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User Manual, Anybus Communicator for CANopen

1. 1 Both function blocks use RD REC and WR REC for the data transfer 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 CANopen Function Blocks 46 8 1 3 Description SDO Read Performs an SDO read on the node index and sub index that is defined in the parameters Returned data is saved in the area that DATA points to The block will continue to read the SDO even when the data area is filled until the ET200S System Rack indicates that the complete SDO is read Only the pre defined amount of data will be saved given as size in input parameter DATA SIZE holds the complete SDO size If the size given in the parameter DATA is too small RET will return error 2200h SDO Write Performs an SDO write on the node index and sub index that is defined in the parameters Data written is fetched from the area pointed to by DATA The amount of data written is given as size in input pa rameter DATA 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 CANopen Function Blocks 47 8 2 Fragmentation Handling 8 2 1 General There is an upper limit on how much I O data can be distributed in one data block Depending on ET200S IO System rack see Siemens Interface Modules Compatibility on page 58 the block size will be either 32 16 8 or 4 bytes If the data message is larger the data can be fragmented and sent in several packages Fragmentation is enabled by setting the parameter Process Data Mode
2. ET 2008 ET 2000 2 ET 200eco E ET 2006 3 ET 2005P GET 200 ET 200M GET 200pro GET 2008 ET 2005 Compact 1601 1600 ET 2005 Compact 3201 IM151 1 Basic IM151 1 FO Standard IM151 1 FO St IM151 1 FO Standard IMISI4 HF IM151 4 HF CPU 315 2 PN DP 657 315 2EG10 0ABO IMISIA HF 2703 IM151 1 Standard PID IM151 1 Standard A IM151 1 Standard 14 Select node address for the rack on the Profibus network Properties PROFIBUS interface 1M151 1 Standard not networked Delete ind Profle Standard 3 eE PAS a DP PA Link 3 ENCODER E ET 2008 1 E ET 200 Y E ET 200eco ET 2005 Y 3 ET 2005P Y G ET 200L Y ET 200M G ET 200pro Y G ET 2008 ET 2005 ET 2005 Compact 1601 1600 ET 2005 Compact 32D 1M151 1 Basic 1M151 1 FO Standard 1M151 1 FO Standard 1M151 1 FO Standard 1M151 1 HF 1M151 1 HF 1M151 1 HF 1M151 1 Standard 1M151 1 Standard 1M151 1 Standard 1M151 1 Standard IMI51 1 Standard Ga AD CP E DI CI Do sM Frequency converter E IO Link master modules IQ SENSE 4 Motor starter __PROFIBUS I DP master system 1 gt lt gt mm m asta Standard Pack Addresses DELLLLLLLLLLL PME DC24 48V AC24 230v PME DC24 4BV AC24 230v PME DC24 48V AC24 230v PME DC24V d PME pran Special modules 1M151 7 CPU
3. Configure each node with the necessary parameters nap Check that there is no conflict between the parameters downloaded from the CANopen config uration tool and the parameters set up with SIMATIC STEP7 6 Download the configuration to the CANopen network as Concise DCF files to the master or store the configuration locally in each module s non volatile memory Please consult the user manual for the configuration tool for details and or contact HMS support see Support on page 4 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Chapter 6 6 CANopen Module Specification 6 1 NMT State Machine The function of the 1 SI CANopen Module for ET200S can be described as a state machine with four states Power on 11 Pre operational Stopped 8 J Operational lt 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 If 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
4. during configuration see ET2008 Distributed I O System Configuration on page 13 The function block described below will handle the fragmentation This block can be downloaded from www et200can com Note When data is sent fragmented the fragmentation function block needs to be called cyclically from the user code if the module is to work properly 8 2 2 Parameters Input Parameters Name sail Description IN Any Address and size of the area in the PLC containing input I O data that is data read to the module from the CANopen network The Any pointer must indicate the data in byte format OUT Any Address and size of the area in the PLC containing output I O data that is data writ ten from the module to the CANopen network The Any pointer must indicate the data in byte format LADDR_IN Word Logical address to the module defining where the module input starts LADDR_OUT Word Logical address to the module defining where the module output starts BPSIZE Word Back plane size of selected module allowed values are 4 8 16 and 32 RESET Bool IFRESET TRUE the function block updates all outputs to and all inputs from the 1 SI CANopen module All I O in the OUT array is then sent to the PLC Output Parameter Data type A Name STEP Description RET Int Error code see Error Codes RET on page 61 Holds result from latest execution of block New data is available after every time the
5. 20 40111201 E mail in support et200can com Support All Other Countries Tel 46 35 17 29 20 E mail support et200can com P 8 All Other Issues E mail info et200can com or visit http www et200can com 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Chapter 1 1 Product Overview 1 1 Introduction The 1 SI CANopen Module for ET200S is a plug in IP20 compliant communication module designed to be used as an accessory to an ET200S Distributed I O System It provides the user with the possi bility to connect a CANopen network to an ET200S Distributed I O System The figure below shows an example where the ET2008 Distributed I O System Rack is configured from a PROFIBUS PROFINET PLC to act as a slave on a PROFIBUS or PROFINET network PLC 1 SI CANopen PROFIBUS PROFINET Slave devices on the CANopen network Some versions of the ET200S Distributed I O System have an internal CPU and can also be used as a standalone system in which case this internal CPU can be used to configure the unit and the modules attached to it The 1 SI CANopen Module for ET200S can be configured either as a CANopen master or as a slave depending on the application The network and the module are configured using external configuration tools SIMATIC Step 7 and a CANopen network configuration tool See Configuration on page 12 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Product Overview 6
6. 8130h is also transmitted on the CANopen fieldbus If the module is configured as a slave and is in OPERATIONAL state it will go to PRE OPERATIONAL state and wait for the user to take action If it is in master mode it will take action according to the settings in the master objects Thel SI CANopen Module for ET200S can act as both heartbeat consumer an as heartbeat producer 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 CANopen Module Specification 30 6 4 2 Node Guarding When using this mechanism NMT Master transmits guarding requests If an NMT Slave has not re sponded within a defined 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 1 SI CAN open Module for ET200S being the master the PROFIBUS PROFINET master will be informed about the disappearance of the slave on the CANopen network through the PROFIBUS PROFINET channel diagnostics 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 1 SI CANopen Module for ET200S will indicate the event and a communication error will be logged on the PROFI
7. Appendix C Siemens Interface Modules Compatibility Appendix D ET200S Terminal Modules Appendix E CANopen Emergency Codes Appendix F Error Codes RET 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 1 SI CANopen Module for ET200S 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 Draft Standard 301 v4 2 CAN in Automation CiA Draft Standard Proposal 302 Part 1 5 CAN in Automation SIMATIC STEP7 manual Siemens CiA Draft Standard 305 CAN in Automation SIMATIC Isochrone Mode Function Manual doc id A5E00223279 02 Siemens Please visit the support pages at the 1 SI CANopen website at www et200can com for more documents P 3 Document History Summary of Recent Changes 1 31 1 32 Change Page s Updated sales and support information 3 4 References to application notes added 45 50 Updated emergency code 6161h table 60 Updated Slave Assignment object 1F81h 38 Corrected object 1016h in object dictionary list 33 Changed wording in Boot Time object 41 Update
8. Period 1007h Synchronous 00h Synchronous Window Length U32 RW Only available if SYNC support Window Length is enabled 1008h Manufacturer 00h The name of the CANopen Visible RO 1 SI 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 0000h default factor to decide the node life time in ms 100Dh Life time factor 00h If the node has not been U8 RW 00h default guarded within its lifetime Life time factor Guard time an error event is logged and a remote node error is indicated 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Supported Objects 33 Index Object Name Sub Index Description Type Access Notes 1010h Store Parame 00h Largest sub index 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 00h Largest sub index supported U8 RO Oth Parameters 01h Restore all default parameters U32 RW To restore the default values of a configuration write load 6C 6F 61 64h to this object 101
9. action from the user 1 Please refer to the SIMATIC Isochrone Mode Function Manual for information This manual is available from http support auto mation siemens com 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Chapter 5 5 Configuration 5 1 General Configuration of the ET200S Distributed I O System rack to include the 1 SI CANopen Module for ET200S can be done in different ways depending on the application 1 The rack can be part of a PROFIBUS PROFINET network In this case the module can be con figured through the PROFIBUS PROFINET master PLC to be included in the PROFIBUS PROFINET network 2 If the ET200S Distributed I O System includes an internal CPU this can be used in combina tion with the PLC to configure the 1 SI CANopen Module for ET200S 3 When the ET200S Distributed I O System includes an internal CPU it can also be used as a standalone rack The module is configured by downloading the configuration to this CPU instead of to the PLC The CANopen network and the behavior of the module on this network have to be configured using an external CANopen configuration tool on the PC and the configuration is downloaded to the CAN open network through a CANopen adapter PLC 1SI CANopen PC with configuration tools PROFIBUS PROFINET Slave devices on the CANopen network CANopen adapter Y ww BD The size of the data block transferred fro
