Active CANopen, Objects, Depending on | Schneider Electric IP67

CANopen Network Interface

Active CANopen	The crosses in the table below indicate which CANopen objects are active for which
Objects	states of the state machine:
depending on
depending on		Initialisation	Pre-Operational	Operational	Stopped
State Machine		Initialisation	Pre-Operational	Operational	Stopped

	PDO object:			X
	PDO object:			X

	SDO object:		X	X

	Emergency		X	X

	Boot-Up	X

	NMT		X	X	X

"Reset

Application"

"Reset

Communication"

"Init"

The device goes into the "Reset Application" state:

after the device starts up or,

by "RESET NODE" (NMT service,Network Management Telegram).

In this state, the device profile is initialized, and all the device profile information is reset to default values. When initialization is complete, the device automatically goes into the state "Reset Communication".

The device goes into the "Reset Communication" state:

after the "Reset Application" state,

by "RESET COMMUNICATION" (NMT service).

In this state, all the parameters (standard value, depending on the device configuration) of the supported communication objects (1000H - 1FFFH) are saved in the object directory. The device then automatically goes into the "Init" state.

The device goes into "Init" mode after being in the "Reset Communication" state.

This state enables you to:

define the required communication objects (SDO, PDO, Sync, Emergency), install the corresponding CAL services

configure the CAN-Controller.

Initialization of the device is complete and the device automatically goes into the "Pre-Operational" state and sends a "Boot-Up" message.

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Schneider Electric IP67 manual Active CANopen, Objects, Depending on, State Machine, Reset Application Communication Init

