Twido and Preventa XPS-MC on CANopen System User Guide [source]

Transcription

1 Twido and Preventa XPS-MC on CANopen System User Guide [source] AUG 2007

2 Contents Application Source Code... 4 Purpose of the Document... 5 System... 6 Architecture... 6 Installation... 8 Hardware... 9 Software...11 Communication...12 Implementation Communication...16 Batch File for Preventa...18 Batch File Execution...19 Implementing Twido...20 Configuration...21 Acce ssing Objects via an SDO...32 Explanation of PDO Data...34 Implementing Preventa Safety Controller...35 Acce ss to Objects via SDO...52 Mapping PDO Objects...53 Appendix Detailed Component List Component Protection Classes Component Features Contact Introduction This document is intended to provide a quick introduction to the described System. It is not intended to replace any specific product documentation. On the contrary, it offers additional information to the product documentation, for installing, configuring and starting up the system. A detailed functional description or the specification for a specific user application is not part of this document. Nevertheless, the document outlines some typical applications where the system might be implemented. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 2

3 Abbreviations Word / Expression AC Advantys Altivar (ATV) CANopen CB CoDeSys ConneXium DI DO DC EDS ELOP II Factory E-OFF, E-STOP Harmony HMI I/O IclA (ICLA) Lexium/Lexium05/LXM Magelis MB - SL Micro NIM PC POU Phaseo PLC Powersuite Premium Preventa PS1131 (CoDeSys) PS SafetySuite SE Sycon Telefast Tesys U Twido TwidoSoft Unity (Pro) Vijeo Designer VSD WxHxD XBT-L1000 Signification Alternating Current SE product name for a family of I/O modules SE product name for a family of VSDs Name for a communications machine bus system Circuit Breaker Hardware-independent IEC programming software SE product name for a Family of Transparent Factory devices Digital Input Digital Output Direct Current Electronic Data Sheet SE product name for a software configuration tool for Preventa Safety PLCs Emergency Off switch SE product name for a family of switches and indicators Human Machine Interface Input/Output SE product name for a compact drive SE product name for a family of servo-drives SE product name for a family of HMI-Devices SE name for a serial Modbus communications protocol SE product name for a middle range family of PLCs SE product name for a Network Interface Module Personal Computer Programmable Object Unit, Program Section in CoDeSys and ELOP II Factory SE product name for a family of power supplies Programmable Logic Computer An SE software product for configuring ALTIVAR drives SE product name for a middle range family of PLCs SE product name for a family of safety devices SE Product name for PLC programming software with CoDeSys Power Supply SE product name for a collection of safety software tools Schneider Electric SE product name of a Field bus programming software SE product name for a series of distributed I/O devices SE product name for a decentralized I/O System SE product name of a middle range family of PLCs SE product name for a PLC programming software SE product name for a PLC programming software An SE software product for programming Magelis HMI devices Variable Speed Drive Dimensions : Width, Height and Depth An SE software product for programming Magelis HMI devices Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 3

4 Application Source Code Introduction Examples of the source code used to attain the system function as described in this document can be downloaded from our website under this link. The example source code is in the form of configuration, application and import files. Use the appropriate software tool to either open or import the files. Extension File Type Software Tool Required AIW Configuration File Advantys Configuration Software CNF Configuration File Sycon CO CANopen definitions file Sycon CSV Comma Separated Values, Spreadsheet Twidosoft CTX UnityPro DCF Device Configuration File Advantys Configuration Software DIB Device Independent Bitmap Sycon DOC Document file Microsoft Word DOP Project File Magelis XBTL EDS Electronic Data Sheet Device Definition Industrial standard FEF Export file PL7 GSD EDS file (Geraete Stamm Datei) Profibus ISL Island file, project file Advantys PB Profibus definitions file Sycon PDF Portable Document Format - document Adobe Acrobat PRO Project File PS CoDeSys PS2 Export file Powersuite export file RTF Rich Text File - document Microsoft Word STU Project file Unity studio STX Project file PL7 TLX Project file Twinline control tool TWD Project file TwidoSoft VDZ Project file Vijeo Designer XEF Export file Unity Pro ZM 2 Project File Zeliosoft Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 4