10. through software update so that it is not possible for the soft ware to correctly evaluate the memory If this error appears the user should delete the current configura tion perform a new CANopen configuration down load to the module and then restart the module 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 7 Supported Objects Chapter 7 The following sections describe the CANopen objects according to DS301 and DS302 implemented within the module and described in the EDS file 7 1 Static Data Types According to DS302 7 2 Communication Profile Area 7 2 1 DS301 Communication Profile Objects The table below shows the objects according to CANopen specification DS301 rev 4 2 Index ObjectName Sub Index Description Type 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 1003h Pre defined 00h Number of errors Writing a 0 U8 RW See CANopen Emergency error field to this sub index clears the Codes on page 60 for emer error list gency error codes Oth 10h List of errors Most recent U32 RO error at top of list 1005h COB ID Sync 00h ID of the sync message U32 RW 1006h Communica 00h Communication cycle period U32 RW Only available if SYNC support tion Cycle is enabled
11. 1M151 7 CPU 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Configuration 20 16 Click on the ET200S module in the list to the right to open the directory of possible modules Locate the 1 SI CANopen modules under special modules Click to add this at the appropriate place in the list of modules in the ET200S Distributed I O System rack oo xo EHE Fl Frequency converter D Link master modules Q SENSE tor starter U zo PME DC24 48 PME DC24 48V AC24 230V PM E DC24 48V AC24 230 PME DC24 48V AC24 230V PM E DC24V PME DC24V E Special modules A 1 51 CANopen 16 Byte 1 1 CANopen 32 Byte 4 151 CANopen 4 Byte FI SI CANopen 8 Byte 4POTDIS DC24V AC 230 M PI L F F F F F 17 Right click on the 1 SI CAN open Module for ET200S in the list and open the Object Proper Properties 1 SI CANopen 8 Byte R S2 General Addresses Identification Parameters ties window Alternatively dou Short Description 1 SI CANopen 8 Byte ble click on the ET200S module Communication module with a CANopen master or slave interface with 8 te 1 0 interface and up to 1024 bytes of data to open the Object Properties window Order No fimware 0205708 V1 0 18 Enter name and comment for Name the module under the General tag 19 Choose the Addresses tag to set the I O data address offset in the PLC Make sure
12. CAN open Module The transparent mode is turned on by sending a CAN Control message with FCN 0 Application notes describing how to use the function blocks are available for download at www et200can com support html 9 2 CAN Send 9 2 1 Parameters Input Parameters Name pida Description REQ Bool Starts the block Has to be set to TRUE for at least one scan cycle Transmissions will occur until REQ is set to false LADDR_IN Word Logical address of the input area of the CANopen master module LADDR OUT Word Logical address of the output area of the CANopen master module BPSIZE Byte Size of the backplane valid values are 16 and 32 RTR Bool RTR on the CAN net COBID Word COB ID on the CAN net DATA Any Data to be sent on the CAN net CANSIZE Byte Size of the data to be sent on the CAN net ABORT Bool Aborts the current transmission when set to TRUE Output Parameters Name peda 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 Int Error code see Error Codes RET on page 61 Valid once the BUSY signal turns FALSE until the next time the function block is started i e when REQ is set to TRUE 9 2 2 Description When REQ turns TRUE a CAN frame is sent according to the parameters defined by the user When the fram
13. Compliance This product is 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 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 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 10 On Flickering LED Off Blinking LED On HT gm risit Single flash LED Of MM M8 88 88 8o On Double flash LED Off EI 2 cep pA e E AT Triple flash LED 1000 ms OOF E GC SS PS a ae ann hn ne Re Re mus Quadruple flash LED 1000 ms a nna M S gt gt When LSS services are in progress both the ERR LED red and the RUN LED green are flickering 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Appendix C C Siemens Interface Modules Compatibility Below is a list of Siemens Interface Modules that support the 1 SI CANopen Module for ET200S Max
14. IJ Module Order number CPU 315 2 PN DP 6ES7 315 2EG10 0AB0 WADE FNIT Properties MPI DP RO S2 1 General Addresses Operating Mode Configuration Clock Short Description MPU DP uevor 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 9 Set the Master node address to 2 in the Properties dialogue Properties PROFIBUS interface MPI DP R0 S2 1 T a subnet is selected the next available address is suggested Configuration 18 10 Click new to open the properties window for the Profibus sub network Set a name for the Profi bus network Properties New subnet PROFIBUS General Network Settings pRoreuy Joos fos ka Ee 05 20 2010 10 37 55 AM 05 20 2010 10 37 55 AM 12 Press OK when prompted three times to return to the main configuration window 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Configuration 19 13 Drag and drop the correct type of ET200S Distributed I O System to the network guration _PROFIBUS I DP master system 1 Bix m al Profile Standard ELI PROFIBUS DP 4 Additional Field Devices Qj CR Object 4 Closed Loop Controller Y Y Configured Stations DP VO slaves DPS 9 DP PA Link 4 ENCODER
15. Manager in these objects Index Object Name Sub Index Description Type Access 1F26h Expected 0 127 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 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 7 2 3 Network Management Objects Supported Objects 36 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 imple menting multiple applications Index Object Name Sub Index Description Type Access 1F80h NMT Start up Defining whether the device is the U32 RW NMT Master 1F81h Slave
16. NA e 2000h 23 2000h 54 2000h 44 ARAS 32900 24 J 7 7 2000h 25 2000h 26 os c 2000h 27 2000h 55 ee E E L 2000h 46 OO 2000 28 J 2000h 29 2000h 47 00h31 2000h 56 as ere a L 200048 J CN CN m a MEC i 201Fh 33 201Fh 47 Note The picture shows the Transmit data area but the Receive data area objects 2100 to 211F is structured in the same way 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Supported Objects 44 7 3 2 Swap Data to Big Endian 3000h PROFIBUS and PROFINET use big endian and CANopen uses little endian The data swapping object 3000h makes it possible to swap data to big endian in the 1 SI CANopen module Data is swapped according to mapping i e UINT16 data will be swapped over 2 bytes and UINT32 over 4 bytes The mapping is decided from objects 1600h 167Fh receive PDO mapping or 1A00h 1A7Fh transmit PDO mapping depending on direction of data 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Chapter 8 8 CANopen Function Blocks Application notes describing how to use the function blocks are available for download at www et200can com 8 1 SDO Read Write 8 1 1 General Reading uploading and writing downloading SDOs is performed by function blocks available for download from www et200can com Note These functio
17. 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 slaves nodes mandatory and optional to boot If not all slaves are ready after this time an EMCY object 8000h will be generated and the LSS routine will be started see LSS Services on page 29 If the assigned time is 0 the master will wait end lessly Value ms Description 0 Default No time limit for slaves to boot 20 Time limit for network to boot 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Supported Objects 42 7 3 Vendor Specific Objects One or several generic data object are connected to each PDO This is configured during the configu ration phase There are 128 Receive PDOs and 128 Transmit PDOs Index Sub Index Type Access Name and description Comment 2000h STRUCT Generic Transmit Object 201Fh 0 U8 RO Largest sub index supported 1 32 U8 RO Generic Byte Transmit Object 1 32 33 48 U16 RO Generic Word Transmit Object 1 16 Same data as sub index 1 32 49 56 U32 RO Generic Long Transmit Object 1 8 Same data as sub index 1 32 2100h STRUCT Generic Receive Object 211Fh 0 U8 RO Largest sub index supported 1 32 U8 RW Generic Byte Receive Object 1 32 33 48 U16 RW Generic Word Receive Object 1 16 Same data as sub index 1 3
18. PROFINET 10 fill SIMATIC 300 Ga c7 sa Ey cP 300 3 CPU 300 300 El Gateway IM 300 M7 EXTENSION 5300 gt 4 RACK 300 E SIMATIC 400 fil SIMATIC PC Based Control 300 400 f SIMATIC PC Station 1 STEP7 V5 4 SP5 or later 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Configuration 17 6 Choose PLC Add this to the configuration by dragging and dropping Manual 5 Ez 1052991830 doe HS Be a us Sio dd oda Dude martes 1 Furma M Laderess acess O address Coment gt Rnd 7 x PROFIBUS PA 3B PROFINET IO Em SIMATIC CO D FU NS2FNDP 7 Ges 31526100480 vis 8 SIMATIC AUG B SIMATIC PC Base Conival 300 400 gt SMATICPC Staion SERS 120 KO werk nero rs100 instructions PROFINET comecion 7 Conuricatr loadable PREFINET l0 Contoler PFDFINET gt 7 Select settings for the Ethernet interface that is used to download the configuration Properties IP address Subnet mask Ethernet interface PN IO R0 S2 2 if a subnet is selected the next available addresses are suggested 192 168 0 1 aa 255 255 255 0 Do not use router C Use router L HW Config SIMATIC 300 Station Configuration Manual WH Staton Edt Insert PLC Ven lions Window Hel T TEE TTE MO Bw lt Kal W UR
19. applications in the US and other countries Trademark Acknowledgements All 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 1 SI CANopen Module for ET200S User Manual Rev 1 32 Copyright HMS Industrial Networks AB Mar 2012 Doc Id SCM 1200 005 Table of Contents Table of Contents Preface About This Document How T Use This Docutment inen ete pe ta pcs 1 Related DOCUS s eedem e e e Dr Re 1 Document T ai HR IO ass RR PERO De teca tete res ret aida 1 Conventions amp Terminology pte ea d sd a t e ete ase cie ee e pan taeda 2 I i Sales Enquiries SUP POLE eer id 4 AW Other Issues eceiiauh inp PD pn tet 4 Chapter 1 Product Overview TO A e M 5 FHeatufes oa dee 6 Chapter 2 CANopen Fieldbus Functionality Supported Pield bus Services ts pran a e e eU Dd er nes e este deese tir Prada 7 Chapter 3 Transparent CAN Mode Chapter 4 Installation Mounting 9 Statds NISI daa
20. block has been executed 8 2 3 Description The parameters IN and OUT specify the two memory areas where input and output data are located The fragmentation block continuously checks the OUT area and if there are any changes Only changed data segments will be transferred 2 bytes of the actual backplane size is used for control of fragmenta tion the rest transfers data i e in a 4 byte module 2 bytes of data is transferred for every scan cycle of the PLC program New input data is saved in a buffer until the module signals that all data has arrived The buffer content is then transferred to the area specified by the IN parameter 1 The function blocks use the IO data area in the module for the data transfer 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 CANopen Function Blocks 48 8 3 Configuration Upload Download 8 3 1 General A 1 SI CANopen Module for ET200S can be removed and replaced with other hardware without the power being turned off To be able to restart accurately and fast the configuration can be uploaded to the PLC after configuration and downloaded to the new hardware once this is attached to the rack The upload and download of the configuration is performed by PLC function blocks available for download from www et200can com Note These functions are only supported in master mode 8 3 2 Configuration Upload Input Parameters Data type Name STEP Description REQ B
