FATEK FBs CBCAN CANopen Communication Board User’s Manual

CBCAN

CANopen Communication Board

User’s

Manual

V1.4

03 Oct. 2012

FATEK Automation Corporation

CBCAN User Manual

Table of Contents

Table of Contents ................................................................................................................... 2

Tables ....................................................................................................................................... 4

Figures ...................................................................................................................................... 5

1.

Overview ........................................................................................................................... 7

2.

Specifications ................................................................................................................. 7

3.

Installation and Wiring .................................................................................................. 8

4.

PLC Application Interface ............................................................................................ 9

4.1

Communication interface area ........................................................................... 9

4.2

Parameter data area .............................................................................................. 9

4.3

Process data area .................................................................................................. 9

4.4

Module status area .............................................................................................. 10

5.

LED Indicators .............................................................................................................. 11

6.

EasyCANopener Software Operations ................................................................... 12

6.1

PLC connection ................................................................................................... 13

6.2

Configuration setup ............................................................................................ 13

6.2.1

Create new configurations ..................................................................... 13

6.2.2

Save configurations to files ................................................................... 19

6.2.3

Open old configuration files .................................................................. 19

6.2.4

Read CBCAN Board configurations .................................................... 19

6.2.5

Write configurations to CBCAN Board ............................................... 20

6.2.6

Generate EDS files ................................................................................... 20

6.2.7

End configuration setup ......................................................................... 21

6.3

SDO Service .......................................................................................................... 21

6.3.1

SDO Read ................................................................................................... 21

6.3.2

SDO Write ................................................................................................... 22

6.3.3

SDO Batch .................................................................................................. 22

6.4

PLC remote monitoring service ....................................................................... 24

6.4.1

Open service .............................................................................................. 25

6.4.2

Run service ................................................................................................ 25

6.5

NMT Services ........................................................................................................ 26

6.6

CBCAN Firmware Update .................................................................................. 26

6.6.1

Select firmware files ................................................................................ 27

6.6.2

Start firmware update .............................................................................. 27

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6.7

End operations ..................................................................................................... 27

7.

CBCAN SDO and NMT Service PLC Interface ...................................................... 28

7.1

SDO Service .......................................................................................................... 28

7.2

NMT Service .......................................................................................................... 30

7.3

Example

– NMT Service (Start Remote) ........................................................ 31

Appendix A ........................................................................................................................... 32

1.1

Application Notes ................................................................................................ 32

1.1.1

Connect CBCAN to a CANopen master device ................................ 32

1.1.2

Connect CBCAN to a CANopen slave device ................................... 37

1.1.3

Simple example

– Connect two FBs PLCs to each other through CBCAN

modules ...................................................................................................... 43

Appendix B ........................................................................................................................... 48

CBCAN Board Object Dictionary ............................................................................. 48

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Tables

Table 1: CBCAN specification ........................................................................................................... 7

Table 2: Definition of the pinning for the CBCAN connector ........................................................ 8

Table 3: Process data area ................................................................................................................ 9

Table 4: Module status area ............................................................................................................ 10

Table 5: Run LED .............................................................................................................................. 11

Table 6: ERR LED ............................................................................................................................. 11

Table 7: Run LED

– Single status indicator mode........................................................................ 12

Table 8: PLC Registers for SDO Service ....................................................................................... 28

Table 9: Registers Status after SDO Service Execution ............................................................. 29

Table 10: SDO Error Code ............................................................................................................... 29

Table 11: Registers values of Start Remote command ............................................................... 31

Table 12: Example

– network configuration .................................................................................. 32

Table 13: Example - network configuration ................................................................................... 38

Table 14: Configuration Table .......................................................................................................... 44

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Figures

Figure 1: CBCAN Top View ............................................................................................................... 8

Figure 2: FBs Top View ...................................................................................................................... 8

Figure 3: CANopen line termination ................................................................................................. 8

Figure 4: Term jumper location .......................................................................................................... 8

Figure 5: Indicator status and flash rate ........................................................................................ 11

Figure 6: EasyCANOpener main page .......................................................................................... 12

Figure 7: Comm. setup ..................................................................................................................... 13

Figure 8: Configuration setup .......................................................................................................... 13

Figure 9: RPDO setup page ............................................................................................................ 14

Figure 10: RPDO pop-up menu ...................................................................................................... 14

Figure 11: Edit RXPDO .................................................................................................................... 15

Figure 12 Transmission type ........................................................................................................... 16

Figure 13: TXPDO setup page ........................................................................................................ 17

Figure 14: Misc. setup page ............................................................................................................ 18

Figure 15: Read configuration comm. setup ................................................................................. 19

Figure 16: Node scan page ............................................................................................................. 20

Figure 17: Search result window .................................................................................................... 20

Figure 18: Generate EDS file .......................................................................................................... 21

Figure 19: SDO service page .......................................................................................................... 21

Figure 20: SDO read page ............................................................................................................... 22

Figure 21: SDO write page .............................................................................................................. 22

Figure 22: SDO batch page ............................................................................................................. 23

Figure 23: SDO batch setup page .................................................................................................. 23

Figure 24: Pop-up menu for creating batch .................................................................................. 23

Figure 25: Add a SDO command .................................................................................................... 23

Figure 26: PLC remote monitoring service ................................................................................... 25

Figure 27: Gateway status window ................................................................................................ 25

Figure 28: Winproladder connection setup page ......................................................................... 26

Figure 29: NMT service .................................................................................................................... 26

Figure 30: Firmware update ............................................................................................................ 27

Figure 31: Firmware information ..................................................................................................... 27

Figure 32: NMT Start Remote command

– Ladder program example ...................................... 31

Figure 33: Example Network ........................................................................................................... 32

Figure 34: Main page ........................................................................................................................ 33

Figure 35: Module configuration page ........................................................................................... 33

Figure 36: Node ID configuration .................................................................................................... 33

Figure 37: Baud Rate configuration ............................................................................................... 33

Figure 38: Removing RXPDOs ....................................................................................................... 34

Figure 39: RXPDO setting page ..................................................................................................... 34

Figure 40: RXPDO1 configuration for this application ................................................................. 35

Figure 41: Removing TXPDOs ........................................................................................................ 35

Figure 42: TXPDO settings .............................................................................................................. 35

Figure 43: TXPDO transmission parameters settings ................................................................. 36

Figure 44: Write configuration to CBCAN ...................................................................................... 37

Figure 45: Example network ............................................................................................................ 37

Figure 46: Main page ........................................................................................................................ 38

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Figure 47: Module configuration page ........................................................................................... 39

Figure 48: Node ID configuration .................................................................................................... 39

Figure 49: Baud Rate configuration ............................................................................................... 39

Figure 50: Removing RXPDOs ....................................................................................................... 40

Figure 51: RXPDO setting page ..................................................................................................... 40

Figure 52: RXPDO1 configuration for this application ................................................................. 41

Figure 53: Removing TXPDOs ........................................................................................................ 41

Figure 54: TXPDO settings .............................................................................................................. 41

Figure 55: TXPDO transmission parameters settings ................................................................. 42

Figure 56: Write configuration to CBCAN ...................................................................................... 43

Figure 57: FBs-24MC connect to FBs-20MC ............................................................................... 44

Figure 58: FBs-24MC RXPDO Setting .......................................................................................... 45

Figure 59: FBs-24MC TXPDO Setting ........................................................................................... 45

Figure 60: FBs-24MC Misc Setting ................................................................................................ 46

Figure 61: FBs-20MC RXPDO Setting .......................................................................................... 46

Figure 62: FBs-20MC TXPDO Setting ........................................................................................... 46

Figure 63: FBs-20MC Misc. Setting ............................................................................................... 47

Figure 64: FBs-24MC and FBs-20MC Ladder Program ............................................................. 47

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CBCAN Board

User’s Manual

1. Overview

The CBCAN board is the communication board of the FBs PLC series from FATEK. It can be directly mounted on the extension board slot of the CPU module without the additional space. With the CBCAN, the PLC can directly communicate with other devices connected to the CANopen network.

