ESD CAN-CBM-DP, Software Manual

Page 1: ...electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany www esd electronics com Fax 0511 37 29 8 68 Phone 0511 37 29 80 International 49 5 11 37 29 80 CAN CBM DP PROFIBUS DP CAN Gateway Software Manual to Product C 2844 xx ...

Page 2: ... assumes no responsibility for the use of any circuitry other than circuitry which is part of a product of esd gmbh esd does not convey to the purchaser of the product described herein any license under the patent rights of esd gmbh nor the rights of others esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany Phone 49 511 372 98 0 Fax 49 511 372 98 68 E mail info esd elect...

Page 3: ...e cbmdp18 DP CANopen V 1 07 Command File cbmdpb01 DP CANopen V 1 11 Changes in the chapters The changes in the user s manual listed below affect changes in the firmware as well as changes in the description of the facts only Manual Rev Chapter Changes versus previous version 1 9 5 Chapter restructured notes inserted 7 Complete chapter restructured 7 1 Chapter Editing the GSD File with a Text Edito...

Page 4: ...CAN CBM DP Software Manual Rev 2 0 This page is intentionally left blank ...

Page 5: ...Page Mode 9 3 Implementing and Diagnose 10 3 1 Prerequisites for Implementation 10 3 2 Implementation 10 3 2 1 Strategy 10 3 2 2 Start Up 11 3 2 3 Data Transfer 11 3 3 Diagnose via LED Display 12 3 4 Slave Diagnose 13 3 4 1 Diagnose Bytes 0 5 13 3 4 1 1 Station Status 1 14 3 4 1 2 Station Status 2 15 3 4 1 3 Station Status 3 16 3 4 1 4 Diagnose Byte 3 Master PROFIBUS Address 16 3 4 1 5 Diagnose By...

Page 6: ...Operation 44 6 4 1 Overview 44 6 4 2 Definition of PLC Addresses 45 6 4 3 Page Structure 48 6 4 4 Setup via Page 0 and 1 49 6 4 5 Tx Configuration via Pages 51 150 50 6 4 6 Rx Configuration via Pages 151 250 51 6 4 7 Data Exchange via Pages 251 n 52 6 5 Using the Page Mode with FBs and DBs 54 6 5 1 Function Block FB 2 Configuration and Data Exchange 54 FREIGABE 55 WRITE_ADDRESS 55 WRITE_CONFIG_DB ...

Page 7: ...n about Wrong User Parameters 78 7 2 4 3 Data Mapping Dialog Box in Page Mode 79 7 2 5 Configuration Example 80 7 2 6 Managing the Configuration Files 81 7 2 7 Diagnose 83 7 2 7 1 Search Modules 83 7 2 7 2 Look CANOPEN Modules 84 7 2 7 3 Config Modules 85 7 2 8 Maintenance 87 7 2 8 1 Memory 87 8 Examples 89 8 1 Application Example with Page Mode 89 9 Important CANopen Messages 101 ...

Page 8: ...CAN CBM DP Software Manual Rev 2 0 4 This page is intentionally left blank ...

Page 9: ... Identifier The module is available with two firmware versions The version with the order no C 2844 03 supports only 11 bit CAN identifier and the version with the order no C 2844 05 supports 11 bit and 29 bit CAN identifier 1 2 Introduction into Functionality of the Firmware The gateway simulates a slave device with a defined number of input and output bytes to the PROFIBUS After the gateway has ...

Page 10: ... mainly used for the display of transmitted parameters Only a limited number of parameters can be modified 1 5 More addressable Identifiers via Page Mode Page Mode offers the possibility to address more CAN Identifiers than a PROFIBUS Telegramm can contain thus more than 48 The number of the identifiers possible is only limited by the available memory capacity of the PLC and the CAN Gateway Note P...

Page 11: ...s is set by means of coding switches at the module When switching on the module the hexadecimal PROFIBUS address set is requested The settings have to be changed before switching on the module because changes are ineffective during operation The address range which can be set is hexadecimal 03 to 7C or decimal 3 to 124 If an address is set which is smaller than 3 decimal or smaller than 03 HEX add...

Page 12: ... requests RTR on the CAN bus cannot be used therefore 2 3 Watchdog Reaction Control The firmware can be run with activated or deactivated reaction control It is recommendable though to run it with activated reaction control 2 4 Diagnose The status of the LED displays and the DP slave diagnose can be used for diagnose The module supports five module specific diagnose bytes The diagnose will be desc...

Page 13: ... the chance to address more CAN identifiers than can be stored in one PROFIBUS telegram that means more than 48 Because of the additional protocol expenditure the handling ofthe Page Mode is slightlymore complicated than the standard operation ofthe gateway The data exchange between PROFIBUS and CAN requires two cycles instead of one PLC cycle ...

Page 14: ...ATIC Manager Only after carried out configuration the CAN CBM DP module can be identified as CANopen slave 3 2 Implementation 3 2 1 Strategy Please make the following steps to implement the module 1 Install and wire the CAN CBM DP module power supply CAN bus see hardware manual 2 Set the PROFIBUS address of the module by means of the coding switch 3 Connect the PROFIBUS connector to the PROFIBUS i...

Page 15: ...a from the DP master and evaluates the specifications in them If the projection complies with the structure the CAN CBM DP module starts the data transfer 3 2 3 Data Transfer If the module is configured the data transfer starts automatically after start up If the PLC master changes transmission data of an identifier the data is transmitted from the CAN CBM DP module to the CAN bus When the CAN CBM...

