null User manual

null  User manual
User Manual
CM CANopen
CANopen Module for SIMATIC S7-1200
Doc.Id. HMSI-216-117
Rev. 1.00
Connecting DevicesTM
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HMS Industrial Networks
Mailing address: Box 4126, 300 04 Halmstad, Sweden
Visiting address: Stationsgatan 37, Halmstad, Sweden
E-mail: [email protected]
Web: www.anybus.com
Important User Information
This document is intended to provide a good understanding of the functionality offered by the CM CANopen Module for SIMATIC S7-1200.
The reader of this document is expected to be familiar with high level software design, and communication systems in general. The use of advanced CANopen-specific functionality may require in-depth knowledge in CANopen networking internals and/or information from the official CANopen specifications. In such cases, the people
responsible for the implementation of this product should either obtain the CANopen specification to gain sufficient
knowledge or limit their implementation in such a way that this is not necessary.
Liability
Every care has been taken in the preparation of this manual. Please inform HMS Industrial Networks AB of any
inaccuracies or omissions. The data and illustrations found in this document are not binding. We, HMS Industrial
Networks AB, reserve the right to modify our products in line with our policy of continuous product development.
The information in this document is subject to change without notice and should not be considered as a commitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for any errors that
may appear in this document.
There are many applications of this product. Those responsible for the use of this device must ensure that all the
necessary steps have been taken to verify that the applications meets all performance and safety requirements
including any applicable laws, regulations, codes, and standards
HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any problems that
may arise as a result from the use of undocumented features, timing, or functional side effects found outside the
documented scope of this product. The effects caused by any direct or indirect use of such aspects of the product
are undefined, and may include e.g. compatibility issues and stability issues.
The examples and illustrations in this document are included solely for illustrative purposes. Because of the many
variables and requirements associated with any particular implementation, HMS Industrial Networks AB cannot
assume responsibility for actual use based on these examples and illustrations.
Intellectual Property Rights
HMS Industrial Networks AB has intellectual property rights relating to technology embodied in the product described in this document. These intellectual property rights may include patents and pending patent applications
in the US and other countries.
Trademark Acknowledgements
Anybus ® is a registered trademark of HMS Industrial Networks AB.
SIMATIC®, S7-1200® and TIA® are registered trademarks of Siemens AG.
All other trademarks are the property of their respective holders.
Warning:
This is a class A product. in a domestic environment this product may cause radio interference in
which case the user may be required to take adequate measures.
ESD Note: This product contains ESD (Electrostatic Discharge) sensitive parts that may be damaged if ESD
control procedures are not followed. Static control precautions are required when handling the product. Failure to observe this may cause damage to the product.
CM CANopen Module for SIMATIC S7-1200 User Manual
Rev 1.00
Copyright© HMS Industrial Networks AB
Sep 2013 Doc Id HMSI-216-117

Table of Contents
Table of Contents
Preface
About This Document
How To Use This Document ................................................................................................................ 1
Related Documents.................................................................................................................................. 1
Document History ................................................................................................................................... 1
Conventions & Terminology.................................................................................................................. 2
Glossary ..................................................................................................................................................... 2
Support ...................................................................................................................................................... 2
Chapter 1
Product Overview
Introduction .............................................................................................................................................. 3
Features...................................................................................................................................................... 4
Chapter 2
CANopen Fieldbus Functionality
Supported Fieldbus Services................................................................................................................... 5
Chapter 3
Transparent CAN Mode
Chapter 4
Installation
Mounting ................................................................................................................................................... 7
Status LEDs .............................................................................................................................................. 8
Maximum Cable Lengths ........................................................................................................................ 8
Line Termination...................................................................................................................................... 9
Chapter 5
Configuration
General..................................................................................................................................................... 10
SIMATIC S7-1200 PLC Configuration .............................................................................................. 10
CANopen Network Configuration ..................................................................................................... 12
Configuration Files................................................................................................................................. 12
Configuration Example ......................................................................................................................... 12
Chapter 6
CANopen Module Specification
NMT State Machine............................................................................................................................... 19
Data Exchange........................................................................................................................................ 21
PDO Functionality........................................................................................................................ 21
Error Control.......................................................................................................................................... 23
Heartbeat Mechanism .................................................................................................................... 23
Node Guarding.............................................................................................................................. 24
Emergency Object (EMCY)........................................................................................................... 24
Diagnostics .................................................................................................................................... 25
Table of Contents
Chapter 7
Supported Objects
Static Data Types.................................................................................................................................... 26
Communication Profile Area................................................................................................................ 26
CiA 301 Communication Profile Objects....................................................................................... 26
Configuration Manager .................................................................................................................. 29
Network Management Objects ....................................................................................................... 30
Manufacturer Specific Objects............................................................................................................. 36
I/O Buffer Addresses and Object Dictionary Indices Relation ........................................................ 41
Chapter 8
Interface Functions
CANopen Interface Functions ............................................................................................................ 43
Get Process Data In ...................................................................................................................... 43
Set Process Data Out..................................................................................................................... 44
SDO Read/Write......................................................................................................................... 45
Get Node & Network Status ....................................................................................................... 46
Transparent CAN Interface Functions............................................................................................... 48
CAN_SEND ............................................................................................................................. 48
CAN_RCV ................................................................................................................................ 49
CAN_CTRL .............................................................................................................................. 50
Get Diagnostic Information............................................................................................................ 52
Appendix A Technical Specification
Mechanical Properties............................................................................................................................ 54
Environmental Characteristics ............................................................................................................. 54
Regulatory Compliance ......................................................................................................................... 55
Appendix B Status LED Timing Diagrams
Appendix C CANopen Emergency Codes
Appendix D Error Codes (RET)
Function Block Error Codes ................................................................................................................ 59
Message Error Codes............................................................................................................................. 60
Preface
P. About This Document
P.1 How To Use This Document
This document contains a general introduction as well as a description of the technical features provided by the CM CANopen Module for SIMATIC S7-1200, including configuration of the device.
The reader of this document is expected to be familiar with PLC and software design, as well as with
communication systems in general. The reader is also expected to be familiar with the Microsoft Windows operating system.
P.2 Related Documents
Document name
CiA 301 rev. 4.2
CiA 302 Draft Standard Proposal 302 rev. 4.1
CiA 303-1 rev. 1.7
CiA 303-3 rev. 1.3
TIA Portal configuration tool user manual
Author
CAN in Automation
CAN in Automation
CAN in Automation
CAN in Automation
Please visit the support pages at the HMS Industrial Networks web site at
www.hms-networks.com/can-for-S7-1200/ for more documents
P.3 Document History
Summary of Recent Changes ( ... 1.00)
Change
Page(s)
Revision List
Revision
1.00
Date
Author
2013-09-26 KeL
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About This Document 2
P.4 Conventions & Terminology
The following conventions are used throughout this document:
•
Numbered lists provide sequential steps
•
Bulleted lists provide information, not procedural steps
•
The term ‘user’ refers to the person or persons responsible for installing the CM CANopen module in a network.
•
Hexadecimal values are written in the format NNNNh, where NNNN is the hexadecimal value.
•
Decimal values are represented as NNNN where NNNN is the decimal value
•
A byte always consists of 8 bits
P.5 Glossary
Term
Byte
COP
User
Higher Level Network
Network
Fieldbus
RO
RW
EDS
Meaning
8 bits
CANopen
Person or persons responsible for installing the CM CANopen module
CANopen
Read only. A register, parameter or object labeled RO can only be read, not written.
Read/Write. A register, parameter or object labeled RW can both be read and written
Electronic Data Sheet. A file that describes the properties of a network device, in this case a
CANopen device.
P.6 Support
For general contact information and where to find support, please refer to the contact and support pages at www.hms-networks.com.
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Chapter 1
1. Product Overview
1.1 Introduction
The CM CANopen Module for SIMATIC S7-1200 is a plug-in IP20 compliant communication module
designed to be used as an accessory to a SIMATIC S7-1200 PLC. It provides the user with the possibility
to connect a CANopen network to a SIMATIC S7-1200 PLC.
The figure below shows a CM CANopen module attached to a SIMATIC S7-1200 PLC to provide the
connection from the PLC to CANopen. In this case the PLC is standalone, but it is possible to connect
it to a PROFINET network.
CM CANopen module
CANopen
Slave devices on the CANopen network
The CM CANopen Module for SIMATIC S7-1200 can be configured either as a CANopen manager or
as a slave, depending on the application. The network and the module are configured using external configuration tools (TIA Portal and CM CANopen Configuration Studio). See “Configuration” on page 10.
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Product Overview 4
1.2 Features
•
Powerful CANopen module for SIMATIC S7-1200 PLC.
•
3 modules per CPU can be connected.
•
Connects up to 16 CANopen slave nodes per module in manager mode.
•
256 byte input and 256 byte output per module.
•
CANopen slave functionality supported.
•
3 LEDs provide diagnostic information on module, network and I/O status.
•
The module can be integrated in the hardware catalogue of TIA Portal.
•
CANopen configuration via CM CANopen Configuration Studio (external tool).
•
Complies to the CANopen communication profile CiA 301 rev. 4.2 and the CiA 302 Draft
Standard Proposal rev. 4.1.
•
Transparent CAN supported.
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Chapter 2
2. CANopen Fieldbus Functionality
The functionality of the CM CANopen Module for SIMATIC S7-1200 is defined by the CANopen CiA
301 rev. 4.2 specification and the CANopen CiA 302 Draft Standard Proposal rev. 4.1. The module can
be configured either as a manager or as a slave on the CANopen network.
2.1 Supported Fieldbus Services
Communication and parameters in the CANopen protocol are built around objects. There are different
services available to communicate with the objects and to perform other CANopen tasks like supervising the network. The following message types and objects are implemented in the CM CANopen Module for SIMATIC S7-1200:
1.
•
NMT (Network Management)1 messages trigger the NMT state transitions for the slaves and/
or perform network and device monitoring, as well as handle errors. If the module is configured
as a slave, startup is performed by the manager.
•
The CMT (Configuration Manager)1 configures the CANopen devices. This primarily involves
PDO parameters and mapping of information. If the module is configured as a slave, the configuration is performed by the manager.
•
PDOs (Process Data Objects) are used for I/O communication. There are 64 Receive PDOs and
64 Transmit PDOs implemented in the CM CANopen Module for SIMATIC S7-1200 that each
can transfer up to 8 bytes. Supported PDO message types are event driven (COS or timing), Cyclic Synchronous and Acyclic Synchronous
•
SDOs (Service Data Objects) are asynchronous data transmission, and are used to access objects
without mapping them to an I/O (PDO) connection. Access is provided to all CANopen objects
in the module and in the network nodes (manager mode). SDO messages are used to configure
the modules and they can transfer more than 8 bytes, which is the upper limit for a PDO. (Expedited Upload/Download Protocol and Normal (Segmented) Upload/Download Protocol are
supported)
•
A SYNC (Synchronization Object) is used for synchronizing PDO communication. A manager
can be either a producer or a consumer of the synchronization. A slave can only be a consumer.
•
The Heartbeat Mechanism helps a device to monitor the status of another node. The module can
act either as heartbeat producer or consumer or both at the same time.
•
The Node Guarding Protocol provides active surveillance of a slave by the manager. Slaves can
be configured to expect a node guarding request from the manager.
•
An EMCY (Emergency Object) is used for error reporting when a fault has occurred in the module and for reporting when all faults in a module have been cleared.
Only available when the module is configured as manager.
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Chapter 3
3. Transparent CAN Mode
The CM CANopen Module for SIMATIC S7-1200 integrates Transparent CAN 2.0A (11 bit identifiers).
With this protocol, the module allows transmission of any CAN frame from the PLC regardless of the
overlaying CAN protocol, and is capable of receiving a number of predefined CAN frames from the
CAN network. No other functionality is available.
CAN 2.0A is the underlying protocol of CANopen, directly working on the bus. During configuration
in TIA Portal, Transparent CAN can be selected in the Options menu. When this configuration is downloaded to the module, the CANopen functionality is not possible to use. If CANopen functionality is to
be reactivated, a new configuration from TIA Portal will have to be downloaded. It is not possible to
change between CAN and CANopen at runtime.
Each CAN frame is tagged with an identifier. Only received frames with an identifier specified by the
function block CAN_CTRL will be forwarded to the PLC. The data in the frame is then available for
the user to interpret. When sending a frame, the user specifies the data and adds a valid identifier before
sending it to the module.
To facilitate the use of Transparent CAN, separate PLC function blocks are available1. They are described in “Transparent CAN Function Blocks” on page 47. The blocks give the designer of the PLC
program the possibility to integrate Transparent CAN functionality (sending, receiving, configuration)
into the PLC program, thereby making it possible to implement customer specific CAN protocols.
Note: The receive buffer can hold up to 256 unread received messages
1.
The function blocks can be downloaded from www.hms-networks.com/can-for-S7-1200.