CANopen is a CAN-based industrial protocol and is widely used in field applications, such as automatic controls for industrial machinery, automobile control systems, factory automation, medical equipment control, building automation, remote data collection and control, environmental monitoring and others.

2. Specifications

Item

Compliance with

PDO quantity

SDO quantity

Table 1: CBCAN specification

Characteristics

RPDO

TPDO

Server

Client

CAN 2.0A , DS301 V4.02

10, maximum

10, maximum

1

1

Application Parameter

Object

Sync Master

NMT Master

Time Stamp

Error Control

Communication Baud

Rate

1,000 registers, maximum

Configurable sync. time period

Available via utility tool

Consumer

Heartbeat

20K, 50K, 125K, 250K, 500K, 750K, 1M, programmable

Configuration

Remote operation

Tooling

Method

Supported

PC software EasyCANopener

Modify via PLC communication port

Remote PLC

Programming

Vendor ID

Signal Terminal

Electric Isolation

Voltage/Current

Working Temperature

Storage Temperature

Supported

2EF (Hexadecimal)

3-pin spring terminal

Yes

5V, 150mA

0-60



C

-20-80



C

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3. Installation and Wiring

The CBCAN is a CANopen communication board for FBs series PLC. FBs PLCs provides an extension slot for installing optional communication boards.

Figure 1: CBCAN Top View Figure 2: FBs Top View

The CBCAN is connected to the CANopen network via a 3-pin spring style connector.

Pin

Table 2: Definition of the pinning for the CBCAN connector

Signal Description

1

2

3

CAN_H

CAN_L

CAN_GND

CAN_H bus line (dominant high)

CAN_L bus line (dominant low)

Ground / 0V / V-

Figure 3: CANopen line termination

Normally for a node located at either left or right most side of network, a 120Ω 1/4W line termination resistor should be connected between CAN_H and CAN_L terminal pins as shown in above picture to ensure the signal quality

, but for CBCAN, there’s an easier way to implement the same function - short the jumper (JP4) labeled “Term” inside the

CBCAN module. The following picture shows the

“Term” jumper location of CBCAN.

Figure 4: Term jumper location

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4. PLC Application Interface

The PLC CPU communicates with the CBCAN board via its internal registers. These registers basically fall into the following areas:

4.1 Communication interface area

In this area, there are 70 reserved registers, ranging from R3700-R3769. These registers shall be reserved for internal system operation and CAN NOT be used for u ser’s applications since the configuration tool EasyCANopener communicates with the CBCAN through this area.

4.2 Parameter data area

The size of this area is configurable up to 1000 registers. From the network point of view, these registers in this area act as objects in that control node. These registers can be addressed by their indexes and sub-indexes, thus they can be accessed by

SDO services.

With this function, users can change/adjust parameters of users’ applications over network easily during system installation in the field.

4.3 Process data area

There are 80 registers in this area, ranging from R3600-R3679. The real-time data of the PLC is exchanged with other nodes on the network via this area.

Sequence

1

2

3

4

5

~

40

41

42

43

44

45

~

80

Table 3: Process data area

Item

TPDO1

RPDO1

Function

TPDO2

~

TPDO10

Word #1

Word #2

Word #3

Word #4

RPDO2

~

RPDO10

Word #1

Word #2

Word #3

Word #4

Register

R3600

R3601

R3602

R3603

R3604

~

R3639

R3640

R3641

R3643

R3644

R3645

~

R3679

The data length (0-4, with one register size per unit) of each PDO (Process Data

Object) is configurable. When the data length is smaller than 4, registers in the front will be used first. For example, if the length of TPDO1 is 2, only the first two registers

R3600 and R3601 will be used. The starting register number of each PDO is fixed and will not be changed regardless of the preceding PDO length settings. Any unoccupied registers in this range can be free to use by applications.

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4.4 Module status area

Sequence Register

1

2

3

8

9

10

11

4

5

6

7

12

13

14

15

16

17

18

R3680

R3681

R3682

R3683

R3684

R3685

R3686

R3687

R3688

R3689

R3690

R3691

R3692

R3693

R3694

R3695

R3696

R3697

Table 4: Module status area

Module

Status

RPDO

Status

Heart beat status

Function

Low Byte:

Bit 0 : =0, Normal

=1,Stppped when excessive RX error occur while startup.

Bit 1: Sync signal time-out, valid only if at least one TXPDO is configured in sync. mode.

Bit 2: Reserved

Bit 3: =1, CAN Rx error

Bit 4: =1, CAN Tx error

High Byte:

Bit[15:8] CBCAN state.

=0, init. =5, OPERATIONAL. =4, STOPPED.

=127 PRE-OPERATIONAL

Each bit represents the receiving status of each RPDO.

When Bit =1, it means data update is normal.

Bit #0 means RPDO1. Bit #9 means

RPDO10.

Nodes 1-15

When Bit #1=1, it means the heartbeat in

Node 1 is detected.

The detection cycle is determined by

Heartbeat guard Time (refer 6.2.1.4).

When Heartbeat guard time = 0, this register is not valid since CBCAN will not monitor heartbeat signals.

Node 16-31

Node 32-47

Time Stamp

Node 48-63

Node 64-79

Node 80-95

Node 96-101

Node 102-127

Second (0-59)

Minute (0-59)

Hour (0-23)

Day (1-31)

Month (1-12)

Year (2000-2099)

Time Stamp packets receiving indication

The value of this register increment by one when a new Time Stamp packet is received and rollover at 65535.

Ladder software version

The value for ladder software version (Index:

4000H sub-index: 2H) in the object dictionary in decimal. This value will be converted to

ASCII characters version, e.g. decimal value

0215 -> ASCII char.

‘0’ ‘1’ ‘2’ ‘5’

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5. LED Indicators

If the check

item “Single status indicator” (refer 6.2.1.4) is not checked, the RUN and

ERR Led will be operated as follow:

RUN LED (green) -

Indicator State

Table 5: Run LED

Node Operation State

Single flash

On

Blinking

STOPPED

OPERATIONAL

PRE-OPERATIONAL

ERR LED (red)

–

Indicator State

Table 6: ERR LED

Error State

Off

Single flash

Triple flash

Quadruple flash

On

No error

Warning limit reach

Rcv. SYNC signal is time-out

Any one of expected RXPDOs is time-out

Bus off

Figure 5: Indicator status and flash rate

The RUN and ERR LED will be operated as follows when the check item “Single status indicator

” is checked.