21. cable length m 20 2500 50 1000 125 500 250 250 500 100 800 50 1000 25 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Installation 11 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 This is often included in CANopen cables If the cable you are using is not terminated connect a line termination between contacts 1 and 5 CAN Land CAN H beneath the slot where the module is mounted The impedance of the termination should be 120 Q 5 1 4 W max 4 5 Implementation Notes 4 5 1 Isochrone mode In an isochronous network all nodes are synchronized to a system clock Well defined delays are applied to avoid jitter so that any event will happen in real time with a constant well defined time difference to other events Time intervals for input and output data will always be constant allowing for fast and safe transmission Isochrone mode is implemented in the ET200S Distributed I O System to enforce this behavior The 1 SI CANopen Module for ET200S supports isochrone mode The module cooperates in isochrone mode with the PROFIBUS PROFINET master and all other slave units on that network However the module does not forwatd the synchronization enforced in isochrone mode to the CANopen network it controls The 1 SI CANopen Module for ET200S attempts to activate isochrone mode by default without any
22. index indi cates which node is checked Sub Index Description 0 Largest sub index supported 127 i with i 1 127 Compares expected device type entered into this object with actual device type object 1000h sub index 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 sub index indicates which node is checked The node in question is only checked if data is other than zero Sub Index Description 0 Largest sub index supported 127 i with i 1 127 Compares expected vendor entered into this object with actual vendor object 1018h sub index 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 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Supported Objects 41 Product Code 1F86h Each node on the CANopen network is checked against its expected product code The sub index in dicates which node is checked The node in question is only checked if data is other than zero Sub Index Description 0 Largest sub index supported 127 i withi 1 127 Compares expec
23. information 05 20 2010 m Properties 1 SI CANopen 8 Byte R S2 General Addresses Identification Parameters Parameter Sl Parame H 2 Group diagnostics i E Node number HE Master Slave HE Baudrate E Process data mode HE CANopen input data size amp CANopen output data size 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Configuration 22 22 Download the configuration to the PLC onfig A 00 Statio onfiguratio lil Station Edit Insert ZKeM view Options Window Help 3 ET Upload Download Module Identification Upload Module Identification to PG The 1 SI CANopen Module for ET200S is now configured as a slave on the PROFIBUS PROFINET network and depending on the parameters as a slave or a master on the CANopen network 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Configuration 23 Configuration of the CANopen network The configuration of the CANopen network including the 1 SI CANopen Module for ET200S is done separately with a CANopen network configuration tool Important Before downloading the configuration to the CANopen network make sure that the STOP RUN switch on the PLC is set to STOP 1 Download the EDS file from www et200can com to your PC Open CANopen configuration tool Add nodes to CANopen network
24. master will retry the request RetryFactor 1 times with an interval of Guard Time Guarding will be performed only if non zero values are entered for Retry Factor and GuardTime See also e Node Guarding on page 30 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Request NMT 1F82h Supported Objects 39 Each node on the CANopen network can be controlled individually from the PROFIBUS PROFINET application by sending this object The sub index indicates what nodes the request affects Sub Index Description 0 Largest sub index 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 COMMUNICATION 127 Enter PRE OPERATIONAL NMT state PRE OPERATIONAL The entire network can be started with one command sub index 128 Examples Node 5 should be transferred to the OPERATIONAL state An SDO write access with the value 5 is executed to objec
25. mode the diagnostic Error will be removed as soon as the module has boot ed 1 See PROFIBUS PROFINET Channel Diagnostics on page 31 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 CANopen Module Specification 26 object 6161h is sent on the CANopen network If the module is in slave mode the diagnostic Error will be removed as soon as the module has boot ed For information about error control see Error Control on page 29 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 CANopen Module Specification 27 6 2 Data Exchange 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 con
26. processed 80C4 Repeatthe job If this error occurs frequently check your system for electrical disturbances 07 Distributed I Os not available 80C5 08 Data record transfer was stopped due to a priority class abort restart or 80C6 background 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Error Codes RET 62 S dede Description od RET VAL code error code number b 38 Error while communicating with the CANopen master The additional error code is equal to the error code from the CANopen master 00h No error Oth 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 sub index 0Ah Invalid data type OBh Value too high OCh Value too low 0Dh Bad device state OEh General error OFh Can not be stored 10h Can not be stored locally 11h OD file generation failed 3Ah Transparent CAN function block error 39 Acyclic error Additional error code equals error code from the CANopen master 00h No error Oth 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 OBh Wrong Backplane OCh Invalid functi
27. state SDO Service Data Object communication is allowed A configuration application or configuration from 1 SI CANopen Module for ET200S can configure PDOs Process Data Objects device parameters 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 an NMT object a hardware reset or Mod ule Control Services locally initiated by application events If the 1 SI CANopen Module for E T200S is configured as a CANopen master the transitions are initi ated from the PLC using the RUN STOP switch of the PLC If the switch is in position STOP at star tup the module will enter PRE OPERATIONAL state and if it is in position RUN at startup the 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 CANopen Module Specification 25 module will automatically enter OPERATIONAL state The module will however not enter OPERA TIONAL state until all data has been updated fro
28. the CANopen bus The behavior of the module is the same if the connection is lost with the PLC on PROFINET or PROFIBUS Transition to NMT state Operational To safely detect that the CANopen network is up and running the module will report diagnostics A parameterization error will be active until the module has received a telegram with the parameteriza tion information Then the diagnostic Error is active until the bootup routine is completed The fol lowing criteria will have to be fulfilled for the bootup routine to be completed All mandatory nodes have to be available on the network and configured without errors Ifheartbeat or node guarding is enabled all nodes in operational state have to run these services All data have to be updated once when fragmentation is used the fragmentation block will have to be running to complete the update If configuration using concise files is used and the configuration of mandatory nodes and de tected optional nodes does not succeed an ode guarding is enabled all nodes in operational state have to run these setvices Alldata have to be updated once when fragmentation is used the fragmentation block will have to be running to complete the update If configuration using concise files is used and the configuration of mandatory nodes and detected op tional nodes does not succeed an EMCY object 6161h is sent on the CANopen netwotk If the module is in slave
29. 1 2 Features Powerful CANopen module for SIMATIC ET200S Distributed I O Connects up to 126 CANopen slave nodes in master mode e CANopen slave functionality supported 3 LEDs provide diagnostic information on module network and I O status Module hot swap supported which allows replacement of expansion modules while the device is active on the network without removing power Isochrone mode supported The module can be integrated in the hardware catalogue of STEP7 e CANopen configuration via external tool Complies to the CANopen communication profile DS301 rev 4 2 and the CANopen DSP302 part 1 5 Transparent CAN supported 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Chapter 2 2 CANopen Fieldbus Functionality The functionality of the 1 SI CANopen Module for ET200S is defined by the CANopen DS301 Rev 4 2 specification and the CANopen DSP302 part 1 5 The module can be configured either as a Master or as a Slave on the CANopen network 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 1 SI CANopen Mod ule for ET200S NMT Network Management messages configure and initialize the network as well as monitor the network and han
30. 10 Maximam Cable T ngths ner tetti ta id sisi 10 Lie T rtnimationa ad ia ides dete lil 11 Implementation No t s ic 11 Isochrone mode Chapter 5 Configuration A NN 12 ET200S Distributed I O System 20 1 0 13 CANopen Network Configuration eese eee eterne tette teen tette tinte tenen canas 15 ESS RONAN iet pen oH EO t eem eb dee a cs 15 Configut ti n Elles xe ene a ta sie 15 Configuration Example eue dere pete tette tte iie tet iade E ta aii 16 Table of Contents Chapter 6 CANopen Module Specification INNET State Machitnet serere e oett e e e en err actes S 24 Data A ete n Oei dr bi Pei DER e E RERO ee Dd 27 IIS LUE 27 TESS Services disti ee UR EON RU TE PESE 29 Error Conttol 29 Heartbeat Mechanism De d s Node Guarding v s sante dU Emergency Object EMCY m dius PROFIBUS PROFINET Channel Diagnostics eese tentent teens 31 Chapter 7 Supported Objects Static Data Vy E a Ia 32 Communication Profile Arta use tee t i PEG TERRIER NT DEED HORE DREUNS 32 DS301 Communication Profile Objects diia dA Gonfaguration eee e t eee ip etn re eH a ua pud d 35 Network Management ODELE eias eet tite Pe HEAR AIRE did 36 Vendor Speci