Page 16: ... O only 11 bit version 5x long flash CAN off short long long CAN warning W on CAN bus OK LED 2 red module PROFIBUS status off no power supply check the 24 V power supply 1x short flash looking for bit rate the connection to the DP master has failed check the PROFIBUS connection fault in wiring in PROFIBUS cable short circuit terminating impedance in wrong position 2x short flashes bit rate is moni...

Page 17: ... 192 SFC 13 FB IM308C SFC DPNRM_DG Table 3 4 1 Function component for requesting the slave diagnose 3 4 1 Diagnose Bytes 0 5 The assignment of these diagnose bytes has been predefined in norm DIN EN 19425 part 3 Below the status messages will be described in consideration of the CAN CBM DP module The following designations will be used for this Byte number Status byte designation 0 1 2 3 4 5 stati...

Page 18: ... configuration data transmitted from DP master to DP slave do not correspond to the DP slave structure check whether the station type and the CAN CBM DP structure have been correctly entered via the configuration tool 3 The slave has got external diagnose data request and evaluate external diagnose data 4 The requested function is not being supported by the DP slave check projecting 5 DP master ca...

Page 19: ...tive message Bit Error message if bit 1 0 DP slave has to be set again 1 A diagnose message applies The DP slave cannot operate until the error has been removed static diagnose message 2 This bit is always 1 3 The response monitoring for the CAN CBM DP is activated 4 DP slave has received freeze command 5 DP slave has received SYNC command 6 This bit is always 0 7 DP slave is deactivated Table 3 4...

Page 20: ...agnose Byte 3 Master PROFIBUS Address The PROFIBUS address of the master which was the last to set the DP slave and has got reading and writing access to the DP slave is stored in this byte 3 4 1 5 Diagnose Bytes 4 and 5 Manufacturer Identification The manufacturer identification has been coded into two bytes For the CAN CBM DP module the designation 04A4 hex is returned ...

Page 21: ...atus of byte 8 byte 8 3D hex setting SAP61 faulty byte 9 contains the number of the faulty setting byte byte 8 3E hex configuration SAP62 faulty byte 9 contains the number of the faulty PROFIBUS module address of the simulated PLC module 10 depending on status of byte 8 byte 8 3D hex setting SAP61 faulty byte 10 shows the PROFIBUS master with the correct values byte 8 3E hex configuration SAP62 fa...

Page 22: ... 75_supp 1 G 93 75 kBaud wird unterstuetzt 187 5_supp 1 G 187 5 kBaud wird unterstuetzt 500_supp 1 G 500 kBaud wird unterstuetzt 1 5M_supp 1 G 1 5 MBaud wird unterstuetzt 3M_supp 1 G ab GSD_Revision 1 3 MBaud wird unterstuetzt 6M_supp 1 G ab GSD_Revision 1 6 MBaud wird unterstuetzt 12M_supp 1 G ab GSD_Revision 1 12 MBaud wird unterstuetzt MaxTsdr_9 6 60 G MaxTsdr_19 2 60 G MaxTsdr_31 25 15 fuer Ga...

Page 23: ... Value 1 Fehler auf Eingang 0 23 1234 Value 2 Fehler auf Ausgang 0 15 1234 Value 3 24V ausgefallen 1234 Unit_Diag_Area_End 1234 Max_Diag_Data_Len 16 max 16 Byte Diagnosedaten Modul_Offset 0 D ab GSD_Revision 1 erste Steckplatznummer Max_User_Prm_Data_Len 9 PrmText 1 Text 0 1000 kbit s Text 1 666 6 kbit s Text 2 500 kbit s Text 3 333 3 kbit s Text 4 250 kbit s Text 5 166 kbit s Text 6 125 kbit s Te...

Page 24: ...6 65535 0 65535 EndExtUserPrmData Ext_User_Prm_Data_Const 0 0x00 0x06 0x00 0x00 0x00 0x00 0xff 0xff 0xff Ext_User_Prm_Data_Ref 1 1 Ext_User_Prm_Data_Ref 2 2 Ext_User_Prm_Data_Ref 2 3 Ext_User_Prm_Data_Ref 2 4 Ext_User_Prm_Data_Ref 2 5 Ext_User_Prm_Data_Ref 2 6 Ext_User_Prm_Data_Ref 2 7 Ext_User_Prm_Data_Ref 3 8 Ext_User_Prm_Data_Ref 6 9 Ext_User_Prm_Data_Ref 7 10 Slave_Family 9 CAN V01 Periphery E...

Page 25: ...le ID at CANopen must match the settings of the CAN participants connected If problems should occur further information can be obtained with the diagnose as described in the chapters 4 3 Diagnose via LED Display and 4 4 Slave Diagnose Please follow the steps below to configure the CAN CBM DP module 1 Select CAN CBM DP Select menu Hardware Catalogue and there Additional Field Devices and Other Ther...

Page 26: ... 1 1 Set PROFIBUS address A window opens in which you have to specify the PROFIBUS station address Attention The hexadecimal address set at the coding switches has to be converted into a decimal value and entered here Fig 5 1 1 Setting the PROFIBUS address of the CAN CBM DP ...