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Chapter 4
4. Installation
The mounting and configuration of the CM CANopen Module for SIMATIC S7-1200 is done following
these steps:
1. Mounting
2. Configuring the SIMATIC S7-1200 PLC to use the module (See “SIMATIC S7-1200 PLC Configuration” on page 10)
3. Setting the parameters of the module (See “SIMATIC S7-1200 PLC Configuration” on page 10)
4. If in a CANopen operation mode, configuring the CANopen network, including the module (See
“CANopen Network Configuration” on page 12)
The following items are needed to perform the installation:
•
TIA Portal V11, SP2 or later
•
HSP (configuration file) for the module1
•
CM CANopen Configuration Studio
•
Function blocks (optional)1
4.1 Mounting
The CM CANopen Module for SIMATIC S7-1200 is designed to be connected directly to a SIMATIC S7-1200 PLC.
CANopen connection is provided via a DSUB contact.
No.
2
3, 6
5
7
1, 4, 8, 9
Name
L
GND
SHLD
H
N.C.
Description
CAN_L, low level in CANopen communication
Ground, provides connections to the CANopen network ground
Shield, provides connection to the CANopen network shield
CAN_H, high level in CANopen communication
1
6
5
(male)
9
Not connecteda
a. To ensure backwards compatibility, these contacts should not be connected.
A new module is configured from scratch, using TIA Portal and CM CANopen Configuration Studio.
See also:
•
1.
“CANopen Network Configuration” on page 12
Can be downloaded from www.hms-networks.com/can-for-S7-1200
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4.2 Status LEDs
Three status LEDs indicate the status of the module as shown in the table below. The DIAG LED is visible on the front of the module and the other two
are found behind the lid at the top of the module. The behavior of the LEDs
is described in “Status LED Timing Diagrams” on page 56
LED
DIAG (red/green)
Indication
Green
Blinking green
Blink red
ERR - CANopen
error (red)
Off
Blinking
Single flash
Double flash
Triple flash
RUN - CANopen
state (green)
1 Hz
On
Off
Blinking
Single flash
Triple flash
On
Status
Normal operation
Hardware address not configured yet
CM bus error state.
Note: This LED only report errors on the
CM backplane bus. Diagnostic errors are
indicated by the error LED on the PLC.
Normal operation
General configuration error
Warning limit reached in CAN controller, for
example due to bad or no signal on the
CANopen network.
A nodeguard event or a heartbeat event
has occurred.
Sync error. The sync message has not
been received within the configured communication cycle time
Fatal error, contact support.
The CAN controller is bus off.
No power, not configured or no CANopen
network
Pre-operational
Stopped
Transparent CAN mode
Operational
4.3 Maximum Cable Lengths
When designing the CANopen network, please take into account the maximum cable length for different baud rates.
Baud rate (kilobaud)
20
50
125
250
500
800
1000
Maximum cable length (m)
2500
1000
500
250
100
50
25
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4.4 Line Termination
To minimize the signal’s reflections from the end of the cable, a line termination is needed close to each
end of the bus. If the cable you are using is not terminated, connect a line termination between contacts
2 and 7 (CAN_L and CAN_H) beneath the slot, where the module is mounted. The impedance of the
termination should be 120  (5%, 1/4 W max.).
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Chapter 5
5. Configuration
5.1 General
Configuration of the SIMATIC S7-1200 PLC to provide connectivity to a CAN/CANopen network,
using the CM CANopen Module for SIMATIC S7-1200, can be done in different ways, depending on
the application.
The CANopen network, and the behavior of the module on this network, have to be configured using
an external CANopen configuration tool on the PC and the configuration is downloaded to the CM
CANopen module through the module USB connection.
CM CANopen module
LAN (PROFINET)
PC with
tools
USB
CANopen
Slave devices on the CANopen network
The module can be configured either as a manager or as a slave, depending on the application.
5.2 SIMATIC S7-1200 PLC Configuration1
Siemens TIA Portal is used to configure the SIMATIC S7-1200 PLC and the CM CANopen Module for
SIMATIC S7-1200. The module can be imported into the tool.
The CM CANopen module offers the SIMATIC S7-1200 PLC access to a CAN/CANopen network,
where the CM CANopen module either acts as a Transparent CAN module or acts as a slave or a manager on a CANopen network, depending on the settings in the parameter list. The SIMATIC S7-1200
may act as a PROFINET slave, with another PLC on the PROFINET network as master. If so, the SIMATIC S7-1200 together with the CM CANopen module can act as a gateway between PROFINET
and CANopen.
A example on how to configure the system is given on page 12.
1.
The configuration procedure in TIA Portal is the same for CANopen and CAN networks.
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Configuration 11
Double-clicking on the CM CANopen Module for SIMATIC S7-1200 in the list of modules in TIA Portal will open a window, where the user can set the values of the module parameters.
The following parameters, that have to be defined, can be found in the CANopen Interface tab:
Parameter
Node number
Operating mode
Baudrate
Description
Node-ID on the CANopen network.
Allowed values are 1 - 127
The operating mode of the module can be changed at any
time using this parameter.
This parameter defines the baud rate on the CAN network.
CANopen input
data sizea
Values
1-127
Default value
1
Transparent CAN
CANopen Manager
CANopen Slave
20 kbit/s
50 kbit/s
125 kbit/s
250 kbit/s
500 kbit/s
800 kbit/s
1000 kbit/s
1 - 256
CANopen Manager
This parameter defines the CANopen input data size. The
direction is defined from the CANopen network point of view,
that is input is input to the module from the CANopen network. Possible values are 1 - 256 bytes.
CANopen output This parameter defines the CANopen output data size. The 1 - 256
direction is defined from the CANopen network point of view,
data sizea
that is output is output to the CANopen network from the
module. Possible values are 1 - 256 bytes.
CANopen Man- Auto configuration scans the network for devices at startup Disabled
ager auto config- and tries to start them. Default PDO mapping is used. Auto Enabled
configuration is enabled by checking a box in the configuraurationb
tor.
500 kbit/s
32
32
Disabled
a. Only valid in CANopen mode
b. Only valid in CANopen manager mode
The parameterization is downloaded to the PLC with the HW configuration, using an Ethernet connection.
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Configuration 12
5.3 CANopen Network Configuration
An external CANopen configuration tool1 is used to configure the nodes on the CANopen network.
The resulting Concise DCF files are downloaded to the CANopen manager using a USB connection between the PC and the CM CANopen module. At the next startup the CANopen manager will configure
the network, if this function was set in the configuration tool during initial configuration.
The CM CANopen Module for SIMATIC S7-1200 can be configured either as a manager or as a slave
on the CANopen network. The configuration is decided by the PLC (by the Parameterization values).
5.4 Configuration Files
The Electronic Data Sheet (EDS) file for the CM CANopen Module for SIMATIC S7-1200 will be automatically installed with the CANopen configuration tool. This file is necessary to perform the configuration of the module on the CANopen network. Updated versions will be available at www.hmsnetworks.com/can-for-S7-1200.
The necessary information for configuring the module with the SIMATIC S7-1200 PLC can be included
in TIA portal by installing the HSP file2.
5.5 Configuration Example
This section gives an example of a TIA Portal configuration of the CM CANopen module from HMS
Industrial Networks in combination with the S7-1200 PLC from Siemens. In this example a CPU of type
1214C is used, but the example can be applied to all other PLC types as well. To run this example, the
HSP file, that can be downloaded from www.hms-networks.com/can-for-S7-1200, must have been installed.
1.
2.
Please visit www.hms-networks.com/can-for-S7-1200 or contact HMS support for further information, see “Support” on page 2.
Available for download at www.hms-networks.com/can-for-S7-1200.
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Configuration 13
1. Open the TIA Portal program and start a new project by clicking “Create new project” on the
left side of the screen.
2. Enter a name for the project and the path to where the project should be stored, optionally with
information like author and descriptive comments. Press “Create”.
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Configuration 14
3. Select “Devices & networks” to the left and then press “Add new device”.
4. Select the PLC type used in the configuration. Select correct software version and optionally enter a name for the PLC (default PLC_1). Press “Add”.
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Configuration 15
5. Select the CM CANopen module in the list as shown in the picture. Drag and drop an instance
of the module to the left side of the PLC module.
6. Double click on the Ethernet connector on the PLC and enter a proper IP address for the PLC.
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7. Double click on the connector of the CM CANopen module and choose the module parameter
tab. Enter the values in the parameter list. Please note that these parameters are valid for the
module on the CANopen network. 
In this example, the CM CANopen module for S7-1200 is configured as a CANopen manager.
The node number on the CANopen network is 1. The CANopen baud rate is set to 500 kbit/s
and both the input data size and the output data size are set to 32 bytes.
8. The configuration is now finalized and can be downloaded to the S7-1200 device. To download
the software configuration select the PLC_1 on the right and choose “Online” > “Download to
device”. To download the hardware configuration, right-click on the device in the tree and
choose “Download to device” > “all”.
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Configuration 17
9. Select the PG/PC interface you are using (in this example PN/IE) and the Ethernet interface on
your PC (in this example Intel 82577...). If the IP address, entered earlier, is found on the network
press “Load” to download to your device. If not, select the correct device from the list available
in the “Accessible devices in target subnet” window. If the device is on another subnet, and not
available in this window, the check box “Show all accessible devices” will have to be checked.
10. If the download was successful the following screen will appear asking if the PLC should start.
Press Finish and the PLC will start running the empty program that was downloaded.
11. The configuration of the module is now finished and the PLC programming can start.
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Configuration of the CANopen network
The configuration of the CANopen network, including the CM CANopen Module for SIMATIC S71200, is done separately with CM CANopen Configuration Studio.
Important: Before downloading the configuration to the CANopen network, make sure that the PLC
is set to STOP!
1. Open CANopen configuration tool.
2. Add nodes to CANopen network.
3. Configure each node with the necessary parameters.
4. Check that there is no conflict between the parameters downloaded from the CANopen configuration tool and the parameters set up with TIA Portal, regarding operation mode and process
data size.
5. Download the configuration to the CANopen manager as Concise DCF-files. The configuration
is automatically stored locally in nonvolatile memory.
Please consult the user manual for the configuration tool for details and/or contact HMS support, see
“Support” on page 2.
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Chapter 6
6. CANopen Module Specification
6.1 NMT State Machine
The function of the CM CANopen Module for SIMATIC S7-1200 can be described as a state machine
with four states.
Initialization
State
Initialization
Pre-operational
Operational
Stopped
Description
When the power is switched on, the module starts initializing. This is done in three steps:
basic initialization, reset application and reset communication.
The parameters are set to the so called power-on values, which are the default values or
the latest stored values. If parameter values are stored from a previous configuration, these
are used. If not, or if a restore_default command is issued, the parameters are reset to the
default values according to the communication and device profile specifications.
Once initialized, the module enters the pre-operational state. SDO (Service Data Object)
communication is allowed. A configuration application or configuration from CM CANopen
Module for SIMATIC S7-1200 can configure PDOs (Process Data Objects), device parameters and allocate application objects (PDO mapping).
In the operational state all communication objects are active. Data is communicated
according to the configurations made. Not all SDO:s can be changed, as some information
e.g. an object may contain the application program that needs to stay fixed throughout
operation.
All communication is stopped, except node guarding and heartbeat, if active. From this
state any transition to another state is possible, depending on if a restart, reconfiguration or
reset of the module is wanted.
The module changes states upon reception of a request from the CANopen network, a hardware reset
or following a change in the PLC RUN/STOP state.
If the CM CANopen Module for SIMATIC S7-1200 is configured as a CANopen manager, the transitions are initiated from the PLC. The module will either enter PRE-OPERATIONAL state or OPERATIONAL state directly, depending on the configuration downloaded from TIA Portal to the PLC.
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CANopen Module Specification 20
The module can not enter the state STOPPED when transitions are initiated from the PLC.
If the module is configured as a slave its behavior is controlled by a CANopen manager on the network
by the use of NMT telegrams. If the connection to the manager is lost, though, the module sends an
emergency code (FFA0h) and enters PRE-OPERATIONAL state.
Transition no.
1
2
3
4
5
6
7
8
9
10
11
Description
The initialization state is entered automatically at power on.
Initialization finished. The pre-operational state is entered automatically.
Reset node or reset communication. New parameters have been received and a new initialization is required.
If configured to do so, the controlling manager changes to “Run” mode. If the node is a CANopen manager, this transition is controlled by the PLC. If it is a slave, the transition is controlled by the CANopen manager using the command ‘Start remote node’.
Return to pre-operational state. If the controlling manager is a PLC, this transition is initiated
from the PLC.
Stop
Return to pre-operational state.
Start
Stop
Reset node or reset communication
Reset node or reset communication. New parameters have been received and a new initialization is required
Note: At a STOP from the PLC, the data last received is stored in the CM CANopen module. When
the PLC issues a RUN the stored data is sent on the CANopen bus. The behavior of the module is the
same if the connection is lost with the PLC on PROFINET.
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CANopen Module Specification 21
6.2 Data Exchange
Process data is read and written using function blocks, see “Get Process Data In” on page 43 and “Set
Process Data Out” on page 44.
