mail info hms networks com Visiting address Stationsgatan 37 Halmstad Sweden Web www anybus com Important User Information This document is intended to provide a good understanding of the functionality offered by the CM CANopen Mod ule for SIMATIC S7 1200 The reader of this document is expected to be familiar with high level software design and communication sys tems in general The use of advanced CANopen specific functionality may require in depth knowledge in CAN open networking internals and or information from the official CANopen specifications In such cases the people responsible for the implementation of this product should either obtain the CANopen specification to gain sufficient knowledge or limit their implementation in such a way that this is not necessary Liability Every care has been taken in the preparation of this manual Please inform HMS Industrial Networks AB of any inaccuracies or omissions The data and illustrations found in this document are not binding We HMS Industrial Networks AB reserve the right to modify our products in line with our policy of continuous product development The information
48. a last received is stored in the CM CANopen module When the PLC issues a RU N the stored data is sent on the CANopen bus The behavior of the module is the same if the connection is lost with the PLC on PROFINET CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Doc Wd HMS1 216 117 6 2 Data Exchange CANopen Module Specification 21 Process data is read and written using function blocks see Get Process Data In on page 43 and Set Process Data Out on page 44 6 2 1 PDO Functionality Real time data transfer is performed by means of PDOs Process Data Objects The PDOs are linked to entries in the Device Object Dictionary and provide the interface to the application objects Number and length of PDOs in a device are node specific and have to be configured by the CANopen configu ration tool PDOs are used both for data transmission and reception using so called Transmit PDOs TPDOs and Receive PDOs RPDOs Each PDO corresponds to two entries in the Device Object Dictionary The PDO parameter object holds information on the COB ID the transmission type etc On recognition of the COB ID the corresponding PDO mapping object can be identified to make it possible to trans mit receive data to from the correct object in the device The default settings for the mapping can be changed during configuration Default PDO Mapping Scheme for Slave Mode The module features a simple default mapping scheme with 4 TPDOs and
49. ader lg Do gt ig DIDO DEED gj Communications modules i PROFIBUS i Pointto point y gg CANopen De dProperies info 2 Diagnostics em Alarm display Device information Connection information S z CPU Date St Type Event text Info text 6 Double click on the Ethernet connector on the PLC and enter a proper IP address for the PLC TA Siemens TestProjectDeleteLater Project Edit View Insert Online Options Tools Window Help Totally Integrated Automation GF 9 E save project A X X 0 04 FS IH I D D Y coonine A Gooffine Be IF x 21 PORTAL Devices S Topology view Network view EY Device view Options ea alz moo 3 de nc Kale Qe 100 Inl EI d S v Catalog 5 y _ TestFrojectDeleteLater esearch a wi 8 EF Add new device ene 2 E Fiter a d Devices amp networks e E p gl PLC_1 CPU 1214C ACIDCRIy S ES VI commondata ig Signal board BREET ig Communications boards uj ij Languages amp resources ij Battery board o Gai Online access ran S Q a i SIMATIC Card Reader WE e gi DIDO s gll Communications modules ry NU gt ig Prorieus d x Ix Ex Pia ili Pointto point Device overview y ig CANopen lu gib CM CAMopen Ruggedzed E d Properties ijInfo j amp Diagnostic
50. an be sent CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 8 2 2 CAN RCV Input Parameters Interface Functions 49 Name Datatype Description REQ Bool Starts the block Has to be set to TRUE for one scan cycle ID Word Logical address of the CM CANopen module ACK Bool Set to TRUE for one scan cycle to acknowledge a newly read CAN frame DB Dint Number of data block Output Parameters Name Datatype Description NEW Bool Set to TRUE when a new CAN frame has been received by the module and is ready to be read by the function block COBID Word CAN ID of the CAN frame RTR Bool RTR bit of the CAN frame SIZE Uint Data size of the CAN frame BUSY Bool Set to TRUE if there is data in the receive buffer when REQ is set BUSY will be TRUE until buffer is empty RET Uint Error code see Error Codes RET on page 59 Valid once the BUSY signal turns FALSE until the next time the function block is started i e when REQ is set to TRUE Description When REQ is TRUE the block looks for new frames waiting in the CAN buffer of the module If there are any the module will read the oldest frame set NEW to TRUE and wait for an ACK from the func tion block This will be repeated until all frames have been read When all frames have been read BUSY will go FALSE The received frames will be buffered until they are read by the PLC The buffer can hold up to
51. c Wd HMS1 216 117 Interface Functions 45 8 1 3 SDO Read Write General Reading uploading and writing downloading SDOs is performed by function blocks available for download from www hms networks com can for S7 1200 Please note that these functions are only supported in CANopen manager mode Input Parameters Name Datatype Description REQ Bool Start request Upload download is started if REQ TRUE for exactly one function block call ID Word Hardware address for the module Can be read in TIA Portal SLOT Byte Defines which channel is used on the backplane network This parameter has to be unique for each of the SDO requests running simultaneously as the answer to the request is put in the slot where the request was placed Valid values 0 7 Note This slot is not the same as the physical slot of the module NODE Int Node ID of the CANopen module where SDO read write is to be performed If you use Node ID 0 you always address the CANopen manager even when the CANopen man ager has another Node ID INDEX Word SDO index to be read written SUB Byte SDO subindex to be read written DB Dint The number of the data block pointing to the area where to save read data or to get data to be written Note Data blocks have to be created as Standard S7 300 compatible data blocks not optimized SIZE Uint Number of bytes to be written Only valid for WriteSDO Output Parameters