Page 27: ...n the Properties window which opens if the header of the DP slave window is double clicked here line 23 DP Slave Fig 5 1 2 Setting the parameters in the DP slave properties window Note By means of selection point Hex Parameter the parameters can be specified by means of entering hexadecimal values as in older software versions More comfortable however is of course the specification in the format s...

Page 28: ... bit rate in 14 levels Communication Window CW This parameter activates the Communication Window It is described in detail at page 31 RTR Frames NR Transmit RTR frames for the Rx identifiers configured via PROFIBUS CANopen Slave CS Configure gateway as CANopen slave CANopen Master CM Configure gateway as CANopen master Start Frame AS After wake up time has expired a start frame is transmitted if t...

Page 29: ...t TxId transmit RTR frames on RxId x yes no yes yes no after wake up time start frame put out TxId Table 5 1 2 Example for permissible settings Module ID The Module ID under which the gateway is addressed is set via this byte if the gateway has been configured as CANopen slave Value range 1 127 decimal Wakeup Time Via parameter Wakeup Time a delay in seconds is specified It determines the time a m...

Page 30: ...missing entry of the configuration data would be interpreted as 0 and the Wakeup Time function would be deactivated therefore SYNC Time The CAN CBM DP module can cyclically transmit the commands SYNC and START for simple CANopen applications The SYNC Time for the transmission can be specified in the properties window as described above via the Communication Window or via the tool CICT The specifie...

Page 31: ...If the software is updated to a version t 1 03 when using an existing application program older than 12 1999 the missing entry of the configuration data would be interpreted as 0 and the SYNC and START functions would be deactivated therefore 5 1 3 Assigning the Slots of the DP Slave The desired number of slots to be used by the DP slave for data exchange is set by double clicking the device Unive...

Page 32: ...mal Form byte B8 hexadecimal Fig 5 1 4 Example Configuration of input data Fig 5 1 5 Example Configuration of output data Attention In order to guarantee that the module works perfectly at least one output any unit has to be configured always The PROFIBUS controller SPC3 does not trigger an interrupt if no output is defined If no CAN is to be assigned when an output is defined it is permissible to...

Page 33: ... control byte form each divided by commas are transmitted in the first two bytes The data format for all properties is hexadecimal Note The CAN CBM DP module with the order no C 2844 05 can handle 29 Bit CAN identifiers A 29 bit identifier requires four bytes and bit 29 must be set to 1 counted 0 31 bits in order to enable the module to distinguish between 11 bit and 29 bit identifiers If input ha...

Page 34: ...ntation results for the format byte Bit No 7 6 5 4 3 2 1 0 Bit of form 1 0 0 0 1 1 1 0 hexa decimal 8 E action begin swap end swap un changed un changed begin swap swap swap end swap Data bytes 1 2 3 4 5 6 7 8 CAN frame 2 bytes Intel format byte 3 byte 4 4 bytes Intel format PLC data 2 bytes Motorola format byte 3 byte 4 4 bytes Motorola format From this the format byte results in 8E hex If all ei...

Page 35: ...s together with the data at each access The disadvantage of the Communication Window is the lower data flow though Therefore it is recommendable to use the Communication Window for non time critical accesses such as writing the SDOs after starting up the device The data length must always be 16 bytes in the configuration The identifier to be used is always FFEF hex The Communication Window will be...

Page 36: ...s 4 and 5 all parameters have been specified Even the identifier cannot be selected freely Consistently the whole length has always to be specified A shared PLC address or different PLC addresses are permissible for input and output direction Data direction input PLC address any example 30 Length 16 Unit byte Consistent for whole length Identifier FFEF hexadecimal Form byte 00 hexadecimal Data dir...

Page 37: ...dentifier bits 15 10 8 low byte of CAN identifier identifier bits 7 0 2 3 with 11 bit CAN identifier byte 2 and 3 always 0 with 29 bit CAN identifier byte 2 identifier bits 28 24 byte 3 identifier bits 23 16 4 5 6 7 8 9 10 11 data byte 0 data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 12 data length for transmission jobs Tx 13 PLC loop counter has to be incremen...

Page 38: ...fier identifier bits 7 0 2 3 with 11 bit CAN identifier byte 2 and 3 always 0 with 29 bit CAN identifier byte 2 identifier bits 28 24 byte 3 identifier bits 23 16 4 5 6 7 8 9 10 11 data byte 0 data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 12 number of received data bytes 13 return of the PLC loop counter which has been transmitted to the gateway via the last P...

Page 39: ...Cyclical transmission of the CANopen START command ID 00 hex len 2 data 0100 hex Table 5 3 3 Commands of Communication Window Attention A command is only completely processed if when reading the Communication Window byte 13 of the CBM module provides the value of the PLC loop counter which was specified during the command call Before the following command is called it therefore advisable to check ...

Page 40: ...byte 13 The module has got a FIFO memory for 255 CAN frames to buffer the received Rx data If several Rx frames are to be received on one Rx identifier or if frames of various Rx identifiers enabled for reception are received the data is not lost as long as the PLC reads out the FIFO memory quicker than it is being filled Command 4 Enabling Rx identifiers for reception By means of this command the...

Page 41: ...uarantee that all CANopen users have received their new data when they receive the SYNC command the cyclical transmission command of the SYNC command cannot interrupt transmission of a DP telegram on the CAN That means that the SYNC command is delayed until the DP telegram has been transmitted if its transmission and the transmission of a SYNC command coincide This can result in slight changes of ...

