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1 PN/CAN LINK Configuring the "CANopen manager" and "CANopen slave" operating modes TIA Portal V14, SIMATIC S7 Siemens Industry Online Support
2 Legal information Warning notice system This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger. DANGER indicates that death or severe personal injury will result if proper precautions are not taken. WARNING indicates that death or severe personal injury may result if proper precautions are not taken. CAUTION indicates that minor personal injury can result if proper precautions are not taken. Siemens AG 2018 All rights reserved NOTICE indicates that property damage can result if proper precautions are not taken. If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage. Qualified Personnel The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems. Proper use of Siemens products Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed. Siemens AG Division Digital Factory Postfach NÜRNBERG Germany 1.0 P 04/2018 Subject to change Copyright Siemens AG All rights reserved 2
3 Table of contents 1 Task Solution System configuration Hardware and software components Configuring / programming General procedure Configuring PN/CAN LINK_2 as CANopen slave A Appendix A A.1 Internet links A.2 History A.3 List of abbreviations Application example, 04/2018, Entry-ID: , V1.0 3
4 Task 1 This application example shows the operation of two PN/CAN LINKs in the "CANopen manager" and "CANopen slave" operating modes. This involves the exchange of data between the PN/CAN LINK in the "CANopen manager" operating mode and the PN/CAN LINK in the "CANopen slave" operating mode. The project that goes with the application example contains the configuration for both these modes. Knowledge required The following knowledge is required: Knowledge of programming a SIMATIC S7 controller Knowledge of configuration with TIA Portal Knowledge of working with the PROFINET fieldbus In-depth knowledge of the CAN or CANopen communication protocols General knowledge in the field of automation technology General knowledge of communication networks 4 Application example, 04/2018, Entry-ID: , V1.0
5 Solution System configuration For the application example use the following configuration: The PN/CAN LINKs are connected via PROFINET to the SIMATIC S7 control system. The PN/CAN LINKs are configured as follows: PN/CAN LINK 1 in the "CANopen manager" mode PN/CAN LINK 2 in the "CANopen slave" mode The configuration takes place on a PC with installed TIA Portal. Application example, 04/2018, Entry-ID: , V1.0 5
6 Solution 2.2 Hardware and software components 2.2 Hardware and software components The application example was created with the following components: Hardware components Component Number Article number Comment SIMATIC S7 control system 1 6AG1215-1AG40-5XB0 CPU 1215C PN/CAN LINK 2 6BK1620-0AA00-0AA0 12 V DC to 24 V DC supply voltage Power supply SIMATIC S Power Module PM EP1332-1SH71 For power supply of control system and PN/CAN LINK Software components Component Number Article number Comment TIA Portal V14 with Service Pack 1 1 6ES7822-0AA00-0YL0 The package "Update 2" has to be installed Example files and projects File _network_transitions_pncan _link_manager_slave_en.pdf CANopen_Manager_Slave.zip Comment The present document The TIA project of the application example You will find the download link in the section "Internet links (Page 39)". 6 Application example, 04/2018, Entry-ID: , V1.0
7 3 3.1 General procedure 1. Create a new project. 2. Set the language of the user interface to English: 3. Click "Catalog" 1 and add the device according to chapter "Hardware and software components (Page 6)". 4. Connect the CPU and PN/CAN LINK by means of a PROFINET connection. CPU and PN/CAN LINKs are connected in the "Network view" window via PROFINET Configure the PROFINET interfaces 3 based on the conditions of your PROFINET network. Application example, 04/2018, Entry-ID: , V1.0 7
8 3.2 Configuring PN/CAN LINK_2 as CANopen slave 3.2 Configuring PN/CAN LINK_2 as CANopen slave This chapter describes the configuring and setting of a gateway to the "CANopen slave" operating mode. Additional and supplementary information is available in the "SIMATIC Gateways PN/CAN LINK" operating instructions. This is available under the following link: Industry Online Support ( Setting the "CANopen slave" operating mode 1. Double-click "Network view 1 Link_2 2". 2. Select "Device view 1 Device overview Link_2 2". 3. Select "Properties 1 General CAN operating mode" and set the mode to "CANopen slave" 2. 8 Application example, 04/2018, Entry-ID: , V1.0