52. chronous An RPDO is transferred to the SIMATIC S7 1200 PLC without any relation to the Event driven SYNC object Note All default PDOs are mapped with transmission type 255 TPDO Transmission Types TPDOs can be transmitted either in synchronous or asynchronous mode A synchronization SYNC object is transmitted periodically by a synchronization producer located either in the CM CANopen Module for SIMATIC S7 1200 or in another node on the CANopen network Synchronous TPDOs are transmitted within a pre defined time window immediately after a configured number of SYNC objects either always or after a CoS Change of State event Asynchronous TPDOs can be transmitted at any time triggered by a CoS or a cyclic period set in the Event Timer The transmission type parameter of a TPDO specifies the transmission mode as well as the triggering mode Hin POR Mode TPDO transmission description 0 Synchronous A TPDO is triggered by an event but not transmitted before the occurrence of a acyclic SYNC object 1 240 Synchronous A TPDO is transmitted with every n th SYNC object where n is the defined number cyclic from 1 240 241 253 Reserved 254 255 Asynchronous A TPDO is transmitted without any relation to the SYNC object The transmission is Event driven triggered by a CoS event or if a specified time has elapsed without an event Note All default PDOs are mapped with transmission type 255 6 3 Err
53. d a remote node error is indicated CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMSI 216 117 Supported Objects 27 Index Object Name jsubindex Description Type Access Notes 1010h Store Parame 00h Largest subindex supported U8 RO 01h ters 01h Store all parameters U32 RW To save a configuration write save 73 61 76 65h to this object 1011h Restore Param 00h Largest subindex supported U8 RO Oth eters 01h Restore all default parameters U32 RW To restore the default values of a configuration write load 6C 6F 61 64h to this object 1014h COB ID EMCY 00h Defines the COB ID of the U32 RW Emergency Object 1016h Consumer 00h Largest subindex supported U8 RO 10h Heartbeat Time 01h 10h The consumer heartbeat time U32 RW Node ID Heartbeat Time defines the expected heart Bits 31 24 reserved beat cycle time and has to be Bits 23 16 Node ID higher than the correspond Bits 15 0 Heartbeat Time ing producer heartbeat time Value must be a multiple of Monitoring starts after the 1ms Min 10 ms max 32768 reception of the first heart ms beat Not used if 0 Up to 16 nodes can be moni tored 1017h Producer Heart 00h Defines the cycle time ofthe U16 RW The time must be at least 10 beat Time heartbeat Not used if 0 ms and a multiple of 1 ms Max 32768 ms 1018h Identity object 00h Highest subindex
54. de class 60XXh 5014h U16 RO Communication error count Counts emergency messages caused by emergency error code class 81XXh CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 Supported Objects 38 Index Subindex Type Access Name and description Comment 5015h l U16 RO Protocol error count Counts emergency messages caused by emergency error code class 82XXh 5016h l U16 RO External error count Counts emergency messages caused by emergency error code class 90XXh 5017h l U16 RO Device specific Counts emergency messages caused by emergency error code class FFXXh 5018h ARRAY Node emergency history 00h U8 RO Highest subindex supported 01h DOMAIN RO Emergency history Node ID 1 TFh DOMAIN RO Emergency history Node ID 127 5500h l ARRAY Fatal event log 00h U8 RO Highest subindex supported 01h DOMAIN RO Fatal event log Status CM CANopen 5000h subindex 01h The table below gives the event indications for the CM CANopen that can be read from subindex 01h of the Status CM CANopen object The bits are valid either only in manager mode or in both manager and slave mode BitNo Name Mode Description 02 FATE Both The CM CANopen is in Fatal Error state 1 NIDE Manager A device in the network uses the Node ID of the CM CANopen The CM CAN open is set to Fatal Error state 2 MS
55. e Access Notes 1000h Device Type 00h Type of device U32 RO 0000 0000h No profile 1001h Error register 00h Error register connected to U8 RO the EMCY object Bit 0 indi cates a generic error 1002h Manufacturer Byte 0 5000 02h U32 RO status register Byte 1 5000 03h Byte 2 3 5000 01h 1003h Pre defined 00h Number of errors Writing a 0 U8 RW See CANopen Emergency error field to this subindex clears the Codes on page 57 for emer error list gency error codes 01h 05h List of errors Most recent U32 RO error at top of list 1005h COB ID Sync 00h COB ID of the sync message U32 RW 1006h Communica 00h Communication cycle period U32 RW Min 0 ms max 32767 ms tion Cycle ms Only available if SYNC support Period is enabled 1008h Manufacturer 00h The name of the CANopen Visible RO S7 1200 CM CANopen device name module string 1009h Manufacturer 00h Manufacturer hardware ver Visible RO Current hardware revision hardware ver sion string sion 100Ah Manufacturer 00h Manufacturer software ver Visible RO Current software revision software ver sion string sion 100Ch Guard time 00h Used together with Life time U16 RW Min 0 ms default max factor to decide the node life 32767 ms time ms 100Dh Life time factor 00h If the node has not been U8 RW Min 00h default max FFh guarded within its lifetime Life time factor Guard time an error event is logged an
