Master, Can detect a master failure | Schneider Electric IP67

CANopen Network Interface

Master	If the master requests "Guarding" messages on a strictly cyclical basis, the slave
Monitoring	can detect a master failure.
	If the slave does not receive a request from the master within the defined "Life-Time"
	interval ("Guarding" error), it considers that a master failure has occurred
	("Watchdog" function).
	In this case, the corresponding outputs go into fallback mode and the slave switches
	back into "Pre-Operational" mode.

"Guarding" Protocol

WARNING

RISK OF UNINTENDED DEVICE OPERATION

An unexpected change in state to "Pre-Operational" mode may occur when the slave does not successfully detect the master’s request even though a slave- master communication monitoring protocol is used.

Depending on the configuration of the slave’s inputs and outputs, this change in state may result in unintended device operation or in bodily injury or equipment damage. The person in charge of configuring the system is fully responsible for the configuration of the slave inputs/outputs and must ensure secure fallback operations in the event of a loss of master/slave communication. The person in charge of the configuration must also take all necessary steps to ensure equipment and personnel safety should it prove impossible to secure the fallback operations.

Failure to follow this instruction can result in death, serious injury, or equipment damage.

Note: Even if the monitoring function over time is disabled ("Guard-Time" and "Life- Time-Factor" registers set to 0), the slave will respond to a remote request from the master.

The initial value of the ''Toggle-Bit'' sent in the first ''Guarding'" message is ''0''.

Then, the ''Toggle'' bit changes in each subsequent ''Guarding'' message, which makes it possible to indicate if a message has been lost.

The network state of the device is indicated in the seven remaining bits:

Network state	Response in hex.

Stopped	04H or 84H

Pre-operational	7FH or FFH

Operational	05H or 85H

64	1606218 02 08/2006

Image 64

Schneider Electric IP67 manual Master, Can detect a master failure, Watchdog function, Back into Pre-Operational mode

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 About the Book At a Glance Chapter Subject covered Related DocumentsTitle of Documentation Reference Number Introduction PresentationIntroduction Whats in this Chapter? Configurable ConnectorsCANopen Advantys FTB Cables for Connecting the Bus to the Splitter Box Overview of the Accessories RangeElement Reference Function Introduction Installation Field bus Overview Installing the Unit Introduction Description Types of Screws Tightening Torques Dimensions Illustrations Plastic Unit Installation Follow the steps below MethodStep 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 Whats in this Splitter Box Characteristics WiringChapter? Advantys FTB Splitter Box Environment Properties Characteristic Description Reference standardEnvironment 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 Calculation Power Supply Cable Cross-Section Assembling Power Supply ConnectionRisk of Equipment Damage Assignment Phaseo Power On the PWR in connectorOn the PWR OUT connector Supply This chapter contains the following sections CANopen Network InterfaceSection Topic CANopen Network Interface Wiring on the CANopen Bus Introduction to Wiring on the CANopen Bus Description Function See Architecture TopologyNumber 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 Signal Meaning M12 pin Pin M12 Unused M12 connectors must not be left unprotectedPin SUB-D Configuring the Address and Transmission Speed Illustration Rotary SwitchesData Node Address Rate Adjustment of the Transmission Speed Switch position Transmission speed Network General PrinciplesThis section contains the following topics Protocol About CANopenPhysical 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 Synchronous RTR modeAsynchronous 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 EDS File Existing EDS File for CANopen Advantys FTB Splitter BoxType 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 Diagnostics Meaning Code Error 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 Written to the corresponding sub-index Object 1010H Store ParametersRead 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 Object 1018H Identity Object Default ValueSub-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 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 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 Meaning of each bit is given in the following table Object 6000H Read Inputs 8 BitsBit 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 Sub Description Data type Default value Access PDO Mapping This object is used to command outputs per byteObject 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 Before error occurrence maintain mode Object 6306HFallback Mode 16 BitsValue 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 Appendices Chapter Chapter Name IEC Symbols 189Introduction Whats in this Appendix? 188 Glossary of Symbols IEC SymbolsDescribing wiring schematics Symbols Glossary CALCan CMS CSMA/CA DBTDesina DIN IEC ISOLED LMT NMT OSI PDO PLC SDO Sync String Ascii character stringSynchronization object 196 Index EDS 198