Page 42: ...entire length Identifier FFEF hexadecimal always Form byte 00 hexadecimal 1 3 Program PLC loop counter 8 bit loop counter for handshake function between PLC and gateway PLC Cycle Pseudo Code 1 Read Byte 13 returned loop counter of Read Bytes of Communication Windows refer to page 34 2 Compare Byte 13 of the Read Bytes of Communication Windows with PLC loop counter byte 13 of the Write Bytes of Com...

Page 43: ...0 00 4 5 6 7 8 9 10 11 data byte 0 data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 00 01 02 03 04 05 06 07 12 data length for transmission commands 08 13 PLC loop counter 8 bit counter 14 sub command always set to 0 00 15 command transmit data 01 The data bytes 00 01 02 03 04 05 07 are transmitted on Tx identifier 0012 hex In order to acknowledge the execution o...

Page 44: ...identifier identifier bit 15 10 8 low byte of CAN identifier identifier bit 7 0 01 23 2 3 bytes 2 and 3 always 0 for 11 bit identifier 00 00 4 5 6 7 8 9 10 11 data byte 0 data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 00 00 00 00 00 00 00 00 12 data length for transmission command Tx 00 13 PLC loop counter 8 bit counter 14 sub command always set to 0 00 15 comm...

Page 45: ... the Communication Window Since the data is received asynchronously to the PLC cycles the Communication Window has to be read again and again until the data was received polling By comparing the values of the PLC loop counter you can determine whether the data received is the correct data from the read command A read access returns the following bytes Byte of Communication Window Contents Example ...

Page 46: ...ple here hex 1 high byte of CAN identifier identifier bit 15 10 8 low byte of CAN identifier identifier bit 7 0 01 23 2 3 bytes 2 and 3 always 0 for 11 bit identifiers 00 00 4 5 6 7 8 9 10 11 data byte 0 data byte 1 data byte 2 data byte 3 data byte 4 data byte 5 data byte 6 data byte 7 00 00 00 00 00 00 00 00 12 data length for transmission commands Tx 00 13 PLC loop counter 8 bit counter m 14 su...

Page 47: ...ined in the package 6 2 Activation Before you activate the Page Mode you have to integrate the according functional and data blocks into your PLC program Please read the following chapters carefully to get an insight into the mode of operation and be able to use the contained functional and data blocks according to your demands The Page Mode is activated for instance via the SIMATIC manager SIEMEN...

Page 48: ...sion of the pages After the system has been started a page with setup data is exchanged between PLC and gateway In the following pages the PLC transmits the configuration of the Tx and Rx identifiers These pages contain the identifier numbers used for the CAN the number of bytes and information about the data format Fig 6 4 1 Exchange of parameters and data in Page Mode overview If the setup has b...

Page 49: ... blocks FB and data blocks DB with which the transmission of the pages can be controlled Users do not have to program the control of the pages themselves therefore The FB and DB will be described from page 54 6 4 2 Definition of PLC Addresses The Page Mode needs input and output addresses The number of addresses used is limited to the top only by the PLC The inputs need at least a page size of 32 ...

Page 50: ...he consistency for the entire 32 bytes have been set The data length has not been chosen larger because the S7 300 cannot transmit more than 32 bytes consistently This however is absolutely necessary for the Page Mode Generally a segment is to be specified with 32 bytes Given that at least 32 bytes have already been specified for the input data it is also permissible to use any length between 0 an...

Page 51: ...he rules for the assignment of addresses in PLC Page Mode Rules for the assignment of addresses in Page Mode 1 Define at least 32 input bytes 2 Segment length always 32 bytes Exception last segment d 32 bytes 3 Consistency over the entire length 4 Sequential addressing of segments of inputs and outputs 5 Communication Window into the last two segments if desired Table 6 4 1 Rules for the assignmen...

Page 52: ... g Tx identifier definition Table 6 4 2 Structure of pages The first two bytes of each segment of a page specify the page number The page number marks the page to be transmitted and the type of page The following table shows the page numbers page types and the functional and data blocks which are available Page number Page type Function block Data block Formal operand ENABLE 0 setup page FB2 0 51 ...

Page 53: ... first The gateway then returns the setup data in page 1 The product package contains a function block which is responsible for the transmission and reception ofpages 0 and 1 FB2 We recommend that you use this function block If you use function block FB2 you do not have to configure further parameters The setup requires some time Therefore it is recommendable to delay the transmission of the next ...

Page 54: ... 48 From byte 8 in the first segment byte 2 in the following segments the definition of the desired Tx identifiers is transmitted to the CAN gateway For each Tx identifier 6 bytes are required TxId_value These four bytes specify the numeric value of the Tx identifier The CAN CBM DP module with the order no C 2844 03 supports 11 bit identifier 0 2047 decimal TheCAN CBM DPmodulewiththeorder no C 284...

Page 55: ...ge 48 From byte 8 in the first segment byte 2 in the following segments the definition of the desired Rx identifiers is transmitted to the CAN gateway For each Rx identifier 6 bytes are required RxId_value These four bytes specify the numeric value of the Rx identifier The CAN CBM DP module with the order no C 2844 03 supports 11 bit identifier 0 2047 decimal TheCAN CBM DPmodulewiththeorder no C 2...

Page 56: ...ve refer also to page 48 Starting with byte 8 in the first segment the data of the first identifier are transmitted to the gateway The data of the next identifier follow directly that means that only as many data bytes are transmitted each per identifier as have been defined in length In the second segment the transmission of data already starts with byte 2 because bytes 2 to 7 do not contain prot...