56. e access 5g SIMATIC Card Reader 4 Portal view 57 1200 rack IC General dl Properties H info d amp Diagnostics y General Catalog infor y CANopen interface General Hardware ide Module parameters Node number 1 Operating mode CANopen Manager Baudrate 500 kbits s CANopen input data size 32 CANopen output data size 32 O CANopen Manager auto configuration Y Project Te Bojezes aiempiey El ili Signal board i Communications boards ig Battery board ran goo DEE Order no Version Description tProjectDeleteLater c 8 The configuration is now finalized and can be downloaded to the S7 1200 device To download the software configuration select the PLC 1 on the right and choose Online gt Download to device To download the hardware configuration right click on the device in the tree and choose Download to device gt all TA Siemens Test Project Project Edit View Insert NG Save project 3j Pr 500 e 7 Test Project Ef Add new device dla Devices amp netw Y Online amp E itch and force ty Program info Options Tools Window Help E D 3 Goonline if Go ofline Ba IN TB x DH E Program Hai Mif Add new bloc HMI Device maintenance gt EF Main O81 vp Ted Ctrl U lj Extern CtrleShifteE
57. er and to set its parameters FCN 1 Configures the CAN RCV acceptance filter in the module i e what CAN IDs will be accepted when receiving data frames The module will not listen to the CAN bus if no CAN ID in the filter is enabled The acceptance filter can be changed at any time The parameter LEN is set to n where n is the total number of valid CAN IDs transmitted in the message read from PARAM One or more CAN IDs can be transmitted in one message ex CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 Interface Functions 51 cept for enable or disable all or CAN IDs can be transmitted in several messages after one an other Each CAN ID starts with a set bit telling whether to set or reset the CAN ID followed by the actual CAN ID If the set bit is 1 the CAN ID will be enabled in the acceptance filter if 0 it will be disabled Bit 15 Bit 14 m Bit 0 Set bit CAN ID CAN ID 0000h with LEN set to 0000h will disable all CAN IDs If LEN is set to 1 only CAN ID 0000h is disabled CAN ID FFFFh with LEN set to 0001h will enable all CAN IDs and the module will forward all messages to the PLC FCN 2 Configures the CAN RCV buffer limit warning value It gives the opportunity to define what number of frames will be stored in the receive buffer before status code bit 4 BUFFER LIMIT REACHED will be set see Transparent CAN Status Field on page 53 Initially the buffer limit is se
58. f parameter values are stored from a previous configuration these are used If not or if a restore default command is issued the parameters are reset to the default values according to the communication and device profile specifications Pre operational Once initialized the module enters the pre operational state SDO Service Data Object communication is allowed A configuration application or configuration from CM CANopen Module for SIMATIC 87 1200 can configure PDOs Process Data Objects device parame ters and allocate application objects PDO mapping Operational In the operational state all communication objects are active Data is communicated according to the configurations made Not all SDO s can be changed as some information e g an object may contain the application program that needs to stay fixed throughout operation Stopped All communication is stopped except node guarding and heartbeat if active From this state any transition to another state is possible depending on if a restart reconfiguration or reset of the module is wanted The module changes states upon reception of a request from the CANopen network a hardware reset ot following a change in the PLC RUN STOP state If the CM CANopen Module for SIMATIC 7 1200 is configured as a CANopen manager the transi tions are initiated from the PLC The module will either enter PRE OPERATIONAL state or OPER ATIONAL state directly depending on the configu
59. he CM CANopen Module for SIMATIC 7 1200 that each can transfer up to 8 bytes Supported PDO message types ate event driven COS or timing Cy clic Synchronous and Acyclic Synchronous SDOs Service Data Objects are asynchronous data transmission and are used to access objects without mapping them to an I O PDO connection Access is provided to all CANopen objects in the module and in the network nodes manager mode SDO messages are used to configure the modules and they can transfer more than 8 bytes which is the upper limit for a PDO Ex pedited Upload Download Protocol and Normal Segmented Upload Download Protocol are supported A SYNC Synchronization Object is used for synchronizing PDO communication A manager can be either a producer or a consumer of the synchronization A slave can only be a consumer The Heartbeat Mechanism helps a device to monitor the status of another node The module can act either as heartbeat producer or consumer or both at the same time The Node Guarding Protocol provides active surveillance of a slave by the manager Slaves can be configured to expect a node guarding request from the manager An EMCY Emergency Object is used for error reporting when a fault has occurred in the mod ule and for reporting when all faults in a module have been cleared 1 Only available when the module is configured as manager CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc Id HMSI 216 117 Cha
60. ho sen backplane size 512 for 4 byte backplane 1024 for the rest 98 00 COBID parameter contains invalid value 99 00 DATA parameter is not of type BYTE 9A 00 DATA parameter is of illegal size 9B 00 Parameter FCN contains invalid value 9C 00 Parameter LEN contains invalid value 9D 00 PARAM parameter is not of type WORD 9E 00 PARAM parameter is of illegal size FF 00 Internal error a All error codes are given in hexadecimal format RET high byte Error code RET low byte Additional error code b The SFC SFB number and the RET VAL value gives the origin of the error code that is generated by the CM CANopen function blocks if the error originates from outside the module Please consult the configuration tool manual for further information CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Doc Wd HMS1 216 117
