Access to Data by Explicit Exchanges SDO | Schneider Electric IP67

CANopen Network Interface

Access to Data by Explicit Exchanges (SDO)

What is an SDO? An SDO allows a device's data to be accessed by using explicit requests.

The SDO service is available when the device is in "Operational" or "Pre-

Operational" state.

Types of SDO

The Producer/ Consumer Model

There are two types of SDO:

Read SDOs (Download SDO)

Write SDOs (Upload SDO)

The SDO protocol is based on a 'Producer/Consumer' model.

For a Download SDO

The client sends a request indicating the object to be read.

The server returns the data contained within the object.

For an Upload SDO

The client sends a request indicating the object to be written to and the desired value.

After the object has been updated, the server returns a confirmation message.

For an unprocessed SDO

In both cases, if an SDO was not able to be processed, the server returns an error code (abort code).

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Schneider Electric IP67 manual Access to Data by Explicit Exchanges SDO, Types of SDO Producer/ Consumer Model

Contents

1606218 02 eng 1606218 02 08/2006 Table of Contents Application-Specific Functions DiagnosticsSoftware Tools Object Dictionary Glossary of Symbols Appendix a IEC SymbolsAt a Glance Procedure Safety InformationImportant Information Safety Information At a Glance About the Book Chapter Subject covered Related DocumentsTitle of Documentation Reference Number Presentation IntroductionIntroduction Whats in this Chapter? Connectors ConfigurableCANopen Advantys FTB Cables for Connecting the Bus to the Splitter Box Overview of the Accessories RangeElement Reference Function Introduction Field bus Installation Overview Introduction Description Types of Screws Tightening Torques Installing the Unit Plastic Unit Dimensions Illustrations Installation Follow the steps below MethodStep Action Grounding of the Advantys FTB Splitter Box Field bus connectorRisk of Unintended Equipment Operation Ground Electrode on Plastic Unit Follow the steps below to connect the ground to the unit Method for Plastic UnitsGround Electrode on Metal Unit Method for Metal Units Mounting Product Compliance e EMC Compatibility Connection that is as short as possible Grounding Inductive Loads ControlInductive loads Loads Installation Whats in this Splitter Box Characteristics WiringChapter? Advantys FTB Splitter Box Environment Properties Characteristic Description Reference standardEnvironment Properties Splitter Box Characteristics Electrical CharacteristicsInput Characteristics Output Characteristics Description Characteristics of the Connections Connecting the Actuators and SensorsPins Risk of Equipment Damage and NON-COMPLIANCE with IP67 Splitter boxs Inputs, Outputs and diagnostics M12 ConnectorsConnector Pin Number Allocation Calculation Power Supply Cable Cross-Section Assembling Power Supply ConnectionRisk of Equipment Damage Assignment On the PWR in connector Phaseo PowerOn the PWR OUT connector Supply This chapter contains the following sections CANopen Network InterfaceSection Topic CANopen Network Interface Wiring on the CANopen Bus Description Function See Introduction to Wiring on the CANopen Bus Architecture TopologyNumber Description Parameters Lmax is the maximum length of a tap Tap LengthValues to use are given in the following table Speed Lmax ΣLImax Min. interval ΣLGmax 6xΣL local 3 ft ExampleMin interval 0.6 * 7 m 23 ft Min interval 4.2 m 13.8 ft Number Transmission Choice of system cablesSpeed Specific Risk of Unintended Equipment Operation Field bus is connected via a 5-pin M12 connector Connecting the Field BusConnection Cable Connector Pin Signal Meaning Signal Meaning M12 pin Pin M12 Unused M12 connectors must not be left unprotectedPin SUB-D Illustration Rotary Switches Configuring the Address and Transmission SpeedData Node Address Rate Switch position Transmission speed Adjustment of the Transmission Speed Network General PrinciplesThis section contains the following topics Protocol