31. 2 49 56 U32 RW Generic Long Receive Object 1 8 Same data as sub index 1 32 3000h 0 U8 RW Swap data to big endian 0 Little endian CANopen style default 1 Swap data to big endian see Swap Data to Big Endian 3000h on page 44 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Supported Objects 43 7 3 1 I O Buffer Addresses and Object Dictionary Indices Relation The Q area application data bytes O 31 are mapped to three different areas in the Local Object Dic tionary The same data is mapped to each area but in different data types For example byte to index 2000h sub index 1 32 word to index 2000h sub index 33 48 and double word long to index 2000h sub index 49 56 Byte object Word object Long object Transmit data area Index sub index Index sub index Index sub index Byte 0 7 2000h 1 Byte 8 15 2000h 2 MEL o a Byte 16 23 2000h 3 2000h 49 Byte 24 31 2000h 4 E E 2000h 34 ies Byte 32 39 2000h 5 Byte 40 47 2000h 6 L NE al 2000h 7 2000h 50 AS 2000h 36 AAA caua 2 22820058 J 2000h 9 2000h 10 L 200037 2000h 11 2000h 51 Bye ey 2000h 38 iud 2005 12 1 2000h 13 2000h 14 L P ANM 2000h 15 2000h 52 WEE L 2000h 40 E es 20000 16 J 2000h 17 2000h 18 omms 2000h 19 2000h 53 BD gk ae ric L 2000h 42 AAN _2000h 20__ J 2000h 21 2000h 22 L
32. 200S are equivalent Execution of the function block is stopped the error code 0 no error is written to RET and BUSY is set to false If the CRCs are different a new configuration will be uploaded to the PLC The function block fetches the configuration from object 1F22h sub indices 1 127 and stores it in data blocks in the PLC If the 1 Both function blocks use RD REC and WR REC for the data transfer 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 CANopen Function Blocks 49 configuration is too large for one data block an additional one is created where the rest of the config uration is stored If an error should occur during upload the CRC in the data block is set to 00h 00h 00h 00h 00h 00h to ensure that a new configuration will be uploaded the next time the function is called 8 3 3 Configuration Download Input Parameters Name STER Description REQ Bool Start request Default is FALSE Download is started if REQ TRUE for at least one clock cycle ID DWord Logical address of the CANopen module DBSTART Int Number of the first DB Data Block of a maximum of four that are used for retriev ing data saved at configuration upload DBSIZE Word Size of the data blocks that are used to store data Has to be equal to the size spec ified at configuration upload Output Parameters Name SIE Description BUSY Bool If the request is not finished within one cl
33. 4h COB ID EMCY 00h Defines the COB ID of the U32 RO 80h Nodeld Emergency Object 1016h Consumer 00h Largest sub index supported U8 RO 7Fh Heartbeat Time 01h 7Fh 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 Monitoring starts after the Value must be a multiple of reception of the first heart 1ms beat Not used if 0 Up to 127 nodes can be moni tored 1017h Producer Heart 00h Defines the cycle time of the U16 RW The time must be at least 10 beat Time heartbeat Not used if 0 ms and a multiple of 1 ms 1018h Identity object 00h Number of entries U8 RO 04h Oth Vendor ID U32 RO 1Bh HMS Industrial Networks 02h Product Code U32 RO 17h 1 SI CANopen Module for ET200S 03h Revision Number U32 RO Current software revision 04h Serial Number U32 RO 32 bit serial number 1029h Error Behavior 00h Number of Error Classes U8 RO 01h 01h Communication Error U8 CONST 00 Change to NMT state Pre Operational only if currently in NMT state Operational 02h Specific Error Class U8 CONST 00h Change to NMT state Pre Operational only if currently in NMT state Operational 1400h Receive PDO 00h Largest sub index supported U8 RO 02h e parameter 01h COB ID used by PDO U32 RW 147Fh 02h Transmission type U8 RW See RPDO Transmission Typ
34. A register parameter or object labeled RW can both be read and written 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 About This Document 3 P 6 Sales Enquiries For sales enquiries contact Direct Sales Germany Tel 49 721 989 777 201 E mail de sales et200can com Direct Sales China Tel 86 10 8532 3183 E mail cn sales et200can com Direct Sales Japan Tel 81 45 478 5340 E mail jp sales et200can com Direct Sales France Tel 33 3 68 368 034 E mail fr sales et200can com Direct Sales Italy Tel 39 039 59662 27 E mail it sales et200can com Direct Sales USA Tel 1 312 829 0601 E mail us sales et200can com Direct Sales India Tel 91 0 20 40111201 E mail in sales et200can com Direct Sales All Other Countries Tel 46 35 17 29 56 E mail sales et200can com 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 About This Document 4 P 7 Support For technical support contact Support Germany Tel 49 721 989 777 301 E mail de support et200can com Support China Tel 86 10 8532 3023 E mail cn support et200can com Support France Tel 33 3 68 368 033 E mail fr support et200can com Support North America Tel 1 312 829 0601 E mail us support et200can com Support Italy Tel 39 039 59662 27 E mail it support et200can com Support Japan Tel 81 45 478 5340 E mail jp support et200can com Support India Tel Tel 91 0
35. Assign ARRAY Module list Entry of all slaves to U32 RW ment be managed including guarding values and the entry of actions to be taken in event of guarding errors 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 ARRAY Remote control start stop of guard U8 Sub 0 RO Guarding ing Remote query of the current Sub 1 127 RW state Sub 128 WO 1F84h Device Type ARRAY Verify expected device types for 32 RW Identification the slaves 1F85h Vendor Identifi ARRAY Verify vendor identifications for the U32 RW cation slaves 1F86h Product Code ARRAY Verify product codes for the slaves U32 RW 1F87h Revision ARRAY Verify revision numbers for the U32 RW Number slaves 1F88h Serial Number ARRAY _ Verify expected serial numbers for U32 RW the slaves 1F89h Boot Time VAR Maximum slave boot time before U32 RW master indicates boot error and attempts to find the slave with LSS 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 NMT Start up 1F80h Supported Objects 37 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 STEP7 hardware configuration the module will enable the master funct
36. BUS PROFINET channel diagnostics An EMCY object 8130h is also transmitted on the CANopen fieldbus 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 Slave Assignment 1F81h on page 38 The master han dles evaluates each new node guarding request RTR in a timely manner and in numerical node order 6 4 3 Emergency Object EMCY The Emergency Object is used for error reporting on the CANopen network when a fault has occurred The error codes are saved in a list in the Communication Profile Object 1003h see page 32 and a mes sage is produced on the CANopen network A list of emergency error codes that can be produced by the module is available in CANopen Emergency Codes on page 60 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 CANopen Module Specification 31 6 4 4 PROFIBUS PROFINET Channel Diagnostics The following PROFIBUS PROFINET channel diagnostics are generated from the 1 SI CANopen Module for ET200S The diagnostic information can be read from the ET200S system at the time of a diagnostic error When the OB82 interrupt is triggered the address of the fault module can be read out This information ca
37. GES7193 4CA30 OAAO OAAQ TM E15S26 A1 TM E15S24 A1 6ES7193 4CA40 6ES7193 4CA20 DAAO 0440 TM E15N26 A1 TM E15N24 A1 6ES7193 4CA80 GES7193 4CA70 OAAQ OAAQ 1 SI CANopen Module for ET200S Doc Rev 1 32 TM E15C24 01 6ES7193 4CB30 DAAO TM E15S24 01 8ES7193 4CB20 DAAO TM E15N24 01 8ES7193 4CB70 DAAO TM E15C23 01 6ES7193 4CB10 4 Spring terminal DAAO TM E15S23 01 6ES7193 4CB00 4 Screw type terminal OAAO TM E15N23 01 6ES7193 4CB60 4 Fast Connect 0440 To minimize the signal s reflectionsfromthe end of the cable aline termination is needed close to each end ofthe bus This is often includedin CANopen cables If the cable you are using is not terminated connect a line termination between contacts 1 and 5 CAN Land CAN_H beneath the slot where the module is mounted To ensure backwards compatibility th ese contacts should notbe connected Doc ld SCM 1200 005 Appendix E E CANopen Emergency Codes Below is a list of the CANopen emergency codes that can be produced by the 1 SI CANopen Module for ET200S The five latest emergencies reported by the module can be read from the list in object 1003h see page 32 Emergency Code Description Reason 0000h Error reset or no error Bootup or all errors cleared 3100h Mains voltage generic error Communication problem on backpl
38. IO data Max consistency Order Number ET 2005 Interface Module Comments per cycle length of lO data PROFIBUS IM 6ES7 151 1AA05 0ABO IM 151 1 Standard DP 32 32 6ES7 151 1AB05 0ABO IM 151 1 FO Standard 32 32 6ES7 151 1BA02 0ABO IM 151 1 High Feature 32 32 PROFIBUS CPU 6ES7 151 7AB00 0ABO IM 151 7 CPU FO 4 4 See footnote 6ES7 151 7AA20 0ABO IM 151 7 CPU 96K 16 16 6ES7 151 7FA20 0ABO IM 151 7 F CPU 128k 16 16 PROF safe PROFINET IM 6ES7 151 3AA23 0ABO IM 151 3 PN IO Standard 32 32 Firmware V6 1 6ES7 151 3BA23 0ABO IM 151 3 PN IO High Feature 32 32 Firmware V6 1 6ES7 151 3BA60 0ABO IM 151 3 PN IO High Speed 32 32 Firmware V2 1 6ES7 151 3BB23 0AB0 IM 151 3 PN IO FO High Feature 32 32 Firmware V6 1 PROFINET CPU 6ES7 151 8AB00 0ABO IM 151 8PN CPU 16 16 6ES7 151 8AB01 0ABO IM 151 8PN CPU 32 32 6ES7 151 8FB00 0ABO IM 151 8PN F CPU PROFIsafe 16 16 6ES7 151 8FB01 0ABO 151 8PN F CPU PROFIsafe 32 32 9 As the max lO data per cycle is not higher than 4 for this CPU The 1 SI CANopen can not be used as a CAN2 0A device where minimum size is 16 bytes 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Appendix D D ET200S Terminal Modules Below is a list of ET200S terminal modules that can be used with the 1 SI CANopen Module for ET200S Usable terminal modules TM E15C26 A1 TM E15C24 A1 8ES7193 4CA50
39. 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 velt been SFC14 80CO processed by the module SFC15 8001 56 00 System error with external DP interface module SFC14 1808X SFC15 80B2 80B3 80C2 80FX 87XX 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 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 cho 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 v
