1. Software setup with PL7 and Sycon V2.8
CANopen
Software setup
with PL7 and Sycon V2.8
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003 2

2. CANopen: Software setup - 2
Declare the master card in the PLC
Click the
individual stages
for a detailed
description
Configure
processor/master card operation
Configure the master and
nodes with the Sycon tool
Sycon mode
PL7 mode
Load the configuration
via the Sycon tool
Select the configuration
file in PL7 and save it
Transfer the application
to the PLC
Verify implicit exchanges
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

3. CANopen: Software setup - 3
Declaring the master card in the PLC
The CANopen master card is
compatible with all processor
modules >= V5.0 except TSX57103
The CANopen PCMCIA master card
is inserted in the designated slot
for communication modules in the
processor module.
Screencam 1
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

4. CANopen: Software setup - 4
Configuring processor/master card operation 1 4
Synchronise
updating of memory zones associated with the I/O
Define fallback mode for outputs and for %MW memory zone where outputs are read 2
Behaviour of bus on start-up* 5 3
Activate watchdog
Define %MW memory zone to which the inputs are copied
Launch Sycon configuration software
Select Sycon configuration file and choose loading mode
* If “Semi-automatic” or “By program” is selected here, bus start-up
is controlled by the command word %QWy.1.0 (y = processor slot number).
Screencam 2
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

5. CANopen: Software setup - 5
Configuring the master and nodes with the Sycon tool
Select the network and insert the master
Set the operating parameters for the Sycon software
Set the bus parameters
Example of importing a BECKHOFF CANopen communication module
Import the EDS file for a new product
Example with
Addr1 = ATV58
Addr 2 = BECKHOFF module
Declare the nodes
Example with ATV58.
Direct use of predefined PDOs with modification of parameter settings
Set node parameters with predefined PDOs
Example with BECKHOFF module.
Modifying the mapping of predefined PDOs.
Set modular I/O node parameters
View global configuration and save
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

6. CANopen: Software setup - 6
Selecting the network and inserting the CANopen master 1
File - New 2
Select CANopen - OK 3
Insert - Master 4
Add TSX CPP OK
Screencam 3
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

7. CANopen: Software setup - 7
Setting the operating mode parameters for the Sycon software 1
Settings - Global Settings 2
Activate Process Data Auto Addressing if required
Activate Automatic COB-ID Allocation if required OK
If Process Data Auto Addressing is activated, Sycon
automatically calculates the process data offset.
Data is organised according to the sequence of PDOs and nodes.
Manual COB-ID allocation is used for PDO numbers >= 5 or for exchanging data
directly from node to node: PDO linking.
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

8. CANopen: Software setup - 8
Setting the bus parameters 2
Select address of master 1
Settings - Bus parameter 3
Select transmission rate
Behaviour of master module in the event of a Node Guard or Heartbeat error:
Disabled:
Does not affect the other stations.
Enabled:
The master stops communication with all other stations. 4
Select SYNC object COB-ID
Default value = 128
Communication profile DS301
+ select comm. cycle period 5
Not in use
Activate Heartbeat function
(supported by TSXCPP110 card) 6
Enable automatic switch to operating mode (PDOs activated) if required.
Screencam 4
Back 7
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

9. CANopen: Software setup - 9
Importing a new EDS file 1
File - Copy EDS 3
Click Open to import the files 2
Select the directory in which the new EDS file is located together with the 3 associated .dib images
Screencam 5a
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

10. CANopen: Software setup - 10
Declaring the nodes 1
Insert - Node 2
Add English ATV58 version at address 2 3
Add BK5120
at address 3
Screencam 5
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

11. CANopen: Software setup - 11
Node configuration window
Access to Node Guarding and Heartbeat functions
Double click the relevant node to open the window
Access to boot-up sequence for each node
Deactivate if you wish to retain process data when the station is not connected
Access to supported objects and to parameters written during boot-up sequence
Automatic COB-ID allocation activated by default
To activate predefined PDOs
The values for Device Profile and Device Type must be consistent with the values contained in object 1000H Device Type
Access to mapping for each PDO
Access to transmission parameters for each PDO
Define new receive PDO
List of predefined PDOs
Define new transmit PDO
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