6.2.1 PDO Functionality
Real-time data transfer is performed by means of PDOs (Process Data Objects). The PDOs are linked
to entries in the Device Object Dictionary and provide the interface to the application objects. Number
and length of PDOs in a device are node specific and have to be configured by the CANopen configuration tool.
PDOs are used both for data transmission and reception, using so called Transmit-PDOs (TPDOs) and
Receive-PDOs (RPDOs). Each PDO corresponds to two entries in the Device Object Dictionary. The
PDO parameter object holds information on the COB-ID, the transmission type etc. On recognition of
the COB-ID the corresponding PDO mapping object can be identified, to make it possible to transmit/receive data to/from the correct object in the device. The default settings for the mapping can be
changed during configuration.
Default PDO Mapping Scheme for Slave Mode1
The module features a simple default mapping scheme with 4 TPDOs and 4 RPDOs.
•
RPDO
RPDO no.
1
2
3
4
5
...
16
...
31
32
33
...
64
1.
Default
COB-IDs
200h + Node-ID
300h + Node-ID
400h + Node-ID
500h + Node-ID
80000000h
Mapped to...
Relating to...
Object index A4C0h, subindex 1... 8
Object index A4C0h, subindex 9... 16
Object index A4C0h, subindex 17... 24
Object index A4C0h, subindex 25... 32
Object index A4C0h, subindex 33... 40
...
Object index A4C0h, subindex 121...
128
...
Object index A4C0h, subindex 241...
248
Object index A4C0h, subindex 241...
248
Object index A4C1h, subindex 1... 2
No default mapping
...
No default mapping
Output data buffer, bytes 0... 7
Output data buffer, bytes 8...15
Output data buffer, bytes 16... 23
Output data buffer, bytes 24... 31
Output data buffer, bytes 32... 39
...
Output data buffer, bytes 120... 127
Default
State
Enabled
Disabled
...
Output data buffer, bytes 240... 247
Output data buffer, bytes 248... 255
...
-
There is no default mapping for master mode.
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CANopen Module Specification 22
•
TPDO
TPDO no.
1
2
3
4
5
...
16
...
31
32
33
...
64
Default
COB-IDs
180h + Node-ID
280h + Node-ID
380h + Node-ID
480h + Node-ID
80000000h
Mapped to...
Relating to...
Object index A040h, subindex 1... 8
Object index A040h, subindex 9... 16
Object index A040h, subindex 17... 24
Object index A040h, subindex 25... 32
Object index A040h, subindex 33... 40
...
Object index A040h, subindex 121...
128
...
Object index A040h, subindex 241...
248
Object index A040h, subindex 241...
248
Object index A041h, subindex 1... 2
No default mapping
...
No default mapping
Input data buffer, bytes 0... 7
Input data buffer, bytes 8... 15
Input data buffer, bytes 16... 23
Input data buffer, bytes 24... 31
Input data buffer, bytes 32... 39
...
Input data buffer, bytes 120... 127
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Default
State
Enabled
Disabled
...
Input data buffer, bytes 240... 247
Input data buffer, bytes 248... 255
...
-
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CANopen Module Specification 23
RPDO Transmission Types
RPDOs can be received either in synchronous or asynchronous mode. A synchronization (SYNC) object is transmitted periodically by a synchronization producer, located either in the CM CANopen Module for SIMATIC S7-1200 or in another node on the CANopen network. The data in synchronous
RPDOs are not transferred to the SIMATIC S7-1200 PLC until after the next SYNC object is received.
Asynchronous RPDOs will be transferred to the SIMATIC S7-1200 PLC at reception.
The transmission type parameter of a RPDO specifies the triggering mode.
Transmission
Mode
type, RPDO
0 - 240
Synchronous
241 - 253
254 - 255
RPDO transmission description
A received RPDO is transferred to the SIMATIC S7-1200 PLC after a SYNC object
is received.
Reserved
Asynchronous, An RPDO is transferred to the SIMATIC S7-1200 PLC without any relation to the
Event driven
SYNC object.
Note: All default PDOs are mapped with transmission type 255.
TPDO Transmission Types
TPDOs can be transmitted either in synchronous or asynchronous mode. A synchronization (SYNC)
object is transmitted periodically by a synchronization producer, located either in the CM CANopen
Module for SIMATIC S7-1200 or in another node on the CANopen network. Synchronous TPDOs are
transmitted within a pre-defined time-window immediately after a configured number of SYNC objects,
either always or after a CoS (Change of State event). Asynchronous TPDOs can be transmitted at any
time, triggered by a CoS or a cyclic period set in the Event Timer.
The transmission type parameter of a TPDO specifies the transmission mode as well as the triggering
mode.
Transmission
Mode
type, TPDO
0
Synchronous,
acyclic
1 - 240
Synchronous,
cyclic
241 - 253
254 - 255
Asynchronous,
Event driven
TPDO transmission description
A TPDO is triggered by an event, but not transmitted before the occurrence of a
SYNC object
A TPDO is transmitted with every n-th SYNC object, where n is the defined number
from 1 - 240.
Reserved
A TPDO is transmitted without any relation to the SYNC object. The transmission is
triggered by a CoS event or if a specified time has elapsed without an event.
Note: All default PDOs are mapped with transmission type 255.
6.3 Error Control
Different mechanisms exist to monitor the network. At an error event from any of these, the active I/O
data is frozen, as no new data will be available.
6.3.1 Heartbeat Mechanism
The Heartbeat Mechanism is used to monitor the nodes in the network and verify that the nodes are
available. A heartbeat producer periodically sends a message. The data part of the frame contains a byte
indicating the node status. The heartbeat consumer reads these messages. If a message fails to arrive
within a certain time limit (defined in the object directory of the devices, object 1016h, page 27), a heartbeat event is triggered by the consumer. The ERROR LED on the front of the CM CANopen Module
for SIMATIC S7-1200 will indicate the event and a diagnostic error will be logged to the SIMATIC S7-
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CANopen Module Specification 24
1200 PLC. If the module is configured as a slave, it will react according to the settings in object 1029h.
If it is in OPERATIONAL state, it will thus go to PRE-OPERATIONAL state and wait for the user to
take action. If it is in manager mode it will take action according to the settings in the manager objects.
The CM CANopen Module for SIMATIC S7-1200 can act as both heartbeat consumer and as heartbeat
producer.
6.3.2 Node Guarding
When using this mechanism NMT Master transmits guarding requests. If an NMT Slave has not responded within a defined time span (node lifetime) or if the communication status of the slave has
changed, the master takes appropriate action according to its configuration. In case of the CM CANopen Module for SIMATIC S7-1200 being the master, the PLC will be informed about the disappearance of the slave on the CANopen network. Any data to or from the disappeared slave will be frozen.
If Life guarding (the slave guards the master) is supported, the slave uses the guard time and lifetime
factor from its Object Dictionary to determine the node lifetime. If the slave does not receive a guarding
request within its lifetime, a node guard event is registered. The ERROR LED on the front of the CM
CANopen Module for SIMATIC S7-1200 will indicate the event and a diagnostic error will be logged
on the channel diagnostics.
If the guard time or the lifetime factor are 0 (default), the slave does not guard the master. The guarding
can be initiated at boot-up or later.
Note 1: If heartbeat is enabled, node guarding is disabled.
Note 2: When node guarding is used for master supervision, a GuardTime and a RetryFactor is set for
each node in its slave assignment object, see “NMT Slave Assignment, 1F81h” on page 32.
6.3.3 Emergency Object (EMCY)
The Emergency Object is used for error reporting on the CANopen network when a fault has occurred
and for reporting when all faults in a module have been cleared. The error codes are saved in a list in the
Communication Profile Object 1003h, see page 26 and a message is produced on the CANopen network. A list of emergency error codes, that can be produced by the module, is available in “CANopen
Emergency Codes” on page 57
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CANopen Module Specification 25
6.3.4 Diagnostics
When an event or alarm is generated by the CM CANopen module, the device alarm code 1Ah (external
error) is transmitted and will trigger an interrupt in the PLC user program. This interrupt indicates that
there is an alarm/event to be polled out from the module. Using the interface function Get Node &
Network Status (CANopen mode) or Get Diagnostic Information (Transparent CAN mode) information about the alarm/event can be polled out from the module. For more information, see “Get Node
& Network Status” on page 46 and “Get Diagnostic Information” on page 52.
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Chapter 7
7. Supported Objects
The following sections describe the CANopen objects, according to CiA 301 and CiA 302, implemented
within the module and described in the EDS file.
7.1 Static Data Types
According to CiA 301.
7.2 Communication Profile Area
7.2.1 CiA 301 Communication Profile Objects
The table below shows the objects according to CANopen specification CiA 301 rev. 4.2.
Index Object Name
1000h Device Type
1001h Error register
subindex
00h
00h
Description
Type of device
Error register, connected to
the EMCY object. Bit 0 indicates a generic error
Byte 0:
5000/02h
Byte 1:
5000/03h
Byte 2-3: 5000/01h
Number of errors. Writing a 0
to this subindex clears the
error list.
List of errors. Most recent
error at top of list.
COB-ID of the sync message
Communication cycle period
(ms).
Type
U32
U8
Access Notes
RO
0000 0000h (No profile)
RO
-
U32
RO
U8
RW
U32
RO
U32
U32
RW
RW
The name of the CANopen
module
Manufacturer hardware version
Visible RO
string
Visible RO
string
00h
Manufacturer software version
Visible RO
string
00h
Used together with “Life time U16
factor” to decide the node lifetime (ms).
If the node has not been
U8
guarded within its lifetime
(“Life time factor”*”Guard
time”), an error event is
logged and a remote node
error is indicated
1002h Manufacturer
status register
1003h Pre-defined
error field
00h
01h...05h
1005h COB-ID Sync
1006h Communication Cycle
Period
1008h Manufacturer
device name
1009h Manufacturer
hardware version
100Ah Manufacturer
software version
100Ch Guard time
00h
00h
00h
00h
100Dh Life time factor 00h
CM CANopen Module for SIMATIC S7-1200
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See “CANopen Emergency
Codes” on page 57 for emergency error codes.
Min: 0 ms, max: 32767 ms.
Only available if SYNC support
is enabled.
“S7-1200 CM CANopen”
Current hardware revision
Current software revision
RW
Min: 0 ms (default), max:
32767 ms.
RW
Min: 00h (default). max FFh
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Supported Objects 27
Index Object Name subindex
1010h Store Parame- 00h
01h
tersa
Description
Largest subindex supported
Store all parameters
1011h Restore Param- 00h
01h
etersa
Largest subindex supported U8
Restore all default parameters U32
1014h COB-ID EMCY 00h
Defines the COB-ID of the
U32
Emergency Object
Largest subindex supported
U8
The consumer heartbeat time U32
defines the expected heartbeat cycle time and has to be
higher than the corresponding producer heartbeat time.
Monitoring starts after the
reception of the first heartbeat. Not used if 0
1016h Consumer
00h
Heartbeat Time 01h - 10h
Type
U8
U32
Access Notes
RO
01h
RW
To save a configuration, write
“save” = 73 61 76 65h to this
object.b
RO
01h
RW
To restore the default values of
a configuration, write “load” =
6C 6F 61 64h to this object.c
RW
RO
RW
1017h Producer Heart- 00h
beat Time
Defines the cycle time of the
heartbeat. Not used if 0
U16
RW
1018h Identity object
Highest subindex supported
Vendor-ID
Product Code
U8
U32
U32
RO
RO
RO
Revision Number
Serial Number
Number of entries
Configuration date
Configuration time
Number of entries
Communication Error.
Defined by CANopen (loss of
CAN messages, transmit
queue overrun, RPDO length
error, CAN-ID error, slave
guarding by master; guarding
time out, consumer heartbeat
time out)
Manufacturer Specific Error.
PLC changes from RUN to
STOP while CANopen manager is in state OPERATIONAL.
Largest subindex supported
COB ID used by PDO
Transmission type
U32
U32
U8
U32
U32
U8
U8
RO
RO
RO
RW
RW
RO
RW
U8
CONST
U8
U32
U8
RO
RW
RW
00h
01h
02h
03h
04h
1020h Verify Configu- 00h
ration
01h
02h
1029h Error Behaviord 00h
01h
02h
1400h Receive PDO
...
parameter
143Fh
00h
01h
02h
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10h
Node-ID + Heartbeat Time.
Bits 31-24: reserved
Bits 23-16: Node-ID
Bits 15-0: Heartbeat Time
Value must be a multiple of
1ms. (Min: 10 ms, max 32768
ms).
Up to 16 nodes can be monitored.
The time must be at least 10
ms and a multiple of 1 ms.
Max: 32768 ms.
04h
1Bh (HMS Industrial Networks)
1Fh (CM CANopen Module for
SIMATIC S7-1200)
Current software revision
32 bit serial number
01h
00h (default): Change to NMT
state PRE_OPERATIONAL if
currently in NMT state OPERATIONAL.
