Examples of SDO Requests | Schneider Electric IP67 manual

Software Tools

Examples of SDO Requests

Programmed

SDO Request:

Example 1

This example gives the program for reading object 1000H. After a request is made, the data obtained is read in the table Diag0:120 (defined below).

Variables used and parameters of the function

Variable	Type	Description

Read_sdo	Boolean	Request launch bit.

Index	Word	Index of the object to poll (LSB of the double word
		"Index_dw").

Sub-index	Word	Sub-index of the object to poll (MSB of the double
		word "Index_dw").

Slave_add	Word	Address of the slave to poll.

Diag0:120	Word table	Data exchange area.

Status0:4	Word table	Control and exchange status words.

ADR#y.SYS	Immediate value	Master board address.

‘SDO’	Character string	Type of SDO object (SDO always in upper case).

Index_dw	Double word	MSB = sub-index.
		LSB = index.

Node_Id	Word	Word or value identifying the destination device
		on the CANopen bus.

Program

Slave_add:=2 (*node at address 2 on the CANopen network*) Index:=16#1000; (*index 1000H*)

Sub_index:=0; (*sub-index 0*)

IF Read_sdo THEN

(*clear control*)

Read_sdo:=FALSE;

(Parameter update)

Node_Id:=Slave_add; (*Slave address*) Diag0:120:=16#FFFF; (*Clear diagnostics receive table*) Status2:=0; (*Clear exchange report*)

Status3:=6; (*Time-out*)

120	1606218 02 08/2006

Image 120

Schneider Electric IP67 manual Examples of SDO Requests, Programmed SDO Request Example, Parameter update