61. iae 7 Status PED E 8 Maximum Cable Lens iii senten HIR bit eb Ote tlt eise ee 8 Line Ft atin ess saputo neo o 9 Chapter 5 Configuration EE 10 SIMATIC S 771200 PIG Configuration ies 10 EAN open Network Gonfiputation init ica dai dla 12 Configuration ls iaa 12 Configuration Example id ns 12 Chapter 6 CANopen Module Specification NMT State Mach a a oros 19 Dap A O a Ka aaa na 21 IDOL ty 21 Partor Control xus E ed 23 Heartbeat Meihani cra 23 NAE AA RON 24 Entry Obed ELM CY EE 24 EE EIE AAA ETEEN DAA ERSA DRE SIR NAT NOAA 25 Table of Contents Chapter 7 Supported Objects Static Matar Dypesu nA NBA BANGA KA EL Le 26 Communication Profile Arta pe eee ettet ee EELER 26 CLA 301 Communication Profile Objects eee eene tenete tenete tenentes 26 Gonfaptiration Nana EE RE eth ret E he ideo hugs 29 EE 30 Manutactuter Specific Object irlanda ute dne ect taie e id iis 36 I O Buffer Addresses and Object Dictionary Indices Relation ENEE 41 Chapter 8 Interface Functions CANopen Interface Functions utem ed e er ERR An 43 Ger Promis Data Im tentes teste D ADU AA se Tastes n ea Eds 43 Sek Proces Data EEN 44 SIO cad Were cdi dz ui ee Medus 45 EE 46 Transparent CAN Interface Puncgons eee eene tete tenente nn 48 CAINS IND M 48 GEM M a m 49 CAN ETRIJ 2223 50 EE 52 Appendix A Technical Specification Mechanical Properties jis ect n DEENE
62. in the local object dictionary Guarding is activated by an SDO write access with the value 1 to object 1F83h subindex 5 in the local object dictionary Device Type Identification 1F84h Each node on the CANopen network is checked against its expected device type The subindex indicates which node is checked subindex Description 0 Largest subindex supported 127 i with i 1 127 Compares expected device type entered into this object with actual device type object 1000h subindex 0 for the slave with Node ID i If the expected device type is 0 this only gives information about the existence of a node not which device type it is If the value is not 0 it is compared to the value read from the node and boot up is continued if they match Vendor Identification 1F85h Each node on the CANopen network is checked against its expected vendor The subindex indicates which node is checked The node in question is only checked if data is other than zero subindex Description 0 Largest subindex supported 127 i with i 1 127 Compares expected vendor entered into this object with actual vendor object 1018h subindex 1 for the slave with Node ID i Boot up of slave is continued only if they match If not the slave is not put in Operational CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 Supported Objects 35 Product Code 1F86h Each node on the CANopen network
63. ing patent applications in the US and other countries Trademark Acknowledgements Anybus is a registered trademark of HMS Industrial Networks AB SIMATICG S7 1200 and TIA are registered trademarks of Siemens AG All other trademarks are the property of their respective holders Warning This is a class A product in a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures ESD Note This product contains ESD Electrostatic Discharge sensitive parts that may be damaged if ESD control procedures are not followed Static control precautions are required when handling the prod uct Failure to observe this may cause damage to the product CM CANopen Module for SIMATIC S7 1200 User Manual Rev 1 00 Copyright HMS Industrial Networks AB Sep 2013 Doc Id HMSI 216 117 Table of Contents Table of Contents Preface About This Document How To Use This Document een pn cett p gie o lee b e UP e e dE 1 Related IDO CUM a naka ee eh 1 Document EE 1 Conventions dermis ea i nsa ate e ete ascen genita 2 Glossaty Support Chapter 1 Product Overview Tin tO A SNA 3 Beatuteszsusaonaisd aeq band dean aye a eitis e RO RO d ease EOD De CES 4 Chapter 2 CANopen Fieldbus Functionality Supported Fieldbus Services iii cs D Diei aene deret t itd apa 5 Chapter 3 Transparent CAN Mode Chapter 4 Installation Moun ne dee ise Le AA e et it ee hee fett e
64. ion using an Ethernet connec ton CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc Wd HMS1 216 117 Configuration 12 5 3 CANopen Network Configuration An external CANopen configuration tool is used to configure the nodes on the CANopen netwotk The resulting Concise DCF files are downloaded to the CANopen manager using a USB connection be tween the PC and the CM CANopen module At the next startup the CANopen manager will configure the network if this function was set in the configuration tool during initial configuration The CM CANopen Module for SIMATIC 87 1200 can be configured either as a manager or as a slave on the CANopen netwotk The configuration is decided by the PLC by the Parameterization values 5 4 Configuration Files The Electronic Data Sheet EDS file for the CM CANopen Module for SIMATIC 87 1200 will be au tomatically installed with the CANopen configuration tool This file is necessary to perform the config uration of the module on the CANopen network Updated versions will be available at www hms netwotks com can for S7 1200 The necessary information for configuring the module with the SIMATIC 57 1200 PLC can be included in TIA portal by installing the HSP file 5 5 Configuration Example This section gives an example of a TIA Portal configuration of the CM CANopen module from HMS Industrial Networks in combination with the 57 1200 PLC from Siemens In this example a CPU of type 1214C is
65. le the frames that are sent or received and CAN CTRL controls the state and the settings of the CAN layer The transparent mode is turned on by choosing Transparent CAN as operating mode during configuration in TIA Portal Get Diagnostic Information is used to read diagnostic information from the CM CANopen module to the PLC 8 2 1 CAN SEND Input Parameters Name Datatype Description REQ Bool Starts the block Has to be set to TRUE for one scan cycle Transmissions will occur until REQ is set to false ID Word Logical address of the CM CANopen module RTR Bool RTR bit of the CAN frame to send COBID Word CAN ID on the CAN net DB Dint Data to be sent on the CAN net DATASIZE Uint Size of the data to be sent on the CAN net ABORT Bool Aborts the current transmission when set to TRUE Output Parameters Name Datatype Description BUSY Bool If the function block needs more than one scan cycle to send the frame this output is set to TRUE It stays TRUE until the function block is done when it is cleared to FALSE RET Uint Error code see Error Codes RET on page 59 Valid once the BUSY signal turns FALSE until the next time the function block is started i e when REQ is set to TRUE Description When REQ turns TRUE a CAN frame is sent according to the parameters defined by the user When the frame has been transferred to the module BUSY will go FALSE and a new frame c