9 3.2 Configuring PN/CAN LINK_2 as CANopen slave Setting the Node ID and transmission rate 1. Select "Device view 1 Device overview CANopen network 2". 2. Select "Properties 1 General Communication". 3. Set up the required Node ID 2 and the transmission rate 3 as indicated. Application example, 04/2018, Entry-ID: , V1.0 9
10 3.2 Configuring PN/CAN LINK_2 as CANopen slave Adding a Transmit OD entry 1. Select "Device view 1 Device overview CANopen slave 2". 2. Select "Catalog 1 CAN process data 2". 10 Application example, 04/2018, Entry-ID: , V1.0
11 3.2 Configuring PN/CAN LINK_2 as CANopen slave 3. Insert the object library "Transmit data object dictionary" 3 by double-clicking. The inserted submodule 2 is displayed under "Device view 1 Device overview CANopen slave". This OD entry is required to transmit data. The transmitted data are written into the OD entry. 4. Select "Properties 1 General Object dictionary index definition 2". 5. Rename the submodule to "TransmitData" Enter "Unsigned 32" 4 as the data type. The value range for "Q address" then changes to " ". Application example, 04/2018, Entry-ID: , V1.0 11
12 3.2 Configuring PN/CAN LINK_2 as CANopen slave Adding a Receive OD entry 1. Select "Device view 1 Device overview CANopen slave 2". 2. Select "Catalog 1 CAN process data 2". 12 Application example, 04/2018, Entry-ID: , V1.0
13 3.2 Configuring PN/CAN LINK_2 as CANopen slave 3. Insert the object library "Receive data object dictionary" 3 by double-clicking. The inserted submodule 2 is displayed under "Device view 1 Device overview CANopen slave". This OD entry is required to receive data. The received data are written into the OD entry. 4. Select "Properties 1 General Object dictionary index definition 2". 5. Rename the submodule to "ReceiveData" Enter "Unsigned 32" 4 as the data type. The value range for "Q address" then changes to " ". Application example, 04/2018, Entry-ID: , V1.0 13
14 3.2 Configuring PN/CAN LINK_2 as CANopen slave Exporting the EDS file 1. Select "Device view 1 Device overview CANopen network 2". 2. Select "Properties 1 General Electronic Data Sheet (EDS)". The EDS file must be exported for the purpose of configuring the CANopen master. 3. Click "Export EDS file" 2. The "Export EDS file" window is displayed. 4. Save the EDS file. Allow PN/CAN LINK to transition to "Operational" via the S7 user program To enable the PN/CAN LINK to transition to the "Operational" state and data to thus be transferred between the S7 controller and the PN/CAN LINK, you need to set the control bit to "1" via the S7 user program. This control bit is transferred cyclically from the S7 controller to the PN/CAN LINK as part of the IO data. The actual state transition must however be triggered by the current NMT master. The following section describes how to set the control byte to "1" to this purpose. 14 Application example, 04/2018, Entry-ID: , V1.0
15 3.2 Configuring PN/CAN LINK_2 as CANopen slave 1. Select "Device view 1 CANopen slave CANopen network 2". 2. Select "Devices 1 Project1 PLC_1 PLC_tags" in the project navigation. Application example, 04/2018, Entry-ID: , V1.0 15
16 3.2 Configuring PN/CAN LINK_2 as CANopen slave 3. Double-click "Default tag table" 2. The tag table is displayed. 4. Enter the following name 1 at "Add new": 5. Change "Data type" 2 and "Address" 3 as indicated. 16 Application example, 04/2018, Entry-ID: , V1.0
17 3.2 Configuring PN/CAN LINK_2 as CANopen slave Inserting an organization block "Cyclic interrupt". 1. Select "Devices 1 Project1 PLC_1 Program blocks" in the project navigation. 2. Double-click "Add new block" 2. The following dialog box is displayed. Application example, 04/2018, Entry-ID: , V1.0 17
18 3.2 Configuring PN/CAN LINK_2 as CANopen slave 3. Enter "Cyclic_read_slave" 1 as the name. 4. Click "Cyclic interrupt" 2. The cyclic interrupt is used to modify the Transmit OD entry. 5. Check whether 3 and 4 are configured as shown. 6. Confirm the entry with "OK". The dialog box is closed. Entering program code 1. Click "Devices PLC_1 Program blocks Cyclic_read_slave [OB30]" 1. The following dialog box is displayed. 2. Enter "treaddata" at "Add new" Change "Data type" as indicated. 4. Enter "#treaddata := "ReceiveData_Link_2";" 3 as program code. This completes the configuration of PN/CAN LINK 2 as a CANopen slave. 18 Application example, 04/2018, Entry-ID: , V1.0