RUN LED (green)

–

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Table 7: Run LED

– Single status indicator mode

Indicator State Node State

Blink (period = 1Sec.)

Blink (period = 5Sec.)

Off

ERR LED

– Always off.

On

Normal network operation(OPERATIONAL)

Warning limit reach

Bus OFF

Not OPERATIONAL state

6. EasyCANopener Software Operations

Run EasyCANOpener.exe, and the main page will pop up as follows.

CBCAN User Manual

Figure 6: EasyCANOpener main page

Major functions of the software:



Create, modify and set CBCAN configurations: Users can save configurations into a file to be used for duplication, storage and modification offline.



SDO Service: Users can either access a single controller object directly or access multiple objects by batch operation. The batch contents can also be saved in files to be re-used in the future.



PLC remote access bridge: The FBs PLC is usually connected to the Winproladder software via local serial port. When this function is enabled, the CBCAN can work as a remote programming gateway and Winproladder can connect to another FBs PLC at remote site through the CBCAN.



NMT service: with a single operation, users can send

“Start Remote”, “Enter

PRE-OPERATIONAL

”, “Reset Node”, “Reset Communication” and “Stop” commands to one single node or all nodes on the network.



CBCAN firmware update: Users can update the firmware of the CBCAN Board on the PLC via the serial port.

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6.1 PLC connection

Using this software to modify system settings of the PLC can only be done when the

PLC is connected to the software via serial port, except for some offline operations such as creating or modifying configuration and SDO batch files. After the serial port is connected, click the

“Comm. Port Setup” function key to set the serial port configuration as shown in the screen below.

Figure 7: Comm. setup

After the configuration is done, click the “Test” button to start the connection test.

6.2 Configuration setup

Click the

“Module Configuration” button on the main page to enter the Configuration

Setup screen as shown below.

Figure 8: Configuration setup

6.2.1 Create new configurations

When entering the Configuration Setup screen, a new configuration file will be generated automatically and all parameters are in their default values.

6.2.1.1 Basic setup

Functions at the top of configuration setup page as shown in the

Figure 8 are described as follows:

Baud Rate: This is the network operating speed. The default value is 250K bps. The range is 20K-1M bps. The same baud rate must be set for all node devices on the network; otherwise, they will not operate properly.

Node ID: This ID is set to indicate the CBCAN’s node id on the CANopen

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CBCAN User Manual network and can be configured 1-

127 or “Dynamic”. When it is set to

“Dynamic”, the node ID will be configured with the same ID as the ID of the

PLC CPU module. The advantage of using “Dynamic” is to prevent different

CBCANs from using the same ID and causing conflicts, thus each node ID will be unique. Otherwise, the CBCAN will not be able to communicate with other nodes on the CANopen network. The default value for this setting is

Dynamic.

6.2.1.2 RPDO setup

Click the RPDO tab to enter the receive process data object (RPDO)

setup page as shown in the Figure 9 below.

Figure 9: RPDO setup page

The number in parentheses of the tab name represents the quantity of

PDOs that has been defined.

As shown in the Figure 9, four RXPDOs have been defined. The RPDO is configured by the popup menu as shown in the Figure 10 below.

Figure 10: RPDO pop-up menu

The functions in this popup menu are described below.

 Edit: Right-click on the PDO you want to edit to start the pop menu, and select Edit

… from the menu. Or, simply double-click the PDO you want to edit to start the following screen.

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Figure 11: Edit RXPDO

From this screen, users can configure the communication object ID

(COB-ID) and data length. Items as shown in the Figure 11 are

described as follows.

 Dynamic option: A COB-ID can be a fixed value or a value changed with CPU node id. This option is valid only when the current Node ID is set to Dynamic. The COB-ID can be set by either from master or slave perspectives as follows:

 By Role: Basically, every PDO of the master and slave nodes on the network has a default independent COB-ID. The default setting of each node is assigned with four TXPDO COB-IDs and four RXPDO COB-IDs.

 By Value: Input a value between 181H and 5FFH.

 Size Setup: The size of the RXPDO can be set to one to four

16-bit words.

 Delete: Right-click the PDO you want to delete and select “Delete” from the pop menu to delete the PDO.

 Insert: Right-click any location where a PDO to be inserted and select

“Insert” from the pop menu to start the PDO Edit screen. After the configuration on the popup menu is done, a new PDO will be inserted at the location addressed.

 Add: Right-click the screen to start the popup menu . Select “Add” to start the PDO Edit screen. After the configuration on the popup menu is done, a new PDO will be added at the end of the list.

 Up: Right-click the PDO to be moved up. Select “Up” on the popup menu to move the PDO to one position upward.

 Down: Right-click the PDO to be mo ved down. Select “Down” on the

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CBCAN User Manual popup menu to move the PDO to one position downward.

 Delete All: Right-click on the screen to start the pop menu. Select

“Delete All” to delete all PDOs in the list.

There is an additional item

“Timeout Time” at the bottom of the RPDO

setup page as shown in Figure 9:

Timeout Time: This setting is used to indicate the deadline after the reception of an RPDO message. If RPDO messages are received properly within this interval, the corresponding bit of PLC internal register R3681

“RPDO status” will be set to 1. If not, the bit will be set to 0 to indicate the

RPDO timeout event. The default value for this setting is 1.5 seconds.

6.2.1.3 TPDO setup

The TPDO setup is similar to the

RPDO’s; this section only described the difference between TPDO and RPDO setup. Please refer to the section

6.2.1.1 for those similar settings.

There is one additional item “Transmission Type” added to the TXPDO Edit page.

Figure 12 Transmission type

Transmission Type: It indicates the transmission type of the TPDO.

 Async (asynchronous transmission): A TPDO is transmitted when the

TPDO data is changed or event time is elapsed without any data change. After TPDO messages are transmitted, the end of the Inhibit

Time must be reached before sending next TPDO message. With this function, users can prevent the communication bandwidth from being consumed by unexpected high frequency input signals.

 Sync. (synchronous transmission): Whenever the status change, the

TPDO message will be transmitted immediately after the next SYNC message is received.

 ETime+Sync (Event Time + SYNC): It differs from the Sync. mode in one additional transmission condition. In this mode, TPDO messages are also transmitted immediately after the next SYNC message is

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CBCAN User Manual received even if the status is not change during pre-defined event time.

 Cyclic: TPDO messages are transmitted periodically in time with the cyclic time setting.

Figure 13 shows the TXPDO setup page. Three general settings for

TXPDO transmission type at the bottom of the setup page are described as follows.

Figure 13: TXPDO setup page

Inhibit Time: The minimum transmission time interval when TXPDO are transmitted in Async. mode. After the transmitting of TXPDO messages, the next TXPDO message will not be sent until the end of inhibit time even if the status is changed during the inhibit time period. The default value is

100ms.