About CANopenPhysical Layer Certification Product Communication Can StandardsOn a CANopen Network Function Function code Resulting COB-ID Binary Hex Dec Device Profile NMT Network Management Telegram CANopen Boot-Up Active CANopen Reset Application Communication InitObjects Depending on Risk of Unintended Device Operation Pre- Operational Stopped PDO Process Data Object PDO TransmissionFor each PDO Modes Change of state Synchronous RTR modeAsynchronous State modes ChangeReducing traffic on the bus Equipment damage Event Timer Inhibit Time and Event TimerStatus Event Timer is expressed in milliseconds Inhibit Time Types of SDO Producer/ Consumer Model Access to Data by Explicit Exchanges SDO Node-Guarding and Life-Guarding Monitoring Protocols Phase Master Back into Pre-Operational modeCan detect a master failure Watchdog function Heartbeat Heartbeat Error Monitoring ProtocolMechanism Meaning CANopen IP67 splitter and the saving of different parameters Behavior of FTB CANopen Splitter boxes With the Canopen BOOT-UP see CANopen Boot-Up, p Diagram Behavior at Power-upSwitching to Pre-Operational status CANopen data with the default parameters Communication error has disappeared Behavior in the Case of Communication Error Saving / Restoring Parameters List of Saved Parameters ConfigurationProfile Objects Discrete I/O Application-Specific Functions List Communication Objects List of 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 Channel Configured for Discrete Output Description of Configurable Discrete I/Os Channel Configured for Discrete Input List of FTB List of Advantys FTB 1CN08E08SP0 Splitter Box I/O Objects1CN08E08SPO Following table Output Objects 1CN08E08SP0 Object Sub Bit Description Index 1CN12E04SP0 List of Advantys FTB 1CN12E04SP0 Splitter Box I/O Objects Object Sub Bit Description Index Application-Specific Functions Object Sub Bit Description Index FTB 1CN16EP0 ListSplitter boxes is given in the following table FTB 1CN16EM0 FTB 1CN16EP0 FTB 1CN16EM0 Object Sub-index Bit Description Table below presents the mapping of object 2001H FTB 1CN16CM0 FTB 1CN16CP0 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 Introduction to Software Tools Device Configuration Network PLC setup and programmingGeneral Premium Twido Installation PLC SetupAdvantys Device Files Introduction Whats in this Section? Product Configuration Characteristics of an EDS File EDS File Existing EDS File for CANopen Advantys FTB Splitter BoxType of splitter box EDS file name Image name Introduction Creating a New EDS and DCF Configuration File Creating a New EDS and DCF Configuration File Building the Island New island window appears Island Configuration Setting the Network Parameters Network ConfigurationConfiguration of the network that has been drawn Follow the steps below Select the file to be imported and click on Open Steps 109 Master Configuring the PDOs Otherwise, go directly to step 112 401 Device type Step Action Click on Object Configuration PLC Programming Integration and Use under PL7 Configuration Follow the steps below TSX 57353 Rack 0 Position Channel CANopen bus configuration Steps Actions Click on the Bus Configuration button TSX 57353 Rack 0 Position SDO Request from the Debug Screen 119 Examples of SDO Requests Parameter updateProgrammed SDO Request Example Variable Type Description Endif 122 Operations DiagnosticsAnalysis is done either by LED display or Description LED status Power Supply Diagnostics Display Field Bus Status Diagnostics LEDOn the left Plastic unit, on the right Metal unit ERR LED Status LED for I/ Os on the M12 Connectors LED Status Diagnostics for I/OLED Behavior according to Settings and Channel Status LED Behavior Structure CANopen Objects DiagnosticsVia the network see table structure below Byte Table below lists the error codes and their meanings Error CodesError Diagnostics Description Code Emcy bytes Bit Description Comments Short-circuit / overload Power Supply for Splitter Boxes and Sensors Actuators Object Dictionary 132 Index Zone Function Documentation