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 IntroductionPresentation Whats in this Chapter? CANopen ConfigurableConnectors 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 Risk of Unintended Equipment Operation Field bus connectorGrounding of the Advantys FTB Splitter Box Ground Electrode on Plastic Unit Ground Electrode on Metal Unit Method for Metal Units Method for Plastic UnitsFollow the steps below to connect the ground to the unit Mounting EMC Compatibility Product Compliance e Grounding Connection that is as short as possible Inductive loads ControlInductive Loads Loads Installation Splitter Box Characteristics Wiring Whats in thisChapter? Characteristic Description Reference standard Advantys FTB Splitter Box Environment PropertiesEnvironment Properties Input Characteristics Electrical CharacteristicsSplitter Box Characteristics Output Characteristics Pins Connecting the Actuators and SensorsDescription Characteristics of the Connections Risk of Equipment Damage and NON-COMPLIANCE with IP67 Connector Pin Number M12 ConnectorsSplitter boxs Inputs, Outputs and diagnostics Allocation Power Supply Connection Calculation Power Supply Cable Cross-Section AssemblingRisk of Equipment Damage Assignment On the PWR OUT connector Phaseo PowerOn the PWR in 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 Values to use are given in the following table Tap LengthParameters Lmax is the maximum length of a tap Speed Lmax ΣLImax Min. interval ΣLGmax 6xΣL local Min interval 0.6 * 7 m 23 ft Min interval 4.2 m 13.8 ft Example3 ft Number Speed Choice of system cablesTransmission Specific Risk of Unintended Equipment Operation Connection Cable Connector Connecting the Field BusField bus is connected via a 5-pin M12 connector Pin Signal Meaning Unused M12 connectors must not be left unprotected Signal Meaning M12 pin Pin M12Pin SUB-D Data Node Address Configuring the Address and Transmission SpeedIllustration Rotary Switches Rate Adjustment of the Transmission Speed Switch position Transmission speed General Principles NetworkThis section contains the following topics About CANopen ProtocolPhysical Layer Product Certification On a CANopen Can StandardsCommunication Network Device Profile Function Function code Resulting COB-ID Binary Hex Dec CANopen Boot-Up NMT Network Management Telegram Objects Reset Application Communication InitActive CANopen Depending on Pre- Operational Stopped Risk of Unintended Device Operation For each PDO Process Data Object PDO TransmissionPDO Modes Change of state RTR mode SynchronousAsynchronous Reducing traffic on the bus ChangeState modes Equipment damage Status Event Timer is expressed in milliseconds Inhibit Time and Event TimerEvent Timer Inhibit Time Access to Data by Explicit Exchanges SDO Types of SDO Producer/ Consumer Model Node-Guarding and Life-Guarding Monitoring Protocols Phase Can detect a master failure Back into Pre-Operational modeMaster Watchdog function Mechanism Heartbeat Error Monitoring ProtocolHeartbeat Meaning Behavior of FTB CANopen Splitter boxes CANopen IP67 splitter and the saving of different parameters Switching to Pre-Operational status Behavior at Power-upWith the Canopen BOOT-UP see CANopen Boot-Up, p Diagram CANopen data with the default parameters Behavior in the Case of Communication Error Communication error has disappeared Saving / Restoring Parameters Profile Objects ConfigurationList of Saved Parameters Discrete I/O Application-Specific Functions Communication objects are listed in the following table List of ObjectsList Communication Objects 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 1CN08E08SPO List of Advantys FTB 1CN08E08SP0 Splitter Box I/O ObjectsList of FTB 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 Splitter boxes is given in the following table ListFTB 1CN16EP0 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 General Device Configuration Network PLC setup and programmingIntroduction to Software Tools Premium Twido Advantys Device PLC SetupInstallation 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 Configuration of the network that has been drawn Network ConfigurationSetting the Network Parameters 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 Programmed SDO Request Example Parameter updateExamples of SDO Requests Variable Type Description Endif 122 Analysis is done either by DiagnosticsOperations LED display or Power Supply Diagnostics Description LED status On the left Plastic unit, on the right Metal unit Field Bus Status Diagnostics LEDDisplay ERR LED LED Behavior according to Settings and Channel Status LED Status Diagnostics for I/OStatus LED for I/ Os on the M12 Connectors LED Behavior Via the network see table structure below CANopen Objects DiagnosticsStructure Byte Error Diagnostics Description Code Error CodesTable below lists the error codes and their meanings 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 Splitter box Object 1000H Device TypeBit Valid if bit = Decimal code Corresponding bit is therefore activated Object 1001H Error RegisterFollowing faults can be displayed Bit Meaning Comments Object 1002H Manufacturer Status Register Assignment of Bits Object 1003H Pre-defined Error Field Characteristics Error Code Error Diagnostics Meaning CodeMeanings Backed up Value Mapping Sub-index Description Data type Default AccessObject 1005H COB-ID Sync Message 80H Yes Must be a double word When the first Sync signal is receivedObject 1006H Communication Cycle Period Value Mapping Object 1008H Manufacturer Device Name Default value depends on the splitter box referenceSplitter box references Default values 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 Variable ContentObject 1016H Consumer Heartbeat Time Bit 31 to 23 to 15 to Produce the Hearbeat message Sub-index Description Data type Default value AccessObject 1017H Producer Heartbeat Time Is written in this object the Heartbeat mechanism is used Default Value Object 1018H Identity ObjectSub-index Object 1200H Server SDO Parameter This object contains the receive PDO identifier Sub Description Data type Default value AccesObject 1400H 1st Receive PDO Communication Parameter 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 Object 2000H Input / Diag Parameter Diagnostics input functionFunction Input channel is configured by the 2001H object 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 Backed up Index Mapping Sub Description Data type Default value AccessObject 6100H Read Input 16 Bits Bit No This object is used to define the polarity of inputs Sub Description Data type Default AccessObject 6102H Polarity Input 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 Polarity Object 6302H Polarity Outputs 16 BitsThis object is used to define the polarity of an output 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 Can GlossaryCAL CMS Desina CSMA/CADBT DIN LED IECISO LMT NMT OSI PDO PLC SDO String Ascii character string SyncSynchronization object 196 Index EDS 198