Event Time: The maximum transmission time interval when TXPDO are transmitted in Async. mode. After the transmitting of TXPDO messages, the next TXPDO message will be sent immediately after the end of event time even if the status is not changed during the event time period. The default value is 1 second.

Cyclic Time: The transmission time interval used in the Cyclic mode. The default value is 2 seconds.

6.2.1.4 Miscellaneous

Click the “Misc.” tab to edit miscellaneous setup as shown in the

Figure 14 below.

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Figure 14: Misc. setup page

Heartbeat: This represents the existence of a node within a specific time interval. In normal circumstances, a node will send a heartbeat signal at a regular interval. Other nodes determine if this node is operating normally based on this signal.

 Cycle Time: This represents the regular interval the node sends the heartbeat signal. If th e value is “0”, this means the heartbeat function is disabled.

 Guard Time: This represents the time criteria for a node to detect if the heartbeat of other nodes is normal. In general, individual nodes have individual cycle times, thus users should set different cycle times for different nodes. However, this system assumes that the cyclic time of all nodes are the same in order to simplify the configuration process. In this case, the value must be greater than the default value.

Parameter Data: In general, there are usually some parameters that do not change frequently. These parameters can be mapped to the

CANOpen objects through the SDO (Service Data Object) service for remote access over the network.

 Size: This setting is to indicate the quantity of the mapped registers.

The maximum value is 1000.

 Start Address: This represents the start address of the mapped register.

Only R-registers can be mapped as parameter registers.

Sync. Master option: When this option is enabled (checked), the CBCAN will operate as the sync. master node which transmits synchronous messages. If this option is disabled and any TXPDO is configured in sync mode, the CBCAN will monitor sync messages produced by the sync master on the network. If the sync master does not generate the sync messages within the pre-defined sync timeout time, a timeout event will be

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CBCAN User Manual generated (R3680 Bit1).

 Sync. Time: When Sync master option is enabled, this value represents the interval of synchronous messages transmission. When

Sync master option is disabled, this value represents the sync timeout time for sync messages monitoring. A longer timeout time than the sync messages interval shall be given for getting the monitoring mechanism works properly.

Auto Start option: When

“Auto Start” function is enabled, CBCAN enters

OPERATIONAL state from PRE-OPERATIONAL state automatically after power up.

Single Status Indicator: CBCAN provides two types of status indicator.

When

“Single Status Indicator” is enabled, CBCAN only uses RUN LED

for status identification. Please refer to the chapter 5 for detailed flash

rates.

6.2.1.5 Commands

By inputting commands via this function, users can make additional configurations for the CBCAN Board.

6.2.2 Save configurations to files

Click the

“Save…” or “Save As” button. The save configuration window will pop up. Input the name of the file to be saved and click the “Save” button to save the configurations.

6.2.3 Open old configuration files

Click the “Open...” button. The open configuration file window will pop up. Click the button and select the configuration files that have been saved. Click the OK button to open the selected configuration file.

6.2.4 Read CBCAN Board configurations

Click the “Read” button. The Comm.Setup window as shown below will pop up.

Figure 15: Read configuration comm. setup

The Baud Rate and Comm. Port are the parameters for the PC serial communication port.

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Node ID: This presents the ID (1-127) of the CBCAN node to be read. If Local

Node is selected, the system will read the contents of the CBCAN which mounted on the local PLC connected to the PC directly.

Scan button: Click this button to scan nodes on the network. The screen is shown below:.

Figure 16: Node scan page

 Search Range: By setting the search range, users can narrow the scan range to save more time.

 Start Node: The ID of the start node for the scan.

 End Node: The ID of the end node for the scan.

Click the “Start Scan” button to start scanning. By clicking the “Stop Scan” button, users can end the scan immediately. The information of the searched modules as shown below will be listed in the window.

Figure 17: Search result window

Information shown in the Vendor ID and CBCAN Serial number can help users to select a module.

Read Completion: After setting the above items, click the OK button to complete reading CBCAN Board configurations.

6.2.5 Write configurations to CBCAN Board

The operations are similar to section 6.2.4. The only difference is the clicking

of

the “Write” button. Please refer to Section 6.2.4 for details.

6.2.6 Generate EDS files

Select “Generate EDS...”. The Generate EDS File window will pop up.

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Figure 18: Generate EDS file

Description: Additional descriptions of the EDS file.

Created By: The name of the author who creates the EDS file.

The settings of two items above will be included in the EDS file.

Click the “OK” button to finish creating the EDS file.

6.2.7 End configuration setup

Click the “Close” button to exit the relevant configuration setup functions.

6.3 SDO Service

Click the “Device Parameter Access” button on the main page to enter the SDO

Service screen as shown below. The setup items are described below.

Figure 19: SDO service page

Node ID: This represents the ID of the node you want to access.

Index: This represents the main index of the object.

Sub-Index: This represents the sub-index of the object.

6.3.1 SDO Read

Click the SDO Read tab to enter the SDO Service screen as shown below.

Cyclic Read option: Select (check) this option to read SDO data repeatedly.

This function is useful for observing the dynamic change of objects.

Read button: Click the button to start reading SDO data. The results will be displayed in the window as shown below.

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Figure 20: SDO read page

The value

“4” in the Data Size item means that the size of the data is 4 bytes.

The data content are given in decimal (10), hexadecimal (AH) and string type

(0xa 0x0 0x0 0x0).

6.3.2 SDO Write

Click the SDO Write tab to enter the SDO Write service screen as shown below.

Figure 21: SDO write page

Data Type: This means the type of object data. At present, the system supports only Byte, Word and Dword data.

Data: The value you want to input. Users can select data format from the pull-down list next to the box: Hex (hexadecimal) or Decimal.

Write button: Click the button and start writing. An error window will pop up if there is any error.

6.3.3 SDO Batch

By using the SDO Batch, a list of pre-defined multiple SDO commands can be sent out sequentially. It is very useful when multiple CBCAN modules need to be set up with similar configuration, thus users don’t need to configure all functions one by one.

First, click the SDO Batch tab to enter the SDO Batch screen as shown below.

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Figure 22: SDO batch page

Click on the SDO batch window as shown in Figure 22 to start SDO Batch

editing below.

Figure 23: SDO batch setup page

6.3.3.1 Create batch contents

After entering the SDO Batch service screen, there should be no batch contents. Then, users can create the batch content. The menu pops up as shown below.

Figure 24: Pop-up menu for creating batch

Add: Rightclick the batch content window and select “Add” from the pop menu to start the following window.

Figure 25: Add a SDO command

 Node ID: Select the ID of the node you want to write SDO data to.

 Index: Input the index value.

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 Sub-Index: Input the sub-index value.

 Data Type: Select SDO data type: Byte, Word or Dword.

 Value: Input a value.

Click the OK button to complete creation of the new batch content.

Insert: Right-click the location where the batch command to be inserted and select “Insert” from the pop-up menu. Click the “OK” button to insert a new batch command in the specified location.

Delete: Right-click the batch item you want to delete and select “Delete” from the pop-up menu to delete the SDO command.

Delete All: Right-click the batch content window and select “Delete All” from the pop-up menu to delete all batch commands.