01h: No change of NMT state.
02h: Change to NMT state
STOPPED.
02h
See “RPDO Transmission
Types” on page 23
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Supported Objects 28
Index Object Name
1600h Receive PDO
...
mapping
163Fh
1800h Transmit PDO
...
parameter
183Fh
1A00h Transmit PDO
...
mapping
1A3Fh
subindex
00h
01h
02h
03h
04h
05h
06h
07h
08h
00h
01h
02h
03h
05h
00h
01h
02h
03h
04h
05h
06h
07h
08h
Description
No. of mapped application
objects in PDO
Mapped object #1
Mapped object #2
Mapped object #3
Mapped object #4
Mapped object #5
Mapped object #6
Mapped object #7
Mapped object #8
Largest subindex supported
COB ID used by PDO
Transmission type
Type
U8
Access Notes
RW
-
U32
U32
U32
U32
U32
U32
U32
U32
U8
U32
U8
RW
RW
RW
RW
RW
RW
RW
RW
RO
RW
RW
Inhibit time
Event Timer (ms)
No. of mapped application
objects in PDO
Mapped object #1
Mapped object #2
Mapped object #3
Mapped object #4
Mapped object #5
Mapped object #6
Mapped object #7
Mapped object #8
U16
U16
U8
RW
RW
RW
05h
See “TPDO Transmission
Types” on page 23
In steps of 0.1 ms
-
U32
U32
U32
U32
U32
U32
U32
U32
RW
RW
RW
RW
RW
RW
RW
RW
-
a. Relevant only for communication parameters
b. If entered manually, the bytes should be entered in reversed order: 65 76 61 73h.
c. If entered manually, the bytes should be entered in reversed order: 64 61 6F 6C.
d. Only valid in slave mode.
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Supported Objects 29
7.2.2 Configuration Manager
CiA 302 part 3: Configuration and program download
Network Configuration Objects
Configuration of the manager and the slaves can be done using concise device configuration files. The
configuration is stored in the manager by writing to object 1F22h. The nodes are configured either when
the module (in manager mode) is booted or when a request to boot a slave is sent to object 1F25h.
Index Object Name
1F22h Concise DCF
subindex
0 - 127
1F25h Configuration
Request
0 - 128
Description
Type
Access
The concise/compressed DCF files informa- Domain Sub 0: RO
tion is stored in this object.
Sub 1 - 127: RW
The configuration is stored in the manager
by writing to the subindex corresponding to
the Node-ID of the module.
subindex 0 is ignored.
UINT32a Sub 0: RO
subindex i (i = 1 - 127): Request reconfiguSub 1 - 128: WO
ration of slave with Node-ID equal to
subindex i.
subindex 128: Request to reconfigure all
slaves.
a. To configure the slave with Node-ID i, write “conf” = 63 6F 6E 66h to this object (1F25h, subindex i)
If an error occurs during configuration of a mandatory node or a detected optional node, an emergency
object, with the code FF30h, with either error code 1 or 4 will be sent. Diagnostics (error code 9) will
be set and the specified node will not be set to Operational.
See also ...
•
“Error Control” on page 23
Check Configuration
The Configuration Manager (CMT) compares signature and configuration with the value from the DCF
to decide if a reconfiguration of a CANopen slave device is to be performed or not. The comparison
values are stored by the Configuration Manager in these objects:
Index
1F26h
1F27h
Object Name subindex
Expected
0 - 127
Configuration
Date
Expected
0 - 127
Configuration
Time
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Description
Type
The date that the Configuration Manager expects to find UNIT32
when comparing signature and configuration.
Access
RW
The time that the Configuration Manager expects to find UINT32
when comparing signature and configuration.
RW
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Supported Objects 30
7.2.3 Network Management Objects
The NMT master controls the states of the connected network participants, the NMT slaves. It monitors the devices and reports to the application, for example if an NMT slave fails. Please refer to the
CANopen specification, see “Related Documents” on page 1. In more complex systems several devices
are able to perform as master, which means that the configuration must have an entry defining which
device will act as master.
Once configured, the objects carry all information needed for the module to act on the network and the
application does not need to be accessed to obtain this information. This results in a substantial reduction of the overall implementation and maintenance effort when implementing multiple applications.
Index
102A
Subindex Description
0
This object holds the configured
inhibit time between two subsequent NMT messages.
1F80h NMT Start-up 0
Defining whether the device is the
NMT master.
1F81h NMT Slave
ARRAY
Module list: Entry of all slaves to
Assignment
be managed, including guarding
values and the entry of actions to
be taken in event of guarding
errors.The array subindex corresponds to the Node-ID of the CANopen slave.
1F82h Request NMT ARRAY
Remote control initiation of NMT
services. For example, tools can
use this to request intentional start/
stop of individual slaves. Remote
query of the current state.
1F83h Request Guard- ARRAY
Remote control start/stop of guarding
ing. Remote query of the current
state
1F84h Device Type
ARRAY
Verify expected device types for
Identification
the slaves.
1F85h Vendor Identifi- ARRAY
Verify vendor identifications for the
cation
slaves
1F86h Product Code ARRAY
Verify product codes for the slaves
Type
U16
Access
RW
U32
RW
U32
Sub 0: RO
Sub 1 - 127: RW
U8
Sub 0: RO
Sub 1 - 127: RW
Sub 128: WO
U8
1F87h Revision
Number
1F88h Serial Number
ARRAY
U32
1F89h Boot Time
VAR
Sub 0: RO
Sub 1 - 127: RW
Sub 128: WO
Sub 0: RO
Sub 1 - 127: RW
Sub 0: RO
Sub 1 - 127: RW
Sub 0: RO
Sub 1 - 127: RW
Sub 0: RO
Sub 1 - 127: RW
Sub 0: RO
Sub 1 - 127: RW
RW
1F8A
Object Name
NMT inhibit
time
ARRAY
Restore Config- ARRAY
uration
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Verify revision numbers for the
slaves
Verify expected serial numbers for
the slaves
Maximum slave boot time before
the configuration manager indicates boot error.
The values in this array define
whether the corresponding node
address (subindex) should be
restored during startup or not. If
the entry value is 0, the no restore
command should be sent to the
device.
U32
U32
U32
U32
U32
U8
Sub 0: const
Sub 1 - 127: RW
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Supported Objects 31
NMT Start-up, 1F80h
This object configures the startup behavior of the device, and how it will manage the slaves. If the module is set up as an NMT master in TIA Portal hardware configuration, the module will enable the master
functionality by forcing bit 0 and bit 2 in this object to TRUE. If there is an attempt to set bit 0 and bit
2 to different values from the CANopen bus, an error response is received.
Bit No.
0
Value
0
1
1
0
1
2
0
1
3
0
1
4
0
1
5
6
0
1
7 - 31
-
Description
Notes
NMT master functionality is disabled. Ignore the rest of the
object except bit 1 and 3. Ignore the entries of object 1F81h.
NMT master functionality is enabled. The device is master
Start only explicitly assigned slaves (if bit 3 = 0)
After boot-up, perform the service NMT Start Remote Node
All Nodes (if bit 3 = 0)
Automatically enter Operational state
Not supported
Do not enter Operational state automatically. The SIMATIC
S7-1200 PLC will decide when to enter Operational state
The NMT master shall start the slaves
The NMT master is not allowed to send NMT Start Remote
Node command. The application will start the slaves
If a mandatory slave generates an Error Control Event, treat If bit 6 = 1, ignore bit 4
the slave individually
If a mandatory slave generates an Error Control Event, perform NMT Reset All Nodes, see bit 6 and object 1F81h, bit 3.
Not implemented
If a mandatory slave generates an Error Control Event, treat
the slave according to bit 4
If a mandatory slave generates an Error Control Event, send
NMT Stop All Nodes (including self). Ignore bit 4
Reserved (0)
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Supported Objects 32
NMT Slave Assignment, 1F81h
This object defines which slaves the master should monitor, control and/or configure. One entry is
made for each assigned slave, with the subindex corresponding to the slave’s Node-ID.
Byte 0
Bit No
0
Value
0
1
0
1
2
1
3
0
1
4
5
6
7
0
1
Description
Node with this ID is not a slave
Node with this ID is a slave. After configuration the node will be set to Operational
Reserved
On an Error Control Event or on detection of a new slave, inform the application, but do NOT
configure and start the slave
On an Error Control Event or on detection of a new slave, inform the application and start the
process “Start Boot Slave”
Optional slave. The network may be started even if this node could not be contacted.
Mandatory slave. The network must not be started if this node could not be contacted during
the boot slave process
Not implemented
Not implemented
Not implemented
CANopen device may be used without prior resetting
CANopen device shall be reset to factory default by issuing a restore to default (object 1011h)
Byte 1
8 bit value for the RetryFactor
Byte 2... 3
16 bit value for the GuardTime
If a slave does not answer, the master will retry the request RetryFactor-1 times with an interval of
GuardTime. Guarding will be performed only if non-zero values are entered for RetryFactor and GuardTime.
See also ...
•
“Node Guarding” on page 24
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Supported Objects 33
Request NMT, 1F82h
Each node on the CANopen network can be controlled individually from the PLC by sending this object. The subindex indicates what nodes the request affects:
subindex
0
i (with i = 1...127)
128
Description
Largest subindex supported (128)
Request NMT Service for the slave with Node-ID i.
Request NMT Service for all nodes
The desired state is given as a numeric value when writing to or reading from the local object dictionary:
Value
0
Write access
-
1
-
4
5
6
7
127
STOP remote node
START remote node
RESET NODE
RESET COMMUNICATION
Enter PRE-OPERATIONAL
Read access
NMT state unknown. The node is not configured or otherwise not part of
the network.
CANopen device is missing. The node at this Node-ID is configured but
not available on the network.
NMT state STOPPED
NMT state OPERATIONAL
NMT state PRE-OPERATIONAL
The entire network can be started with one command (subindex 128)
Examples
•
Node 5 should be transferred to the OPERATIONAL state:
An SDO write access with the value 5 is executed to object 1F82h subindex 5 in the local object
dictionary.
•
All the nodes in the network should be transferred to the PRE-OPERATIONAL state:
An SDO write access with the value 127 is executed to object 1F82h subindex 128 in the local
object dictionary.
CM CANopen Module for SIMATIC S7-1200
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Supported Objects 34
Request Guarding, 1F83h
Guarding can be initiated from the object dictionary in a similar way. Guarding is initiated with the values
stored in “NMT Slave Assignment, 1F81h” on page 32, provided that at the same time no parameters
are entered for that node as a Heartbeat Consumer
Note: This functionality is only supported in master mode.
subindex
0
i (with i = 1...127)
128
Value
1
0
Description
Largest subindex supported (128)
Request Guarding for the slave with Node-ID i
Request Start/Stop Guarding for all nodes.
Write access
Start guarding
Stop guarding
Access
RO
RW
WO
Read access
Slave is guarded
Slave is not guarded
Example:
•
Guarding should be started for node 5 (500 ms, Life Time Factor 3):
An SDO write access with the value 00000001h is executed to object 1F81h subindex 5 in the
local object dictionary. Guarding is activated by an SDO write access with the value 1 to object
1F83h subindex 5 in the local object dictionary.
Device Type Identification, 1F84h
Each node on the CANopen network is checked against its expected device type. The subindex indicates
which node is checked:
subindex
0
i (with i = 1...127)
Description
Largest subindex supported (127)
Compares expected device type (entered into this object) with actual device type (object
1000h, subindex 0) for the slave with Node-ID i. If the expected device type is 0, this only gives
information about the existence of a node, not which device type it is. If the value is not 0, it is
compared to the value read from the node, and boot up is continued if they match.
Vendor Identification, 1F85h
Each node on the CANopen network is checked against its expected vendor. The subindex indicates
which node is checked. The node in question is only checked if data is other than zero.
subindex
0
i (with i = 1...127)
Description
Largest subindex supported (127)
Compares expected vendor (entered into this object) with actual vendor (object 1018h,
subindex 1) for the slave with Node-ID i. Boot up of slave is continued only if they match. If not,
the slave is not put in Operational.
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Supported Objects 35
Product Code, 1F86h
Each node on the CANopen network is checked against its expected product code. The subindex indicates which node is checked. The node in question is only checked if data is other than zero.
subindex
0
i (with i = 1...127)
Description
Largest subindex supported (127)
Compares expected product code (entered into this object) with actual product code (object
1018h, subindex 2) for the slave with Node-ID i. Boot up of slave is continued only if they
match. If not, the slave is not put in Operational.
Revision Number, 1F87h
Each node on the CANopen network is checked against its expected revision number. The revision
number includes major and minor revision. For a match to occur the major revision has to be exactly
the same and the minor revision of the module has to be greater than or equal to the expected minor
revision number. The subindex indicates which node is checked. The node in question is only checked
if data is other than zero.
subindex
0
i (with i = 1...127)
Description
Largest subindex supported (127)
Compares expected revision number (entered into this object) with actual revision number
(object 1018h, subindex 3) for the slave with Node-ID i. Boot up of slave is continued only if
they match. If not, the slave is not put in Operational.