40. STEP7 configuration file or GSD files for the module 7 EDS file for the 1 SI CANopen Module e CANopen configuration tool Function blocks optional 4 1 Mounting The 1 SI CANopen Module for ET200S is designed to be plugged directly into a slot in an ET200S Distributed I O System rack The module exchanges data and signals via the backplane bus Power is supplied by the 24 VDC of the loadgroup voltage coming from the power module PM E Please confirm that the contacts below the slot are compatible with the CANopen con tacts defined on the module No Name Description 1 L CAN L low level in CANopen communication 2 SHLD Shield provides connection to the CANopen network shield 5 H CAN H high level in CANopen communication 6 GND Ground provides connections to the CANopen network ground 3 4 7 8 NC Not connected a To ensure backwards compatibility these contacts should not be connected The module can be replaced with a new one without removing power from the rack or the network The new module can be configured from scratch or be configured using the previously stored configuration See also e CANopen Network Configuration on page 15 Configuration Upload Download on page 48 Can be downloaded from www et200can com HSP is needed if the 1 SI CANopen Module is inserted in a CPU based ET2008 rack For usable terminal modules see ET200S Terminal Modules on page 59 1 SI CANo
41. User Manual 1 SI CANopen CANopen Module for ET200S Doc Id SCM 1200 005 Rev 1 32 11 HITIS 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 1 SI CANopen Mod ule for ET2008S 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 in this d
42. alue 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 1 SI CANopen function blocks if the error originates from outside the module Please consult the SIMATIC STEP7 manual for further information 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005
43. ane 6161h Internal software error Internal software error See table below 8000h Monitoring generic error Boot time error 8110h Monitoring CAN overrun message lost 8120h Monitoring CAN error passive 8130h Monitoring error control failure Life guard error or heartbeat error 8140h Monitoring recovered from bus off 8220h Protocol error PDO length exceeded FF10h Device specific generic error State of PLC is different from state of network These codes conform to the CANopen standard Emergency code 6161h Byte 0 contains an error code and byte 1 contains the Node ID if available The first two bytes of the manufacturer specific information in this emergency will be stored in object 1003h see page 32 as additional information Byte Description 0 Error code 1 2 reserved 3 Could not transmit SDO 4 Invalid concise entry index lt 1000h or subindex is gt 255 reserved Data could not be written to non volatile memory SDO error 5 6 7 SDO time out 8 9 Invalid object dictionary stored in flash Node ID if available 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Appendix F F Error Codes RET is oe Description ah 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 Numb
44. be configured either as a master or as a slave depending on the application 5 2 ET200S Distributed I O System Configuration The Siemens SIMATIC STEP7 tool is used to configure the ET200S Distributed 1 O System rack and the 1 SI CANopen Module for ET200S for integration into the rack The module is included in the SI MATIC STEP7 tool For information on which ET200S Distributed I O System versions the 1 SI CANopen Module for ET200S are compatible to see Siemens Interface Modules Compatibility on page 58 The ET200S Distributed I O System appears as a slave on the PROFIBUS PROFINET network if it is configured from the PROFIBUS PROFINET PLC It can appear either as a master or as a slave on the CANopen network depending on the settings in the parameter list A example on how to configure the system using SIMATIC STEP is given on page 16 Right clicking on the 1 SI CANopen Module for ET200S in the list of modules in the rack will allow the user to define the parameters of the module STEP7 V5 4 SP 5 or later 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 DP slave Configuration 14 Properties Address D Parameter Assignment Parameters m Ey Station parameters BE Device pearc parameters E Node number i E Master Slave Master E Baudrate 500 kbit s E Process data mode Standard E Group diagnosis Disable E CANopen input data size 32 E CANopen o
45. 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 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 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 CANopen Module Specification 29 6 3 LSS Services LSS master functionality according to CANopen DS305 specification is supported by the module The module can configure the node ID of slaves that support LSS i e the pre configured node ID of a slave can be changed by a master The module can not act as an LSS slave An LSS Slave is identified upon its LSS address that consists of Vendor ID Product Code Software Version and Serial Number of the LSS slave module If there is a
46. d chapter CANopen Emergency Codes 60 Revision List Revision Date Author Chapter Description 1 00 2009 06 26 KeL First release 1 10 2009 10 08 KeL 7 8 9 Misc minor updates and three new chapters 1 20 2010 06 15 KeL All Misc updates new mode and revision of configuration example 1 30 2010 11 17 KeL All Misc updates and corrections 1 31 2011 08 31 KeL 2 4 6 8 9 Misc minor updates and corrections 1 32 2012 03 21 KeL P 7 8 E Misc updates and corrections 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 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 e The term user refers to the person or persons responsible for installing the 1 SI CANopen Mod ule for ET200S in a network Hexadecimal values ate written in the format NNNNh where NNNN is the hexadecimal value e 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 1 SI CANopen Module for ET200S 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
47. d with power still on To perform upload download of configuration you need a function block that can be downloaded from www et200can com For this block to function properly Concise DCF files have to be used For more information see Configuration Upload Down load on page 48 5 3 1 LSS Routine If there is a missing slave on the network after the boot time out the master will initiate the LSS routine It will send an identify slave request If one and only one slave responds to that message the master sets the NodelD of that node to the first available NodeID The master will then send a boot up message to the slave See also LSS Services on page 29 Note This routine only works for one slave without Node ID at a time on the network If there are more than one slave without Node ID on the network they will all be assigned the same Node ID which will cause severe problems 5 4 Configuration Files The EDS file for the 1 SI CANopen Module for ET200S can be downloaded from www et200can com After download the file is imported into the CANopen configuration tool This file is necessary to per form the configuration of the module on the CANopen network The necessary information for configuring the module in the ET200S Distributed I O System can be included in the SIMATIC STEP7 tool by installing the HSP or GSD file s into the tool For applications using a third party PLC please visit www et200can com for information and down
48. dle errors If the module is configured as a slave startup is performed by the master CMT Configuration Manager messages are used for configuration of CANopen devices This primarily involves PDO parameters and mapping of information If the module is configured as a slave the configuration is performed by the master PDOs Process Data Objects are used for I O communication There are 128 Receive PDOs and 128 Transmit PDOs implemented in the 1 SI CANopen Module for ET200S that each can transfer up to 8 bytes Supported PDO message types are COS Change of state Cyclic Syn chronous 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 master mode The 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 Segmented Upload Download Protocol are support ed A SYNC Synchronization Object is used for synchronizing PDO communication A master 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
49. e done using concise data files The configuration is stored in the master by writing to object 1F22h The nodes ate configured either when the module in master mode is booted or when a request to boot a slave is sent to object 1F25h Index Object Name Sub Index Description Type Access 1F22h Concise DCF The concise compressed DCF files informa Domain Sub 0 RO tion is stored in this object Sub 1 128 WO The configuration is stored in the master by writing to the sub index corresponding to the Node ID of the module 1F25h Configure 0 128 Sub index 0 is ignored 323 Sub 0 RO Slave Sub index i i 1 127 Request reconfigu Sub 1 128 WO ration of slave with Node ID equal to sub index i Sub index 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 sub index i If an error occurs during configuration of a mandatory node or a detected optional node an emergency object with the code 6161h with either error code 7 or 8 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 29 Check Configuration The Configuration Manager CMT compares signature and configuration with the value from the DCF to decide if a reconfiguration is to be performed or not The comparison values are stored by the Con figuration
50. e has been acknowledged by the module BUSY will go FALSE and a new frame can be sent This will continue as long as REQ is set to TRUE 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 9 3 CAN Receive 9 3 1 Parameters Input Parameters Transparent CAN Function Blocks 51 Name Description REQ Bool Starts the block Has to be set to TRUE for at least one scan cycle LADDR_IN Word Logical address of the input area of the CANopen master module LADDR OUT Word Logical address of the output area of the CANopen master module BPSIZE Byte Size of the backplane valid values are 16 and 32 ACK Bool Set to TRUE for one scan cycle to acknowledge a newly read CAN frame DATA Any Pointer where to store the data read from the CAN frame Output Parameters Name Description NEW Bool Set to TRUE when a new CAN frame has been read from the module COBID Word COB ID of the CAN frame RTR Bool RTR of the CAN frame SIZE Byte 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 Int Error code see Error Codes RET on page 61 Valid once the BUSY signal turns FALSE until the next time the function block is started i e when REQ is set to TRUE 9 3 2 Description When REQ is TRUE the block looks for new frames waiting in the CAN buffer of the module If there a