Edit: Right-click the batch item you want to edit and select “Edit” from the pop-up menu or double-click the command item to edit its content. Then, click the “OK” button to complete modifying the content.

6.3.3.2 Save batch contents

Click “File” from the main menu at the top of the window and click “Save” or “Save As” from the pull-down to save the current batch contents in a file.

6.3.3.3 Read this batch file

Click “File” from the main menu at the top of the window and click “Open” from the pull-down list to read the contents of the batch file.

6.3.3.4 Execute batch write

First, select the “Write” option in the operation group. Then, click the

“Execute” button to start batch write. SDO write commands will be sent out according to the contents in the batch window.

6.3.3.5 Execute batch read

First, select the “Read” option in the operation group. Then, click the

“Execute” button to start batch read. SDO read commands will be sent out according to the contents in the batch window. It differs from “batch write” in the read-back values will overwrite the original ones.

6.4 PLC remote monitoring service

With this service, the ladder programming software Winproladder from Fatek can connect to the remote PLC equipped with the CBCAN Board via the PC serial port, thus ladder programs on the remote PLC can be modified locally through local PLC equipped with CBCAN module.

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Figure 26: PLC remote monitoring service

6.4.1 Open service

Click the

“Remote Programming” button on the main page to enter the remote monitoring service screen as shown below.

Figure 27: Gateway status window

Items in the screen are described as follows:

Remote Node ID: Input the ID of the node which you want to connect.

Link Status: Auxiliary status.

Packet Transmitted: The quantity of data packets transmitted to the remote

PLC.

Packet Received: The quantity of data packets received from the remote

PLC.

This service is completed through the local CBCAN module which operates as a gateway between the remote PLC and local Winproladder software. It is based on the TCP communication at port 500.

Ready: When the system is ready for the service, the button is green.

On Line: When the TCP network and application are linked, the button is green.

6.4.2 Run service

Users must connect to local machine IP 127.0.0.1 at port #500 via TCP connection to subscribe the service. Therefore, an example of Winproladder

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Figure 28: Winproladder connection setup page

As it is connected via the TCP communication, users can link up with the

CANopen network with Ethernet from a remote site.

6.5 NMT Services

Click the “NMT Service” button on the main page to enter the NMT Services screen as shown below.

Figure 29: NMT service

Node ID: Input the ID of the NMT slave node to be managed. Users can select either a single node (1-127) or all nodes.

Service: The service includes:

“Start Remote”, “Enter PRE_OPERATIONAL”, “Reset Node”, “Reset Communication”,

“Stop”

After the configuration is done, click the “Send Command” button to start NMT service.

6.6 CBCAN Firmware Update

Click the “Firmware Update” button on the main page to enter the Firmware Update screen as shown below.

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Figure 30: Firmware update

Note. The CBCAN firmware version can be read from object index 4000H sub-index

1.

File Name: Input the file name of the firmware to be updated.

6.6.1 Select firmware files

Click the button to open the file selection window. After selecting the firmware file, press the “OK” button. The following confirmation dialog box will pop up.

Figure 31: Firmware information

The information of the corresponding firmware file will appear in this dialog box.

6.6.2 Start firmware update

Click the “Start” button to start the firmware update.

6.7 End operations

Click the “Exit” button on the main page to close EasyCANOpener utility.

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7. CBCAN SDO and NMT Service PLC Interface

The current Winproladder design does not provide the SDO and NMT service ladder instructions which are sometimes the necessary functions for some applications. The purpose of this chapter is to provide the PLC interface of the SDO/NMT service which required for users who need to implement the two services in their ladder programs.

7.1 SDO Service

The PLC registers R3700~R3769 are reserved for SDO service when CBCAN module is used on FBs PLC family. The major required information to issue a SDO service are SDO slave’s node ID (R3702), index and sub-index of slave’s object dictionary (R3703 and R3704), the size of data to be read or write (R3705), and the data itself (R3706~R3769). After this information is input to corresponding registers, the last step is to write R3700 with “CA0Eh” to trigger the SDO service.

The execution results of SDO service will be also shown on the same registers. The detailed description for execution results and register functions are shown on the

Table 9 below.

Sequence #

Table 8: PLC Registers for SDO Service

Register Function

1

2

3

4

5

6

7

8

.

70

R3700

R3701

R3702

R3703

R3704

R3705

R3706

R3707

.

R3769

Execute Flag = CA0EH

Command.

SDO Read=5055

SDO Write = 5066

Node ID( station number, 0~127. If =0, this node)

Object Index (0~65535)

Object sub-index (0~255)

Object data size: 1 ~ 128 Byte. Data size to Write or max. data buffer size for read

Data word #0

Data word #1

.

Data word #63

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Sequence #

Table 9: Registers Status after SDO Service Execution

Register

Function

Read Write

1 R3700

Result Code

*1

2

3

R3701

R3702

No Change

4 R3703

5 R3704

6 R3705

Actual read data size

No Change

7 R3706 Data word #0

*2

No Change

*2

8 R3707 Data word #1

*3

No Change

*3

. . .

No Change

70 R3769 Data word #63

No Change

*1

: Result Code: OK =0, CMD_CODE_ERR = 1, NODE_ID_ERR = 2, SDO_EXEC_ERR = 4.

*2

: SDO error code low word if execution is Failed (Result Code= 4)

*3

: SDO error code high word if execution is Failed (Result Code= 4)

Table 10: SDO Error Code

Error Code Name Error Value Description

ABORT_TIME_OUT

ABORT_NO_OBJ

ABORT_RO

ABORT_SYS_LENGTH

ABORT_NO_SEGEMNT

ABORT_OBJ_LENGTH

ABORT_SYNC

ABORT_TOGGLE_BIT

ABORT_PARM_LENGTH

ABORT_WO

ABORT_READ_LENGTH

0x05040000L

0x06020000L

0x06010002L

0x06040047L

0x06010000L

0x06070010L

0x05040001L

0x05030000L

0x06070012L

0x06010001L

0x05040005L

SDO service Time out

No such object

Attempt to write a read-only object

Data length exceed system allow

Not support segment transfer

Not match object length

Command specifier not valid

Toggle bit not alternated

Length of service parameter too high

Attempt to read a write-only object

Object length too big to read

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7.2 NMT Service

The NMT Service is done by using the SDO service with a specified object index

“0x1F82” (write service) or “0x300C” (read service). The detailed steps and register descriptions are as follows.

NMT Management Service

– Issue a NMT command to specified node(s)

SDO write (R3701): With Object index (R3703) = 0x1f82

R3704: Sub-Index n Description

n = 1 ~ 127 n = 128

R3702: Do not care.

R3706: Command Code

Node with node ID n to be requested

Request all nodes

5 or 1

4 or 2

127 or 128

NMT Service Description

Start Remote Node

Stop Remote Node

Enter Pre-Operational State

6 or 129

7 or 130

Reset Node

Reset Communication

Get NMT state service - Get the NMT state of specified node

SDO read (R3701): With Object index (R3703) = 0x300c

Sub-index (R3704) = 0

Node ID (R3702): Requested node ID

Execution Result (R3700 and R3706):

Register Value Description

R3700

R3706 (Only valid when R3700 is 0)

5

6

0

Not 0

4

127

OK

Not OK

Stopped

Pre-operational

Operational

Not detected

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7.3 Example

– NMT Service (Start Remote)

The ladder example program below shows how to issue a NMT command to start all remote CANopen nodes on the network. To issue the “Start Remote” command, register values should be set as shown in the following table.

