M6 - CANOpen Architectures Setting

M6 - Modicon M340 : CANopen field bus
E Debug and Diagnostic
D Programming
C Software Configuration
B CANopen Hardware implementation
A CANopen generalities
M6 CANOpen architectures setting 2006/06/06

A CANOpen generalities
CANopen communication 2006/02/27

2
CANopen architecture overview
Canopen field bus is used to exchange data

with equipement connected to the bus.
Implicit exchanges ( through %QW, %IW )

Explicit exchanges ( through write/read var )
CANopen
CANopen field bus is available on some

processors equipped with an integrated
CANopen port.
BMX P34 2010 / 2030 processors
SubD 9 points connector as physical interface

3
Characteristic of integrated channel
Character mode
Baud rate 20, 50, 125, 250, 500, 1000 kbds ( according with the lenght )
Equipments 63 Equipments max
Bus length 0 to 2500 meters
Services NMT, PDO, SDO, SYNC, EMCY
Speed / Lenght 1 Mbits 20 m

( the speed is 500 Kbits 100 m
directly linked 250 Kbits 250 m
with the buss
length ) 125 Kbits 500 m
50 Kbits 1000 m
20 Kbits 2500 m

4
OSI model dedicated for the CAN bus
7 : Application Layer CANopen defines the application

layer
6 : Presentation Layer
5 : Session Layer
Not used
4 : Transport Layer
3 : Network Layer
2 : Data link Layer The Controller Area Network (CAN) protocol

defines the data link layer and part of the
1 : Physical Layer Physical layer in the OSI model.
OSI model

5
Communication protocol principle
CAN is based on the
broadcast communication mechanism @127
@5
@2
@4 @5
@2 @3
@6 @7

6
Priority : The identifier with
the lowest COBid number has
the highest priority.
The priority, is given according with the

@5 COBid ( @ + index ), @
@ 33
@127
Highest priority lowest COBid
@4 @5
@2 @3
@6 @7

7
Priority : The identifier with
the lowest COBid number has
the highest priority.
The priority, is given according with the

@5 COBid ( @ + index ), @
@ 33
@1
Highest priority lowest COBid
@4 @5
@2 @3
@6 @7

8
PDO ( Process Data Objects )
PDOs are implicits exchanges between a Producer and one or more

Consumer ( For this exchange M340 uses the %QW and %IW objets )
PDOs ( Process Data Objects) are mapped to a single CAN frame using data 8
bytes max.
PDO Consumer
Max 8 bytes / PDO
PDO Producer PDO Consumer PDO Consumer

9
PDO ( Process Data Objects )
PDOs exchange may be driven by an internal event, by an internal timer, by

remote request or by the Sync message .
event
timer
event and sync message
Each x sync message
PDO Consumer
PDO Producer PDO Consumer PDO Consumer

10
SDO ( Service Data Object )
SDOs are explicit exchanges and use the READ_VAR and WRITE_VAR
commands
SDO (Service Data Object ) reads or writes the Objects predifined in the
Dictionary ( EDS file ).
The SDO transport protocol allows transmitting objects of any size.
Client or
request
answer
Server

11
NMT ( Network ManagemenT )
The NMT (Network management) include three services:
1. NMT message
2. Boot up message
3. The Error Control service
1. The NMT message :
NMT - Master Transmitted by the NMT master

forces one node or all the nodes
to transit to another NMT state.
NMT - Slave NMTNMT - SlaveNMT - Slave

- Slave

12
The NMT (Network management) include three services :
1. NMT message
2. Boot up message
1. The NMT message :
Initialization
The CANopen state machine ( NMT
state ) specifies the states :
Boot-up
- Initialization
Pre-Operational - Pre-Operational SDO allowed
Stopped - Operational SDO and PDO allowed
Operational - Stopped. SDO and PDO are not allowed