19 This chapter describes the configuring and setting of a gateway to the "CANopen slave" operating mode. Additional and supplementary information is available in the "SIMATIC Gateways PN/CAN LINK" operating instructions. This is available under the following link: Industry Online Support ( Setting the "CANopen manager" operating mode 1. Double-click "Network view 1 Link_1 2". 2. Select "Device view 1 Device overview Link_1 2". 3. Select "Properties 1 General CAN operating mode" and set the mode to "CANopen manager" 2. Application example, 04/2018, Entry-ID: , V1.0 19
20 Setting the Node ID and transmission rate 1. Select "Device view 1 Device overview CANopen network 2". 2. Select "Properties 1 General Communication". 3. Set up the required Node ID 2 and the transmission rate 3 as indicated. 20 Application example, 04/2018, Entry-ID: , V1.0
21 Adding a Transmit OD entry 1. Select "Device view 1 Device overview CANopen manager 2". 2. Select "Catalog 1 CAN process data 2". Application example, 04/2018, Entry-ID: , V1.0 21
22 3. Insert the object library "Transmit data object dictionary" 3 by double-clicking. The inserted submodule 2 is displayed under "Device view 1 Device overview CANopen Manager". This OD entry is required to transmit data. The transmitted data are written into the OD entry. 4. Select "Properties 1 General Object dictionary index definition 2". 5. Rename the submodule to "TransmitData" Enter "Unsigned 32" 4 as the data type. The value range for "Q address" then changes to " ". 22 Application example, 04/2018, Entry-ID: , V1.0
23 Entering a transmit PDO definition 1. Select "Device view 1 Device overview CANopen manager 2". 2. Select "Properties 1 General Transmit process data objects (PDOs) Transmit PDO definition 2". 3. Select the entry "PDO-001" 3 for "PDO". 4. Click "Define PDO" Enter the value "181" 5 at "COB ID". 6. Double-click the 6 button. Application example, 04/2018, Entry-ID: , V1.0 23
24 Adding a Receive OD entry 1. Select "Device view 1 Device overview CANopen manager 2". 2. Select "Catalog 1 CAN process data 2". 24 Application example, 04/2018, Entry-ID: , V1.0
25 3. Insert the object library "Receive data object dictionary" 3 by double-clicking. The inserted submodule 2 is displayed under "Device view 1 Device overview CANopen Manager". This OD entry is required to receive data. The received data are written into the OD entry. 4. Select "Properties 1 General Object dictionary index definition 2". 5. Rename the submodule to "ReceiveData" Enter "Unsigned 32" 4 as the data type. The value range for "Q address" then changes to " ". Application example, 04/2018, Entry-ID: , V1.0 25
26 Entering a Receive PDO definition 1. Select "Device view 1 Device overview CANopen manager 2". 2. Select "Properties 1 General Receive process data objects (PDOs) Receive PDO definition 2". 3. Select the entry "PDO-001" 3 for "PDO". 4. Click "Define PDO" Set the PDO definition active Enter the value "281" 6 at "COB ID". 7. Double-click the 7 button. 26 Application example, 04/2018, Entry-ID: , V1.0
27 Inserting CAN nodes 1. Select "Device view 1 Device overview CANopen manager 2". 2. Select "Catalog 1 CANopen node". Application example, 04/2018, Entry-ID: , V1.0 27
28 3. Insert the object library "CANopen node universal" 2 by double-clicking. The inserted submodule 2 is displayed under "Device view 1 Device overview". 4. Select "Properties 1 General CANopen node universal 2". 5. Click "Import EDS file" 3. The "Import EDS file" window is displayed. 6. Select the exported file in accordance with the chapter "Configuring PN/CAN LINK_2 as CANopen slave (Page 8)", section "Exporting the EDS file". 7. Import the EDS file. 8. Confirm the import with "OK". 28 Application example, 04/2018, Entry-ID: , V1.0
29 Setting the Node ID 1. Select "Device view 1 Device overview Node 2". 2. Select "Properties 1 General CANopen node universal 2". 3. Enter the value "10" at "Node ID" 3. Application example, 04/2018, Entry-ID: , V1.0 29