Page 57: ...ta data of Rx identifier 1 data of Rx identifier 2 Example t 251 14 11 22 33 44 55 66 hex 15 99 88 77 66 hex Table 6 4 8 Example of a data page for input data count_in x In this byte the gateway specifies an input counter The input counter is incremented with each Rx frame received It can be used by the user for example to program a guarding protocol Rx_user_data Here the received user data of thi...

Page 58: ...ing example call Calling FB2 example CALL FB 2 DB102 FREIGABE BIT1 WRITE_ADDRESS WRITE_ADDRESS WRITE_CONFIG_DB WRITE_CONFIG_DB WRITE_DB WRITE_DB READ_ADDRESS READ_ADDRESS READ_CONFIG_DB READ_CONFIG_DB READ_DB READ_DB RET_VALUE t016 Explanation of data blocks and parameters Data block parameter Function For a detailed description refer to page FREIGABE Enable after setup via page 0 and 1 55 WRITE_A...

Page 59: ... each Tx identifier to be written Address Bytes 0 3 Byte 4 Byte 5 Explanation 0 Tx Identifier 1 form 1 length 1 definition of Tx Id 1 6 Tx Identifier 2 form 2 length 2 definition of Tx Id 2 12 Tx Identifier 3 form 3 length 3 definition of Tx Id 3 n 6 endconfig marking the end of the DB or the Tx configuration Table 6 5 2 Structure of the WRITE CONFIG DB Tx Identifier x Here the value of the Tx ide...

Page 60: ...as last Tx identifier definition FB2 will then continue with the configuration of the Rx identifiers The length of the data blocks differs The required length can be determined from the number of required Tx identifiers plus the four bytes for the end flag Example You have to define 16 Tx identifiers via DB11 DB11 defines Tx Ids 1 10 therefore requires a length of 10 6 4 64 bytes End flag DDDDDDDD...

Page 61: ...x In parameter form you choose whether the input data is to be converted from Intel format of the CAN network to the Motorola format of the PLC or not Byte form has already been described in detail on page 29 length x This byte specifies the number of data bytes which are to be received by this Rx identifier endconfig The PLC has to be told whether another data block is required for the definition...

Page 62: ...ine 19 Rx identifiers starting with DB26 DB26 defines Rx Ids 1 10 therefore requires a length of 10 6 4 64 bytes End flag DDDDDDDD hex DB27 defines Rx Ids 11 19 therefore requires a length of 9 6 4 58 bytes End flag EEEEEEEE hex Note In FB2 the bit FREIGABE has to be set 1 ...

Page 63: ...ress from which the data of a Tx identifier is stored has to be determined from the data of the previous Tx identifiers therefore Address 1 byte 1 byte n bytes Explanation 0 length 1 force 1 user data 1 user data of Tx Id 1 Address 1 byte 1 byte m bytes Explanation n 2 length 2 force 2 user data 2 user data of Tx Id 2 Address 1 byte 1 byte l bytes Explanation n 2 m 2 length 3 force 3 user data 3 u...

Page 64: ... order to transmit more than once force has to be set to the value 4 in the following cycle Each further switch between the values triggers a transmission of frames userdata x The user data between 1 to 8 bytes is specified after parameter force enddata This parameter tells the PLC whether another data block with user data will follow or whether this was the last user data to be transmitted If ano...

Page 65: ...efore Address 1 byte 1 byte n bytes Explanation 0 length 1 count_in 1 userdata 1 user data of Rx Id 1 Address 1 byte 1 byte m bytes Explanation n 2 length 2 count_in 2 userdata 2 user data of Rx Id 2 Address 1 byte 1 byte l bytes Explanation n 2 m 2 length 3 count_in 3 userdata 3 user data of Rx Id 3 Address 1 byte Explanation xxx enddata marking the end of the DB or the input data Table 6 5 6 Str...

Page 66: ... FB2 will be told by entering the hexadecimal value EE in cell length FB2 will then continue to transmit the user data of the first READ_DB Note Bit FREIGABE has to be set 1 in FB2 if the input data is to be read RET_VALUE Returning status of handling of current page This parameter is 0 if bit FREIGABE 0 If FREIGABE 1 RET_VALUE contains a number which specifies the page type which is being handled...

Page 67: ...ram 2 1 Include FB2 WRITE_ADDRESS start address of first output segment READ_ADDRESS start address of first input segment 2 2 Data blocks WRITE_CONFIG_DB generate and preset determine length of DB READ_CONFIG_DB generate and preset determine length of DB WRITE_DB generate and supply with data during program READ_DB generate and read data during program 3 Include More FBs 3 1 FB4 data exchange via ...

Page 68: ...odule is made by means of a configuration frame whose content is enterd in the GSD file The frame of the configuration is sub devided in three octets see also PROFIBUS Spezification Normative Part 8 Spage 738 Fig 16 Octet 1 Number_of_the_manufacturer specific data Octet 2 Number_of_output_or_iputbytes Octet 3 Manufacturer specific_configuration_byte The octets have the following meaning Octet 1 Nu...