Register

Table 11: Registers values of Start Remote command

Value Description

R3701 5066 Write command

R3703

R3704

1F82H

128

NMT service index

Request all nodes

R3706 5 Start Remote Node

After completing the registers as shown on the Table 11, the last step is to write

R3

700 with value CA0Eh to trigger the NMT command. The “17.CMP” function on the first network of the ladder example is only used as a trigger of the NMT service and is not a necessary instruction.

Figure 32: NMT Start Remote command

– Ladder program example

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Appendix A

1.1 Application Notes

CBCAN is a CANopen communication interface which can be plugged into the FBs series PLC for connecting the PLC with external CANopen devices. Most of CBCAN

CANopen objects are configurable via EzCANopener utility and shall be configured properly according to field network requirements. The purpose of this section is to provide a quick configuration reference for users to set up CBAN modules connected to a CANopen network.

1.1.1 Connect CBCAN to a CANopen master device

In this application, the FBs PLC with CBCAN is used as the CANopen slave node on the network.

Figure 33: Example Network

Assume the CANopen master uses the configuration in the following table to connect to the CANopen network.

Table 12: Example

– network configuration

Items Values

Node ID

Baudrate

Sync. master

Error control

Number of TxPDO

Number of RxPDO

2

125K bps

Disabled

Heartbeat producer (1000 ms)

Heartbeat consumer (1050 ms)

1 (3 words)

Transmission type: Async. Mode (255)

1 (3 words)

To connect CBCAN to the master, the node id and baudrate are first items to be configured in terms of master settings. All CBCAN settings can be configured via the CBCAN device configuration of EasyCANopener utility. The

CBCAN configuration can be started by clicking the “Module Configuration” button on the main page of EasyCANopener utility.

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Figure 34: Main page

Figure 35: Module configuration page

The master’s node id is 2, thus any other id from 1~127 can be assigned to

CBCAN. Assume the FBs PLC uses id node 1, CBCAN node id can simply use

PLC’s node id as its CANopen node id because the id is not 2. Choose

“Dynamic” option to use PLC’s node id as the CBCAN’s CANope node id.

Figure 36: Node ID configuration

The “Baud Rate” setting is located next to the “Node ID”, choose 125K to set up CBCAN serial communication speed to 125 kbps.

Figure 37: Baud Rate configuration

RxPDO Setting

The CANopen master uses transmission type 255 in this application, the PDO messages will only be transmitted whenever events are triggered. The

“Timeout Time” setting is not important for this application since the

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CBCAN User Manual transmission interval between two consecutive PDO messages is not predictable. The CANopen master only requires 1 RxPDO for exchanging

6-byte data with CBCAN, thus RxPDO2~RxPDO4 are not needed in this application. To remove them, select them a nd choose the “Delete” on the mouse right click pop-up menu.

Figure 38: Removing RXPDOs

There should be only RxPDO1 left in the list, double click on it for further configuration.

Figure 39: RXPDO setting page

Since the CBCAN node id was configured “Dynamic”, the Dynamic option on this page remains checked to use FBs PLC node id as the slave id. The

CBCAN is used to connect to a CANopen master device in this application, choose “As Slave Node” mode to set up the RxPDO’s role as slave. The default setting “$NodeId” should then be selected for using CBCAN node id as the Slave Node ID. In general, the CANopen master and slave use “slave node id + 200h” as the slave’s RxPDO1’s COB-ID, thus the setting “$NodeId+200h” should be chosen for CobId(Hex) setting unless otherwise specified. The

CBCAN uses the PLC internal register (one-word size) as the base unit for calculating the PDO size, thus t he actual size of Size “4” is 8 bytes. As described in the beginning of this section, the CANopen master only

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CBCAN User Manual exchanges 6-byte data with CBCAN in this application, the

“Size” setting of

RxPDO1 shall be configured as 3.

Figure 40: RXPDO1 configuration for this application

TxPDO Setting

As described above, the CANopen master only uses one TxPDO, TxPDO 2~4 shall be removed as well.

Figure 41: Removing TXPDOs

A similar way to the RxPDO configuration, double click on the TxPDO1 to set up further TxPDO settings.

Figure 42: TXPDO settings

Same as RxPDO configurations, the default settings of

“Role”, “Slave Node ID”,

“PDO No”, and “CobId(Hex)” are required for this application. Therefore, they remain unchanged as shown on the picture above. Change the Size to 3 for

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CBCAN User Manual having CBCAN exchange 6 bytes data with the CANopen master. As required in this application, the Async.(255) shall be used as the “Transmission Type” for transmitting PDO messages.

Three additional settings are related to the transmission type and are located at the bottom of TxPDOs list page. “Cyclic Time” is only valid when “Cyclic” transmission type is used. “Inhibit Time” and “Event Time” are two transmission parameters for “Async.(255)” type. In this application, there is no requirement specified for these two parameters. They may use the default settings 1000ms and 100ms for “Event Time” and “Inhibit Time”, respectively.

T he “Event Time” 1000ms which means the consecutive TxPDO messages shall be transmitted within 1000ms even if no event occurs. The setting 100ms for

“Cyclic Time” means the consecutive TxPDO messages will not be transmitted within 100 ms even if events are triggered during that period.

Figure 43: TXPDO transmission parameters settings

Misc. Setting

On Misc. setting page, there are three main functions “HeartBeat”, “Parameter

Zone”, and “Sync. Master”. The “Parameter Zone” configuration is not related to the CANopen network communication and can be disabled (set to 0 to disable) for this application.

As for the “Sync. Master”, it is not applicable for this application and can be disabled/unchecked because the Async.(255) mode is used as the PDO transmission type.

Since the CANopen master produces heartbeat at 1000 ms period, the

CBCAN “Guard Time” shall use a higher value than 1000 ms. In this example,

“Guard Time” is set to the value 1050 ms for monitoring the CANopen master heartbeat messages. Likewise, the CBCAN “Cycle Time” shall use a lower value than the CANopen master’s consumer heartbeat time.

Write Configuration to CBCAN

After above settings are done, the configuration then can be downloaded to

CBCAN.

Click the “Write” button on the main page, a pop-up window will appear for setting up the communication between EasyCANopener utility and

CBCAN. The CBCAN on the local node is accessed through the FBs PLC port

0.

Choose “Auto” baudrate to have EasyCANopner utility to detect FBs

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CBCAN User Manual baudrate setting automatically. Then click “OK” button on the “Comm. Setup” pop-up window to start the configuration downloading.