30 Setting the Receive PDO definition 1. Select "Device view 1 Device overview Node 2". 2. Select "Properties 1 General Receive process data objects (PDOs) Receive PDO definition 2". 3. Select the entry "PDO-001" 3 for "PDO". 4. Set the PDO definition active Set "Automatically generate COB ID for node" to inactive Enter the value "181" 6 at "COB ID". 7. Double-click the 7 button. 30 Application example, 04/2018, Entry-ID: , V1.0
31 Setting the Transmit PDO definition 1. Select "Device view 1 Device overview Node 2". 2. Select "Properties 1 General Receive process data objects (PDOs) Transmit PDO definition 2". 3. Select the entry "PDO-001" 3 for "PDO". 4. Set the PDO definition active Set "Automatically generate COB ID for node" to inactive Enter the value "281" 6 at "COB ID". 7. Double-click the 7 button. Application example, 04/2018, Entry-ID: , V1.0 31
32 Set PN/CAN LINK to "Operational" via S7 user program To enable data to be transferred between the S7 controller and the PN/CAN LINK, you need to set the control bit to "1" via the S7 user program. This control bit is transferred cyclically from the S7 controller to the PN/CAN LINK as part of the IO data. The following section describes how to set the control byte to "1". 1. Select "Device view 1 CANopen manager CANopen network Q address 2". 2. Select "Devices 1 Project PLC_1 PLC_tags" in the project navigation. 32 Application example, 04/2018, Entry-ID: , V1.0
33 3. Double-click "Default tag table" 2. The tag table edited in accordance with chapter "Configuring PN/CAN LINK_2 as CANopen slave (Page 8)" is displayed. 4. Insert another 3 tags and change "Name" 1, "Data type" 2 and "Address" 3 as indicated. Application example, 04/2018, Entry-ID: , V1.0 33
34 Inserting an organization block "Cyclic interrupt". 1. Select "Devices 1 PLC_1 Program blocks" in the project navigation. 34 Application example, 04/2018, Entry-ID: , V1.0
35 2. Double-click "Add new block" 2. The following dialog box is displayed. 3. Click "Cyclic interrupt" Enter 1 "Cyclic_write_manager" at "Name". 5. Check whether 3 and 4 are configured as shown. 6. Confirm the entry with "OK". The dialog box is closed. Application example, 04/2018, Entry-ID: , V1.0 35
![Entering program code 1. Select "Devices PLC_1 Program blocks Cyclic_write_manager [OB31]" 1. The following window is displayed. 2.](/docs-images/90/102402690/images/36-0.jpg "Enter \"\"TransmitData_Link_1\" := \"TransmitData_Link_1\" + 1;\" 2 as program code. This completes the configuration of PN/CAN LINK 2 as a CANopen manager.")
36 Entering program code 1. Select "Devices PLC_1 Program blocks Cyclic_write_manager [OB31]" 1. The following window is displayed. 2. Enter ""TransmitData_Link_1" := "TransmitData_Link_1" + 1;" 2 as program code. This completes the configuration of PN/CAN LINK 2 as a CANopen manager. 36 Application example, 04/2018, Entry-ID: , V1.0
37 Inserting a watch table 1. Select "Devices 1 PLC_1 Watch and force tables" in the project navigation. 2. Double-click "Add new watch table" 2. The watch table is displayed. 3. Enter the following at "Address" 1: %Q68.0 %Q68.2 %Q69.0 %ID70 %QD74 The associated name 2 and data formats 3 are inserted automatically. Application example, 04/2018, Entry-ID: , V1.0 37
38 4. Switch to "Watch table" Click on "Monitor all" Enter "TRUE" in the "Modify value" 4 column. 7. Click on "Modify selected values once and now" 2. This completes the configuration. 38 Application example, 04/2018, Entry-ID: , V1.0
39 Appendix A A A.1 Internet links No. Subject area 1 Entry Configuring the "CANopen manager" and "CANopen slave" operating modes ( kingdesc&lc=en-ww) 2 CANopen_Manager_Slave.zip ( kingdesc&lc=en-ww) 3 SIMATIC routers SIMATIC PN/CAN LINK ( 4 Industry Online Support ( 5 Mall ( ctinformation&tree=catalogtree) 6 Industrial communication ( 7 Contact person for the database ( A.2 History Edition Comment 04/2018 First edition Application example, 04/2018, Entry-ID: , V1.0 39
40 Appendix A A.3 List of abbreviations A.3 List of abbreviations CAN CPU DC I/O EDS ID OD PDO PLC PN TIA Controller Area Network Central Processor Unit Direct Current Input/output Electronic Data Sheet Identifier Object dictionary Process Data Object Programmable Logic Controller PROFINET Totally Integrated Automation 40 Application example, 04/2018, Entry-ID: , V1.0
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