Page 69: ...ncy the structure byte word and the number of the output bytes Length bytes of the output as seen from the PROFIBUS master see also PROFIBUS Specification Normative Part 8 page 738 MSB LSB Bit No 7 6 5 4 3 2 1 0 Content Consistency over 0 byte or word 1 complete length Length format 0 byte structure 1 word structure Number of inputs outputs Example Module 1 Bit No 7 6 5 4 3 2 1 0 Content 0 0 0 0 0...

Page 70: ...tput 0x80 and three manufacturer specific configuration byte 0x03 will follow 0x05 Consistency over byte the length format is byte structure 0x05 and 6 byte data are transferred 0x05 6 1 0x02 Manufacturer specific data 0x02 0x03 Manufacturer specific data 0x03 Identifier 0x0203 e g CANopen Rx PDO for Modul ID 3 0x00 Manufacturer specific data 0x00 no byte swapping i e the sequence of the data will...

Page 71: ...al menu points of CICT in detail An application example can be found at the end of this chapter 7 2 1 Display and Configuration In order to display parameters and configure the module the following steps are required Command Notes 1 Setup selecting the serial interface at the PC COM1 COM2 2 Connect if an online configuration is desired 3 Data Mapping opens dialog box 4 CBM DP Load From or File Ope...

Page 72: ...n the following figure appears example CAN CBM DP IN order to configure the CAN CBM DP module it has to be set as shown The selection of the Serial Port depends on the interface available at your PC If a mouse is already connected to interface COM1 please select COM2 for the module The configuration program automatically sets the required parameters of the serial interface in your PC Apart from th...

Page 73: ... order to configure online you have to select menu point Connect from menu File or click the Connect Disconnect button in the tool bar Fig 7 2 3 Select menu point Connect Ifa connection to the CAN CBM DP has been established the message ONLINE appears in the status line on the right below and the CAN CBM DP module can be configured as described in the following chapter Offline configuration In off...

Page 74: ... 7 2 4 Configuration of the CAN CBM DP Module In order to configure the CAN CBM DP module you have to select menu point Data Mapping from menu File or click the Data Mapping button in the tool bar Fig 7 2 4 Select menu point Data Mapping The following dialog box appears Fig 7 2 5 Data Mapping dialog box ...

Page 75: ...eters Sync Time and Wakeup Time can also be changed Parameters CAN ID and Format can be changed as well provided that the parameter ConfigByDP has the value N Status Line In the status line of the Data Mapping dialog box the following properties are displayed Fig 7 2 6 Meaning of specifications in the status line PROFIBUS DP Address The PROFIBUS DP Address can only be read The value read correspon...

Page 76: ...g of the parameters the wake up time is 2000 ms Wake up Time can here only be entered as a decimal value Parameter Value range ms Descriptions Wake up Time 0 32767 Delay in milliseconds Decimal value range 0 ms 32767 Table 7 2 2 Function of parameter Wake up Time Attention Wakeup Time can be set in two different ways 1 As described above 2 Via the parameter telegram in the DP properties windows re...

Page 77: ...ere Parameter Value range dec in ms Explanations SYNC Time 0 No SYNC and Start transmissions possible 1 65534 SYNC Time and Start Time in milliseconds 1 65534 ms 65535 Use current value from gateway default Table 7 2 3 Function of parameter SYNC Time Attention SYNC Time can be set in three different ways 1 As described above 2 Via the parameter telegram in the DP properties windows refer to page 2...

Page 78: ...nu CBM DP All data stored in the CAN CBM DP module are read and displayed in the configuration window Further notes on the management of the configuration file can be found in the chapter of the same name on page 81 Fig 7 2 7 User parameter properties in data mapping window Meaning of User Parameters Index Chronological number of properties decimal I O In selection box I O the setting of the data ...

Page 79: ...ut port i e I O output has been selected for the address the CAN identifier for the CAN CBM DP module is a transmission identifier TxId The CAN identifier can only be changed if parameter ConfigByDP has the value N see user parameter list Value range 0 7FD hex EEEE hex FFEF hex Format Setting of byte assignment between CAN and PLC data regarding Intel and Motorola format hexadecimal Parameter Form...

Page 80: ...got a date in Intel format in the first byte followed by 2 bytes which are not to be swapped and a long word in the last 4 bytes which is in Intel format again Binary the following representation results for the format byte Bit No 7 6 5 4 3 2 1 0 Bit of Format 1 0 0 0 1 1 1 0 hexadecimal 8 E action begin swap end swap un changed un changed begin swap swap swap end swap Data bytes 1 2 3 4 5 6 7 8 C...

Page 81: ...ROFIBUS In order to edit parameters you have to follow the steps below 1 Mark user parameter which is to be edited 2 Select menu point Edit from menu Parameter press Enter or double click the entry with the left mouse button The following Edit Parameter window appears Fig 7 2 8 Edit Parameter window In the spreadsheet of the parameter window the assignment of the DP bytes by the CAN identifiers is...

Page 82: ...ges in a file 3 All user parameter properties are deleted Displaying Information about Wrong User Parameters If an error occurs because a user parameter entry has been edited such as assigning a CAN identifier twice this will be indicated by an exclamation mark If you want the reason for the error being displayed you have to follow the steps below 1 Mark user parameter entry for which you want to ...

Page 83: ...dow however In contrast to the normal way of representation the user parameter window is divided horizontally in Page Mode In the upper half only outputs are represented while the lower half only shows inputs Fig 7 2 10 Data Mapping dialog box in Page Mode Most of the parameters have already been described above Only the differing parameters are to explained shortly here Page Shows the number of t...