12. CANopen: Software setup - 12
Node configuration with predefined PDOs 1
Click “Configuration Error Control Protocol” to access the Node Guarding or Heartbeat settings 3
Polling time for master
Define monitoring time on node side:
Guard time x Life time factor
Select monitoring mode:
Node Guarding or Heartbeat 2 3’
Time for which node is monitored by master
Time for which heartbeat is transmitted by node
List of values assigned to the Heartbeat parameters by the various nodes
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

13. CANopen: Software setup - 13
Node configuration with predefined receive PDOs 1
Click the predefined PDO you wish to activate 2
Click Add to configured PDOs 3
Select the PDO receive mode (node side) 5
Confirm 4
Select the PDO triggering mode
(master side) 3
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

14. CANopen: Software setup - 14
Node configuration with predefined transmit PDOs 1
Click the predefined PDO you wish to activate 2
Click Add to configured PDOs 3
Select the PDO transmission mode (node side) 5
Confirm 4
Select the PDO triggering mode
(master side)
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

15. CANopen: Software setup - 15
Sample view of process memory structure
Receive PDOs correspond to output variables
Length expressed in number of bytes
Transmit PDOs correspond to input variables
Address expressed in number of words
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

16. CANopen: Software setup - 16
Viewing the mapping of configured PDOs 1
Click the configured PDO you wish to view 2
Click PDO Contents Mapping
List of objects mapped in the PDO with their address:
Index and Sub-index
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

17. CANopen: Software setup - 17
Modifying a parameter setting 1
Click the
“Object Configuration” button 2
Select the parameter you wish to modify then click
“Add to Configured Objects” 3
Modify the parameter value in the list of objects that are configured automatically on start-up, then click OK to confirm
Screencam 6
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

18. CANopen: Software setup - 18
Node configuration for modular I/O 1
Click “Configuration Error Control Protocol” to access the Node Guarding or Heartbeat settings 3
Polling time for master
Define monitoring time on node side:
Guard time x Life time factor 2
Select monitoring mode :
Node Guarding or Heartbeat 3’
Time for which node is monitored by master
Period for which heartbeat is transmitted by node
List of values assigned to the Heartbeat parameters for the various nodes
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

19. CANopen: Software setup - 19
Node configuration for modular I/O 1
Click Device Profile
Click Device Type 3 2
Select profile 401 (Inputs/Outputs) 4
Select the I/O types that are supported
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

20. CANopen: Software setup - 20
Node configuration for modular I/O: receive PDO
For DS401 remote I/O nodes, PDO1s (index 1400 and 1800) are reserved for digital I/O. Analog I/O are mapped from PDO2 onwards. 2
Click the predefined PDO you wish to activate 1
Select mapping method
V3 or V4 (depending on product) 3
Click Add to configured PDOs 4
Select the PDO
receive mode
(node side) 6
Confirm 5
Select the PDO triggering mode
(master side)
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

21. CANopen: Software setup - 21
Node configuration for modular I/O: receive PDO
Modifying mapping 1
Double click on the configured PDO 2
Add or delete mappable objects by clicking “Append Object” or
“Delete mapped object”
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

22. CANopen: Software setup - 22
Node configuration for modular I/O: transmit PDO
For DS401 remote I/O nodes, PDO1s (index 1400 and 1800) are reserved for digital I/O. Analog I/O are mapped from PDO2 onwards. 1
Click the predefined PDO you wish to activate 2
Click Add to configured PDOs 3
Select the PDO transmission mode
(node side) 5
Confirm 4
Select the PDO
triggering mode
(master side)
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

23. CANopen: Software setup - 23
Node configuration for modular I/O: transmit PDO
Modifying mapping 1
Double click on the configured PDO 2
Add or delete mappable objects by clicking “Append Object” or “Delete mapped object”
Screencam 7
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

24. CANopen: Software setup - 24
Manual allocation of identifiers
Automatic allocation of identifiers can only be used for the first 4 PDOs.
For devices supporting PDO numbers greater than 4 (mapping of non-standard
objects, etc.), the identifier value has to be assigned manually.
In this case the user should use a value for an identifier that is not in use: value assigned
to an undefined or free PDO between 1 and 4.
identifiers reserved
maximum of 1024
for PDOs
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

25. CANopen: Software setup - 25
Predefined PDOs > 0x1404/0x1804 1
This message appears if you activate a PDO number higher than 4
Deactivate the COB-ID allocation function 2
Assign an identifier value that is not in use
e.g. use identifier PDO2
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

26. CANopen: Software setup - 26
Viewing the device table
View - Device Table
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