5 Purpose of the Document Introduction This document describes all the necessary steps to configure a Twido PLC with a Preventa safety controller using CANopen. At the heart of this process is the CANopen connection. The document provides a brief introduction to the special features and CANopen performance characteristics of the Twido and Preventa safety controller. Configuring the Preventa safety controller for CANopen on the Twido is extremely easy, as a special file is provided for this purpose. The file replaces much of the configuration work by pre-configuring the Twido CANopen master. For TwidoSuite you can download the file XPSMC1632ZC for TwidoSuite.exe. The configuration of the Preventa XPS-MCxxZC controller is done using the XPSMCW IN configuration software and merely entails configuring the safety equipment. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 5

6 System Introduction The system chapter describes the architecture, the dimensions, the quantities and different types of components used within this system. Architecture General This document is based on a simple safety application consisting of an emergency-off switch (two-pole), a safety controller and a PLC with a timer. The safety controller has configurable integrated safety functions. The communication between the safety controller and the PLC is via CANopen. Process data is exchanged via CANopen implicitly using PDO5. However, it is also possible to access other objects that are not transferred using PDO5. These objects are transferred using SDOs. For this the function block CAN_CMD, in TwidoSuite, is used. This document covers this briefly with a small example application. To complete the CANopen configuration process, you will need to specify the baud rate and supervision time. Layout Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 6

7 Components Hardware: Twido Modular PLC with 12 DI and 8 DO CANopen Master Module for Twido Preventa Safety Controller with 32 DI Harmony Series 5 Switch (E-OFF and acknowledgement) Harmony signal light Phaseo power supply 24V Software: TwidoSuite V 1.03 XPSMCW IN V 2.10 SafetySuite V 2.0 Quantities of Components For a complete and detailed list of components, the quantities required and the order numbers, please refer to the components list at the rear of this document. Degree of Protection Not all the components in this configuration are designed to withstand the same environmental conditions. Some components may need additional protection, in the form of housings, depending on the environment in which you intend to use them. For environmental details of the individual components please refer to the list in the appendix of this document and the appropriate user manual. Technical Data Mains voltage 24V DC Safety Level Cat. 3 Note: The application described here is only intended as a simple example of how to use the safety components of the Twido PLC and the Preventa safety controller Safety Notice The standard and level of safety you apply to your application is determined by your system design and the overall extent to which your system may be a hazard to people and machinery. As there are no moving mechanical parts in this application example, category 3 (according to EN954-1) has been selected as an optional safety level. Whether or not the above safety category should be applied to your system should be ascertained with a proper risk analysis. This document is not comprehensive for any systems using the given architecture and does not absolve users of their duty to uphold the safety requirements with respect to the equipment used in their systems or of compliance with either national or international safety laws and regulations Dimensions No dimensions of the system size are given in this document as the example described here is a mere component for a larger system. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 7

8 Installation Introduction This chapter describes the steps necessary to set up the hardware and configure the software required to fulfil the described function of the application. Assembly Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 8

9 Hardware PLC Twido Modular Basic Unit TWDLMDA20DRT PLC Twido Interface module CANopen Master TWDNCO1M Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 9

10 Safety Controller XPSMC32ZC 1 Display panel 2 RESET button 3 CANopen connection 4 TE R connection 5 Terminals 6 CANopen LEDs Phaseo Power supply Unit ABL8REM24030 E-OFF Button (trigger action) XALK178G Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 10

11 Software General The main programming work lies in the programming of the Twido PLC and the configuration of the CANopen bus. Programming the Twido PLC is done using TwidoSuite. XPSMCW IN is used to configure the safety controller. This tool comes with the safety package SafetySuite. To use the software packages, your PC must have the appropriate Microsoft Windows operating system installed: Windows 2000 or Windows XP pro The software tools have the following default install paths: TwidoSuite C:\Program Files\Schneider Electric\TwidoSuite XPSMCW IN C:\Program Files\Schneider Electric\SafetySuite\ XPSMCWIN Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 11

12 Communication General For the example given, 3 connections are required: 1 PC => Twido PLC (configuration) 2 PC => Preventa Safety Controller (configuration) 3 Twido PLC Preventa Safety Controller (Data transfer) Communication cable TSXCUSB485 and TSXCRJMD25 For the communication between the Twido PLC and the PC a USB to RS485 converter (TSXCUSB485) plus a further cable for the Twido (TSXCRJMD25) are required. Ensure that the rotary switch on the converter is set to Position 2 (Point-to-Point cmmunication). Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 12

13 Preventa Safety Controller Programming cable TSXCUSB485 and TSXCRJMD25 Note: The rotary switch on the adapter TSXCUSB485 must be set to Position 3 (OTHER DIRECT). plus Adapter XPSMCCPC Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 13