Serial Number, 1F88h
Each node on the CANopen network is checked against its expected serial number. The subindex indicates which node is checked. The node in question is only checked if data is other than zero.
subindex
0
i (with i = 1...127)
Description
Largest subindex supported (127)
Compares expected serial number (entered into this object) with actual serial number (object
1018h, subindex 4) for the slave with Node-ID i. Boot up of slave is continued only if they
match. If not, the slave is not put in Operational.
Boot Time, 1F89h
The network master will wait the assigned time (in ms) for all mandatory slaves to boot. An error will
be indicated to the application if the mandatory slaves have not booted within the assigned time. If the
assigned time is 0, the timer is disabled and the master will wait endlessly.
Value (ms)
0
>0
Description
Default. No time limit for mandatory slaves to boot
Time limit for mandatory slave to boot
CM CANopen Module for SIMATIC S7-1200
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Supported Objects 36
7.3 Manufacturer Specific Objects
One or several variable data objects are connected to each PDO. This is configured during the configuration phase. There are 64 Receive PDOs and 64 Transmit PDOs.
Index
5000h
5001h
5002h
5003h
5004h
5005h
Subindex
00h
01h
02h
03h
04h
00h
01h
02h
03h
04h
Type
RECORD
U8
U16
U8
U8
U16
ARRAY
U8
U32
U32
U32
U32
Access Name and description
Status CM CANopen
RO
Largest subindex supported
RO
Event indication CM CANopen
RO
CM CANopen state
RO
CM CANopen communication status
RO
CM CANopen configuration bits
Assigned slaves bit list
RO
Largest subindex supported
RO
Node-ID 1-32
RO
Node-ID 33-64
RO
Node-ID 65-96
RO
Node-ID 97-127
00h
01h
02h
03h
04h
ARRAY
U8
U32
U32
U32
U32
RO
RO
RO
RO
RO
Configured slaves bit list
Largest subindex supported
Node-ID 1-32
Node-ID 33-64
Node-ID 65-96
Node-ID 97-127
00h
01h
02h
03h
04h
ARRAY
U8
U32
U32
U32
U32
RO
RO
RO
RO
RO
Fault slaves bit list
Largest subindex supported
Node-ID 1-32
Node-ID 33-64
Node-ID 65-96
Node-ID 97-127
00h
01h
02h
03h
04h
ARRAY
U8
U32
U32
U32
U32
RO
RO
RO
RO
RO
Operational slaves bit list
Largest subindex supported
Node-ID 1-32
Node-ID 33-64
Node-ID 65-96
Node-ID 97-127
00h
01h
02h
03h
04h
ARRAY
U8
U32
U32
U32
U32
RO
RO
RO
RO
RO
Stopped slaves bit list
Largest subindex supported
Node-ID 1-32
Node-ID 33-64
Node-ID 65-96
Node-ID 97-127
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
Comment
For more information, see page 38.
For more information, see page 39.
For more information, see page 39.
For more information, see page 40.
Bit n represents Node-ID (n+1).
Bit n represents Node-ID (n+33).
Bit n represents Node-ID (n+65).
Bit n represents Node-ID (n+97). Bit
31 is always 0.
Bit n represents Node-ID (n+1).
Bit n represents Node-ID (n+33).
Bit n represents Node-ID (n+65).
Bit n represents Node-ID (n+97). Bit
31 is always 0.
Bit n represents Node-ID (n+1).
Bit n represents Node-ID (n+33).
Bit n represents Node-ID (n+65).
Bit n represents Node-ID (n+97). Bit
31 is always 0.
Bit n represents Node-ID (n+1).
Bit n represents Node-ID (n+33).
Bit n represents Node-ID (n+65).
Bit n represents Node-ID (n+97). Bit
31 is always 0.
Bit n represents Node-ID (n+1).
Bit n represents Node-ID (n+33).
Bit n represents Node-ID (n+65).
Bit n represents Node-ID (n+97). Bit
31 is always 0.
Doc.Id. HMSI-216-117
Supported Objects 37
Index
5006h
Subindex
00h
01h
02h
03h
04h
Type
ARRAY
U8
U32
U32
U32
U32
-
ARRAY
00h
01h
02h
03h
04h
U8
U32
U32
U32
U32
RO
RO
RO
RO
RO
Largest subindex supported
Node-ID 1-32
Node-ID 33-64
Node-ID 65-96
Node-ID 97-127
00h
01h
02h
03h
04h
ARRAY
U8
U32
U32
U32
U32
RO
RO
RO
RO
RO
Inconsistent concise DCF bit list
Largest subindex supported
Node-ID 1-32
Node-ID 33-64
Node-ID 65-96
Node-ID 97-127
00h
01h
02h
03h
04h
ARRAY
U8
U32
U32
U32
U32
RO
RO
RO
RO
RO
Wrong concise DCF bit list
Largest subindex supported
Node-ID 1-32
Node-ID 33-64
Node-ID 65-96
Node-ID 97-127
00h
01h
02h
03h
04h
ARRAY
U8
U32
U32
U32
U32
RO
RO
RO
RO
RO
Identity error bit list
Largest subindex supported
Node-ID 1-32
Node-ID 33-64
Node-ID 65-96
Node-ID 97-127
5011h
00h
01h
...
7Fh
-
ARRAY
U8
U16
...
U16
U16
RO
RW
...
RW
RO
Node error count
Highest subindex supported
Node error count Node-ID 1
...
Node error count Node-ID 127
Generic error count
5012h
-
U16
RO
Device hardware error count
5013h
-
U16
RO
Device software error count
5014h
-
U16
RO
Communication error count
5007h
5008h
5009h
500Ah
5010h
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Access Name and description
Pre-operational slaves bit list
RO
Largest subindex supported
RO
Node-ID 1-32
RO
Node-ID 33-64
RO
Node-ID 65-96
RO
Node-ID 97-127
Error state bit list
Comment
Bit n represents Node-ID (n+1).
Bit n represents Node-ID (n+33).
Bit n represents Node-ID (n+65).
Bit n represents Node-ID (n+97). Bit
31 is always 0.
This list reflects the state of bit 0 in
object 1001h of the slave devices.
Bit n represents Node-ID (n+1).
Bit n represents Node-ID (n+33).
Bit n represents Node-ID (n+65).
Bit n represents Node-ID (n+97). Bit
31 is always 0.
Bit n represents Node-ID (n+1).
Bit n represents Node-ID (n+33).
Bit n represents Node-ID (n+65).
Bit n represents Node-ID (n+97). Bit
31 is always 0.
Bit n represents Node-ID (n+1).
Bit n represents Node-ID (n+33).
Bit n represents Node-ID (n+65).
Bit n represents Node-ID (n+97). Bit
31 is always 0.
Bit n represents Node-ID (n+1).
Bit n represents Node-ID (n+33).
Bit n represents Node-ID (n+65).
Bit n represents Node-ID (n+97). Bit
31 is always 0.
Contains the number of emergency
messages currently buffered in
5018h. Writing 0 to this object
resets the DOMAIN entries in
5018h.
Counts emergency messages
caused by emergency error code
class 10XXh.
Counts emergency messages
caused by emergency error code
class 50XXh.
Counts emergency messages
caused by emergency error code
class 60XXh.
Counts emergency messages
caused by emergency error code
class 81XXh.
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Supported Objects 38
Index
5015h
Subindex
-
Type
U16
Access Name and description
RO
Protocol error count
5016h
-
U16
RO
External error count
5017h
-
U16
RO
Device specific
5018h
00h
01h
...
7Fh
00h
01h
ARRAY
U8
DOMAIN
...
DOMAIN
ARRAY
U8
DOMAIN
5500h
RO
RO
...
RO
RO
RO
Comment
Counts emergency messages
caused by emergency error code
class 82XXh.
Counts emergency messages
caused by emergency error code
class 90XXh
Counts emergency messages
caused by emergency error code
class FFXXh.
Node emergency history
Highest subindex supported
Emergency history Node-ID 1
...
Emergency history Node-ID 127
Fatal event log
Highest subindex supported
Fatal event log
Status CM CANopen, 5000h, subindex 01h
The table below gives the event indications for the CM CANopen that can be read from subindex 01h
of the Status CM CANopen object. The bits are valid either only in manager mode or in both manager
and slave mode.
Bit No
Name
FATE
Mode
Both
Description
The CM CANopen is in Fatal Error state.
NIDE
Manager
2
MSE
Manager
A device in the network uses the Node-ID of the CM CANopen. The CM CANopen is set to Fatal Error state.
Error control event of a mandatory device.
3
MNCE
Manager
Identity error of at least one mandatory device.
4
OIE
(reserved)
(reserved)
NMTE
Manager
Identity error of at least one optional device.
Both
Both
Both
Always 0.
Always 0.
Set if any bit in any of the diagnostics bit lists has been updated.
ASE
Manager
The slave assignment entry of a device contains features that are not supported
by the CM CANopen (e.g. bits 4-6 of the slave assignment object 1F81h).
The CM CANopen has received an RPDO with too few data bytes.
0a
1
5
6
7a
8
9a
10
PDOLEN_ERR Both
CONFIG_ERR
Manager
11
(reserved)
SAVE_ERR
Both
Both
On download of a concise DCF by the boot slave process, the CM CANopen has
detected that the concise DCF is either inconsistent or does not match the object
dictionary of the slave module.
Always 0.
Processing of the save command failed.
ALONE
Both
The CM CANopen is alone in the network or not connected to the network.
(reserved)
(reserved)
Both
Both
Always 0.
Always 0.
12a
13a
14
15
a. Valid in slave mode.
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Supported Objects 39
Status CM CANopen, 5000h, subindex 02h
The table below gives the state of CM CANopen that can be read from subindex 02h of the Status CM
CANopen object. The bits are valid either in manager or slave mode or in both.
Value
00h
40h
Name
INIT
MASTER_STATE_RESET
Mode
Both
Both
Description
The CM CANopen is not initialized
The CM CANopen is configured as a manager in the NMT startup
object (1F80h). The object dictionary of the CM CANopen may be
configured by SDOs via the CAN bus or the SDO command interface.
The CM CANopen is in the NMT state Stopped.
The CM CANopen is in the NMT state Pre-operational.
The CM CANopen is in the NMT state Operational.
Bootup according to CiA 302. The CM CANopen verifies the NMT
slave assignment.
The network is reset by NMT reset communication all nodes.
The CM CANopen waits for a previously defined time (default 2 s),
to enable the other nodes on the network to execute the NMT reset
communication command.
The CM CANopen carries out the initialization of the individual
devices according to CiA 302.
The network has been scanned. At least one mandatory module is
missing and the boot time has not expired.
The network has been scanned, but no commands to start the CM
CANopen or the CANopen network has yet arrived.
The network has been set to the NMT state Operational.
41h
42h
43h
60h
SLAVE_STOPPED
SLAVE_PREOP
SLAVE_OP
PREPARE_NET_INIT
Slave
Slave
Slave
Manager
61h
62h
NTW_RESET
NTW_WAIT
Manager
Manager
64h
BOOT_CONF
Manager
70h
BOOT_END_MISSING_MAND Manager
8Xha
CLEAR
Manager
AXha
RUN
Manager
CXha
STOP
Manager The network has been stopped.
EXha
PRE-OPERATIONAL
Manager The network has been set to NMT state Pre-operational
90h
FATAL_ERROR
Manager A fatal error has occurred. The CM CANopen must be reinitialized.
a. The last four bits contain additional information:
Bit No
Description
0
Error bit for optional or unexpected modules.
0:
No error.
1:
At least one optional or unexpected module does not correspond to the expected network configuration.
1
Error bit for mandatory modules.
0:
No error.
1:
At least one mandatory module does not match the expected state.
2
General operational bit.
0:
No CANopen slave is in NMT state Operational
1:
At least one CANopen slave is in NMT state Operational
3
CM CANopen operational bit.
0:
The CM CANopen is not in NMT state Operational.
1:
The CM CANopen is in NMT state Operational.
Status CM CANopen, 5000h, subindex 03h
The table below gives the CM CANopen communication state that can be read from subindex 03h of
the Status CM CANopen object.
Bit No
0
1
2
3
4
Description
Not supported, always 0.
An overrun of the CAN controller occurred.
The CAN controller is bus off.
0:
The CAN controller is in error active state.
1:
The CAN controller is in error passive state.
The CAN controller error state has changed. Bit is reset after a read access.
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Supported Objects 40
Bit No
5
6
7
Description
An overrun of the low priority transmit queue occurred. Bit is reset after a read access.
The CM CANopen transmits heartbeat, emergency messages, node guarding requests, SSDOs and CSDOs,
asynchronous TPDOs, and NMT commands via the low priority transmit queue.
A receive queue overrun occurred. Bit is reset after a read access.
An overrun of the high priority transmit queue occurred. Bit is reset after a read access.
The CM CANopen transmits synchronous TPDOs and the SYNC message via the high priority transmit
queue.