Page 84: ...FFEF E N N 0309 B8 00 this entry can not be changed the identifier has to be set communication window end mark C o m m e n t this entry can be changed These parameters are changable if ConfigByDP N 7 2 5 Configuration Example The configuration example shown in the following figure will be explained in the table below Fig 7 2 11 Example configuration The properties shown above have the following me...

Page 85: ...dule offline until now a connection to the CAN CBM DP module is established first As soon as the connection has successfully been established all parameters are transmitted to the CAN CBM DP module Then a RESET has to be executed in order to store the configuration and have the parameters available after the following power on of the PLC For this you have to execute the Reset CBM DP command in the...

Page 86: ...n File 1 Select menu point Print from menu File A window appears in which you can select a file 2 Select CFG file possibly change path 3 Click OK button or press Enter key The Windows standard window for setting the printer options appears 4 Click OK button or press Enter key The printout will be generated ...

Page 87: ...nted on page 71 The diagnose functions have been implemented into the following CAN Interface modules Interface module Protocol CSC595 2 CSC515 CAN CBM DP CO V x x CO V x x DP V x x Table 7 2 5 CAN modules with diagnose mode x x software version The following figure represents the four selection points in the submenu of the diagnose Fig 7 2 13 Diagnose menu 7 2 7 1 Search Modules By means of this ...

Page 88: ...1 Select entry in the list 2 In order to select the Look CANOPEN Modules dialog double click the selected entry or press the Enter key 3 The Look CANOPEN Modules dialog will be displayed Note Sometimes it might be helpful to have an overview of all CANOPEN modules available at the CAN bus and their parameters while generating a parameter list in the Data Mapping dialog This can be achieved by mean...

Page 89: ...onfig CANOPEN Modules Net Net indicates the CAN network for whichthe CANOPEN standard objects fromthe CANOPEN module specified under Module No are to be determined A 0 indicates CAN network 1 and a 1 indicates CAN network 2 The value can only be changed for CAN interface modules which have more than one CAN network Module No Module No displays the module No whose values are to be displayed Tx SDO ...

Page 90: ... has been received The data specified behind the status messages indicate the error code ofthe SDO domain transfer The error codes and their meaning are represented in the following table Error code HEX CAN PSS designation Explanation 0x05040001 0x06010000 0x06010001 0x06020000 0x06060000 0x06070010 0x06090011 0x06090030 0x06090031 0x06090032 0x08000000 SDO_CS_UNKNOWN SDO_WRITE_ONLY SDO_READ_ONLY ...

Page 91: ...rom which the module is to be read out Data Editing field for entering data which is to be overwritten Depending on the format selected values in the range of 00 FF hex or 0000 FFFF hex can be entered here Lines Number of lines which are to be read a maximum of 16 lines Therefore a total of 256 bytes or 128 words depending on the format selected can be read in a read access Format By means of Form...

Page 92: ...otor index byte number SLW 3 means 8 byte number bit address T t000 L 0 means motor not present L DBW t000 get DB number to init this motor T INIT_DB I SPB M012 to next motor L W 16 FFFF means motor not needed to initialize I SPB M012 to next motor L t000 16 T t000 L DBW t000 get offset in the actual init DB T INIT_OFFSET L MOTOR motor no L W 16 600 I T TX_ID L MOTOR motor no L W 16 580 I T RX_ID ...

Page 93: ...engths absolutely necessary 2 Page 51 ff Tx configuration once 3 Page 151 ff Rx configuration once 4 Page 251 ff data exchange output and input cyclically Page 251 252 253 xyz 251 252 xyz depending on the number of pages required Network 9 page mode output and page mode input CALL FB 2 DB102 FREIGABE BIT1 muss zuerst NULL sein s o WRITE_ADDRESS WRITE_ADDRESS WRITE_CONFIG_DB WRITE_CONFIG_DB WRITE_D...

Page 94: ...04 U M 95 4 SPB M405 L W 16 18A 1 PDO of motor 10 T MW 0 L 0 T MW 4 T MB 12 T MB 14 subcommand L 4 T MB 15 command 4 activate reception SPA M499 M405 U M 95 5 SPB M406 L W 16 183 1 PDO of motor 3 T MW 0 L 0 T MW 4 T MB 12 T MB 14 subcommand L 4 T MB 15 command 4 activate reception SPA M499 M406 U M 95 6 SPB M407 L W 16 184 1 PDO of motor 4 T MW 0 L 0 T MW 4 T MB 12 T MB 14 subcommand L 4 T MB 15 c...

Page 95: ...WRITE_DATA0 MB4 WRITE_DATA1 MB5 WRITE_DATA2 MB6 WRITE_DATA3 MB7 WRITE_DATA4 MB8 WRITE_DATA5 MB9 WRITE_DATA6 MB10 WRITE_DATA7 MB11 WRITE_LEN MB12 WRITE_SUBCOMMAND MB14 WRITE_COMMAND MB15 WRITE_ADDRESS W 16 F0 READ_ADDRESS W 16 F0 TRANSFER_READY M99 5 READ_CAN_ID MW0 READ_DATA0 MB4 READ_DATA1 MB5 READ_DATA2 MB6 READ_DATA3 MB7 READ_DATA4 MB8 READ_DATA5 MB9 READ_DATA6 MB10 READ_DATA7 MB11 READ_LEN MB1...