14 CANopen - connector VW3CANKCDF90T, VW3CANKCDF90TP or VW3CANKCDF180T These connectors are used to link the CANopen devices. At the end of the bus, the terminating resistor must be activated. To do this, set the switch to ON. The bus cable must be connected to the incoming side. CANopen cable TCXCANCxyy The cable is available in various versions (x): Standard No Flame Heavy Duty and various lengths (yy): 50,100, 300 m. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 14

15 Implementation Introduction The implementation chapter describes all the steps necessary to initialise, to configure, to program and start-up the system to achieve the application functions as listed below. Function Start up and functional description 1. connect the CANopen cable between the Twido and Preventa controller. 2. Ensure that the Preventa Safety Controller and Twido PLC are switched on. 3. Wait for the CANopen communication to start (green PWR LED on Preventa and CANopen Master are lit). 4. Access either the Twido or Preventa controller via PC. 5. When the E-OFF button is active, the warning light is lit. If the E-OFF has been pressed the warning light is off. Functional Layout Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 15

16 Communication Introduction This chapter describes the data passed via the communications bus (CANopen) that is not bound directly with digital or analog hardware. The list contains: The device links Direction of data flow symbolic name and Bus address of the device concerned. Device Links The CANopen bus system is used in this application. The following devices are networked via CANopen: - A Twido PLC, bus address 127 (fixed) - A Preventa safety controller, bus address 1 Data Link Preventa <> PLC Twido-PLC (CANopen-Master, #127) Preventa Safety Controller (CANopen-Slave#1) Data Direction Preventa -> PLC Addre ss Name Index Designation %IWC1.0.0 STATUS_XPSMC_ZC Status Byte %IWC1.0.1 MODE_XPSMC_ZC Mode Byte %IWC1.0.2 RESERVED1_XPSMC_ZC Reserved 1 %IWC1.0.3 RESERVED2_XPSMC_ZC Reserved 2 %IWC1.0.4 INP UT_S _9_16_XPSMC_ZC Input State 9-16 %IWC1.0.5 INP UT_S _1_8_XPSMC_ZC Input State 1-8 %IWC1.0.6 INP UT_S _25_32_XPSMC_ZC Input State %IWC1.0.7 INP UT_S _17_24_XPSMC_ZC Input State Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 16

17 General Adressing Various hardware addresses, as well as flags and memory words, are used in the PLC application. An overview of the addresses used is provided below. The "Address" column shows how the address is written. Type Addre ss CommentBemerkung Digital Inputs %Ir.m.x Digital inputs are hardware orientated: r indicates the rack number, m the slot and x the input number e.g.: Response from E-OFF on %I0.3.0 Digital Outputs %Qr.m.x Digital outputs are hardware orientated: r indicates the rack number, m the slot and x the output number e.g.: Light indicator for manual mode on %Q0.5.1 Flags Memory words %Mx to %Mxxx %MWx to %MWxxx Flags for example are used to recognise stati and status changes. e.g. Rising Edge Recognition on %M11 Memory words are used to reference, analyse and modify. e.g. %MW0 set to the constant value 3 CANopen Inputs %IWCi.m.x CANopen-Inputs are written to memory words, I is the slot number of the CANopen master, m is the slave address, x the input number. e.g. Status word safety controller at %IW C1.0.0 Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 17

18 Batch File for Preventa Introduction A batch file exists to configure the CANopen connection of the Preventa safety controller with the Twido (File: XPSMC1632ZC for TwidoSuite.exe) The file automatically configures the PDO (only PDO5 is used). The user only needs to define the baud rate and the time out period for the CANopen connection. The batch file XPSMC1632ZC for TwidoSuite.exe is available for download on the Planet website and has the following function: Batch-File TwidoSuite 1 Check the TwidoSuite library file Catalogue.xls for the safety module XPS-MCxxZC and the expansion for the safety module XPSMC_ZC. 2 Create the directory XPSMC_ZC (V1.1) in path...catalogue\401\ 3 4 Copy the following files into the directory XPSMC_ZC (V1.1) : 5 TEXPSMC1632ZC_0106E.BMP => Bitmap for TwidoSuite TEXPSMC1632ZC_0106E.EDS => EDS file TEXPSMC1632ZC_0106E.SPD => Descriptor file for TPDO 5 Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 18