Figure 44: Write configuration to CBCAN

Input and Output image

After downloading the new configuration to the CBCAN, the CBCAN should be able to communicate with the CANopen master. The CBCAN supports maximum 10 RxPDOs and 10 TxPDOs. Each PDO supports maximum 8 bytes data, these data is mapped to the FBs PLC internal registers. The CBCAN integrates the data of RxPDOs into the input image and maps those data to the internal register R3640~R3679. Mapping registers for output image are

R3600~R3639, the CBCAN reads data from output image for transmitting

TxPDO messages. In this application, the 6-byte data of RxPDO1 is mapped to the register R3640~R3642 and the 6-byte data of TxPDO1 is read from

R3600~R3602.

1.1.2 Connect CBCAN to a CANopen slave device

In this application, the FBs PLC with CBCAN is used as the CANopen master node on the network.

Figure 45: Example network

Assume the CBCAN uses the configuration in the following table to connect to the CANopen network.

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Table 13: Example - network configuration items Values

Node ID

Slave Node ID

Baudrate

Sync. master

Error control

Number of TxPDO

Number of RxPDO

1

2

125K bps

Disabled

Heartbeat producer (1000 ms)

Heartbeat consumer (1050 ms)

1 (3 Words)

Transmission type: Async. Mode (255)

1 (3 Words)

To set up CBCAN CANopen communication, the node id and baudrate are first items to be configured in terms of network requirements. All CBCAN settings can be configured via the CBCAN device configuration of EasyCANopener utility. The CBCAN configuration can be started by clicking the “Module

Configuration” button on the main page of EasyCANopener utility.

Figure 46: Main page

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Figure 47: Module configuration page

Assume the FBs PLC uses id node 1, CBCAN node id can simply use PLC’s node id as its CANopen node id because it is not 2

. Choose “Dynamic” option to use PLC’s node id as the CBCAN’s CANope node id.

Figure 48: Node ID configuration

The “Baud Rate” setting is located next to the “Node ID”, choose 125K to set up CBCAN serial communication speed to 125k bps.

RxPDO Setting

Figure 49: Baud Rate configuration

The network requires transmission type 255 in this application, the PDO messages will only be transmitted whenever events are triggered. The

“Timeout Time” setting is not important for this application since the transmission interval between two consecutive PDO messages is not predictable. The CBCAN only requires 1 RxPDO for exchanging 6-byte data with the CANopen slave node, thus RxPDO2~RxPDO4 are not needed in this application. To remove them, select them and choose the “Delete” on the mouse right click pop-up menu.

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Figure 50: Removing RXPDOs

There should be only RxPDO1 left in the list, double click on it for further configuration.

Figure 51: RXPDO setting page

Since the CANopen slave device does no t use the same id as CBCAN, it’s not necessary to enable “Dynamic” which uses FBs PLC node id as the CANopen slave node id. The CBCAN works as a master device in this application, choose “As Master Node” mode to set up the RxPDO’s role as a master.

According to the network configuration required by this application, the slave device uses node id 2, thus value 2 is selected as the “Slave Node ID” setting.

In general, the CANopen master uses

“slave node id + 180h” as the RxPDO1’s

COB-ID, thus the COB-ID shall set to

“182h”. (Please also double check if the

CANopen slave node uses the general rule to configure its PDO settings.) The

CBCAN uses the PLC internal register (one-word size) as the base unit for calculating the PDO size, thus t he actual size of Size “4” is 8 bytes. As described in the beginning of this section, the CBCAN only exchanges 6-byte data with the CANopen slave device

, the “Size” setting of RxPDO1 shall be configured as 3.

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Figure 52: RXPDO1 configuration for this application

TxPDO Setting

The CBCAN only requires one TxPDO to transmit 6-byte data to the slave device, TxPDO 2~4 are not needed and shall be removed for this application as well.

Figure 53: Removing TXPDOs

A similar way to the RxPDO configuration, double click on the TxPDO1 to set up further TxPDO settings.

Figure 54: TXPDO settings

Same as RxPDO configurations, the “Role” shall be set to “As Master Mode” and the CobId(Hex) is then changed to “$NodeId+200h” automatically. The

“Slave Node ID” does not use the same node id of FBs PLC, “Dynamic” setting

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CBCAN User Manual shall be disabled/unchecked. Select value 2 as the Slave Node ID. The

“CobId(Hex)” setting is switch to 202h automatically. This value 202h matches the ge neral rule of using “Slave node ID+200h” as the master’s TxPDOs

COB-ID setting. Change the Size to 3 for having CBCAN exchange 6 bytes data with the CANopen master. As required in this application, the Async.(255) shall be used as the “Transmission Type” for transmitting PDO messages.

Three additional settings are related to the transmission type and are located at the bottom of TxPDOs list page. “Cyclic Time” is only valid when “Cyclic” transmission type is used. “Inhibit Time” and “Event Time” are two tra nsmission parameters for “Async.(255)” type. In this application, there is no requirement specified for these two parameters. They may use the default settings 1000ms and 100ms for “Event Time” and “Inhibit Time”, respectively.

The “Event Time” 1000ms which means the consecutive TxPDO messages shall be transmitted within 1000ms even if no event occurs. The setting 100ms for “Cyclic Time” means the consecutive TxPDO messages will not be transmitted within 100 ms even if events are triggered during that period.

Figure 55: TXPDO transmission parameters settings

Misc. Setting

On Misc. setting page, there are three main functions “HeartBeat”, “Parameter

Zone”, and “Sync. Master”. The “Parameter Zone” configuration is not related to the CANopen network communication and can be disabled (set to 0 to disable) for this application. As for the “Sync. Master”, it is not applicable for this application and can be disabled/unchecked because the Async.(255) mode is used as the PDO transmission type.

As required for this application, the CBCAN produces heartbeat at 1000 ms period, thus the

“Cycle Time” is set to 1000ms. Assume the CANopen slave also produces heartbeat at 1000ms period, a higher value 1050ms “Guard

Time” is set for monitoring the CANopen slave heartbeat messages.

Write Configuration to CBCAN

After above settings are done, the configuration then can be downloaded to

CBCAN. Click the “Write” button on the main page, a pop-up window will appear for setting up the communication between EasyCANopener utility and

CBCAN. The CBCAN on the local node is accessed through the FBs PLC port

0. Choose “Auto” baudrate to have EasyCANopner utility to detect FBs

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CBCAN User Manual baudrate setting automatically. Then click “OK” button on the “Comm. Setup” pop-up window to start the configuration downloading.

Figure 56: Write configuration to CBCAN

Input and Output image

After downloading the new configuration to the CBCAN, the CBCAN should be able to communicate with the CANopen devices. The CBCAN supports maximum 10 RxPDOs and 10 TxPDOs. Each PDO supports maximum 8 bytes data, these data is mapped to the FBs PLC internal registers. The CBCAN integrates the data of RxPDOs into the input image and maps those data to the internal register R3640~R3679. Mapping registers for output image are

R3600~R3639, the CBCAN reads data from output image for transmitting

TxPDO messages. In this application, the 6-byte data of RxPDO1 is mapped to the register R3640~R3642 and the 6-byte data of TxPDO1 is read from

R3600~R3602.