66. ndex 17 24 Input data buffer bytes 16 23 4 480h Node ID Object index A040h subindex 25 32 Input data buffer bytes 24 31 5 80000000h Object index A040h subindex 33 40 Input data buffer bytes 32 39 Disabled 16 Object index A040h subindex 121 Input data buffer bytes 120 127 128 31 Object index A040h subindex 241 Input data buffer bytes 240 247 248 32 Object index A040h subindex 241 Input data buffer bytes 248 255 248 Object index A041h subindex 1 2 33 No default mapping 64 No default mapping CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Doc Wd HMS1 216 117 CANopen Module Specification 23 RPDO Transmission Types RPDOs can be received either in synchronous or asynchronous mode A synchronization SYNC ob ject is transmitted periodically by a synchronization producer located either in the CM CANopen Mod ule for SIMATIC 57 1200 or in another node on the CANopen network The data in synchronous RPDOs are not transferred to the SIMATIC 587 1200 PLC until after the next SYNC object is received Asynchronous RPDOs will be transferred to the SIMATIC S7 1200 PLC at reception The transmission type parameter of a RPDO specifies the triggering mode Roe R EDU Mode RPDO transmission description 0 240 Synchronous A received RPDO is transferred to the SIMATIC 57 1200 PLC after a SYNC object is received 241 253 Reserved 254 255 Asyn
67. nse failed after 1000 tries 3100 3799 Internal read write error 38XX Too many frames XX No of frames 39XX CM message error XX Message error code see Message Error Codes on page 60 FF00 Error code missing a All error codes are given in hexadecimal format CAN SEND Error code Description 1013 Read response failed after 1000 tries 1098 Wrong COB ID 109A Wrong data size 3100 3799 Internal read write error 39XX CM message error XX Message error code see Message Error Codes on page 60 FF00 Error code missing a All error codes are given in hexadecimal format ReadSDO Error code Description 1013 Read response failed after 1000 tries 1022 Too much SDO data 104A Wrong slot number 3100 3799 Internal read write error 38XX SDO error XX SDO error code 39XX CM message error XX Message error code see Message Error Codes on page 60 FF00 Error code missing a All error codes are given in hexadecimal format CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMSI 216 117 Error Codes RET 60 WriteSDO Error code Description 1013 Read response failed after 1000 tries 104A Wrong slot number 3100 3799 Internal read write error 38XX SDO error XX SDO error code 39XX CM message error XX Message error code see Message Error Codes on page 60 FF00 Error code missing
68. ode guarding requests SSDOs and CSDOs asynchronous TPDOs and NMT commands via the low priority transmit queue 6 A receive queue overrun occurred Bit is reset after a read access T An overrun of the high priority transmit queue occurred Bit is reset after a read access The CM CANopen transmits synchronous TPDOs and the SYNC message via the high priority transmit queue Status CM CANopen 5000h subindex 04h The table below gives definitions of the CM CANopen configuration bits that can be read from subind ex 04h of the Status CM CANopen object Bits 0 3 correspond to bits O to 3 of object 1F80h BitNo Name Mode Description 0 NMT master Both 0 The CANopen device is not NMT master Ignore the entries of object 1F81 1 The CANopen device is the master 42 Start all Manager 0 The CANopen slave devices are started with the NMT service Start Remote nodes Node for each Node ID 1 The CANopen network is started with the NTM service Start Remote Node with Node ID 0 2a NMT master Both 0 The CANopen manager automatically enters NMT state Operational at startup start 1 The CANopen manager does not automatically enter NMT state Operational ga Start node Manager 0 The CANopen manager the NMT master will start the NMT slaves 1 The NMT slaves will be started by the application 4 Remote error Both This bit indicates who reacts to an error control event of a mandatory de
69. on see page 39 03h U8 RO CM CANopen communication status For more information see page 39 04h U16 RO CM CANopen configuration bits For more information see page 40 5001h ARRAY Assigned slaves bit list 00h U8 RO Largest subindex supported 01h U32 RO Node ID 1 32 Bit n represents Node ID n 1 02h U32 RO Node ID 33 64 Bit n represents Node ID n 33 03h U32 RO Node ID 65 96 Bit n represents Node ID n 65 04h U32 RO Node ID 97 127 Bit n represents Node ID n 97 Bit 31 is always 0 5002h ARRAY Configured slaves bit list 00h U8 RO Largest subindex supported 01h U32 RO Node ID 1 32 Bit n represents Node ID n 1 02h U32 RO Node ID 33 64 Bit n represents Node ID n 33 03h U32 RO Node ID 65 96 Bit n represents Node ID n 65 04h U32 RO Node ID 97 127 Bitn represents Node ID n 97 Bit 31 is always 0 5003h ARRAY Fault slaves bit list 00h U8 RO Largest subindex supported 01h U32 RO Node ID 1 32 Bit n represents Mode JD n 1 02h U32 RO Node ID 33 64 Bit n represents Node ID n 33 03h U32 RO Node ID 65 96 Bit n represents Node ID n 65 04h U32 RO Node ID 97 127 Bit n represents Node ID n 97 Bit 31 is always 0 5004h ARRAY Operational slaves bit list 00h U8 RO Largest subindex supported Oth U32 RO Node ID 1 32 Bit n represents Mode JD n 1 02h U32 RO Node ID 33 64 Bit n represents Node ID n 33 03h U32 RO Node ID 65 96 Bit n represents Node ID n 65 04h U32 RO Node ID 97 127 Bit n represents Node ID n 97 Bit 31 is always