51. e information on the mapping see Vendor Specific Objects on page 42 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 CANopen Module Specification 28 RPDO Transmission Types The RPDOs can be received either in synchronous or asynchronous mode A synchronization SYNC object is transmitted periodically by a synchronization master located either in the 1 SI CANopen Mod ule for ET200S or in another node on the CANopen network The data in synchronous RPDOs are not transferred to the ET200S system until after the next SYNC object is received Asynchronous RPDOs will be transferred to the ET200S system at reception The transmission type parameter of a RPDO specifies the triggering mode Mode RPDO transmission description 0 240 Synchronous A received RPDO is transferred to the ET200 system after a SYNC object is received 241 253 Reserved 254 255 Asynchronous An RPDO is transferred to the ET200 system without any relation to the SYNC Event driven object Note All default PDOs are mapped with transmission type 255 TPDO Transmission Types The TPDOs can be transmitted either in synchronous or asynchronous mode A synchronization SYNC object is transmitted periodically by a synchronization master located either in the 1 SI CAN open Module for ET200S or in another node on the CANopen network Synchronous TPDOs are transmitted within a pre defined time window immediately after a
52. er 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 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 S7 300 modules foran SFB52 8093 S7 300 S7 400 modules for an S7 400 S7 DP modules for an S7 300 and SFB53 S7 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
53. es on page 28 1600h Receive PDO 00h No of mapped application U8 RW mapping objects in PDO 167Fh 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 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Supported Objects 34 Index Object Name Sub Index Description Type Access Notes 1800h Transmit PDO 00h Largest sub index supported U8 RO 05h e parameter 01h COB ID used by PDO U32 RW 187Fh 02h Transmission type U8 RW See TPDO Transmission Types on page 28 03h Inhibit time U16 RW In steps of 0 1 ms 05h Event Timer ms 16 RW 1A00h Transmit PDO 00h No of mapped application U8 RW mapping objects in PDO 1ATFh 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 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Supported Objects 35 7 2 2 Configuration Manager DS302 part 3 Configuration and program download Network Configuration Objects Configuration of the master and the slaves can b
54. fic Objects ette be dee e s e cere de reet ee tien ete 42 1 0 Buffer Addresses and Object Dictionary Indices Relation n n 43 Swap Data to Bi Endian 4 44 Chapter 8 CANopen Function Blocks SDO Read ii aa 45 EA AN AA A NR EAN 45 PULL I a E A M 45 DU UD iba 46 Eraementation Handling arta dee aree tie eie ipe doce tite tnde til na 47 EA M A 47 PAGAS A sa 47 47 Configuration 1040 170 02 444444 48 Cental IN te ete A TA 48 Configuranon ET oct eid 48 R deci 49 Chapter 9 Transparent CAN Function Blocks L aan E A RATAN ONIE TOER E a a 50 CAN St des cai iet RR ERE GS EE EEEN E diri ds 50 LAA ics TN 50 Dr a A E a 50 CAN a id A didas 51 Parameters L 351 id seco LM ARCANO 51 GAN Controla iecit etin in pe Ehe a c tact c e pie Ce D EETAS ES 52 Parameters s us sus 2 52 Ip UD C 52 CAN Status Parameters Table of Contents Appendix A Technical Specification Mechanical Properties cele eed 55 Electrical Characteristics ua teni Io ER ERE ER 55 Environmental Chatact fisucs i oro op e pero Rr re ort ore a ep epe ERES 55 Regulatory Compliance stc ei datas T ur ie etd dre 56 Appendix B Status LED Timing Diagrams
55. figuration Default PDO Mapping Scheme The module features a simple default mapping scheme with 4 TPDO s and 4 RPDO s RPDO Default RPDO no Default COB IDs Mapped to Relating to State 1 200h Node ID Object index 2100h sub index 1 8 Output Data buffer bytes 0 7 Enabled 2 300h Node ID Object index 2100h sub index 9 16 Output Data buffer bytes 8 15 3 400h Node ID Object index 2100h sub index 17 24 Output Data buffer bytes 16 23 4 500h Node ID Object index 2100h sub index 25 32 Output Data buffer bytes 24 31 5 80000000h Object index 2101h sub index 1 8 Output Data buffer bytes 32 39 Disabled 128 Object index 211Fh sub index 25 32 Output Data buffer bytes 1016 1023 e TPDO Default TPDO no Default COB IDs Mapped to Relating to State 1 180h Node ID Object index 2000h sub index 1 8 Input Data buffer bytes 0 7 Enabled 2 280h Node ID Object index 2000h sub index 9 16 Input Data buffer bytes 8 15 3 380h Node ID Object index 2000h sub index 17 24 Input Data buffer bytes 16 23 4 480h Node ID Object index 2000h sub index 25 32 Input Data buffer bytes 24 31 5 80000000h Object index 2001h sub index 1 8 Input Data buffer bytes 32 39 Disabled 128 Object index 201Fh sub index 25 32 Input Data buffer bytes 1016 1023 For mor
56. il ter array that is sent in PARAM PARAM Any Parameters 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 IER 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 Int Error code see Error Codes RET on page 61 Valid once the BUSY signal turns FALSE until the next time the function block is started i e when REQ is set to TRUE 9 4 2 Description This block is used to control the state of the transparent CAN layer and to set its parameters FCN 0 Enables transparent mode All ordinary CANopen functionality is disabled and the module has to be restarted to re enable CANopen functionality The rest of the function codes in CAN Con trol can only be used if the transparent mode is enabled 1 The function blocks use RD REC and WR REC for the data transfer 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Transparent CAN Function Blocks 53 FCN 1 Configures the CAN Receive acceptance filter in the module i e what COB IDs will be accepted when receiving data frames The module will not listen to the CAN bus if no COB 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
57. ines the CANopen output data size 1 1024 Same as config data size The direction is defined from the CANopen network point ured rack I O of view that is output is output to the CANopen network block size from the module Possible values are 1 1024 bytes NOTE The maximum data size is limited to 512 bytes if you use a 4 byte backplane size see page 12 The configuration is downloaded to the PLC or the internal CPU using an MPI or Ethernet cable 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Configuration 15 5 3 CANopen Network Configuration An external CANopen configuration tool is used to configure the nodes on the CANopen network The resulting Concise DCF files are downloaded to the CANopen network master using a CANopen adapter At the next startup the CANopen master will configure the network if this function was set in the configuration tool during initial configuration The 1 SI CANopen Module for ET200S can be configured either as a master 01 as a slave on the CAN open network After the configuration is finished the CANopen network configuration can be uploaded to and stored in the PROFIBUS PROFINET PLC or the ET200S I O System CPU If the 1 SI CANopen Module for ET200S has to be replaced by another module the previously stored configuration can be down loaded to the new module and communication can be restarted without unnecessary delay The change of modules can be performe
58. ionality 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 BitNo 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 1 Do not enter Operational state automatically The PLC will decide when to enter Operational state 3 0 Start up of slaves allowed i e allowed to send NMT Start Remote Node command 1 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 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 including self 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 1 SI CANopen Module for ET200S Doc Rev 1 32 D
59. load of configuration files 1 Please visit www et200can com or contact HMS support for further information see Support on page 4 2 Available for download at www et200can com 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Configuration 16 5 5 Configuration Example This section gives an example of a STEP7 configuration of the ET200S Distributed I O System and the 1 SI CANopen Module for ET200S In the example PROFIBUS and an ET200 rack without a CPU but connected to a 315PLC ate used but a similar procedure can be used for PROFINET and or for a ET200 rack including a CPU To run this example the HSP file must have been imported 1 Open the SIMATIC Manager program and start a new project Enter a name for the project 2 Right click on the name and choose Insert new object 3 In the list that appears click on SIMATIC 300 Station Enter a name and double click on the new icon File Edit Insert PLC View Options Window Help Manual G Doc Configuration Files Step7 Programs Manual Ep Manual SIMATIC 300 Station 4 Double click on Hardware to open the HW Config window 5 Choose Rail under RACK 300 Add this to the configuration by dragging and dropping EX HW Config SIMATIC 300 Station Configuration Manual Gil Station Edit Insert PLC View Options Window Help MAITE Find Profile Standard E PROFIBUS DP i PROFIBUS PA SP
60. m the PLC 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 master on the network by the use of NMT telegrams If the data valid signal disappears though the module sends an emergency code FF10h 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 The controlling master changes to Run mode If the node is a CANopen master this transi tion is controlled by the PROFIBUS PROFINET PLC If it is a slave the transition is control led by the CANopen master using the command Start remote node 5 Return to pre operational state If the controlling master is a PROFIBUS PROFINET PLC this transition is initiated when the STOP RUN switch is flipped from RUN to STOP 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 data last received is stored in the 1 SI CANopen module When the PLC issues a RUN the stored data is sent on
61. m the PLC to the 1 SI CANopen Module for ET200S depends on the ET200S Distributed I O System rack and will be either 4 8 16 or 32 bytes If an application sends larger messages than the rack is configured for the messages can be fragmented and sent in several packages This implies slower communication A function block that can be downloaded from www et200can com to the PLC or to the ET200S CPU will handle the fragmentation see Fragmenta tion Handling on page 47 Maximum CANopen I O size also depends on the ET200 Distributed I O System rack Depending on the rack the module can be configured to different block sizes ranging from 4 to 32 bytes as shown in 1 Please contact HMS support for further information see Support on page 4 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Configuration 13 the table below Without fragmentation enabled the data block size will limit the amount of data trans mitted received Configured Rak IO block Maximum CANopen I O size bytes size bytes 4 512 8 1024 16 1024 32 1024 For example if the configured I O block size of the rack is 4 bytes the maximum allowed amount of CANopen I O without fragmentation is 4 bytes and with fragmentation 512 bytes For more informa tion see Fragmentation Handling on page 47 For data consistency for different racks see Siemens Interface Modules Compatibility on page 58 The module can
