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Schneider Electric IP67 manual Node-Guarding and Life-Guarding Monitoring Protocols

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CANopen Network Interface

"Node-Guarding" and "Life-Guarding" Monitoring Protocols

Introduction	Error monitoring protocols are used to detect communication errors on the network.
	The default monitoring method, "Node-Guarding", consists in the master controlling
	the slaves. It is possible to add "Life-Guarding" control of the master by the slaves.

	Note: The simultaneous use of both monitoring methods, "Guarding" and
	"Heartbeat", is impossible. Should both methods be activated at once, the
	equipment will only use the "Heartbeat" monitoring method.
Definition of

	The "Life-Time" parameter is calculated as follows:
"Life-Time"	"Life-Time"= "Guard-Time" x "Life-Time-Factor"
	"Life-Time"= "Guard-Time" x "Life-Time-Factor"
	The object 100CH contains the ''Guard-Time'' parameter expressed in milliseconds.
	The object 100DH contains the ''Life-Time-Factor" parameter.
Activation of
Activation of	When one of the two parameters "Life-Time-Factor" or "Guard-Time" is set to "0"
Monitoring	(default configuration), the device does not perform monitoring (no "Life-Guarding").
	To activate monitoring over time, you must enter a value (minimum 1) in the object
	100DH and specify a time in ms in the object 100CH.
	Common typical values for the "Guard-Time" parameter lie between 250 ms and 2 s.
Reliable
Reliable	To enable reliable and secure operation, the user must enter a "Life-Time-Factor"
Operation	with a minimum value of 2.
	When the value 1 is used, should a delay occur due to the processing of high priority
	messages or internal processing on the "Node-Guarding" master, the device
	switches back to the "Pre-Operational" default state without generating any errors.

	WARNING
	RISK OF UNINTENDED DEVICE OPERATION
	Set the "Life-Time-Factor" (object 100DH) to a minimum value of 2 to prevent any
	inadvertent change of state to "Pre-Operational" state. Depending on the I/O
	configuration, an inadvertent change of state may result in unintended device
	operation.
	Failure to follow this instruction can result in death, serious injury, or
	equipment damage.

62	1606218 02 08/2006

Image 62

Schneider Electric IP67 manual Node-Guarding and Life-Guarding Monitoring Protocols