70. or Control Different mechanisms exist to monitor the network Atan error event from any of these the active I O data is frozen as no new data will be available 6 3 1 Heartbeat Mechanism The Heartbeat Mechanism is used to monitor the nodes in the network and verify that the nodes are available A heartbeat producer periodically sends a message The data part of the frame contains a byte indicating the node status The heartbeat consumer reads these messages If a message fails to arrive within a certain time limit defined in the object directory of the devices object 1016h page 27 a heart beat event is triggered by the consumer The ERROR LED on the front of the CM CANopen Module for SIMATIC S7 1200 will indicate the event and a diagnostic error will be logged to the SIMATIC S7 CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Doc ld HMS1 216 117 CANopen Module Specification 24 1200 PLC If the module is configured as a slave it will react according to the settings in object 1029h If it is in OPERATIONAL state it will thus go to PRE OPERATIONAL state and wait for the user to take action If it is in manager mode it will take action according to the settings in the manager objects The CM CANopen Module for SIMATIC 87 1200 can act as both heartbeat consumer and as heartbeat producer 6 3 2 Node Guarding When using this mechanism NMT Master transmits guarding requests If an NMT Slave has not re sponded within a defined
71. or additional error information in the status field Doc ld HMS1 216 117 Interface Functions 53 Transparent CAN Status Field The transparent CAN status field consists of 16 bits where each bit represents a status code Multiple bits can be set at the same time to indicate multiple status codes Bitno Description BUS OFF ERROR PASSIVE BUFFER FULL BUFFER HALF FULL BUFFER LIMIT REACHED RECEIVE MESSAGE LOST TRANSMIT QUEUE HALF FULL TRANSMIT QUEUE WARNING LIMIT 15 reserved set to 0 EIN S Aa A VIN gt gt The status code 0000h indicates SUCCESS while e g 0024h indicates RECEIVE MESSAGE LOST and BUFFER FULL CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 Appendix A A Technical Specification A 1 Mechanical Properties Housing Plastic housing plug in module protection class IP20 Dimensions Width 30 mm 1 187 Weight 120 g 0 26 Ib A 2 Environmental Characteristics Relative Humidity Operating 15 to 95 non condensing Non operating 5 to 95 non condensing Temperature Operating 0 C to 60 C 32 F to 140 F Non operating 40 C to 70 C 40 F to 158 F CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc Id HMSI 216 117 Technical Specification 55 A 3 Regulatory Compliance CANopen Conformance CiA 301 rev 4 2 CAN Standard Supports CAN 2 0A EMC Compliance This product i
72. ord number Should be set to 0099h MLEN Byte Usint Usint Length in bytes of the data to be read The value should cor respond to the length of the data area in RECORD RECORD Variant Destination area for the read data see table below for con tents The user has to ensure that the data area is able to hold all data as defined in the parameterization Output Parameters Name Data type Description BUSY Bool The reading process is not yet complete if this parameter is set to TRUE VALID Bool If set to TRUE new data record was received and is valid ERROR Bool If TRUE an error occurred during the reading process STATUS Dword Block status or error information see Message Error Codes on page 60 LEN Uint Length of the data that is read Description If a diagnostic message related to the CANopen network status is active information on the cause of the message can be read by using the RDREC function block to issue a request to record number 0099h You will receive the information in the parameter RECORD in the response Contents of Parameter RECORD The parameter RECORD holds all diagnostic information as described in the table below Offset Data type Description Definition 0 Uint8 Message error See Message Error Codes on page 60 1 Uint8 Error flags module Bit Definition 0 Bus Off 1 Configuration download error 2 Parameterization error 3 NV
73. parameters that have to be defined can be found in the CANopen Interface tab Parameter Description Values Default value Node number Node ID on the CANopen network 1 127 1 Allowed values are 1 127 Operating mode The operating mode of the module can be changed at am Transparent CAN CANopen Man time using this parameter CANopen Manager ager CANopen Slave Baudrate This parameter defines the baud rate on the CAN network 20 kbit s 500 kbit s 50 kbit s 125 kbit s 250 kbit s 500 kbit s 800 kbit s 1000 kbit s CANopen input This parameter defines the CANopen input data size The 1 256 32 data size direction is defined from the CANopen network point of view that is input is input to the module from the CANopen net work Possible values are 1 256 bytes CANopen output This parameter defines the CANopen output data size The 1 256 32 data size direction is defined from the CANopen network point of view that is output is output to the CANopen network from the module Possible values are 1 256 bytes CANopen Man Auto configuration scans the network for devices at startup Disabled Disabled ager auto config and tries to start them Default PDO mapping is used Auto Enabled uration configuration is enabled by checking a box in the configura tor a Only valid in CANopen mode b Only valid in CANopen manager mode The parameterization is downloaded to the PLC with the HW configurat
74. pter 3 3 Transparent CAN Mode The CM CANopen Module for SIMATIC 7 1200 integrates Transparent CAN 2 0A 11 bit identifiers With this protocol the module allows transmission of any CAN frame from the PLC regardless of the overlaying CAN protocol and is capable of receiving a number of predefined CAN frames from the CAN netwotk No other functionality is available CAN 2 0A is the underlying protocol of CANopen directly working on the bus During configuration in TIA Portal Transparent CAN can be selected in the Options menu When this configuration is down loaded to the module the CANopen functionality is not possible to use If CANopen functionality is to be reactivated a new configuration from TIA Portal will have to be downloaded It is not possible to change between CAN and CANopen at runtime Each CAN frame is tagged with an identifier Only received frames with an identifier specified by the function block CAN CTRL will be forwarded to the PLC The data in the frame is then available for the user to interpret When sending a frame the user specifies the data and adds a valid identifier before sending it to the module To facilitate the use of Transparent CAN separate PLC function blocks are available They are de scribed in Transparent CAN Function Blocks on page 47 The blocks give the designer of the PLC program the possibility to integrate Transparent CAN functionality sending receiving configuration into the PLC p
