M6 - Modicon M340 : CANopen field...

M6 - Modicon M340 : CANopen field bus

CANopen generalities

CANopen Hardware implementationB

M6 - Modicon M340 : CANopen field bus

Stategy and communication 2

Software Configuration

Programming

Debug and Diagnostic

A – CANOpen generalities

C Ope ge e a t es

CANopen architecture overview

� Canopen field bus is used to exchange datawith equipement connected to the bus.

– Implicit exchanges ( through %QW, %IW )– Explicit exchanges ( through write/read var )

� CANopen field bus is available on someprocessors equipped with an integratedCANopen port.

– BMX P34 2010 / 2030 processors– SubD 9 points connector as physical interface

Characteristic of integrated channel

Baud rate

Equipments

Bus length

Services

Character mode

20, 50, 125, 250, 500, 1000 kbds ( according with the lenght )

63 Equipments max

0 to 2500 meters

NMT, PDO, SDO, SYNC, EMCY

Speed / Lenght

( the speed isdirectly linkedwith the bus’slength )

1 Mbits 20 m500 Kbits 100 m250 Kbits 250 m125 Kbits 500 m50 Kbits 1000 m20 Kbits 2500 m

OSI model dedicated for the CAN bus

CANopen defines the applicationlayer

Not used

7 : Application Layer

6 : Presentation Layer

5 : Session Layer

4 : Transport Layer

The Controller Area Network (CAN) protocoldefines the data link layer and part of thePhysical layer in the OSI model.

3 : Network Layer

2 : Data link Layer

1 : Physical Layer

OSI model

Communication protocol principle

�CAN is based on the

“broadcast communication mechanism”

@ 2 @ 3 @ 4 @ 5@ 6 @ 7

Priority : The identifier withthe lowest COBid number hasthe highest priority.

@ 5 @ 3@ 5 @ 3�The priority, is given according with theCOBid ( @ + index ),

�Highest priority lowest COBid

@ 2 @ 3 @ 4 @ 5@ 6 @ 7

@1@ 5 @ 3@ 5 @ 3

�The priority, is given according with theCOBid ( @ + index ),

�Highest priority lowest COBid

Priority : The identifier withthe lowest COBid number hasthe highest priority.

@ 2 @ 3 @ 4 @ 5@ 6 @ 7

PDO ( Process Data Objects )

�PDOs are implicits exchanges between a Producer and one or moreConsumer ( For this exchange M340 uses the %QW and %IW objets )

�PDOs ( Process Data Objects) are mapped to a single CAN frame using data 8bytes max.

PDO Producer PDO Consumer

Max 8 bytes / PDO

PDO Consumer

PDO ( Process Data Objects )

�PDOs exchange may be driven by an internal event, by an internal timer, byremote request or by the Sync message .

event and sync message

Each x sync message

PDO Producer PDO Consumer PDO Consumer

PDO Consumer

SDO ( Service Data Object )

� SDOs are explicit exchanges and use the READ_VAR and WRITE_VARcommands

� SDO (Service Data Object ) reads or writes the Objects predifined in theDictionary ( EDS file ).

� The SDO transport protocol allows transmitting objects of any size.

Client

Server

request

answer

NMT ( Network ManagemenT )

� The NMT (Network management) include three services:

1. NMT message

2. Boot up message

3. The Error Control service1. The NMT message :

Transmitted by the NMT masterNMT - Master

forces one node or all the nodesto transit to another NMT state.

NMT - Master

NMT - Slave NMT - SlaveNMT - Slave NMT - Slave

� The NMT (Network management) include three services :

1. NMT message

2. Boot up message

3. The Error Control service1. The NMT message :

The CANopen state machine ( NMTInitialization

The CANopen state machine ( NMTstate ) specifies the states :

- Initialization

- Pre-Operational SDO allowed

- Operational SDO and PDO allowed

- Stopped. SDO and PDO are not allowed

Pre-Operational

Operational

Stopped

Boot-up

Initialization

1. NMT message

2. Boot up message

3. The Error Control service2. The BOOT UP message

A device sends the Boot-up

Pre-Operational

Operational

Stopped

Boot-up

message to indicate to the NMTmaster that it has reached thestate Pre-operational.

1. NMT message

2. Boot up message

3. The Error Control service3. The Error Control service

Through this service the NMT

3. The Error Control service

Through this service the NMT

detect the error on the field busThe Error control service canmanage :

The Heartbeat protocol

Periodically the slave sendits state to the master

Periodically the slave send its state tothe master after the :

Heartbeat Producer Time

detect the error on the field busThe Error control service canmanage :

The Node guarding protocol

Periodically the master send a requestto the slave in order to know its state

EDS file ( Electronical Data Sheets )

� Goal : The EDS file describes the capabilities of CANopen nodes:- General information about the node.- Informations of all dictionary object of the node.- Configuration of the PDO communication.