Contents

1606218 02 eng 1606218 02 08/2006 Table of Contents Diagnostics Application-Specific FunctionsSoftware Tools Object Dictionary Appendix a IEC Symbols Glossary of SymbolsAt a Glance Safety Information ProcedureImportant Information Safety Information About the Book At a Glance Related Documents Chapter Subject coveredTitle of Documentation Reference Number Introduction PresentationIntroduction Whats in this Chapter? Configurable ConnectorsCANopen Advantys FTB Overview of the Accessories Range Cables for Connecting the Bus to the Splitter BoxElement Reference Function Introduction Installation Field bus Overview Installing the Unit Introduction Description Types of Screws Tightening Torques Dimensions Illustrations Plastic Unit Installation Method Follow the steps belowStep Action Field bus connector Grounding of the Advantys FTB Splitter BoxRisk of Unintended Equipment Operation Ground Electrode on Plastic Unit Method for Plastic Units Follow the steps below to connect the ground to the unitGround Electrode on Metal Unit Method for Metal Units Mounting EMC Compatibility Product Compliance e Grounding Connection that is as short as possible Control Inductive LoadsInductive loads Loads Installation Splitter Box Characteristics Wiring Whats in thisChapter? Characteristic Description Reference standard Advantys FTB Splitter Box Environment PropertiesEnvironment Properties Electrical Characteristics Splitter Box CharacteristicsInput Characteristics Output Characteristics Connecting the Actuators and Sensors Description Characteristics of the ConnectionsPins Risk of Equipment Damage and NON-COMPLIANCE with IP67 M12 Connectors Splitter boxs Inputs, Outputs and diagnosticsConnector Pin Number Allocation Power Supply Connection Calculation Power Supply Cable Cross-Section AssemblingRisk of Equipment Damage Assignment Phaseo Power On the PWR in connectorOn the PWR OUT connector Supply CANopen Network Interface This chapter contains the following sectionsSection Topic CANopen Network Interface Wiring on the CANopen Bus Introduction to Wiring on the CANopen Bus Description Function See Topology ArchitectureNumber Description Tap Length Parameters Lmax is the maximum length of a tapValues to use are given in the following table Speed Lmax ΣLImax Min. interval ΣLGmax 6xΣL local Example 3 ftMin interval 0.6 * 7 m 23 ft Min interval 4.2 m 13.8 ft Number Choice of system cables TransmissionSpeed Specific Risk of Unintended Equipment Operation Connecting the Field Bus Field bus is connected via a 5-pin M12 connectorConnection Cable Connector Pin Signal Meaning Unused M12 connectors must not be left unprotected Signal Meaning M12 pin Pin M12Pin SUB-D Configuring the Address and Transmission Speed Illustration Rotary SwitchesData Node Address Rate Adjustment of the Transmission Speed Switch position Transmission speed General Principles NetworkThis section contains the following topics About CANopen ProtocolPhysical Layer Product Certification Can Standards CommunicationOn a CANopen Network Device Profile Function Function code Resulting COB-ID Binary Hex Dec CANopen Boot-Up NMT Network Management Telegram Reset Application Communication Init Active CANopenObjects Depending on Pre- Operational Stopped Risk of Unintended Device Operation Process Data Object PDO Transmission PDOFor each PDO Modes Change of state RTR mode SynchronousAsynchronous Change State modesReducing traffic on the bus Equipment damage Inhibit Time and Event Timer Event TimerStatus Event Timer is expressed in milliseconds Inhibit Time Access to Data by Explicit Exchanges SDO Types of SDO Producer/ Consumer Model Node-Guarding and Life-Guarding Monitoring Protocols Phase Back into Pre-Operational mode MasterCan detect a master failure Watchdog function Heartbeat Error Monitoring Protocol HeartbeatMechanism Meaning Behavior of FTB CANopen Splitter boxes CANopen IP67 splitter and the saving of different parameters Behavior at Power-up With the Canopen BOOT-UP see CANopen Boot-Up, p DiagramSwitching to Pre-Operational status CANopen data with the default parameters Behavior in the Case of Communication Error Communication error has disappeared Saving / Restoring Parameters Configuration List of Saved ParametersProfile Objects Discrete I/O Application-Specific Functions List of Objects List Communication ObjectsCommunication objects are listed in the following table Object Device profile objects are listed in the following table Description of the Discrete Inputs Description of Discrete Outputs Description of Configurable Discrete I/Os Channel Configured for Discrete Output Channel Configured for Discrete Input List of Advantys FTB 1CN08E08SP0 Splitter Box I/O Objects List of FTB1CN08E08SPO Following table 1CN08E08SP0 Output Objects Object Sub Bit Description Index List of Advantys FTB 1CN12E04SP0 Splitter Box I/O Objects 1CN12E04SP0 Object Sub Bit Description Index Application-Specific Functions Object Sub Bit Description Index List FTB 1CN16EP0Splitter boxes is given in the following table FTB 1CN16EM0 FTB 1CN16EP0 FTB 1CN16EM0 Table below presents the mapping of object 2001H Object Sub-index Bit Description FTB 1CN16CP0 FTB 1CN16CM0 Not assigned if channel 17 configured for input Channel 17 output fallback mode if channel 17 configured for List of Advantys FTB 1CN08E08CM0 Splitter Box I/O Objects 1CN08E08CM0 Channel 17 diagnostics input masking if channel Bit Not assigned Object Sub Bit Description Index Application-Specific Functions Software Tools Software Tools Device Configuration Network PLC setup and programming Introduction to Software ToolsGeneral Premium Twido PLC Setup InstallationAdvantys Device Files Product Configuration Introduction Whats in this Section? Characteristics of an EDS File Existing EDS File for CANopen Advantys