75. ration downloaded from TIA Portal to the PLC CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc Id HMSI 216 117 CANopen Module Specification 20 The module can not enter the state STOPPED when transitions are initiated from the PLC If the module is configured as a slave its behavior is controlled by a CANopen manager on the network by the use of NMT telegrams If the connection to the manager is lost though the module sends an emergency code FFA0h and enters PRE OPERATIONAL state Transition no Description 1 The initialization state is entered automatically at power on 2 Initialization finished The pre operational state is entered automatically 3 Reset node or reset communication New parameters have been received and a new initial ization is required 4 If configured to do so the controlling manager changes to Run mode If the node is a CAN open manager this transition is controlled by the PLC If it is a slave the transition is control led by the CANopen manager using the command Start remote node 5 Return to pre operational state If the controlling manager is a PLC this transition is initiated from the PLC 6 Stop 7 Return to pre operational state 8 Start 9 Stop 10 Reset node or reset communication 11 Reset node or reset communication New parameters have been received and a new initial ization is required Note At a STOP from the PLC the dat
76. ress subindex should be restored during startup or not If the entry value is 0 the no restore command should be sent to the device CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMS1 216 117 NMT Start up 1F80h Supported Objects 31 This object configures the startup behavior of the device and how it will manage the slaves If the mod ule is set up as an NMT master in TIA Portal hardware configuration the module will enable the master functionality by forcing bit 0 and bit 2 in this object to TRUE If there is an attempt to set bit 0 and bit 2 to different values from the CANopen bus an error response is received Bit No Value Description Notes 0 0 NMT master functionality is disabled Ignore the rest of the object except bit 1 and 3 Ignore the entries of object 1F81h 1 NMT master functionality is enabled The device is master 1 0 Start only explicitly assigned slaves if bit 3 0 1 After boot up perform the service NMT Start Remote Node All Nodes if bit 3 0 2 0 Automatically enter Operational state Not supported 1 Do not enter Operational state automatically The SIMATIC 7 1200 PLC will decide when to enter Operational state 3 0 The NMT master shall start the slaves 1 The NMT master is not allowed to send NMT Start Remote Node command The application will start the slaves 4 0 If a mandatory slave generates an Error Control Event treat If
77. rogram thereby making it possible to implement customer specific CAN protocols Note The receive buffer can hold up to 256 unread received messages 1 The function blocks can be downloaded from www hms networks com can for S7 1200 CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc Id HMSI 216 117 Chapter 4 4 Installation The mounting and configuration of the CM CANopen Module for SIMATIC S7 1200 is done following these steps 1 Mounting 2 Configuring the SIMATIC 7 1200 PLC to use the module See SIMATIC S7 1200 PLC Con figuration on page 10 3 Setting the parameters of the module See SIMATIC 87 1200 PLC Configuration on page 10 4 Ifina CANopen operation mode configuring the CANopen network including the module See CANopen Network Configuration on page 12 The following items are needed to perform the installation TIA Portal V11 SP2 or later HSP configuration file for the module CM CANopen Configuration Studio Function blocks optional 4 1 Mounting The CM CANopen Module for SIMATIC 57 1200 is designed to be connected di rectly to a SIMATIC 87 1200 PLC CANopen connection is provided via a DSUB contact No Name Description 2 L CAN L low level in CANopen communication 3 6 GND Ground provides connections to the CANopen network ground male 5 SHLD Shield provides connection to the CANopen network shield 7 H CAN H high level in CANopen
78. s i CM CANopen 5 General MA 0216208 ES General H t Ethernet addres SE Advanced EDEN v Information Time synchroniza Device Subnet Not networked Add new subnet H IP protocol H Set IP address in the project IF address 10 10 13 eebe Subnetmask 255 ersio Y C use iP ron Version Router addre Description E Details view M gt 7 Set IP address using a different method e D gt E Overview da Pci CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 Configuration 16 7 Double click on the connector of the CM CANopen module and choose the module parameter tab Enter the values in the parameter list Please note that these parameters are valid for the module on the CANopen network In this example the CM CANopen module for S7 1200 is configured as a CANopen manager The node number on the CANopen network is 1 The CANopen baud rate is set to 500 kbit s and both the input data size and the output data size are set to 32 bytes TA Siemens TestProjectDeleteLater Project Edit View Insert Online GF 918 save project A M F Options Tools Window Devices Totally Integrated Automation PORTAL Topology view a Network view 400 wo TestProjectDeleteLater lif Add new device sh Devices amp networks ig PLC 3 CPU 1214C ACIDORIY gj Common data 8 Documentation settings i Languages amp resources figi Onlin