Contents

1606218 02 eng 1606218 02 08/2006 Table of Contents Software Tools DiagnosticsApplication-Specific Functions Object Dictionary At a Glance Appendix a IEC SymbolsGlossary of Symbols Important Information Safety InformationProcedure Safety Information About the Book At a GlanceTitle of Documentation Reference Number Related DocumentsChapter Subject covered Introduction IntroductionPresentation Whats in this Chapter?CANopen ConfigurableConnectors Advantys FTBElement Reference Function Overview of the Accessories RangeCables for Connecting the Bus to the Splitter Box Introduction Installation Field busOverview Installing the Unit Introduction Description Types of Screws Tightening TorquesDimensions Illustrations Plastic UnitInstallation Step Action MethodFollow the steps below Risk of Unintended Equipment Operation Field bus connectorGrounding of the Advantys FTB Splitter Box Ground Electrode on Plastic UnitGround Electrode on Metal Unit Method for Metal Units Method for Plastic UnitsFollow the steps below to connect the ground to the unit MountingEMC Compatibility Product Compliance eGrounding Connection that is as short as possibleInductive loads ControlInductive Loads LoadsInstallation Chapter? Splitter Box Characteristics WiringWhats in this Environment Properties Characteristic Description Reference standardAdvantys FTB Splitter Box Environment Properties Input Characteristics Electrical CharacteristicsSplitter Box Characteristics Output CharacteristicsPins Connecting the Actuators and SensorsDescription Characteristics of the Connections Risk of Equipment Damage and NON-COMPLIANCE with IP67Connector Pin Number M12 ConnectorsSplitter boxs Inputs, Outputs and diagnostics AllocationRisk of Equipment Damage Power Supply ConnectionCalculation Power Supply Cable Cross-Section Assembling Assignment On the PWR OUT connector Phaseo PowerOn the PWR in connector SupplySection Topic CANopen Network InterfaceThis chapter contains the following sections CANopen Network Interface Wiring on the CANopen Bus Introduction to Wiring on the CANopen Bus Description Function SeeNumber Description TopologyArchitecture 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 localMin interval 0.6 * 7 m 23 ft Min interval 4.2 m 13.8 ft Example3 ft NumberSpeed Choice of system cablesTransmission SpecificRisk of Unintended Equipment Operation Connection Cable Connector Connecting the Field BusField bus is connected via a 5-pin M12 connector Pin Signal MeaningPin SUB-D Unused M12 connectors must not be left unprotectedSignal Meaning M12 pin Pin M12 Data Node Address Configuring the Address and Transmission SpeedIllustration Rotary Switches RateAdjustment of the Transmission Speed Switch position Transmission speedThis section contains the following topics General PrinciplesNetwork Physical Layer About CANopenProtocol Product CertificationOn a CANopen Can StandardsCommunication NetworkDevice Profile Function Function code Resulting COB-ID Binary Hex DecCANopen Boot-Up NMT Network Management TelegramObjects Reset Application Communication InitActive CANopen Depending onPre- Operational Stopped Risk of Unintended Device OperationFor each PDO Process Data Object PDO TransmissionPDO ModesChange of state Asynchronous RTR modeSynchronous Reducing traffic on the bus ChangeState modes Equipment damageStatus Event Timer is expressed in milliseconds Inhibit Time and Event TimerEvent Timer Inhibit TimeAccess to Data by Explicit Exchanges SDO Types of SDO Producer/ Consumer ModelNode-Guarding and Life-Guarding Monitoring Protocols Phase Can detect a master failure Back into Pre-Operational modeMaster Watchdog functionMechanism Heartbeat Error Monitoring ProtocolHeartbeat MeaningBehavior of FTB CANopen Splitter boxes CANopen IP67 splitter and the saving of different parametersSwitching to Pre-Operational status Behavior at Power-upWith the Canopen BOOT-UP see CANopen Boot-Up, p Diagram CANopen data with the default parametersBehavior in the Case of Communication Error Communication error has disappearedSaving / Restoring Parameters Profile Objects ConfigurationList of Saved Parameters Discrete I/OApplication-Specific Functions Communication objects are listed in the following table List of ObjectsList Communication Objects ObjectDevice 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 OutputChannel Configured for Discrete Input 1CN08E08SPO List of Advantys FTB 1CN08E08SP0 Splitter Box I/O ObjectsList of FTB Following table1CN08E08SP0 Output ObjectsObject Sub Bit Description Index List of Advantys FTB 1CN12E04SP0 Splitter Box I/O Objects 1CN12E04SP0Object Sub Bit Description Index Application-Specific Functions Object Sub Bit Description Index Splitter boxes is given in the following table ListFTB 1CN16EP0 FTB 1CN16EM0FTB 1CN16EP0 FTB 1CN16EM0 Table below presents the mapping of object 2001H Object Sub-index Bit DescriptionFTB 1CN16CP0 FTB 1CN16CM0Not 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 TwidoAdvantys Device PLC SetupInstallation FilesProduct Configuration Introduction Whats in this Section?Characteristics of an EDS File Type of splitter box EDS file name Image name Existing EDS File for CANopen Advantys FTB