62. missing slave on the network after the boot time out see Boot Time 1F89h on page 41 the master will initiate the LSS routine It will send an identify slave request using the LSS address of the slave If one and only one slave responds to this request the master will set the NodeID on that node to the first missing NodelD It will then send a bootup message to the node Note This routine only works for one slave without Node ID at the time on the network If there are more than one slave without Node ID on the network they will all be assigned the same Node ID which will cause severe problems 6 4 Error Control Different mechanisms exist to monitor the network At an error event from any of these the active I O data is frozen as no new data will be available 6 4 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 objects 1016h and 1017h page 33 a heartbeat event is registered by the consumer The ERROR LED on the front of the 1 SI CAN open Module for ET200S will indicate the event and a communication error will be logged on the PROFIBUS PROFINET channel diagnostics An EMCY object
63. n then be used to trigger a read request to the ET200S system using the SFC51 func tion block For more information about the specific parameters to the SFC51 function block please consult the SIMATIC STEP7 manual Code Name Description Comment 9 Error CANopen configuration in process If Group Diagnosis is ena The master is configuring the CANopen network bled see table on page 14 according to saved configuration This diagnostic will remain until all mandatory CANopen slaves have been correctly configured and have entered full I O communication In bootup mode 16 Parameterization Initialization failed due to wrong parameters Always error 19 Communication error Node guarding or Heartbeat event This errorindi If Group Diagnosis is ena cates that one or more nodes has not responded cor bled see table on page 14 rectly to the supervision protocols 26 External error BUS OFF This error indicates that the CAN control ler of the 1S1 CANopen has reached a BUS OFF state e g due to a bad network connection or a faulty baud rate or Transparent CAN event When running Transparent CAN mode this diagnostic is triggered by an event in the 15 CANopen module The user can then use the CAN Status function block to determine the reason for the event indication 27 Unknown error Error when reading from external memory non vola tile storage This error only occurs if the internal structure of the memory has changed e g
64. ner of the PLC program the possibility to interpret generate any CAN frame directly in the PLC program thereby making it possible to implement customer specific CAN protocols When CANopen functionality is disabled the only functionality available is the transmitting and receiv ing of CAN data frames on the bus The frames are tagged with an identifier Only received frames with an identifier specified during setup 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 Note 1 Only 16 and 32 byte modules support CAN 2 0A Note 2 The receive buffer can hold up to 255 unread received messages 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 1 2 3 4 Installation Chapter 4 The mounting and configuration of the 1 SI CANopen Module for ET200S is done following these steps 1 Mounting 2 Configuring the ET200S Distributed I O System to include the module See ET200S Distrib uted I O System Configuration on page 13 3 Setting the parameters of the module See ET2008 Distributed I O System Configuration on page 13 4 Configuring the CANopen network including the module See CANopen Network Configu ration on page 15 The following items are needed to perform the installation e Siemens SIMATIC STEP7 tool V5 4 SP 5 or later HSP
65. ns are only supported in master mode 8 1 2 Parameters Input Parameters Name Data type Description REQ Bool Start request Default is FALSE Upload download is started if REQ TRUE for at least one clock cycle ID DWord Logical address for the position where the INPUT data starts for the 1 SI CANopen mod ule in the rack SLOT Byte Defines which slot is used on the PROFIBUS PROFINET 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 master even when the CANopen master has another Node ID INDEX Word SDO index to be read written SUB Byte SDO sub index to be read written DATA Any Pointer to the area where to save read data or to get data to be written Size of the area Output Parameters Name Data type Description SIZE Word Number of bytes that have been read SDO Read only 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 Int Error code see Error Codes RET on page 61 Available when BUSY turns FALSE until REQ turns TRUE
66. oc ld SCM 1200 005 Supported Objects 38 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 sub index corresponding to the slave s Node ID Byte 0 BitNo Value Description 0 0 Node with this ID is not a slave 1 Node with this ID is a slave After configuration the node will be set to Operational 1 Reserved 2 0 On an Error Control Event or on detection of a new slave inform the application but do NOT configure and start the slave 1 On an Error Control Event or on detection of a new slave inform the application and start the process Start Boot Slave 3 0 Optional slave The network may be started even if this node could not be contacted 1 Mandatory slave The network must not be started if this node could not be contacted during the boot slave process 4 0 The slave can be reset by the NMT RESET COMMUNICATION command independent of state see Request NMT 1F82h on page 39 1 If the slave is set in mode OPERATIONAL it will not be reset during startup 5 Not implemented 6 Not implemented 7 0 CANopen device may be used without prior resetting 1 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 If a slave does not answer the
67. ock cycle BUSY turns TRUE and stays TRUE until the request is finished when it returns to FALSE RET Int Error code see Error Codes RET on page 61 Available when BUSY turns FALSE until REQ tums TRUE Description The function block reads the configuration CRC from the 1 SI CANopen Module for ET200S and com pares it to the CRC stored in the data block at DBSTART in the PLC If this data block does not exist ot if it is of the wrong size execution is stopped and an error code is returned If the CRCs are equiva lent execution is stopped RET is set to 0 no error and BUSY is set to FALSE If the CRCs differ the configuration stored in the PLC is downloaded to sub indices 1 127 in the object 1F22h in the module If any data block is missing or of the wrong size execution is stopped and an error code returned If the download succeeds the configuration is saved by writing save to object 1010h sub index 1 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Chapter 9 9 Transparent CAN Function Blocks 9 1 General There are 4 function blocks handling the transparent CAN functionality These are available for down load from www et200can com The functionality is described in Transparent CAN Mode on page 8 CAN Send and CAN Receive handles the frames that ate sent or received CAN Control controls the state and the settings of the CAN layer and CAN Status is used to request the status of the 1 SI
68. ocument 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 pending patent
69. on code FFh General error 41 0X 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 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Error Codes RET 63 Emor T Description dr RET_VAL code error code number b 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 OX 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 45 1X DB could not be deleted because it was created with the keyword SFC24 80B2 UNLINKED 97 400 only X specifies the offset from DBSTART
70. ool Start request Default is FALSE Upload is started if REQ TRUE for at least one clock cycle ID DWord Logical address of the CANopen module DBSTART Int Number of the first DB Data Block of a maximum of four that can be used to store data DBSTART indicates the first DB to be used the following three are DBSTART 1 DBSTART 2 and DBSTART 3 NOTE The Upload function block will overwrite any data that is present in the requested area DBSIZE Word Size of the data blocks that are used to store data Valid values are 262 50000 Max number of bytes that can be saved are DBSIZE 4 262 Output Parameters Name pda Description BUSY Bool If the request is not finished within one clock cycle BUSY turns TRUE and stays TRUE until the request is finished when it returns to FALSE RET Int Error code see Error Codes RET on page 61 Available when BUSY turns FALSE until REQ turns TRUE Description If there is no configuration available in the PLC at DBSTART or if it is of the wrong size correct size is DBSIZE a new data block with a new configuration is uploaded to the PLC Any old data block at the specified address will be overwritten If there is a valid data block the CRC is read from the module and compared to the CRC that is stored in the PLC with the configuration If the CRCs are equivalent the configuration stored in the PLC and the configuration running in the 1 SI CANopen Module for ET
71. pen Module for ET200S 15 CANopen SF 020570 B Doc Rev 1 32 Doc ld SCM 1200 005 4 2 Status LEDs Three status LEDs on the front indicate the status of the module as shown in the table below Their behavior is described in Status LED Timing Diagrams on Installation 10 page 57 LED Indication Status SF Group error Off Normal operation red On Diagnostic error indication See section 6 4 4 on page 31 for further information ERR CANopen Off Normal operation error red Flickering The LSS services are in progress Single flash Warning limit reached in CAN controller for example due to bad or no signal on the CANopen network 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 1 Hz Fatal error contact support On The CAN controller is bus off RUN CANopen Off No power not configured or no CANopen state green network Flickering The LSS services are in progress 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