79. s in accordance with the EMC directive 2004 108 EC through conformance with the following standards SS EN 55016 2 3 2007 Class A e SS EN 61131 2 2007 Clause 8 UL c UL compliance The certification has been documented by UL in file E214107 Galvanic isolation on sub network interface e SS EN 61131 2 2007 Pollution Degree 2 Material Group IIIb 250 Vs or 250 VDC Working voltage 500 V Secondary circuit transient rating CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 Appendix B B Status LED Timing Diagrams The LEDs on the front of the module change their behavior according to the status of the module This appendix gives the timing diagrams for the different indications described in Status LEDs on page 8 On Flickering LED Off Blinking LED A AA AA a Single flash LED off E ____ L 4 On Double flash LED Off OD o pex nane mme eee Triple flash LED 1000 ms of ll L CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc Id HMSI 216 117 Appendix C C CANopen Emergency Codes Below is a list of the CANopen emergency codes that can be produced by the CM CANopen Module for SIMATIC S7 1200 The five latest emergencies reported by the module can be read from the list in object 1003h see page 26
80. t to 256 which means that the status bit will be set when the last place in the buffer is used The user can change the buffer limit to any value between 1 and 256 FCN 3 Empties the receive buffer CAN RCV still holds the old frame that hasn t been acknowledged NEW is cleared by holding ACK high for on scan cycle FCN 5 Resets the CAN controller Clears Bus Off condition if present 1 If a Bus Off condition is generated the CAN Controller has to be reset before communication can be resumed CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Doc HMSI 216 117 8 2 4 Get Diagnostic Information Input Parameters Interface Functions 52 Name Data type Description REQ Bool Starts the function Has to be set to TRUE for one scan cycle ID HW IO Logical address of the CANopen module INDEX Byte Dint Int Sint Uint Usint Word Data record number Should be set to 0092h MLEN Byte Usint Usint Length in bytes of the data to be read The value should cor respond to the length of the data area in RECORD Output Parameters Name Data type Description BUSY Bool The reading process is not yet complete if this parameter is set to TRUE VALID Bool If set to TRUE new data record was received and is valid ERROR Bool If TRUE an error occurred during the reading process STATUS Dword Block status or error information see Message Error Codes on page 60 LEN Uint Length of the
81. twork configuration CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc ld HMSI 216 117 8 1 2 Set Process Data Out Input Parameters Interface Functions 44 Name Data type Description REQ Bool Starts the function Has to be set to TRUE for one scan cycle ID HW IO Hardware address of the CANopen module Can be read in TIA Portal INDEX Byte Dint Int Sint Uint Usint Word Data record number Should be set to 0091h LEN Byte Usint Usint Length in bytes of the data to be written RECORD variant Source area for the data to be written Output Parameters Name Data type Description BUSY Bool The writing process is not yet complete if this parameter is set to TRUE DONE Bool If set to TRUE data was transferred to the module ERROR jBool If TRUE an error occurred during the writing process STATUS Dword Block status or error information eterization The user has to ensure that the data area is able to hold all data as defined in the param a For information see the TIA Information System in TIA Portal Description To write the process data to the CANopen network from the 7 1200 CPU use the WRREC function block and issue an request to record number 0091h All data will be written as process data on the CAN open network The position of the data depends on the CANopen network configuration CM CANopen Module for SIMATIC 87 1200 Doc Rev 1 00 Do
82. used but the example can be applied to all other PLC types as well To run this example the HSP file that can be downloaded from www hms networks com can for S7 1200 must have been in stalled 1 Za Please visit www hms networks com can for S7 1200 or contact HMS support for further information see Support on page 2 Available for download at www hms networks com can for S7 1200 CM CANopen Module for SIMATIC S7 1200 Doc Rev 1 00 Doc HMSI 216 117 Configuration 13 1 Open the TIA Portal program and start a new project by clicking Create new project on the left side of the screen TA Siemens MEE Totally Integrated Automation Open existing project Open existing project Recently used Project Path Last change Create new ject CM CANopen WoduriusersimimWorkingiConfiguration Files TIA Portal CM CANopen 10 26 2012 ments and SettingsimimiMy Docume mationiDem 2 NCM CANopen ProdTest Migrate project ChCANope ortaliCM CANopen 12 TIA PortaliCh CANopen EMC pen EMC n ProdTest Test HSP Walcame Tour CM CAHopen v3 profinet WORKING Browse open Installed softv Help User interface language 2 Enter a name for the project and the path to where the project should be stored optionally with information like author and descriptive comments Press Create TA Siemens MEE Totally Integrated Automation Create new project A Project name Test
83. vice It is handling always 0 if the CM CANopen module is in slave mode 0 The application handles remote guarding or heartbeat error 1 The CANopen manager handles remote errors how is configured i object 1F80h see NMT Start up 1F80h on page 31 5 reserved Always 0 6 Synchroniza Both 0 The value of object 1006h Communication Cycle Period is 0 tion bit 1 The value of object 1006h is unequal to 0 7b SYNC con Both 0 The CANopen manager is configured as SYNC consumer sumer pro 1 The CANopen manager is configured as SYNC producer ducer bit 8 9 reserved Time object not supported Always 0 10 Node guard Slave 0 Life guarding is configured ing stopped 1 Life guarding is not configured and not active 11 Heartbeat Slave 0 The CANopen device the module in slave mode does not transmit heartbeat configured messages 1 The CANopen device transmits heartbeat messages Life guarding is not active 12 Node guard Slave 0 Life guarding is not configured ing config 1 Life guarding is configured no guarding request has been received from the ured NMT master 13 Node guard Slave 0 Life guarding is not configured ing active 1 Life guarding is configured and active 440 Life guarding Slave 0 Guarding request received within node lifetime status 1 Life guarding error 15 reserved Ais 0 a Bits 1 3 describe the startup behavior of the CANopen manager during the NMT startup procedure b The

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