13
1. NMT message
2. Boot up message
2. The BOOT UP message
Initialization
A device sends the Boot-up
message to indicate to the NMT
Boot-up
master that it has reached the
state Pre-operational.
Pre-Operational
Stopped
Operational

14
1. NMT message
2. Boot up message
Through this service the NMT
detect the error on the field bus
The Error control service can
manage :
The Node
Heartbeat
guarding
protocol
protocol
Periodically
Periodically the
theslave send
master its state
send to
a request
to thethe master
slave
Periodically after
theinslave
order tothe
sendknow: its state
its state to theProducer
Heartbeat master Time

15
EDS file ( Electronical Data Sheets )
Goal : The EDS file describes the capabilities of CANopen nodes:
- General information about the node.
- Informations of all dictionary object of the node.
- Configuration of the PDO communication.
The EDS file is an ASCII file, and can be acquired from the manufacturer of the
device.
Ex : Part of the MFBLXM15.eds
Mapping of
the
Transmit
PDO1

16
B Hardware implementation

17
Processors with an integrated CANopen
Modules BMX P34 2010 / 2030
1 1
Value Designation
1 Display
2 2
2 USB port
3 Eth port
3 4
4 Serial port
5 CANopen
port
5 5

18
Wiring on the processor
The connection is done on a SUBD 9 pts pin male

connector of the processor
PIN SIGNAL
1
2 CAN-L
3 CAN-GND
4
5
6 GND
7 CAN-H
Subd9 8
9

19
Wiring ( a global offer )
12
13
4 2
5
9 1
2
5
6 5 7
10 6
14
Example :
(1) TSX CAN TD M4 (2) TSX CAN KCDF xxxT
(4) TSX CAN KCDF 90TP (5) TSX CAN Cx xx
(6) TSX CAN CxDx (7) FTX CN 31 xx
(9) VW3 CAN TAP2 (10) VW3 CANN CARRxx
(12) FTX CN 32 xx (13) FTX CNTL 12
(14) AMO 2CA 001V000

20
Wiring ( a global offer )
A specif catalog
list all the
CANopen
accessories to
realize a quick
wiring
MKTED 205101
EN or FR

21
Visual diagnostic of CANopen
The information provided by the the CAN RUN lamp
State Comment
Operationnal state
Fast Fa Fa Initialization in progress
Flashing 0 0 0 Pre Operationnal state
1 Stopped state
Flashing 1 1
Sl Check & init the slave

Slow Sl
-

22
Visual diagnostic of CANopen
The information provide by the The CAN ERR lamp
State Comment
Bus stopped
Fast Fa Fa Speed automatic detection
0 Error counter overflow

Flashing 0 0
1 Heartbeat fault
Flashing 1 1
2 No Sync message
Flashing 2 2
Sl Canopen cant start
Slow Sl
No ERROR

23
C Software configuration

24
Software Configuration
The configuration for CANopen is fully integreted in UNITY (no external

configurator need )
Here is the main steps to respect in order to configure the CANopen
bus.
Configuration du Bus CANopen :
step 1 : Master Configuration ( Speed, @, PDO Offset )

step 2 : Slave Configuration ( PDO and exchanges )
Standard
Expert

25
step 1 : Master Configuration
Processor configuration
Using the symbol for

programming yes Creating an IODDT
structure for
CANopen
1 Define IODDT Dont use the IODDT
no
I know the Nb words and
bits yes Modify the datas
reserved for PDO
2 Define the I will modify later

OFFSET no
I adjust the speed
according with the device yes Select the Bus
speed
3 Define the speed I will modify later

no
I want exchange the PDO
yes Select the CPU
values in the FAST
TASK
4 Define the task The MAST is Ok ( given by

no default )
END
26
step 2 : Slave Configuration Logical node CANopen
1 We must select the device
PDO folder
Complex Profil
eg:STB, ATV yes According with my
device select the
profil
2 Select the Profil known
function no eg:FTB, OTB, LEXIUM
Free mapping yes I want to map

the PDO
Using the predefined PDO
PDO mapping with no eg:MFB
3
the configurator
config folder
Configure the initial value
with the configurator yes My device
need a initial
configuration Already configure with a
Select the initial specific tool.
4 values needed no
eg: Power suite, Advantis
END
28
step 2 : Expert Configuration Logical node CANopen
Error control folder
Heartbeat or node guarding fault