Status CM CANopen, 5000h, subindex 04h
The table below gives definitions of the CM CANopen configuration bits that can be read from subindex 04h of the Status CM CANopen object. Bits 0 - 3 correspond to bits 0 to 3 of object 1F80h.
Bit No
0
1a
2a
3a
4
5
6b
7b
8-9
10c
11c
12c
13c
14c
15
Name
Mode
NMT master Both
Description
0: The CANopen device is not NMT master. Ignore the entries of object 1F81.
1: The CANopen device is the master.
Start all
Manager 0: The CANopen slave devices are started with the NMT service Start Remote
nodes
Node for each Node-ID.
1: The CANopen network is started with the NTM service Start Remote Node with
Node-ID = 0.
NMT master Both
0: The CANopen manager automatically enters NMT state Operational at startup.
1: The CANopen manager does not automatically enter NMT state Operational.
start
Start node
Manager 0: The CANopen manager (the NMT master) will start the NMT slaves.
1: The NMT slaves will be started by the application
Remote error Both
This bit indicates who reacts to an error control event of a mandatory device. It is
handling
always 0 if the CM CANopen module is in slave mode.
0: The application handles remote guarding or heartbeat error.
1: The CANopen manager handles remote errors, how is configured i object
1F80h, see “NMT Start-up, 1F80h” on page 31.
(reserved)
Always 0.
Synchroniza- Both
0: The value of object 1006h, Communication Cycle Period, is 0.
tion bit
1: The value of object 1006h is unequal to 0.
SYNC con- Both
0: The CANopen manager is configured as SYNC consumer.
sumer/pro1: The CANopen manager is configured as SYNC producer.
ducer bit
(reserved)
Time object, not supported. Always 0.
Node guard- Slave
0: Life guarding is configured.
ing stopped
1: Life guarding is not configured and not active.
Heartbeat
Slave
0: The CANopen device (the module in slave mode) does not transmit heartbeat
configured
messages.
1: The CANopen device transmits heartbeat messages. Life guarding is not active.
Node guard- Slave
0: Life guarding is not configured.
ing config1: Life guarding is configured, no guarding request has been received from the
ured
NMT master.
Node guard- Slave
0: Life guarding is not configured.
ing active
1: Life guarding is configured and active.
Life guarding Slave
0: Guarding request received within node lifetime.
status
1: Life guarding error.
(reserved)
Always 0.
a. Bits 1 - 3 describe the startup behavior of the CANopen manager during the NMT startup procedure.
b. The synchronization mechanism is described by the values of bits 6 - 7.
c. Bits 10-14 describe life guarding status. Only one of these bits can be set at a time.
CM CANopen Module for SIMATIC S7-1200
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Supported Objects 41
7.3.1 I/O Buffer Addresses and Object Dictionary Indices Relation
The (Q-area) application data bytes 0 - 31 are mapped to three different areas in the Local Object Dictionary. The same data is mapped to each area, but as different data types. For example: byte to index
A040h, subindex 1 - 32, word to index A100h, subindex 1 - 16 and double-word (long) to indexA200h,
subindex 1 - 8.
Byte 0 - 7
Byte 0
A040h, 1
Byte 8 - 15
Byte 1
A040h, 2
Byte 16 - 23
Byte 2
A040h, 3
Byte 24 - 31
Byte 3
A040h, 4
Byte 32 - 39
Byte 4
A040h, 5
Byte 40 - 47
Byte 5
A040h, 6
Byte 6
A040h, 7
Byte 7
A040h, 8
Byte 8
A040h, 9
Byte 9
A040h, 10
Byte 10
A040h, 11
Byte 11
A040h, 12
Byte 12
A040h, 13
Byte 13
A040h, 14
Byte 14
A040h, 15
Byte 15
A040h, 16
Byte 16
A040h, 17
Byte 17
A040h, 18
Byte 18
A040h, 19
Byte 19
A040h, 20
Byte 20
A040h, 21
Byte 21
A040h, 22
Byte 22
A040h, 23
Byte 23
A040h, 24
Byte 24
A040h, 25
Byte 25
A040h, 26
Byte 26
A040h, 27
Byte 27
A040h, 28
Byte 28
A040h, 29
Byte 29
A040h, 30
Byte 30
A040h, 31
Byte 31
A040h, 32
Byte 208- 215
Byte 208
A040h, 209
Byte 215- 223
Byte 209
A040h, 210
Byte 224- 231
Byte 210
A040h, 211
Byte 232- 239
Word object
Index, sub-index
Byte object
Index, sub-index
Transmit data area
Byte 211
A040h, 212
Byte 252
A040h, 253
Byte 253
A040h, 254
Byte 254
A041h, 1
}
}
}
}
}
}
}
}
}
}
}
}
}
}
}
}
}
}
Long object
Index, sub-index
A100h, 1
A100h, 2
}
A200h, 1
}
A200h, 2
}
A200h, 3
}
A200h, 4
}
A200h, 5
}
A200h, 6
}
A200h, 7
}
A200h, 8
}
A200h, 53
}
A200h, 54
A100h, 3
A100h, 4
A100h, 5
A100h, 6
A100h, 7
A100h, 8
A100h, 9
A100h, 10
A100h, 11
A100h, 12
A100h, 13
A100h, 14
A100h, 15
A100h, 16
A100h, 105
A100h, 106
Byte 240- 247
Byte 248- 255
Byte 255
A041h, 2
}
}
A100h, 127
A100h, 128
The picture shows the Transmit data area. The Receive data area is structured in the same way, see picture on next page.
CM CANopen Module for SIMATIC S7-1200
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Supported Objects 42
Word object
Index, sub-index
Byte object
Index, sub-index
Receive data area
Byte 0 - 7
Byte 0
A4C0h, 1
Byte 8 - 15
Byte 1
A4C0h, 2
Byte 16 - 23
Byte 2
A4C0h, 3
Byte 24 - 31
Byte 3
A4C0h, 4
Byte 32 - 39
Byte 4
A4C0h, 5
Byte 40 - 47
Byte 5
A4C0h, 6
Byte 6
A4C0h, 7
Byte 7
A4C0h, 8
Byte 8
A4C0h, 9
Byte 9
A4C0h, 10
Byte 10
A4C0h, 11
Byte 11
A4C0h, 12
Byte 12
A4C0h, 13
Byte 13
A4C0h, 14
Byte 14
A4C0h, 15
Byte 15
A4C0h, 16
Byte 16
A4C0h, 17
Byte 17
A4C0h, 18
Byte 18
A4C0h, 19
Byte 19
A4C0h, 20
Byte 20
A4C0h, 21
Byte 21
A4C0h, 22
Byte 22
A4C0h, 23
Byte 23
A4C0h, 24
Byte 24
A4C0h, 25
Byte 25
A4C0h, 26
Byte 26
A4C0h, 27
Byte 27
A4C0h, 28
Byte 28
A4C0h, 29
Byte 29
A4C0h, 30
Byte 30
A4C0h, 31
Byte 31
A4C0h, 32
Byte 208- 215
Byte 208
A4C0h, 209
Byte 215- 223
Byte 209
A4C0h, 210
Byte 224- 231
Byte 210
A4C0h, 211
Byte 232- 239
Byte 211
A4C0h, 212
Byte 252
A4C0h, 253
Byte 253
A4C0h, 254
Byte 254
A4C1h, 1
Byte 255
A4C1h, 2
}
}
}
}
}
}
}
}
}
}
}
}
}
}
}
}
}
}
Long object
Index, sub-index
A580h, 1
A580h, 2
}
A680h, 1
}
A680h, 2
}
A680h, 3
}
A680h, 4
}
A680h, 5
}
A680h, 6
}
A680h, 7
}
A680h, 8
}
A680h, 53
}
A680h, 54
A580h, 3
A580h, 4
A580h, 5
A580h, 6
A580h, 7
A580h, 8
A580h, 9
A580h, 10
A580h, 11
A580h, 12
A580h, 13
A580h, 14
A580h, 15
A580h, 16
A580h, 105
A580h, 106
Byte 240- 247
Byte 248- 255
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}
}
A580h, 127
A580h, 128
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Chapter 8
8. Interface Functions
All interface functions and function blocks are available for download from www.hms-networks.com/
can-for-S7-1200.
8.1 CANopen Interface Functions
8.1.1 Get Process Data In
Input Parameters
Name
REQ
ID
Data type
Bool
HW_IO
INDEX
Byte, Dint, Int, Sint, Uint, Usint, Word
MLEN
Byte, Usint, Usint
RECORD Variant
Description
Starts the function. Has to be set to TRUE for one scan cycle.
Hardware address of the CANopen module. Can be read in
TIA Portal.
Data record number. Should be set to 0090h.
Maximum length in bytes of the data to be read.
Destination area for the read data.
Output Parameters
Name
BUSY
VALID
ERROR
STATUS
Data type
Bool
Bool
Bool
Dword
LEN
Uint
Description
The reading process is not yet complete, if this parameter is set to TRUE.
If set to TRUE, new data record was received and is valid.
If TRUE, an error occurred during the reading process.
Block status or error information.a
Length of the data that is read.
a. For information, see the TIA Information System in TIA Portal.
Description
To read the process data from the CANopen network to the S7-1200 CPU, use the RDREC function
block, and issue an request to record number 0090h. You will receive all data configured as process data
on the CANopen network. The position of the data depends on the CANopen network configuration.
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Interface Functions 44
8.1.2 Set Process Data Out
Input Parameters
Name
REQ
ID
Data type
Bool
HW_IO
INDEX
Byte, Dint, Int, Sint, Uint, Usint, Word
LEN
Byte, Usint, Usint
RECORD variant
Description
Starts the function. Has to be set to TRUE for one scan cycle.
Hardware address of the CANopen module. Can be read in
TIA Portal.
Data record number. Should be set to 0091h.
Length in bytes of the data to be written.
Source area for the data to be written.
Output Parameters
Name
BUSY
DONE
ERROR
STATUS
Data type
Bool
Bool
Bool
Dword
Description
The writing process is not yet complete, if this parameter is set to TRUE.
If set to TRUE, data was transferred to the module.
If TRUE, an error occurred during the writing process.
Block status or error information.a
The user has to ensure that the data area is able to hold all data as defined in the parameterization.
a. For information, see the TIA Information System in TIA Portal.
Description
To write the process data to the CANopen network from the S7-1200 CPU, use the WRREC function
block, and issue an request to record number 0091h. All data will be written as process data on the CANopen network. The position of the data depends on the CANopen network configuration.
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Interface Functions 45
8.1.3 SDO Read/Write
General
Reading (uploading) and writing (downloading) SDOs is performed by function blocks, available for
download from www.hms-networks.com/can-for-S7-1200.1 Please note that these functions are only
supported in CANopen manager mode.
Input Parameters
Name
REQ
Data type
Bool
ID
SLOT
Word
Byte
NODE
Int
INDEX
SUB
DB
Word
Byte
Dint
SIZE
Uint
Description
Start request. Upload/download is started if REQ = TRUE for exactly one function block
call.
Hardware address for the module. Can be read in TIA Portal.
Defines which channel is used on the backplane network. This parameter has to be
unique for each of the SDO requests running simultaneously, as the answer to the
request is put in the slot where the request was placed. Valid values: 0 - 7.
Note: This slot is not the same as the physical slot of the module
Node-ID of the CANopen module where SDO read/write is to be performed. If you use
Node-ID 0, you always address the CANopen manager, even when the CANopen manager has another Node-ID.
SDO index to be read/written
SDO subindex to be read/written
The number of the data block, pointing to the area where to save read data or to get data
to be written.
Note: Data blocks have to be created as Standard S7-300 compatible data blocks (not
optimized).
Number of bytes to be written. Only valid for WriteSDO.
Output Parameters
Name
SIZE
BUSY
Data type
Uint
Bool
RET
Uint
Description
Number of bytes that have been read. Only valid for ReadSDO.
If the request isn’t finished within one scan cycle, BUSY turns TRUE and stays TRUE until
the request is finished, when it returns to FALSE.
Error code, see “Error Codes (RET)” on page 59. Available when BUSY turns FALSE,
until REQ turns TRUE.
Description
ReadSDO
Performs an SDO read on the node, index and subindex that is defined in the parameters. Returned data
is saved in the area that DB points to. The block will continue to read the SDO even when the data area
is filled, until the SIMATIC S7-1200 PLC indicates that the complete SDO is read. Only the predefined
amount of data will be saved. SIZE holds the complete SDO size. If the size given in the parameter
DATA is too small, RET will return error 2200h.
WriteSDO
Performs an SDO write on the node, index and subindex that is defined in the parameters. Data written
is fetched from the area pointed to by DB.
1.
Both function blocks use RDREC and WRREC for the data transfer.
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Interface Functions 46
8.1.4 Get Node & Network Status
Input Parameters
Name
REQ
ID
INDEX
MLEN
Data type
Bool
HW_IO
Byte, Dint, Int, Sint, Uint, Usint, Word
Byte, Usint, Usint
RECORD Variant
Description
Starts the function. Has to be set to TRUE for one scan cycle.