Index Ranges There are three zones in the object dictionary Objects of the Communication Profile 1000H to 1FFFH Bit Valid if bit = Object 1000H Device TypeSplitter box Decimal code Following faults can be displayed Object 1001H Error RegisterCorresponding bit is therefore activated Bit Meaning Comments Assignment of Bits Object 1002H Manufacturer Status Register Characteristics Object 1003H Pre-defined Error Field Error Diagnostics Meaning Code Error CodeMeanings Object 1005H COB-ID Sync Message Sub-index Description Data type Default AccessBacked up Value Mapping 80H Yes Object 1006H Communication Cycle Period When the first Sync signal is receivedMust be a double word Value Mapping Splitter box references Default values Default value depends on the splitter box referenceObject 1008H Manufacturer Device Name This object contains the device name Object 100AH Manufacturer Software Version MSV Object 100CH Guard Time Life-Time Object 100DH Life Time Factor Written to the corresponding sub-index Object 1010H Store ParametersRead result of a sub-index is always 0000 0001H Bit 32 to Back-up Behavior Storage Function Object 1011H Restore Default Parameters Restoration Behavior This object contains the Emcy emergency message identifier Object 1014H COB-ID Emergency Message Emcy Object 1016H Consumer Heartbeat Time ContentVariable Bit 31 to 23 to 15 to Object 1017H Producer Heartbeat Time Sub-index Description Data type Default value AccessProduce the Hearbeat message Is written in this object the Heartbeat mechanism is used Object 1018H Identity Object Default ValueSub-index Object 1200H Server SDO Parameter Object 1400H 1st Receive PDO Communication Parameter Sub Description Data type Default value AccesThis object contains the receive PDO identifier Mode Object 1405H 2nd Receive PDO Communication Parameter Bits 31 to 16 MSB 15 to To 0 LSB Object 1600H 1st Receive PDO Mapping Parameter Product references Sub-index Default value Object 1605H 2nd Receive PDO Mapping Parameter FTB 1CN08E08SP0 FTB 1CN12E04SP0 Object 1800H 1st Transmit PDO Communication Parameter Bit No Value Meaning COB-ID Value Inhibit Time in ms Value Event Timer in ms This object contains the Transmit PDO identifier Object 1805H 2nd Transmit PDO Communication Parameter 165 If there is no change to data Data Field Object 1A00H 1st Transmit PDO Mapping ParameterBits 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 Function Input channel is configured by the 2001H object Diagnostics input functionObject 2000H Input / Diag Parameter Sub-index bit value Object 2001H Input/Output Parameter Box Object 3000H Manufacturer Specific Diagnostic Hardware Profile Objects 6000H to 9FFFH Meaning of each bit is given in the following table Object 6000H Read Inputs 8 BitsBit No Sub-index Object 6100H Read Input 16 Bits Sub Description Data type Default value AccessBacked up Index Mapping Bit No Object 6102H Polarity Input Sub Description Data type Default AccessThis object is used to define the polarity of inputs Value Input type Object 6103H Filter Constant Input 16 Bits This object is used to configure the mask for inputs Sub Description Data type Default value Access PDO Mapping This object is used to command outputs per byteObject 6200H Write Outputs 8 Bits Object 6300H Write Outputs 16 Bits This object is used to command the state of discrete outputs This object is used to define the polarity of an output Object 6302H Polarity Outputs 16 BitsPolarity Value Output type Before error occurrence maintain mode Object 6306HFallback Mode 16 BitsValue State of value Object 6307H Fallback Value 16 Bits Value Output value in the event of a fault Object 6308H Filter Mask Output 16 Bits This object is used to configure the mask for outputs 186 Appendices Chapter Chapter Name IEC Symbols 189Introduction Whats in this Appendix? 188 Glossary of Symbols IEC SymbolsDescribing wiring schematics Symbols CAL GlossaryCan CMS DBT CSMA/CADesina DIN ISO IECLED LMT SDO NMT OSI PDO PLC Sync String Ascii character stringSynchronization object 196 EDS Index 198