According with the lenght of
yes the bus or the version used for
the slave I want adjust the
WATCHDOG
Modify the value No fault on the bus
5 no (Heartbeat / node guarding)
PDO folder
According with the specific
need of the customer I must
exchange the PDO on SYNC, I want adjust
or x SYNC message .. yes the PDO
transmission
The configuration by default is
Select the no ok.( send when change )
6
transmission needed
END

30
Step 1: Master configuration

32
Step 1 : Master configuration
In the CAN screen we have :
1. A overview of the bus specifications
2. The I/O configuration
3. The master configuration
According with the processor

its possible to configure the
bus.
Here : CANopen

33
Step 1 : Master configuration IODDT
3. The master configuration

bus.
Here : CANopen

34
3. The Master configuration
3
bus.
Here : CANopen
4

35
Map the The PDOs to memory

2 word (%mw) and bit (%m)
location (mainly dedicated for the
MODBUS communication ).
Bus Parameters :
3
1. Set speed according to
the length of the bus.
2. Period of the Sync
Message
3 Task assigned to the PDOs

36
Step 2: Slave configuration

37
Step 2 : Slave Configuration
New
device:
yes
When the masters

configuration is done we My device:
must to define the Slave on FTB_1CN08E08CM
the Field bus 0 @2
1

38
At the end Slave

is present on the
field bus @2

39
In L11 Unity includes

following Schneider
devices.
The possibility to add a

third party product will be
added in L12.

40
In the configuration screen according with the device

used we can select a specific function.
This function is used mainly for :

the complex devices such as ( ATV 71 )
or
a device with variable configuration such
as ( Advantys STB )
in this case it will be possible to reserve more or
less data for the PDO exchange.

41

42
PDO : In this screen it is possible to map the PDO
communication.
This screen is divided in 3 parts :
Transmits PDOs
(slave transmits an
information to the
master)
Receives PDOs
(Slave receives an
information from
the Master)
A list of the
variables that
can be mapped
in the PDOs

43
PDO : In this screen it is possible to map the PDO
communication.
This screen is divided in 3 parts : According to the
EDS file somes
Transmits PDOs
PDOs are already
(slave transmits an
mapped
information to the
master)
The PDOsPDOs
Receives used
Topologics
(Slave receives
addresses %Ix oran
information from
%Qx.
the Master)
and
Internals variables
%MWOne (part
these
with all
variables are always
With the CANopen configurator if I add a PDO or if I modify a the variables
present in the
PDO, the mapping for the %Q/I and %MW will never change, so you can
product formap
the in
its not necessary to adjust your application. MODBUS
the PDOs
communication )
44
Step 2: Slave configuration
How to do the PDO configuration

45
46
Particularity : For the STB devices.
For the STB configuration

its possible to associate
a specif file created with
ADVANTYS ( version 2.3
mini ) in order to design
exactly the configuration
done on STB, this file is
called xxx.DCF.
If we dont used this file
its always possible to
manage the
communication manually

47
The goal here is to provide a method

of configuring the node without an
external configuration software ( here
ADVANTIS )
if the value is different to 0 the value
will be send during the initialisation
phase
48
Step 2: Slave configuration EXPERT

49
Step 2 : Slave Configuration EXPERT
right
Through this service the NMT detect

the error on the field bus, we can 5
select Heartbeat or node guarding
protocol, and adjust the Timeout

50
In this screen it is possible to map the PDO
communication.
This screen is divided in 3 parts :
Bi left
Select Type, Inhibit or event on the

PDO line in order to define the
PDO communication : 6
Synchronous
Asynchronous
Bi left

51
The PDO are exchanges according with the
configuration done .(example transmission type )
Synchronous acyclic PDO :

6
A transmission type of 0 means that the
message shall be transmitted synchronously
with the SYNC message but not periodically
according to the value. Mainly used for drives.
Synchronous cyclic PDO :

A value between 1 and 240 means that the
PDO is transmitted synchronously and
cyclically, the transmission type value
indicating the number of SYNC messages
between two PDO transmissions.