Logical address of the CANopen module.
Data record number. Should be set to 0099h.
Length in bytes of the data to be read. The value should correspond to the length of the data area in RECORD.
Destination area for the read data, see table below for contents.
The user has to ensure that the data area is able to hold all
data as defined in the parameterization.
Output Parameters
Name
BUSY
VALID
ERROR
STATUS
LEN
Data type
Bool
Bool
Bool
Dword
Uint
Description
The reading process is not yet complete, if this parameter is set to TRUE.
If set to TRUE, new data record was received and is valid.
If TRUE, an error occurred during the reading process.
Block status or error information, see “Message Error Codes” on page 60.
Length of the data that is read.
Description
If a diagnostic message, related to the CANopen network status, is active, information on the cause of
the message can be read by using the RDREC function block to issue a request to record number 0099h.
You will receive the information in the parameter RECORD in the response.
Contents of Parameter RECORD
The parameter RECORD holds all diagnostic information, as described in the table below.
Offset
0
1
Data type
Uint8
Uint8
2
Uint8
3
Uint8
Description
Message error
Error flags (module)
Definition
See “Message Error Codes” on page 60
Bit:
Definition:
0:
Bus Off
1:
Configuration download error
2:
Parameterization error
3:
NVS error in module
4-7:
(reserved)
Error flags (network) Bit:
Definition:
0:
Network not ready
1:
Node error control event
2-7:
(reserved)
CANopen Module
Value:
Definition:
mode
00h
Master
01h
Slave
02h
Transparent CAN
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Interface Functions 47
Offset
4
5
Data type
Uint8
Description
CANopen Node status
Definition
Node NMT status
00h:
NMT State Unknown
04h:
NMT State Stopped
05h:
NMT State Operational
06h:
Reset Node
07h:
Reset Communication
7Fh:
NMT Pre-operational
Array of Uint8 (up Network status (only Mainly reflects object 1F82h, subindices. 01h to 7F. Each entry
to 127 elements) available if module is reflects a node ID.
manager)
Bits 0-3
Node State
0h:
NMT State Unknown
1h:
CANopen Device missing
4h:
NMT State Stopped
5h:
NMT State Operational
Fh:
NMT Pre-operational
Bit 4:
Configuration Error bit
0:
No error
1:
Error
Bit 5:
Node mandatory bit
0:
Node optional
1:
Node mandatory
Bits 6-7: (reserved)
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Interface Functions 48
8.2 Transparent CAN Interface Functions
There are separate function blocks handling the transparent CAN functionality. These are available for
download from www.hms-networks.com/can-for-S7-1200. The functionality is described in “Transparent CAN Mode” on page 6.
CAN_SEND and CAN_RCV handle the frames that are sent or received and CAN_CTRL controls the
state and the settings of the CAN layer. The transparent mode is turned on by choosing “Transparent
CAN” as operating mode during configuration in TIA Portal.
Get Diagnostic Information is used to read diagnostic information from the CM CANopen module to
the PLC.
8.2.1 CAN_SEND
Input Parameters
Name
REQ
Data type
Bool
ID
RTR
COBID
DB
DATASIZE
ABORT
Word
Bool
Word
Dint
Uint
Bool
Description
Starts the block. Has to be set to TRUE for one scan cycle. Transmissions will occur
until REQ is set to false.
Logical address of the CM CANopen module.
RTR bit of the CAN frame to send.
CAN ID on the CAN net
Data to be sent on the CAN net
Size of the data to be sent on the CAN net
Aborts the current transmission when set to TRUE.
Output Parameters
Name
BUSY
Data type
Bool
RET
Uint
Description
If the function block needs more than one scan cycle, to send the frame, this output
is set to TRUE. It stays TRUE until the function block is done, when it is cleared to
FALSE.
Error code, see “Error Codes (RET)” on page 59. Valid once the BUSY signal turns
FALSE until the next time the function block is started, i.e. when REQ is set to
TRUE.
Description
When REQ turns TRUE, a CAN frame is sent according to the parameters defined by the user. When
the frame has been transferred to the module, BUSY will go FALSE, and a new frame can be sent.
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Interface Functions 49
8.2.2 CAN_RCV
Input Parameters
Name
REQ
ID
ACK
DB
Data type
Bool
Word
Bool
Dint
Description
Starts the block. Has to be set to TRUE for one scan cycle.
Logical address of the CM CANopen module.
Set to TRUE for one scan cycle to acknowledge a newly read CAN frame.
Number of data block.
Output Parameters
Name
NEW
Data type
Bool
COBID
RTR
SIZE
BUSY
Word
Bool
Uint
Bool
RET
Uint
Description
Set to TRUE when a new CAN frame has been received by the module and is ready
to be read by the function block.
CAN ID of the CAN frame
RTR-bit of the CAN frame
Data size of the CAN frame
Set to TRUE if there is data in the receive buffer when REQ is set. BUSY will be
TRUE until buffer is empty.
Error code, see “Error Codes (RET)” on page 59. Valid once the BUSY signal turns
FALSE until the next time the function block is started, i.e. when REQ is set to
TRUE.
Description
When REQ is TRUE, the block looks for new frames waiting in the CAN buffer of the module. If there
are any, the module will read the oldest frame, set NEW to TRUE, and wait for an ACK from the function block. This will be repeated until all frames have been read. When all frames have been read BUSY
will go FALSE. The received frames will be buffered until they are read by the PLC. The buffer can hold
up to 256 frames.
For polling operation, set REQ to TRUE permanently.
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Interface Functions 50
8.2.3 CAN_CTRL
Input Parameters
Name
REQ
ID
FCN
Data type
Bool
Word
Int
LEN
Uint
DB
Dint
Description
Starts the block. Has to be set to TRUE for at least one scan cycle to start the block.
Hardware address of the CM CANopen module.
Function code:
1: Set acceptance filter in the module
2: Set number of frames to store before warning (BUFFER LIMIT REACHED)
3: Clear RX buffer. No data is used
4: (reserved)
5: Reset CAN controller (implies “Clear Bus Off”). No data is used,
Only valid when FCN = 1, otherwise ignored. Defines the size of the acceptance filter array that is sent in PARAM.
Parameter data block location to be sent along with the function. Only valid when
FCN = 1 or 2:
FCN: Contents:
1 Acceptance filter array
2 Buffer limit
Output Parameters
Name
BUSY
Data type
Bool
RET
Uint
Description
If the function block needs more than one scan cycle to complete a command, this
output is set to TRUE. It stays TRUE until the function block is done, when it is
cleared to FALSE.
Error code, see “Error Codes (RET)” on page 59. Valid once the BUSY signal turns
FALSE until the next time the function block is started, i.e. when REQ is set to
TRUE.
Description
This block is used to control the state of the transparent CAN layer and to set its parameters.
•
FCN = 1
Configures the CAN_RCV acceptance filter in the module i.e. what CAN-IDs will be accepted
when receiving data frames. The module will not listen to the CAN bus, if no CAN-ID in the
filter is enabled. The acceptance filter can be changed at any time.
The parameter LEN is set to n, where n is the total number of valid CAN-IDs transmitted in the
message (read from PARAM). One or more CAN-IDs can be transmitted in one message (ex-
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Interface Functions 51
cept for enable or disable all) or CAN-IDs can be transmitted in several messages after one another.
Each CAN-ID starts with a set bit, telling whether to set or reset the CAN-ID, followed by the
actual CAN-ID. If the set bit is 1, the CAN-ID will be enabled in the acceptance filter, if 0 it will
be disabled.
Bit 15
Set bit
Bit 14
CAN-ID
....
Bit 0
CAN-ID 0000h with LEN set to 0000h will disable all CAN-IDs. If LEN is set to 1 only CANID 0000h is disabled.
CAN-ID FFFFh with LEN set to 0001h will enable all CAN-IDs and the module will forward
all messages to the PLC.
•
FCN = 2
Configures the CAN_RCV buffer limit warning value. It gives the opportunity to define what
number of frames will be stored in the receive buffer, before status code bit 4 (BUFFER LIMIT
REACHED) will be set, see “Transparent CAN Status Field” on page 53. Initially the buffer limit
is set to 256, which means that the status bit will be set when the last place in the buffer is used.
The user can change the buffer limit to any value between 1 and 256.
•
FCN = 3
Empties the receive buffer. CAN_RCV still holds the old frame that hasn’t been acknowledged
(NEW is cleared by holding ACK high for on scan cycle)
•
FCN = 5
Resets the CAN controller. Clears Bus Off condition, if present.1
1.
If a Bus Off condition is generated, the CAN Controller has to be reset, before communication can be resumed
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Interface Functions 52
8.2.4 Get Diagnostic Information
Input Parameters
Name
REQ
ID
INDEX
MLEN
Data type
Bool
HW_IO
Byte, Dint, Int, Sint, Uint, Usint, Word
Byte, Usint, Usint
Description
Starts the function. Has to be set to TRUE for one scan cycle.
Logical address of the CANopen module.
Data record number. Should be set to 0092h.
Length in bytes of the data to be read. The value should correspond to the length of the data area in RECORD.
Output Parameters
Name
BUSY
VALID
ERROR
STATUS
LEN
RECORD
Data type
Bool
Bool
Bool
Dword
Uint
Variant
Description
The reading process is not yet complete, if this parameter is set to TRUE.
If set to TRUE, new data record was received and is valid.
If TRUE, an error occurred during the reading process.
Block status or error information, see “Message Error Codes” on page 60.
Length of the data that is read.
Destination area for the read data, see table below for contents.
The user has to ensure that the data area is able to hold all data.
Description
If a diagnostic message, related to the Transparent CAN network status, is active, information on the
cause of the message can be read by using the RDREC function block to issue a request to record
number 0092h. You will receive the information in the parameter RECORD in the response.
Contents of Parameter RECORD
The parameter RECORD holds all diagnostic information, as described in the table below.
Offset
0
2
4
6-
Data type
Uint16
Uint16
Uint16
Unit16
...
...
Description
Number of Errors
Diagnostic Error 1
Data length Error 1
Additional error information
...
Definition
Current number of errors in the module
Error code, see “Error Codes” on page 52
Length of additional information
Additional information for Error 1
Additional errors with the same structure as Error 1.
Error Codes
Error
Description
Code
3
BUSOFF error
10
Transparent CAN
event
Definition
Additional Information
The CAN controller of the CM CANopen has reached a
BUS OFF state, e.g. due to a bad network connection or
a faulty baud rate.
When running Transparent CAN mode this diagnostic is See “Transparent CAN Status
triggered by an event in the CM CANopen module.
Field” on page 53 for additional
error information in the status
field.
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Interface Functions 53
Transparent CAN Status Field
The transparent CAN status field consists of 16 bits, where each bit represents a status code. Multiple
bits can be set at the same time to indicate multiple status codes.
Bit no.
0
1
2
3
4
5
6
7
8-15
Description
BUS OFF
ERROR PASSIVE
BUFFER FULL
BUFFER HALF FULL
BUFFER LIMIT REACHED
RECEIVE MESSAGE LOST
TRANSMIT QUEUE: HALF FULL
TRANSMIT QUEUE: WARNING LIMIT
(reserved, set to 0)
The status code 0000h indicates ‘SUCCESS’, while e.g. 0024h indicates ‘RECEIVE MESSAGE LOST’
and ‘BUFFER FULL’.
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Appendix A
A. Technical Specification
A.1 Mechanical Properties
Housing
Plastic housing, plug-in module, protection class IP20
Dimensions
Width: 30 mm (1.18”)
Weight: 120 g (0.26 lb.)
A.2 Environmental Characteristics
Relative Humidity
Operating: 15% to 95% non-condensing
Non operating: 5% to 95% non-condensing
Temperature
Operating:
Non operating:
0 °C to +60 °C (+32°F to +140 °F)
-40 °C to +70 °C (-40 °F to +158 °F)
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Technical Specification 55
A.3 Regulatory Compliance
CANopen Conformance
CiA 301 rev. 4.2
CAN Standard
Supports CAN 2.0A
EMC Compliance
This product is in accordance with the EMC directive 2004/108/EC, through conformance with the
following standards:
•
SS-EN 55016-2-3:2007 Class A
•
SS-EN 61131-2:2007 Clause 8
UL/c-UL compliance
The certification has been documented by UL in file E214107.
Galvanic isolation on sub-network interface
•
SS-EN 61131-2:2007:
Pollution Degree 2
Material Group IIIb
250 VS or 250 VDC Working voltage
500 V Secondary circuit transient rating
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Appendix B
B. Status LED Timing Diagrams
The LEDs on the front of the module change their behavior according to the status of the module. This
appendix gives the timing diagrams for the different indications, described in “Status LEDs” on page 8.