72. re any the module will read the oldest frame set NEW to TRUE and wait for an ACK 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 255 frames For polling operation set REQ to TRUE permanently Note ACK must be reset to FALSE after one scan cycle Otherwise incoming frames will automatically be acknowledged as read before they have been accepted by the PLC This may result in data loss as new frames may overwrite frames that haven t been handled completely 1 The function blocks use the IO data area in the module for the data transfer 1 The function block use the IO data area in the module for the data transfer 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 9 4 CAN Control 9 4 1 Parameters Transparent CAN Function Blocks 52 Input Parameters Name ISI Description REQ Bool Starts the block Has to be set to TRUE for at least one scan cycle to start the block ID DWord Logical address of the CANopen module FCN Byte Function code 0 Use transparent mode 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 Clear Bus Off LEN Word Only valid when FCN 1 otherwise ignored Defines the size of the acceptance f
73. surveillance of a slave by the master Slaves can be configured to expect a node guarding request from the master An EMCY Emergency Object is used for error reporting when a fatal fault has occurred in the slave LSS Layer Setting Services As LSS master the module can configure baud rate and node ID of all slaves that support LSS i e the pre configured baud rate and node ID of a slave can be changed by a master The module can not act as an LSS slave 1 Only available when the module is configured as master 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Chapter 3 3 Transparent CAN Mode The 1 SI CANopen Module for ET200S integrates Transparent CAN 2 0A 11 bit identifiers With this functionality the module allows transmission of any CAN frame from the PLC regardless of the over laying CAN protocol and is capable of receiving a number of pre defined CAN frames from the CAN network CAN 2 04 is the underlying protocol of CANopen directly working on the bus When the application disables CANopen functionality it still retains access to this protocol CANopen can be disabled at any time but if the user wants to re enable CANopen functionality the 1SI CANopen module has to be restarted Separate PLC function blocks for this functionality are available for download from www et200can com The function blocks are described in Transparent CAN Function Blocks on page 50 The blocks give the desig
74. t 1F82h sub index 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 sub index 128 in the local object dictionary 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Supported Objects 40 Request Guarding 1F83h Guarding can be initiated from the object dictionary in a similar way Guarding is initiated with the values stored in Slave Assignment 1F81h on page 38 provided that at the same time no parameters are en tered for that node as a Heartbeat Consumer Note This functionality is only supported in master mode Sub Index Description Access 0 Largest sub index 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 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 01F40301h is executed to object 1F81h sub index 5 in the local object dictionary Guarding is activated by an SDO write access with the value 1 to object 1F83h sub index 5 in the local object dictionary Device Type Identification 1F84h Each node on the CANopen network is checked against its expected device type The sub
75. ted product code entered into this object with actual product code object 1018h sub index 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 sub index indicates which node is checked The node in question is only checked if data is other than zero Sub Index Description 0 Largest sub index supported 127 i with i 1 127 Compares expected revision number entered into this object with actual revision number object 1018h sub index 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 sub index in dicates which node is checked The node in question is only checked if data is other than zero Sub Index Description 0 Largest sub index supported 127 i with i gt 1 127 Compares expected serial number entered into this object with actual serial number object 1018h sub index 4 for the slave with
76. that the ad dress change is acceptable Input and output has to be set to the same value Note Please select an address within the process image area of the PLC to ensure that data is transferred correctly Properties 1 SI CANopen 8 Byte R S2 General Addresses identification Parameters Inputs Process image Start 32 End 39 os d gt Outputs Start 32 End Process image 39 ORINE z 1 The physical module is always the same but you can choose what data size to use to fit your application 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 20 You can enter additional in formation about the module if you choose the Identification tag 21 Choose the Parameters tag to define the values in the parameter list Please note that these param eters are valid for the module on the CANopen network In this example the 1 SI CAN open Module for ET200S is con figured without Group Diagnostics The node number on the CANopen network is 1 It is configured as a CANopen mas ter with the baud rate set to 500 kbit s Process data mode is set to standard not fragmented and both the input data size and the output data size is set to 8 bytes Press the OK button when fin ished Configuration 21 Properties 1 SI CANopen 8 Byte R S2 General Addresses Identification Parameters Plant designation Location designation Installation date Additional
77. total number of valid COB IDs sent in the message read from PARAM One or more COB IDs can be sent in one message except for enable or disable all also several messages with COB IDs can be sent after one another Each COB ID starts with a set bit telling whether to set or reset the COB ID followed by the actual COB ID If the set bit is 1 the COB ID will be enabled in the acceptance filter if 0 it will be disabled Bit 15 Bit 14 asi Bit 0 Set bit COB ID COB ID 0000h with LEN set to 0000h will disable all COB IDs If LEN is set to 1 only COB ID 000h is disabled COB ID FFFFh with LEN set to 0001h will enable all COB IDs and the module will forward all messages to the PLC e FCN 2 Configures the CAN Receive buffer limit warning value It gives the opportunity to define what number of frames will be stored in the receive buffer before bit BUFFER LIMIT REACHED in the status code will be set see Status Codes on page 54 Initially the buffer limit is set to 255 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 255 e FCN 3 Empties the receive buffer CAN Receive still holds the old frame that hasn t been acknowledged NEW is cleared by holding ACK high for on scan cycle FCN 5 Clears Bus Off condition If a Bus Off condition is generated the CAN Controller has to be reset before communication can be res
78. umed 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Transparent CAN Function Blocks 54 9 5 CAN Status 9 5 1 Parameters Input Parameters Data type Name STEP7 Description REQ Bool Starts the block Has to be set to TRUE for at least one scan cycle ID DWord Logical address of the CANopen module Output Parameters Name ER Description STAT DWord Status of the CANopen master see table below 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 Int Error code see Error Codes RET on page 61 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 request the status of the module The status value is found in the parameter STAT Status Codes The status code is represented by 32 bits where each bit represents a status code If Group Diagnosis is enabled in the module vi HW configuration in STEP the channel diagnostics interrupt will report External error as long as any bit in the Status Code is set Status code Name Description 0x00000000 NO ERRORS 0x00000001 BUS OFF The CAN error counter have passed Bus Off level If there is no contact with the bus a Bus Off signal is issued 0
79. utput data size 32 T Hex parameter assignment The following parameters have to be defined Parameter Description Values Default value Node Number Node ID on the CANopen Network 1 127 1 Allowed values are 1 127 Master Slave The module can be configured either as a master or as a Master Master slave on the CANopen network Slave Baud rate This parameter defines the baud rate on the CANopen 20 kbit s 500 kbit s network If Auto is selected the baud rate will be auto 50 kbit s matically detected 125 kbit s 250 kbit s 500 kbit s 800 kbit s 1000 kbit s Auto Process data Data can be processed either in standard mode or frag Standard Standard mode mented mode see page 12 and page 47 Fragmented Group diagnosis This parameter enables disables the diagnostic informa Disable Disable tion from the 1 SI CANopen module except the Parame Enable terization error message that can not be disabled For further information see PROFIBUS PROFINET Channel Diagnostics on page 31 CANopen input This parameter defines the CANopen input data size The 1 1024 Same as config data size direction is defined from the CANopen network point of ured rack I O view that is input is input to the module from the CAN block size open network Possible values are 1 1024 bytes NOTE The maximum data size is limited to 512 bytes if you use a 4 byte backplane size see page 12 CANopen output This parameter def
80. 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 It belongs to an F program tis an instance DB of a block for 57 communication S7 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 8082 X specifies the offset from DBSTART where the error occurred 2X There is not enough continuous memory space available Compress mem SFC22 8083 ory Xam the offset from DBSTART where the error occurred 4T OX 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 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 6020 SFC15 80A1 53 00 Slave failure on external DP interface module SFC14 8080
81. x00000002 ERROR PAS The CAN error counter has passed the warning level SIVE 0x00000004 BUFFER FULL 255 messages are stored and the receive buffer is full Reset by reading out one message from the buffer 0x00000008 BUFFER HALF Set when 128 messages are stored in the receive buffer i e the buffer is half full FULL 0x00000010 BUFFER LIMIT Set at 255 initially can be changed by FCN 2 see CAN Control on page 52 REACHED 1 The function blocks use RD REC and WR REC for the data transfer 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc ld SCM 1200 005 Appendix A A Technical Specification A 1 Mechanical Properties Housing Plastic housing plug in module protection class IP20 Dimensions Width 15 mm 0 59 Weight 40 g 0 09 Ib A 2 Electrical Characteristics Module Voltage 24 VDC 20 15 supplied from Power module PM E Please provide adequate lightning protection for example Blitzductor BVT AD24 Current Consumption Max 0 8 W 33 mA 24 V A 3 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 1 SI CANopen Module for ET200S Doc Rev 1 32 Doc Id SCM 1200 005 Technical Specification 56 A 4 Regulatory Compliance CANopen Conformance DS301 rev 4 2 CAN Standard Supports CAN 2 0A EMC

User Manual, Anybus Communicator for CANopen

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