The EDS file is an ASCII file, and can be acquired from the manufacturer of thedevice.

�Ex : Part of the MFBLXM15.eds

Mapping of

Mapping ofthe

TransmitPDO1

B – Hardware implementation

a d a e p e e tat o

Processors with an integrated CANopen

� Modules BMX P34 2010 / 2030

Value DesignationDisplayUSB t

USB portEth portSerial portCANopenport

Wiring on the processor

� The connection is done on a SUBD 9 pts pin maleconnector of the processor

PIN SIGNAL12 CAN-L3 CAN-GND

456 GND7 CAN-H89

Wiring ( a global offer )

(1) TSX CAN TD M4 (2) TSX CAN KCDF xxxT(4) TSX CAN KCDF 90TP (5) TSX CAN Cx xx(6) TSX CAN CxDx (7) FTX CN 31 xx(9) VW3 CAN TAP2 (10) VW3 CANN CARRxx(12) FTX CN 32 xx (13) FTX CNTL 12(14) AMO 2CA 001V000

Example :

Wiring ( a global offer )

A specif catalog

MKTED 205101EN or FR

A specif cataloglist all theCANopenaccessories torealize a quickwiring

Visual diagnostic of CANopen

The information provided by the the CAN RUN lamp

Fa FaFast

Comment

Operationnal state

Initialization in progress

0Flashing 0

1Flashing 1

SlSlow

Pre Operationnal state

Stopped state

Check & init the slave

Visual diagnostic of CANopen

The information provide by the The CAN ERR lamp

Fl hi 0

Comment

Bus stopped

Speed automatic detection

Error counter overflow0

Flashing 0

Flashing 1

Heartbeat fault

No Sync message

Canopen can’t startFlashing 2

No ERROR

C – Software configuration

C So t a e co gu at o

Software Configuration

� The configuration for CANopen is fully integreted in UNITY (no externalconfigurator need )

� Here is the main steps to respect in order to configure the CANopenbus.

Configuration du Bus CANopen :

step 1 : Master Configuration ( Speed, @, PDO Offset )step 2 : Slave Configuration ( PDO and exchanges )

• Standard• Expert

step 1 : Master Configuration Processor configuration

Creating an IODDTstructure forCANopen

Define IODDT1

noDon’t use the IODDT

Using the symbol forprogramming

Modify the datasreserved for PDO

Define theOFFSET

noI will modify later

I know the Nb words andbits

OFFSET no

Select the Busspeed

Define the speed3

I adjust the speedaccording with the device

Select the CPUTASK

Define the task4

noThe MAST is Ok ( given bydefault )

I want exchange the PDOvalues in the FAST

step 1 : Master Configuration Processor configuration

Creating an IODDTstructure forCANopen

Define IODDT1

noDon’t use the IODDT

Using the symbol forprogramming

Modify the datasreserved for PDO

Define theOFFSET

I know the Nb words andbits

OFFSET no

Select the Busspeed

Define the speed3

I adjust the speedaccording with the device

Select the CPUTASK

Define the task4

noThe MAST is Ok ( given bydefault )

I want exchange the PDOvalues in the FAST

We must select the device1

step 2 : Slave Configuration

According with mydevice select the

profil

PDO folder

Logical node CANopen

Select thefunction

noProfil knowneg:FTB, OTB, LEXIUM

Complex Profileg:STB, ATV

config folder

My deviceneed a initialconfiguration

I want to mapthe PDO

noPDO mapping withthe configurator

Using the predefined PDOeg:MFB3

Free mapping

Select the initialvalues needed

4Already configure with aspecific tool.eg: Power suite, Advantis

Configure the initial valuewith the configurator

We must select the device1

step 2 : Slave Configuration

According with mydevice select the

profil

PDO folder

Define a profil2

noProfil knowneg:FTB, OTB, LEXIUM

Complex Profileg:STB, ATV

config folder

My deviceneed a initialconfiguration

I want to mapthe PDO

noPDO mapping withthe configurator

Using the predefined PDOeg:MFB3

Free mapping

Select the initialvalues needed

4Already configure with aspecific tool.eg: Power suite, Advantis

Configure the initial valuewith the configurator

step 2 : Expert Configuration

According with the lenght ofthe bus or the version used for

the slave I want adjust theWATCHDOG

Error control folder

noModify the value

No fault on the bus(Heartbeat / node guarding)

Heartbeat or node guarding fault

I want adjustthe PDO

transmission

PDO folder

noSelect thetransmission needed

The configuration by default isok.( send when change )6

According with the specificneed of the customer I mustexchange the PDO on SYNC,or x SYNC message …..

step 2 : Expert Configuration

According with the lenght ofthe bus or the version used for

the slave I want adjust theWATCHDOG

Error control folder

noModify the value

No fault on the bus(Heartbeat / node guarding)

Heartbeat or node guarding fault

I want adjustthe PDO

transmission

PDO folder

noSelect thetransmission needed

The configuration by default isok.( send when change )6

According with the specificneed of the customer I mustexchange the PDO on SYNC,or x SYNC message …..