27. CANopen: Software setup - 27
Viewing the process data address table 2
Sort according to device addresses 1
View - Address Table 3
Sort according to process data addresses
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

28. CANopen: Software setup - 28
Viewing the identifiers table
View - ID Table
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

29. CANopen: Software setup - 29
Viewing the table of devices adapted by SDO
View - SDO Table
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

30. CANopen: Software setup - 30
Saving the Sycon configuration 1
File - Save As
Enter the name and click Save 2
Screencam 8
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

31. CANopen: Software setup - 31
Selecting the configuration file in PL7 and saving it
If the number of input and output words is inconsistent with the Sycon configuration, an error message is generated 1
Click
Select Database 2
Select the configuration file ****.co in the Hilscher/Sycon/Project directory 3
Click Open
Screencam 9
Back
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

32. CANopen: Software setup - 32
Verifying exchanges in the Debug screen
Test PDO-type exchanges
Test SDO-type exchanges
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

33. CANopen: Software setup - 33
Interfacing with the application
Implicit objects:
%MW:
PDO input/output variables
(for ATV58 2 status words: ETAD and RFRD, and 2 command words: CMDD and LFRD)
%Iy.MOD.ERR and %Iy.1.ERR:
2 input bits for module error and channel error
%IWy.1.0 to %IWy.1.23:
24 input words providing diagnostic information about the status of the channel, nodes, latest error codes, etc.
%QWy.1.0:
1 output word for activating the configuration and PDO exchanges and for reinitialising error tables.
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

34. CANopen: Software setup - 34
Interfacing with the application
Explicit object:
READ_STS %Chy.1
%Mwy.1.2:
Input variable providing diagnostic information about the status of the master card.
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

35. CANopen: Software setup - 35
Interfacing with the application
Communication functions available for use:
WRITE_VAR and READ_VAR (ADR#y.1.SYS, ’SDO’,index:subindex,NodeID, %MWi:L,%MWk:4)
For accessing SDO variables
SEND_REQ(ADR#y.1.SYS, 16#9F, %MWi:L, %MWj:L, %MWk:4)
For accessing link layer PDUs
SEND_REQ(ADR#y.1.SYS, 16#0F, %MWi:L, %MWj:L, %MWk:4)
For accessing the identification and status of the master card
SEND_REQ(ADR#y.1.SYS, 16#31, %MWi:L, %MWj:L, %MWk:4)
For running diagnostics on a node, or checking the version and status of the CANopen master card, or reading the message handling error log
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

36. CANopen: Software setup - 36
Accessing configuration and adjustment variables
(* Request to write one word *)
(* Address ADR#0.1.SYS
Address of variable to be written: %MD3200
Value of variable to be written: %MW3202
Exchange report: %MW3250:4 *)
IF %M103 AND NOT %MW3250:X0 THEN
%MW3253:=2; WRITE_VAR(ADR#0.1.SYS,'SDO',%MD3200,20,%MW3202:1,%MW3250:4); RESET %M103;
END_IF;
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

37. CANopen: Software setup - 37
Accessing configuration and adjustment variables
(* Request to read one word *)
(* Address ADR#0.1.SYS
Address of variable to read: %MD3220
Value of variable read: %MW3222
Exchange report: %MW3260:4 *)
IF %M104 AND NOT %MW3260:X0 THEN
READ_VAR(ADR#0.1.SYS,'SDO',%MD3220,20,%MW3222:1,%MW3260:4);
RESET %M104;
END_IF;
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003

38. CANopen: Software setup - 38
Accessing diagnostic variables
(* Update variable %MW0.1.2 *)
IF %MW200=1 THEN READ_STS %CH0.1;
END_IF; !
(* Read explicit DIAGNOSTIC exchange words *)
(*Address ADR#0.1.SYS
Type of diagnostic object : %MW3301
1 to 127 = node diagnostics
128 = master card diagnostics
130 = message handling error log
Start address in diagnostic table: %MW3302
Length of diagnostic to read : %MW3303
Receive table : %MW3310:20
Exchange report : %MW3350:4 *)
IF %MW3300=1 AND NOT %MW3350:X0 THEN %MW3300:=0;%MW3353:=6;
SEND_REQ(ADR#0.1.SYS,16#0031,%MW3301:3,%MW3310:20,%MW3350:4);
Industrial Automation - Customer View - Services - Training PhW - CANopen_soft_setup_en 10/ 2003