1.1.3 Simple example

– Connect two FBs PLCs to each other through CBCAN modules

A real and simple example is given in this section. The CBCAN configurations and ladder programs are also given below for both the master and slave roles in this example. Two FBs PLCs are used in this demonstration. A FBs-24MC is configured as the master which sends its digital input status (X0~X7) to a

FBs-20MC for writing FBs-20MC

’s digital output (Y0~Y7). Meanwhile, the

FBs-20MC is configured as the slave role which also sends its digital input status (X0~X7) to the FBs-24MC.

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Figure 57: FBs-24MC connect to FBs-20MC

It is suggested to make a table of configuration which can help users to setup the system environment.

Model Name

Table 14: Configuration Table

FBs-24MC FBs-20MC

Role

Baud-rate

Node ID

RXPDO #

RXPDO COB-ID

RXPDO Size

Sync. Master

Auto. Start

1

1

Master

250Kbps

Slave

8

1

188h 208h

1 (indicates the size of incoming data is no larger than 1 word)

(incoming data: DI status from

20MC)

1 (indicates the size of incoming data is no larger than 1 word)

(incoming data: DI status from

24MC)

1

208h

1

188h

TXPDO #

TXPDO COB-ID

TXPDO Size

TXPDO

Transmission Type

1 (indicates the size of outgoing data is no larger than 1 word)

(outgoing data: DO status to be sent to 20MC)

1 (indicates the size of outgoing data is no larger than 1 word)

(outgoing data: DO status to be sent to 24MC)

Asnyc. (255) Asnyc. (255)

Heart Beat No particular requirement. Default setting is used.

No particular requirement. Default setting is used.

Cycle Time: 1000 ms

Guard Time: 1050 ms

Cycle Time: 1000 ms

Guard Time: 1050 ms

OFF (Async. transmisson) OFF (Async. transmisson)

ON (indicates the PDO ON (indicates the PDO

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CBCAN User Manual transmissions will automatically after boot-up) start transmissions will automatically after boot-up) start

The next step is to configure FBs-24MC and FBs-20MC by using

EasyCanOpener utility according to the information from the configuration

table above. The detailed configurations are shown on the snapshots Figure

58~Figure 63 below.

Figure 58: FBs-24MC RXPDO Setting

Figure 59: FBs-24MC TXPDO Setting

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Figure 60: FBs-24MC Misc Setting

Figure 61: FBs-20MC RXPDO Setting

Figure 62: FBs-20MC TXPDO Setting

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Figure 63: FBs-20MC Misc. Setting

If both 24MC and 20MC are configured properly, the PDOs transmission shall start automatically after system reboot. However, the data transmitted by

PDOs are not DI status since both PLCs haven

’t been programmed to write their DI status to PDO transmission. Therefore, the last step is to make ladder programs which writes local DI status to pre-assigned registers (TXPDO1:

R3600~R3603) for TXPDO transmission. For this demonstration, not only the transmitting site sends DI status out, but also receiving site needs to write the received data to its local output. To do this, ladder programs need to move the receiving data from pre-assigned registers (R3640~R3643) to its DO output.

Note. Since the number of local DI points of 24MC and 20MC is less than 16 points, only one register needed to be moved in both RXPDO and TXPDO cases. You can also find the hints to know which registers to be moved from the RXPDO and TXPDO configuration on the EasyCanOpener utility as shown

on Figure 58 and Figure 59. The detailed ladder program is shown on Figure

64 below.

Figure 64: FBs-24MC and FBs-20MC Ladder Program

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Appendix B

CBCAN Board Object Dictionary

.

Communication Object

Index SubIndex

1000H 0

1001H

1005H

0

0

100CH

100DH

0

0

1016H

1017H

1018H

1400H

0

1

2

0

1

2

3

4

0

1

0

Name

Equipment Type

Error Register

COB-ID of SYNC

Guard Time

Life Time Factor

Data Type Access Default

I32U R 0

I8U

I32U

R

R

0

80H

I16U

I8U

Consumer Heartbeat Time

Item Count I8U

R

R

0

0

R

R

R

1

1020

1000

Consumer Heartbeat Time

Producer Heartbeat Time

I32U

I32U

Identity Object

Item Count

Vendor code

Product Code

Revision No.

Serial No.

I8U

I32U

I32U

I32U

I32U

RXPDO1 Communication Parameters

R

R

R

R

R

4

2EFH

0

0

0

Item Count

RXPDO1 COB-ID

Transmission type

I8U

I32U

I8U

R

R

R

2

CFG

0xff

1401H~

1409H

RXPDO2~RXPDO10 Communication Parameters

1600H

0

1

2

3

4

RXPDO1 Mapped Objects

Item Count

RXPDO1 Mapped Object #1

RXPDO1 Mapped Object #2

RXPDO1 Mapped Object #3

RXPDO1 Mapped Object #4

I8U

I32U

I32U

I32U

I32U

R

R

R

R

R

4

CFG

CFG

CFG

CFG

1601H~

1609H

RXPDO2 ~ RXPDO10 Mapped Objects

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Communication Object (Cont.)

Index SubIndex

1800H

0

1

2

3

4

5

Name

Data type

TXPDO1 Communication Parameters

Item Count I8U

TXPDO1 COB-ID

TXPDO1 Transmission Type

TXPDO1 Inhibit Time

Reserved

Event Time

I32U

I32U

I32U

-

I16U

Access Default

R

R

R

R

-

R

5

CFG

0xff

CFG

-

CFG

1801H

~

1809H

TXPDO2 ~ TXPDO10 Communication Parameters

1A00H

0

1

2

3

4

TXPDO1 Mapped Objects

Item Count

TXPDO1 Mapped Object #1

TXPDO1 Mapped Object #2

TXPDO1 Mapped Object #3

TXPDO1 Mapped Object #4

I8U

I32U

I32U

I32U

I32U

R

R

R

R

R

4

CFG

CFG

CFG

CFG

1A01H

~

1A09H

TXPDO2 ~ TXPDO10 Mapped Objects

.

PLC Parameter Zone Objects

(Max. 1000 R register)

Index SubIndex

2000H

2000H

2000H

2000H

2001H

2001H

~

2009H

1

2 n

100

1

2

~

100

Name

P Zone+0

P Zone+1

P Zone+n-1

P Zone+99

P Zone+100

P Zone+101

~

P Zone+999

Date type

WORD

WORD

.

WORD

WORD

WORD

WORD

WORD

Access Default

RW

RW

RW

RW

RW

RW

RW

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.

PLC Process Data Objects

Index SubIndex

2010H

1

2

3

4

Name

TXPDO process data

R3600

R3601

R3602

R3603

Data type

I16U

2011H

~

2019H

R3604~R3639

201AH

1

2

3

4

201BH

~

2023H

.

Program Version Objects

RXPDO process data

R3640

R3641

R3642

R3642

R3640~R3679

I16U

Index SubIndex

4000H

0

1

2

Name

Item Count

CBCAN Firmware version

Ladder software version

Data type

I8U

I32U

I32U

Ladder software version is decided by R3697 of the PLC

.

Electron board Version Objects

Index SubIndex

4001H

0

1

Name

Item Count

Electron board version

Data type

I8U

I32U

Access Map

R

R

R

R

R

R

R

R

Yes

Yes

Access Default

R

R

R

2

Access Default

R

R

1

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