Splitter BoxEDS File Creating a New EDS and DCF Configuration File Introduction Creating a New EDS and DCF Configuration FileNew island window appears Building the IslandIsland Configuration Configuration of the network that has been drawn Network ConfigurationSetting the Network Parameters Follow the steps belowSteps Select the file to be imported and click on Open109 Configuring the PDOs MasterOtherwise, go directly to step 112 Step Action Click on Object Configuration 401 Device typePLC Programming Configuration Follow the steps below Integration and Use under PL7TSX 57353 Rack 0 Position Steps Actions Click on the Bus Configuration button Channel CANopen bus configurationSDO Request from the Debug Screen TSX 57353 Rack 0 Position119 Programmed SDO Request Example Parameter updateExamples of SDO Requests Variable Type DescriptionEndif 122 Analysis is done either by DiagnosticsOperations LED display orPower Supply Diagnostics Description LED statusOn the left Plastic unit, on the right Metal unit Field Bus Status Diagnostics LEDDisplay ERR LEDLED Behavior according to Settings and Channel Status LED Status Diagnostics for I/OStatus LED for I/ Os on the M12 Connectors LED BehaviorVia the network see table structure below CANopen Objects DiagnosticsStructure ByteError Diagnostics Description Code Error CodesTable below lists the error codes and their meanings Emcy bytesBit Description Comments Power Supply for Splitter Boxes and Sensors Actuators Short-circuit / overloadObject Dictionary 132 Index Ranges There are three zones in the object dictionary Index Zone Function DocumentationObjects of the Communication Profile 1000H to 1FFFH Splitter box Object 1000H Device TypeBit Valid if bit = Decimal codeCorresponding bit is therefore activated Object 1001H Error RegisterFollowing faults can be displayed Bit Meaning CommentsObject 1002H Manufacturer Status Register Assignment of BitsObject 1003H Pre-defined Error Field CharacteristicsMeanings Error CodeError Diagnostics Meaning Code Backed up Value Mapping Sub-index Description Data type Default AccessObject 1005H COB-ID Sync Message 80H YesMust be a double word When the first Sync signal is receivedObject 1006H Communication Cycle Period Value MappingObject 1008H Manufacturer Device Name Default value depends on the splitter box referenceSplitter box references Default values This object contains the device nameObject 100AH Manufacturer Software Version MSV Object 100CH Guard Time Object 100DH Life Time Factor Life-TimeRead result of a sub-index is always 0000 0001H Object 1010H Store ParametersWritten to the corresponding sub-index Back-up Behavior Storage Function Bit 32 toObject 1011H Restore Default Parameters Restoration Behavior Object 1014H COB-ID Emergency Message Emcy This object contains the Emcy emergency message identifierVariable ContentObject 1016H Consumer Heartbeat Time Bit 31 to 23 to 15 toProduce the Hearbeat message Sub-index Description Data type Default value AccessObject 1017H Producer Heartbeat Time Is written in this object the Heartbeat mechanism is usedSub-index Default ValueObject 1018H Identity Object 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 ModeObject 1405H 2nd Receive PDO Communication Parameter Object 1600H 1st Receive PDO Mapping Parameter Bits 31 to 16 MSB 15 to To 0 LSBProduct 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 MeaningValue Event Timer in ms Value Inhibit Time in msObject 1805H 2nd Transmit PDO Communication Parameter This object contains the Transmit PDO identifier165 If there is no change to data Bits 31 to 15 to Object 1A00H 1st Transmit PDO Mapping ParameterData Field 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 valueObject 2001H Input/Output Parameter Object 3000H Manufacturer Specific Diagnostic BoxHardware Profile Objects 6000H to 9FFFH Bit No Sub-index Object 6000H Read Inputs 8 BitsMeaning of each bit is given in the following table Backed up Index Mapping Sub Description Data type Default value AccessObject 6100H Read Input 16 Bits Bit NoThis object is used to define the polarity of inputs Sub Description Data type Default AccessObject 6102H Polarity Input Value Input typeThis object is used to configure the mask for inputs Object 6103H Filter Constant Input 16 BitsObject 6200H Write Outputs 8 Bits This object is used to command outputs per byteSub Description Data type Default value Access PDO Mapping This object is used to command the state of discrete outputs Object 6300H Write Outputs 16 BitsPolarity Object 6302H Polarity Outputs 16 BitsThis object is used to define the polarity of an output Value Output typeValue State of value Object 6306HFallback Mode 16 BitsBefore error occurrence maintain mode Value Output value in the event of a fault Object 6307H Fallback Value 16 BitsThis object is used to configure the mask for outputs Object 6308H Filter Mask Output 16 Bits186 Introduction Whats in this Appendix? Chapter Chapter Name IEC Symbols 189Appendices 188 Describing wiring schematics IEC SymbolsGlossary of Symbols Symbols Can GlossaryCAL CMSDesina CSMA/CADBT DINLED IECISO LMTNMT OSI PDO PLC SDOSynchronization object String Ascii character stringSync 196 Index EDS198