52
The PDO are exchanges according with the
configuration done .(example transmission type )
Asynchronous PDO:
6
The transmission type 254 means that the
PDO is transmitted asynchronous. It is fully
depending on the implementation in the
device. Mainly used for digital I/O.
Asynchronous PDO:
The transmission type 255 means that the
PDO is transmitted asynchronous when the
value change.

53
The PDO are exchanges according to the
configuration. (example transmission type )
6 Inhibit time :
masks the communication during this time.
Nota: With the MFB we can only adjust this
value according with the traffic and the length
of the bus
Event timer :
Time to manage an event in order to start a
PDO

54
56
D Programming

57
Management Implicit exchanges PDO
PDOs allow the implicit data management between the Master, in our case the
M340 CPU and the slave by read/write words.
PDO Transmit
CANopen
PDO receive

58
Addressing
On Modicon M340, PDO variable addresses can be defined as word,
double word and floating point types.
% I, IW, ID, IF, Q, x y 0 0 ch i j

QW , QD, QF, M,
MW, MD, MF
Sym Object type 3 Node@ 0 0 channel rank bit
Ebool, Bool, Int,Dint, 3 is a specific address for the

Real PDO ( For the SDO we will use
the Channel number : 2 )

59
Addressing
Example.
% I, IW, ID, IF, Q, 3 y 0 0 ch i j

QW , QD, QF, M,
MW, MD, MF
1. Read an input on an ADVANTYS @ 4, channel 2, Word 3, bit2

%IW \ 3. 4 \ 0 . 0 . 2 . 3 . 2
2. Write control word on an LEXIUM @ 9, channel 4, Word 3

%QW \ 3. 9 \ 0 . 0 . 4 . 3

60
Management explicit exchanges SDO
SDOs allow the management of the explicit data between the Master, in our case
the M340 and the slave using of request READ_var / WRITE_var
PLC Management of the request READ_VAR request
WRITE_VAR request CANopen

61
INDEX / Ss INDEX Concept .
All requests on CANopen are defined with an INDEX / Ss INDEX

.
Here is an example on a CANopen device LEXIUM 15x
INDEX : Define the function wished .
Ex : 2022 => Position data for the position mode .
2020 => Position Controller
Ss INDEX: Define the object in the function .
Index
Ss Index

62
Syntax to program a SDO ( Write var ) :
Parameters descriptions
ADDM(0.0.2.node) Address of the exchange destination
0.0 : processor slot in the rack (0 )
2 : channel (always 2 for CANopen)
2: Device adress.
SDO SDO object type (always SDO in capitals)
Subindex / index: Double word or immediate value

identifying the CANopen SDO index or
subindex:
NodeID Word or value identifying the destination

device on the CANopen bus
%MWi:L Table of words containing the data to be

sent (minimum length = 1)
%MWk:4 Exchange management parameters

63
Syntax to program a SDO ( Read var ) :
Parameters descriptions
ADDM(0.0.2.node) Address of the exchange destination
0.0 : processor slot in the rack (0 )
2 : channel (always 2 for CANopen)
2: Device adress.
SDO SDO object type (always SDO in capitals)
Subindex / index: Double word or immediate value
identifying the CANopen SDO index or
subindex:
NodeID Word or value identifying the destination
device on the CANopen bus
%MWk:4 Exchange management parameters
%MWi:L Table of words containing the data to be
received (minimum length = 1)