50 ms
On
Flickering
LED
Off
50 ms
On
Blinking
LED
200 ms
200 ms
Off
On
Single flash
LED
200 ms
1000 ms
Off
On
Double flash
LED
200 ms
200 ms
200 ms
200 ms
200 ms
200 ms
1000 ms
Off
On
Triple flash
LED
200 ms
200 ms
1000 ms
Off
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Appendix C
C. CANopen Emergency Codes
Below is a list of the CANopen emergency codes that can be produced by the CM CANopen Module
for SIMATIC S7-1200. The five latest emergencies, reported by the module, can be read from the list in
object 1003h, see page 26.
Emergency
Code
0000h
1000h
2000h
2100h
2200h
2300h
3000h
3100h
3200h
3300h
4000h
4100h
4200h
5000h
6000h
6100h
6200h
6300h
7000h
8000h
8100h
8110h
8120h
8130h
8140h
8150h
8200h
8210h
8220h
8F00h
9000h
F000h
FF00h
FF10h
FF20h
FF30h
FF40h
FF50h
FF51h
FF60h
FF70h
FF80
Description
Error reset or no error
Generic error
Current – generic error
Current, CANopen device input side – generic
Current inside the CANopen device – generic
Current, CANopen device output side – generic
Voltage – generic error
Mains voltage – generic
Voltage inside the CANopen device – generic
Output voltage – generic
Temperature – generic error
Ambient temperature – generic
Device temperature – generic
CANopen device hardware – generic error
CANopen device software – generic error
Internal software – generic
User software – generic
Data set – generic
Additional modules – generic error
Monitoring– generic error
Communication – generic
CAN overrun (objects lost)
CAN in error passive mode
Life guard error or heartbeat error
Recovered from bus off
CAN Id error
Protocol error – generic
PDO not processed due to length error
PDO length exceeded
Error Control or Heartbeat Consume error
External error – generic error
Additional functions – generic error
Device specific – generic error
Missing an assigned slave
Identity error of an assigned slave
cDCF Mismatch: concise DCF of 1F22h does not match the object dictionary of
the booted slave
Formal inconsistent cDCF in 1F22h of an assigned slave
SDO error detected by the boot slave process: SDO time out or SDO error
except cDCF mismatch: See FF30h
SDO timeout detected: A request to write an SDO to the module timed out
Reset timeout of a booted slave
Presence of a device that uses the node id of the CM
Presence of a device that is not assigned as slave
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CANopen Emergency Codes 58
Emergency
Code
FFA0h
Description
PLC has entered STOP state while network is in OPERATIONAL. Module goes
to PRE-OPERATIONAL. (Only in slave mode)
These codes conform to the CANopen standard.
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Appendix D
D. Error Codes (RET)
D.1 Function Block Error Codes
Each function block has a separate set of error codes, that are returned when an error is detected.
CAN_CTRL
Error codea
109B
109C
1013
3100-3799
39XX
FF00
Description
Function code (FCN) not allowed
If FCN=1: Length of filter is too big (> 2048)
Read response failed after 1000 tries
Internal read/write error
CM message error (XX = Message error code, see “Message Error Codes” on page 60)
Error code missing
a. All error codes are given in hexadecimal format.
CAN_RCV
Error codea
1013
3100-3799
38XX
39XX
FF00
Description
Read response failed after 1000 tries
Internal read/write error
Too many frames (XX = No of frames)
CM message error (XX = Message error code, see “Message Error Codes” on page 60)
Error code missing
a. All error codes are given in hexadecimal format.
CAN_SEND
Error codea
1013
1098
109A
3100-3799
39XX
FF00
Description
Read response failed after 1000 tries
Wrong COB-ID
Wrong data size
Internal read/write error
CM message error (XX = Message error code, see “Message Error Codes” on page 60)
Error code missing
a. All error codes are given in hexadecimal format.
ReadSDO
Error codea
1013
1022
104A
3100-3799
38XX
39XX
FF00
Description
Read response failed after 1000 tries
Too much SDO data
Wrong slot number
Internal read/write error
SDO error (XX = SDO error code)
CM message error (XX = Message error code, see “Message Error Codes” on page 60)
Error code missing
a. All error codes are given in hexadecimal format.
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Error Codes (RET) 60
WriteSDO
Error codea
1013
104A
3100-3799
38XX
39XX
FF00
Description
Read response failed after 1000 tries
Wrong slot number
Internal read/write error
SDO error (XX = SDO error code)
CM message error (XX = Message error code, see “Message Error Codes” on page 60)
Error code missing
a. All error codes are given in hexadecimal format.
D.2 Message Error Codes
Error code (hex)
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
FE
FF
Error
codea
00
11
12
13
14
21
22
Description
No error
Invalid command
Module not initialized
Invalid Node ID
Invalid length
Invalid baud rate
General stack init error
Invalid NMT command
Module in slave mode
SDO fragmentation error
Wrong Mode
Wrong Backplane
Invalid Function Code
Invalid communication channel
Communication channel is busy - try again
State error (Command cannot be requested in the current state)
Parameter error
(FCN 1: CAN-ID > 0x7FF
FCN 2: Value > maximum Number of storable CAN Receive Messages
CAN_SND: CAN-ID > 0x7FF)
Send error (CAN_SND: Message cannot be sent)
No command pending - RDREC was received without preceding WRREC
Command pending - WRREC was received but no answer is ready yet
General error
Additional
error codea
00
00
00
00
00
00
00
Description
No error
Nesting depth exceeded
Temporary resource bottle neck
Number of retries to read SDO exceeded
Number of retries to write acyclic request exceeded
Failed to create DB
Data did not fit in the specified data area. Try increasing the size
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
SFC/SFB
numberb
SFC20
SFC23
-
RET_VAL
b
8091
80C1
-
Doc.Id. HMSI-216-117
Error Codes (RET) 61
SFC/SFB
numberb
SFB52,
SFB53,
SFC14,
SFC15
ID mismatch (the following modules are permitted: S7-300 modules for an SFB52,
S7-300, S7-400 modules for an S7-400, S7-DP modules for an S7-300 and SFB53
S7-400).
Negative acknowledgement when communicating with the module.
• The module was removed during the communication or is defective
• Unilateral I/O of the standby CPU not available (with H-systems). For
example, standby CPU is in state STOP.
The configured slot is not occupied
Actual module type does not match the required module type in SDB1
• PROFIBUS DP: DP protocol error with user interface/user
• PROFINET IO: General CM error
• DP protocol error at layer 2 (for example, slave failure or bus problems)
• Data record can not be read in DPV0 mode (ET200S)
Communication problem on the communication bus
Previous write job for the same data record has not been processed yet
Module is processing maximum number of jobs for a CPU
The required resources (memory etc.) are currently occupied
Internal temporary error. The job could not be processed.
• Repeat the job. If this error occurs frequently check your system for
electrical disturbances
Distributed I/Os not available
Data record transfer was stopped due to a priority class abort (restart or
background)
Error while communicating with the CANopen manager. The additional error code is equal to the error code from the CANopen manager.
No error
Time out
Out of memory
Unsupported access
Write only
Read only
Unsupported index
No PDO mapping
Exceeded PDO length
Unsupported subindex
Invalid data type
Value too high
Value too low
Bad device state
General error
Can not be stored
Can not be stored locally
OD file generation failed
Transparent CAN function block error
Error Additional
Description
codea error codea
31
00
Specified logical address is invalid. There is no assignment in SDB1/SDB2x
or there is no base address.
RET_VAL
32
00
8093
33
00
34
35
36
00
00
00
37
01
02
03
04
05
06
07
08
38
00h
01h
02h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
10h
11h
3Ah
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
b
8090
80A0
80B2
80B3
80A3
80A2
80A4
80C1
80C2
80C3
80C4
80C5
80C6
-
Doc.Id. HMSI-216-117
Error Codes (RET) 62
Error Additional
Description
codea error codea
39
Acyclic error. Additional error code equals error code from the CANopen
manager.
00h
No error
01h
Invalid command
02h
Module not initialized
03h
Invalid Node-ID
04h
Invalid length
05h
Invalid baud rate
06h
General stack init error
07h
Invalid NMT command
08h
Module in slave mode
09h
SDO fragmentation error
0Ah
Wrong Mode
0Bh
Wrong Backplane
0Ch
Invalid function code
0Dh
Invalid communication channel
0Eh
Communication channel is busy - try again
0Fh
State error (command can not be requested in the current state)
10h
Parameter error
FCN 1: CAN-ID > 7FFh
FCN 2: Value > maximum number of storable CAN receive messages
CAN_SND: CAN-ID > 7FFh
11h
Send error
CAN_SND: Message can not be sent)
FFh
General error
41
0X
DB could not be deleted because
• the “compress user memory” is currently active
• the DB to be deleted is currently being copied from the CPU to an
offline project
• the H CPU is running coupling or update functions
• the WinAC Software CPU has detected an error in the operating system of the computer where WinAC is installed
X specifies the offset from DBSTART where the error occurred
42
0X
DB could not be created because
• the “compress user memory” is currently active
• the number of DBs in the CPU has already reached the maximum possible number
• the H CPU is running coupling or update functions
• the WinAC Software CPU has detected an error in the operating system of the computer where WinAC is installed
• the previous delete action is not completed
X specifies the offset from DBSTART where the error occurred
43
0X
DB number exceeds the maximum number permitted for the CPU.
X specifies the offset from DBSTART where the error occurred
44
00
DB number entered is less than or equal to 0
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
SFC/SFB RET_VAL
numberb b
-
SFC23
8092 (for
(for 4100) 4100)
SFC22
8092 (for
(for 4200) 4200)
SFC24
80A1
-
-
Doc.Id. HMSI-216-117
Error Codes (RET) 63
Error Additional
Description
codea error codea
45
1X
DB could not be deleted because it was created with the keyword
UNLINKED (S7-400 only).
X specifies the offset from DBSTART where the error occurred
2X
DB could not be deleted because it is stored on a flash card.
X specifies the offset from DBSTART where the error occurred
3X
DB can not be deleted. Possible causes:
• It belongs to an F-program
• It is an instance DB of a block for S7 communication (S7-400 only)
• It is a technology DB
X specifies the offset from DBSTART where the error occurred
4X
The DB with the specified number does not exist in the CPU.
X specifies the offset from DBSTART where the error occurred
46
1X
There is not enough free memory available.
X specifies the offset from DBSTART where the error occurred
2X
There is not enough continuous memory space available. Compress memory.
X specifies the offset from DBSTART where the error occurred
47
0X
The length of the DB is not equal to the DBSIZE input parameter and has
not been created using the download block.
X specifies the offset from DBSTART where the error occurred
48
00
DBSIZE must be in the range 262 - 50000
49
00
DBSIZE must be an even number
4A
00
Slot must be in range 0 - 7
51
00
No DP module/PROFINET IO device from which you can read consistent
data exists at the logical address specified in LADDR.
52
00
Access error detected while I/O devices were being accessed.
53
00
54
00
55
00
56
00
SFC/SFB RET_VAL
numberb b
SFC24
80B2
SFC24
80B3
SFC24
80B4
SFC24
80B1
SFC22
80B2
SFC22
80B3
-
-
SFC14,
SFC15
SFC14
SFC15
Slave failure on external DP interface module.
SFC14,
SFC15
The length of the specified destination area is not identical to the user data SFC14,
length configured with STEP 7.
SFC15
The data of the previous read/write job on the module have not yet been
SFC14
processed by the module.
SFC15
System error with external DP interface module.
SFC14,
SFC15
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
8093
80A0
80A1
80B0
80B1
80C0
80C1
808X,
80B2,
80B3,
80C2,
80FX,
87XX
Doc.Id. HMSI-216-117
Error Codes (RET) 64
Error
codea
91
92
93
94
95
96
Additional
error codea
00
00
00
00
00
00
97
00
98
99
9A
9B
9C
9D
9E
FF
00
00
00
00
00
00
00
00
Description
Parameter BPSIZE contains invalid value
IN parameter is not of type BYTE
OUT parameter is not of type BYTE
Illegal syntax ID of the IN parameter (valid value is 10h)
Illegal syntax ID of the OUT parameter (valid value is 10h)
Either
• the size of the IN parameter exceeds 1024 bytes
or
• the size of the IN parameter exceeds the maximum size for the chosen
backplane size (512 for 4 byte backplane, 1024 for the rest).
Either
• the size of the OUT parameter exceeds 1024 bytes
or
• the size of the OUT parameter exceeds the maximum size for the chosen backplane size (512 for 4 byte backplane, 1024 for the rest)
COBID parameter contains invalid value
DATA parameter is not of type BYTE
DATA parameter is of illegal size
Parameter FCN contains invalid value
Parameter LEN contains invalid value
PARAM parameter is not of type WORD
PARAM parameter is of illegal size
Internal error
SFC/SFB RET_VAL
numberb b
-
a. All error codes are given in hexadecimal format. 
RET high byte: Error code
RET low byte: Additional error code
b. The SFC/SFB number and the RET_VAL value gives the origin of the error code that is generated by the CM
CANopen function blocks if the error originates from outside the module. Please consult the configuration tool
manual for further information.
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
Doc.Id. HMSI-216-117
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