Page 96: ...R M 99 6 U M 99 5 U M 95 7 S M 96 0 U M 99 5 U M 95 6 S M 95 7 U M 99 5 U M 95 5 S M 95 6 U M 99 5 U M 95 4 S M 95 5 U M 99 5 U M 95 3 S M 95 4 U M 99 5 U M 95 2 S M 95 3 U M 99 5 U M 95 1 S M 95 2 U M 99 5 U M 95 0 S M 95 1 U M 99 5 S M 95 0 Calling FB3 in FB 3 FB 1 motor set up and FB 2 data exchange are called CALL FB 3 DB103 FREIGABE E125 7 KONFIG_DB W 16 5D DB93 initialize motors 1 3 4 7 8 1 ...

Page 97: ... B 16 0 B 16 6 length 6 0 CAN_ID2 DWORD DW 16 0 DW 16 303 CAN identifier FORMAT2 BYTE B 16 0 B 16 B8 format byte LENGTH2 BYTE B 16 0 B 16 6 length CAN_ID3 DWORD DW 16 0 DW 16 304 CAN identifier FORMAT3 BYTE B 16 0 B 16 B8 format byte LENGTH3 BYTE B 16 0 B 16 6 length CAN_ID4 DWORD DW 16 0 DW 16 307 CAN identifier FORMAT4 BYTE B 16 0 B 16 B8 format byte LENGTH4 BYTE B 16 0 B 16 6 length CAN_ID5 DWO...

Page 98: ...3 data44 BYTE B 16 0 B 16 0 Data byte 4 data54 BYTE B 16 0 B 16 0 Data byte5 laenge5 BYTE B 16 0 B 16 7 Length force5 BYTE B 16 0 B 16 3 Force byte data05 BYTE B 16 0 B 16 0 Data byte 0 data15 BYTE B 16 0 B 16 0 Data byte 1 data25 BYTE B 16 0 B 16 0 Data byte 2 data35 BYTE B 16 0 B 16 0 Data byte 3 data45 BYTE B 16 0 B 16 0 Data byte 4 data55 BYTE B 16 0 B 16 0 Data byte5 40 0 laenge6 BYTE B 16 0 ...

Page 99: ...2 0 reserve3 WORD W 16 0 W 16 0 24 0 init_db4 WORD W 16 63 W 16 63 Motor 4 available and initialize 26 0 init_offset4 WORD W 16 82 W 16 82 list from DB 99 data word 130 28 0 init_status4 WORD W 16 0 W 16 0 30 0 reserve4 WORD W 16 0 W 16 0 32 0 init_db5 WORD W 16 0 W 16 0 Motor 5 not available 34 0 init_offset5 WORD W 16 0 W 16 0 36 0 init_status5 WORD W 16 0 W 16 0 38 0 reserve5 WORD W 16 0 W 16 0...

Page 100: ...ata 2 v0183 BYTE B 16 0 B 16 0 data 3 v0193 BYTE B 16 0 B 16 0 reserve v0104 WORD W 16 6098 W 16 6098 index v0124 BYTE B 16 0 B 16 0 subindex v0134 BYTE B 16 1 B 16 1 ccs v0144 BYTE B 16 1 B 16 1 length v0154 BYTE B 16 FF B 16 FF data 0 v0164 BYTE B 16 0 B 16 0 data 1 v0174 BYTE B 16 0 B 16 0 data 2 v0184 BYTE B 16 0 B 16 0 data 3 v0194 BYTE B 16 0 B 16 0 reserve v0105 WORD W 16 200B W 16 200B ind...

Page 101: ... ccs v014102 BYTE B 16 0 B 16 0 length v015102 BYTE B 16 0 B 16 0 data 0 v016102 BYTE B 16 0 B 16 0 data 1 v017102 BYTE B 16 0 B 16 0 data 2 v018102 BYTE B 16 0 B 16 0 data 3 v019102 BYTE B 16 0 B 16 0 reserve 140 0 v0302 WORD W 16 EEEE W 16 EEEE index DB100 DATA_DB Data block with input and output data of the maximum 127 motors Address Name Type Initial val Actual val Comment 0 0 force1 BYTE B 16...

Page 102: ...6 0 DW 16 0 force7 BYTE B 16 0 B 16 0 Motor 7 res7 BYTE B 16 0 B 16 0 steuerwort7 WORD W 16 0 W 16 0 sollposition7 DWORD DW 16 0 DW 16 0 empfangszaehler7 BYTE B 16 0 B 16 0 reserve7 BYTE B 16 0 B 16 0 statuswort7 WORD W 16 0 W 16 0 istposition7 DWORD DW 16 0 DW 16 0 force8 BYTE B 16 0 B 16 0 Motor 8 res8 BYTE B 16 0 B 16 0 steuerwort8 WORD W 16 0 W 16 0 sollposition8 DWORD DW 16 0 DW 16 0 empfangs...

Page 103: ...Examples CAN CBM DP Software Manual Rev 2 0 99 This page is intentionally left blank ...

Page 104: ...CAN identifier HEX Designation Length Data HEX Explanations 0 NMT 2 01 xx Starting all preoperational operational 0 NMT 2 80 xx Operational preoperational 0 NMT 2 81 xx Reset e g CAN I O module 0 NMT 2 82 xx Reset communication 80h NMT 0 Sync all 80h Node ID SDO 0 8 bytes error code Emergency message e g by CANopen I O module Node ID Node ID of the accessed CANopen module ...