Step 1: Master configuration

Step 1 : Master configurationIn the CAN screen we have :1. A overview of the bus specifications2. The I/O configuration3. The master configuration

According with the processorit’s possible to configure the

bus.Here : CANopen

Step 1 : Master configuration ‘IODDT’In the CAN screen we have :1. A overview of the bus specifications2. The I/O configuration3. The master configuration

bus.Here : CANopen

Step 1 : Master configurationIn the CAN screen we have :1. A overview of the bus specifications2. The I/O configuration3. The Master configuration

bus.Here : CANopen

Step 1 : Master configuration

� Map the The PDO’s to memoryword (%mw) and bit (%m)location (mainly dedicated for theMODBUS communication ).

� Bus Parameters :

1. Set speed according tothe length of the bus.

2. Period of the SyncMessage

� Task assigned to the PDOs3

Step 2: Slave configuration

Step 2 : Slave Configuration

When the master’sconfiguration is done we

Newdevice:

My device:

configuration is done wemust to define the Slave on

the Field bus

My device:FTB_1CN08E08CM

0 @2 1

� At the end Slaveis present on thefield bus @2

In L11 Unity includesfollowing Schneiderdevices.

The possibility to add athird party product will beadded in L12.

� In the configuration screen according with the deviceused we can select a specific function.

This function is used mainly for :

the complex devices such as ( ATV 71 )

a device with variable configuration suchas ( Advantys STB )

in this case it will be possible to reserve more orless data for the PDO exchange.

� PDO : In this screen it is possible to map the PDOcommunication.� This screen is divided in 3 parts :

Transmits PDOs(slave transmits aninformation to themaster)

Receives PDOs

Receives PDOs(Slave receives aninformation fromthe Master)

A list of thevariables thatcan be mappedin the PDOs

� PDO : In this screen it is possible to map the PDOcommunication.

� This screen is divided in 3 parts :

Transmits PDOs(slave transmits aninformation to themaster)

Receives PDOs

� According to theEDS file somesPDOs are alreadymapped

�The PDOs used

Receives PDOs(Slave receives aninformation fromthe Master)

One part with allthe variablesyou can map inthe PDOs

Topologicsaddresses %Ix or%Qx.andInternals variables%MW ( thesevariables are alwayspresent in theproduct for theMODBUScommunication )

With the CANopen configurator if I add a PDO or if I modify aPDO, the mapping for the %Q/I and %MW will never change, so

it’s not necessary to adjust your application.

Step 2: Slave configurationHow to do the PDO configuration

� Particularity : For the STB devices.

For the STB configurationit’s possible to associatea specif file created withADVANTYS ( version 2.3mini ) in order to design

exactly the configurationdone on STB, this file iscalled xxx.DCF.If we don’t used this fileit’s always possible tomanage thecommunication manually

� The goal here is to provide a methodof configuring the node without anexternal configuration software ( hereADVANTIS )

� if the value is different to 0 the valuewill be send during the initialisationphase

Step 2: Slave configuration ‘EXPERT’

Step 2 : Slave Configuration ‘EXPERT’

Through this service the NMT detectthe error on the field bus, we canselect Heartbeat or node guardingprotocol, and adjust the Timeout

� In this screen it is possible to map the PDOcommunication.

� This screen is divided in 3 parts :

Bi left

Select Type, Inhibit or event on thePDO line in order to define thePDO communication :

SynchronousAsynchronous

Bi left

�The PDO are exchanges according with theconfiguration done .(example transmission type )

Synchronous acyclic PDO :A transmission type of 0 means that themessage shall be transmitted synchronouslywith the SYNC message but not periodically

according to the value. Mainly used for drives.

Synchronous cyclic PDO :A value between 1 and 240 means that thePDO is transmitted synchronously andcyclically, the transmission type valueindicating the number of SYNC messagesbetween two PDO transmissions.

�The PDO are exchanges according with theconfiguration done .(example transmission type )

Asynchronous PDO:The transmission type 254 means that thePDO is transmitted asynchronous. It is fullydepending on the implementation in thedevice Mainly used for digital I/O

device. Mainly used for digital I/O.

Asynchronous PDO:The transmission type 255 means that thePDO is transmitted asynchronous when thevalue change.