64
Performances :
For all the processors we can manage :
16 messages in Input / Output by scan time of the MAST task.
For CANopen message channel ( SDO ) we are limited to :

1 message in Input / Output by scan time of the MAST task.
16 Buffers read
IN and write / CPU
scan time
SDO
If xxx EF .
SDO
Scan
Then..
time
1 Buffer read and
.
x16 write / CPU scan
time for CANopen
SDO
OUT

65
E Debug & Diagnostic

66
Debug and Diagnostic Screen
On the processor its possible to realize a quick diagnostic on the CANopen bus
Fault on
CANopen
Who provides
the fault
Whats fault !

67
We can also obtain a quick

diagnostic on the CANopen
bus with the CANopen Tree.

68
On BUS editor It is possible to :
Read and Write all the SDO through the INDEX / SUB INDEX of the device.
Read the Emergency message ( Information provides by the device )
Read the I/O object Available on the device.
Read and Write all the PDO used.
Left
If you select
the NIM we
can

69
In this screen the Index and Sub index are provide by

the system ( according with the EDS file ) with a
comment associated

70
On BUS editor Tree It is possible to :

71

72
On BUS editor Tree It is possible to :
If you select the channel

you can .

73
CANOpen

74

M6 - CANOpen Architectures Setting

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

M6 - CANOpen Architectures Setting

Uploaded by

Copyright:

Available Formats

M6 - Modicon M340 : CANopen field bus

E Debug and Diagnostic

B CANopen Hardware implementation

M6 CANOpen architectures setting 2006/06/06

CANopen communication 2006/02/27

Canopen field bus is used to exchange data

Implicit exchanges ( through %QW, %IW )

CANopen field bus is available on some

CANopen communication 2006/02/27

Equipments 63 Equipments max

Bus length 0 to 2500 meters

Services NMT, PDO, SDO, SYNC, EMCY

Speed / Lenght 1 Mbits 20 m

CANopen communication 2006/02/27

7 : Application Layer CANopen defines the application

2 : Data link Layer The Controller Area Network (CAN) protocol

CANopen communication 2006/02/27

CANopen communication 2006/02/27

The priority, is given according with the

CANopen communication 2006/02/27

The priority, is given according with the

CANopen communication 2006/02/27

PDOs are implicits exchanges between a Producer and one or more

PDO Producer PDO Consumer PDO Consumer

CANopen communication 2006/02/27

PDOs exchange may be driven by an internal event, by an internal timer, by

event and sync message

Each x sync message

PDO Producer PDO Consumer PDO Consumer

CANopen communication 2006/02/27

CANopen communication 2006/02/27

NMT - Master Transmitted by the NMT master

NMT - Slave NMTNMT - SlaveNMT - Slave

CANopen communication 2006/02/27

CANopen communication 2006/02/27

CANopen communication 2006/02/27

CANopen communication 2006/02/27

CANopen communication 2006/02/27

CANopen communication 2006/02/27

Modules BMX P34 2010 / 2030

CANopen communication 2006/02/27

The connection is done on a SUBD 9 pts pin male

CANopen communication 2006/02/27

CANopen communication 2006/02/27

CANopen communication 2006/02/27

The information provided by the the CAN RUN lamp

Fast Fa Fa Initialization in progress

Flashing 0 0 0 Pre Operationnal state

Sl Check & init the slave

CANopen communication 2006/02/27

Fast Fa Fa Speed automatic detection

0 Error counter overflow

CANopen communication 2006/02/27

CANopen communication 2006/02/27

The configuration for CANopen is fully integreted in UNITY (no external

Configuration du Bus CANopen :

step 1 : Master Configuration ( Speed, @, PDO Offset )

CANopen communication 2006/02/27

Using the symbol for

2 Define the I will modify later

3 Define the speed I will modify later

4 Define the task The MAST is Ok ( given by

1 We must select the device

Free mapping yes I want to map