FTB Splitter Box EDS FileType of splitter box EDS file name Image name Creating a New EDS and DCF Configuration File Introduction Creating a New EDS and DCF Configuration File New island window appears Building the Island Island Configuration Network Configuration Setting the Network ParametersConfiguration of the network that has been drawn Follow the steps below Steps Select the file to be imported and click on Open 109 Configuring the PDOs Master Otherwise, go directly to step 112 Step Action Click on Object Configuration 401 Device type PLC Programming Configuration Follow the steps below Integration and Use under PL7 TSX 57353 Rack 0 Position Steps Actions Click on the Bus Configuration button Channel CANopen bus configuration SDO Request from the Debug Screen TSX 57353 Rack 0 Position 119 Parameter update Examples of SDO RequestsProgrammed SDO Request Example Variable Type Description Endif 122 Diagnostics OperationsAnalysis is done either by LED display or Power Supply Diagnostics Description LED status Field Bus Status Diagnostics LED DisplayOn the left Plastic unit, on the right Metal unit ERR LED LED Status Diagnostics for I/O Status LED for I/ Os on the M12 ConnectorsLED Behavior according to Settings and Channel Status LED Behavior CANopen Objects Diagnostics StructureVia the network see table structure below Byte Error Codes Table below lists the error codes and their meaningsError Diagnostics Description Code Emcy bytes Bit Description Comments Power Supply for Splitter Boxes and Sensors Actuators Short-circuit / overload Object Dictionary 132 Index Ranges There are three zones in the object dictionary Index Zone Function Documentation Objects of the Communication Profile 1000H to 1FFFH Object 1000H Device Type Bit Valid if bit =Splitter box Decimal code Object 1001H Error Register Following faults can be displayedCorresponding bit is therefore activated Bit Meaning Comments Object 1002H Manufacturer Status Register Assignment of Bits Object 1003H Pre-defined Error Field Characteristics Error Code Error Diagnostics Meaning CodeMeanings Sub-index Description Data type Default Access Object 1005H COB-ID Sync MessageBacked up Value Mapping 80H Yes When the first Sync signal is received Object 1006H Communication Cycle PeriodMust be a double word Value Mapping Default value depends on the splitter box reference Splitter box references Default valuesObject 1008H Manufacturer Device Name This object contains the device name Object 100AH Manufacturer Software Version MSV Object 100CH Guard Time Object 100DH Life Time Factor Life-Time Object 1010H Store Parameters Written to the corresponding sub-indexRead result of a sub-index is always 0000 0001H Back-up Behavior Storage Function Bit 32 to Object 1011H Restore Default Parameters Restoration Behavior Object 1014H COB-ID Emergency Message Emcy This object contains the Emcy emergency message identifier Content Object 1016H Consumer Heartbeat TimeVariable Bit 31 to 23 to 15 to Sub-index Description Data type Default value Access Object 1017H Producer Heartbeat TimeProduce the Hearbeat message Is written in this object the Heartbeat mechanism is used Default Value Object 1018H Identity ObjectSub-index Object 1200H Server SDO Parameter Sub Description Data type Default value Acces Object 1400H 1st Receive PDO Communication ParameterThis object contains the receive PDO identifier Mode Object 1405H 2nd Receive PDO Communication Parameter Object 1600H 1st Receive PDO Mapping Parameter Bits 31 to 16 MSB 15 to To 0 LSB Product references Sub-index Default value Object 1605H 2nd Receive PDO Mapping Parameter FTB 1CN08E08SP0 FTB 1CN12E04SP0 Object 1800H 1st Transmit PDO Communication Parameter COB-ID Bit No Value Meaning Value Event Timer in ms Value Inhibit Time in ms Object 1805H 2nd Transmit PDO Communication Parameter This object contains the Transmit PDO identifier 165 If there is no change to data Object 1A00H 1st Transmit PDO Mapping Parameter Data FieldBits 31 to 15 to FTB 1CN08E08CM0 FTB 1CN12E04SP0 Object 1A05H 2nd Transmit PDO Mapping Parameter FTB 1CN16E0 3000 0108H 3000 0208H Manufacturer-specific Zone Objects 2000H to 5FFFH Diagnostics input function Function Input channel is configured by the 2001H objectObject 2000H Input / Diag Parameter Sub-index bit value Object 2001H Input/Output Parameter Object 3000H Manufacturer Specific Diagnostic Box Hardware Profile Objects 6000H to 9FFFH Object 6000H Read Inputs 8 Bits Meaning of each bit is given in the following tableBit No Sub-index Sub Description Data type Default value Access Object 6100H Read Input 16 BitsBacked up Index Mapping Bit No Sub Description Data type Default Access Object 6102H Polarity InputThis object is used to define the polarity of inputs Value Input type This object is used to configure the mask for inputs Object 6103H Filter Constant Input 16 Bits This object is used to command outputs per byte Sub Description Data type Default value Access PDO MappingObject 6200H Write Outputs 8 Bits This object is used to command the state of discrete outputs Object 6300H Write Outputs 16 Bits Object 6302H Polarity Outputs 16 Bits This object is used to define the polarity of an outputPolarity Value Output type Object 6306HFallback Mode 16 Bits Before error occurrence maintain modeValue State of value Value Output value in the event of a fault Object 6307H Fallback Value 16 Bits This object is used to configure the mask for outputs Object 6308H Filter Mask Output 16 Bits 186 Chapter Chapter Name IEC Symbols 189 AppendicesIntroduction Whats in this Appendix? 188 IEC Symbols Glossary of SymbolsDescribing wiring schematics Symbols Glossary CALCan CMS CSMA/CA DBTDesina DIN IEC ISOLED LMT NMT OSI PDO PLC SDO String Ascii character string SyncSynchronization object 196 Index EDS 198