�The PDO are exchanges according to theconfiguration. (example transmission type )

Inhibit time :masks the communication during this time.Nota: With the MFB we can only adjust thisvalue according with the traffic and the length

value according with the traffic and the lengthof the bus

Event timer :Time to manage an event in order to start aPDO

Reminder : How to realize a completeconfiguration

� In this example we will configure one device :

LEXIUM 05

Speed 500KbWith

PDO4 In receive:

JOG-Activate

PDO4 in transmit

IO-act

D – Programming

og a g

PDOs allow the implicit data management between the Master, in our case theM340 CPU and the slave by read/write words.

Management Implicit exchanges PDO

PDO receive

CANopen

PDO Transmit

Addressing

� On Modicon M340, PDO variable addresses can be defined as word,double word and floating point types.

% I, IW, ID, IF, Q, x y 0 0 ch i j

QW , QD, QF, M,

MW, MD, MF

Sym Object type 3 Node@ 0 0 channel rank bit

Ebool, Bool, Int,Dint,Real

3 is a specific address for thePDO ( For the SDO we will use

the Channel number : 2 )

Addressing

� Example.

% I, IW, ID, IF, Q, 3 y 0 0 ch i j

QW , QD, QF, M,

MW, MD, MF

1. Read an input on an ADVANTYS @ 4, channel 2, Word 3, bit2

%IW \ 3. 4 \ 0 . 0 . 2 . 3 . 2

2. Write control word on an LEXIUM @ 9, channel 4, Word 3

%QW \ 3. 9 \ 0 . 0 . 4 . 3

PLC Management of the request READ_VAR request

SDOs allow the management of the explicit data between the Master, in our casethe M340 and the slave using of request READ_var / WRITE_var

Management explicit exchanges SDO

WRITE_VAR request CANopen

INDEX / Ss INDEX Concept .

� All requests on CANopen are defined with an INDEX / Ss INDEX.

� Here is an example on a CANopen device ‘ LEXIUM 15x ‘– INDEX : Define the function wished .

– Ex : 2022 => Position data for the ‘ position ’ mode .2020 => Position Controller

– Ss INDEX: Define the object in the function .

Ss Index

Management explicit exchanges SDO� Syntax to program a SDO ( Write var ) :

Parameters descriptions

ADDM(‘0.0.2.node’) Address of the exchange destination0.0 : processor slot in the rack (0 )2 : channel (always 2 for CANopen)2: Device adress.

‘SDO’ SDO object type (always SDO in capitals)

Subindex / index: Double word or immediate value

Subindex / index: Double word or immediate valueidentifying the CANopen SDO index orsubindex:

Offset Number of Word to write

%MWi:L Table of words containing the data to besent (minimum length = 1)

%MWk:4 Exchange management parameters

Management explicit exchanges SDO� Syntax to program a SDO ( Read var ) :

Parameters descriptionsADDM(‘0.0.2.node’) Address of the exchange destination

0.0 : processor slot in the rack (0 )2 : channel (always 2 for CANopen)2: Device adress.

‘SDO’ SDO object type (always SDO in capitals)

Subindex / index: Double word or immediate valueidentifying the CANopen SDO index or

identifying the CANopen SDO index orsubindex:

Offset Number of word to Read

%MWk:4 Exchange management parameters

%MWi:L Table of words containing the data to bereceived (minimum length = 1)

�Performances :�For all the processors we can manage :

16 messages in Input / Output by scan time of the MAST task.

� For CANopen message channel ( SDO ) we are limited to :

1 message in Input / Output by scan time of the MAST task.

16 Buffers read

If xxx

Then..………………….

Scantime

and write / CPUscan time

1 Buffer read andwrite / CPU scantime for CANopen

SDOEF ….

E – Debug & Diagnostic

ebug & ag ost c

Debug and Diagnostic Screen

�On the processor it’s possible to realize a quick diagnostic on the CANopen bus

Fault onCANopen

Who providesthe fault

What’s fault !

Debug and Diagnostic Screen

� We can also obtain a quickdiagnostic on the CANopenbus with the CANopen Tree.

Debug and Diagnostic Screen� On BUS editor It is possible to :

�Read and Write all the SDO through the INDEX / SUB INDEX of the device.

�Read the Emergency message ( Information provides by the device )

�Read the I/O object Available on the device.

�Read and Write all the PDO used.

LeftIf you selectthe NIM we

can ……

In this screen the Index and Sub index are provide bythe system ( according with the EDS file ) with a

comment associated

In this screen the Index and Sub index are provide bythe system ( according with the EDS file ) with a

comment associated

Debug and Diagnostic Screen� On BUS editor Tree It is possible to :

If you select the channelyou can …….

CANOpen

M6 - Modicon M340 : CANopen field...

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