19 Symbolic Names 1 When the batch file Twidosuite.exe is invoked, the PDO5 mapped objects (all of type byte) are automatically given symbolic names which are described in the file note: In TwidoS uite all PDO5 objects of type byte are actually stored in words. 2 TEXPSMC1632ZC_0106E.SPD (Format: *.XML). Event-Timer 1 The desriptor file TEXPSMC1632ZC_0106E.SPD sets the Event-Timer to 200 ms and activates PDO5. Batch File Execution Integrating the Safety Controller in TwidoSuite 1 Unpack the attached ZIP file: TwidoSuite.zip 2 Integrating the Preventa safety controller, XPS-MC, in TwidoSuite is done by invoking the batch file XPSMC1632ZC for TwidoSuite.exe. 3 You are asked to confirm the install path. 4 After installation you are informed of its successful completion You can now use the Preventa safety controller in all future Twido projects. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 19

20 Implementing Twido Introduction This chapter describes the steps necessary to configure the Twido, including the CANopen connection to the Preventa safety controller. It is assumed that TwidoSuite is already installed but the connection to the P revent a safety controller is still to be made. Preconditions To perform the following steps it is required that: The TwidoSuite configuration tool is installed on your PC. The TwidoSuite project Example.xtwd is in the standard project directory. (C:\Program Files\Schneider Electric\TwidoSuite\my projects) The Twido PLC has a power supply and is on The PLC is connected to the PC via the programming cable (TSXCUSB485 and TSXCRJMD25) Configuring the PLC consists of: configuration Program start Create new project Configuration / summary Configuration / individual component Configure the Twido PLC Configure CANopen Connecting to the PLC Download the program Object Access via SDO Program layout Explanation of the PDO data Animation Table Analyzer Recordings Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 20

21 Configuration Start TwidoSuite 1 To start work with TwidoSuite, click on: Programming Mode Use the language selection buttons to set the language for this session. 2 The start up screen for the main menu is displayed. With Create a new project you can start a new project. Create a new Project 1 Once Create a new Project is selected, enter a Project name and select the Directory path to save it. You can enter Project Information if required but it is not mandatory. Confirm with Create. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 21

22 Select the Hardware 1 Now go to De scribe to configure the hardware. 2 In the configuration Workspace you will see a Twido PLC. In the Catalog on the RHS you can select the hardware/modules you wish to configure The Workspace offers you graphical documentation. 3 In the Catalog, first select the correct type of Twido TWDLMDA20DRT. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 22

23 4 Use Drag&Drop to drag the selection to the graphical image of the Twido. The grahical image will change to green. Drop the selected Twido while the mouse icon is in the green field. 5 As next module select the CANopen Master TWDNCO1M. Use Drag&Drop to plac e it to the right of the Twido PLC in the graphical image. 6 The Workspace now shows all the required modules. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 23

24 Configure the Hardware 1 For the hardware configuration select the main menu Program. 2 The screen shows the PLC rack with the PLC CPU already selected (green frame) and below the rack the list of configured variables for this module. Note the menus on the RHS and bottom of the display area. Menus on the RHS are submenus to the main menu along the top. Here you can configure the 3 main components. Configure Twido PLC 1 You can now configure all the I/O variables for the PLC. To name the variables click on the Symbol column for a particular I/O and input the new name. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 24

25 2 Spaces and special characters are not allowed in symbol names. If the variable is already in use in the program, the check box to the LHS is activated. 3 All symb ol names are shown in uppercase. 4 Changes are only made when the Apply button is pressed. If you try to exit the dialog without pressing Apply, you will be reminded. 5 Symbols entered in the configuration are automatically inserted into the variable list. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 25

26 Configure CANopen Master 1 Now configure the CANopen Master. Click on the CANopen module in the graphics display. 2 Click on Configure in the module configuration. 3 Select the tab Network. The catalogue contains the CANopen profiles for DS401 and DS A double click on the arrow icon before the entry in the catalogue displays the CANopen device. The Preventa safety controller XPS-MC is already listed (click on the + symbol) as it was added by the batch file XPSMC1632ZC for TwidoSuite.exe Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 26

27 5 double click on the Symbol XPSMC_ZC(V1.A) to add the Preventa safety controller XPS-MC to the slave list (here in Position 1). 6 Change the default none to HeartBeat. Hinweis: The line number is the CANopen address of the slave. 7 change the Baudrate to 500 Kbit/s and set the supervision time out to 300 ms. 8 Click on Apply to complete the configuration of the Preventa safety controller XPS-MC. 9 The Mapping tab has a summary of all the TP DO5 m apped objects. In the list of available objects, the objects 2000 to 2007 are fixed for TP DO5 and cannot be changedwerden. There is no RPDO5. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 27

28 10 (all values are in hexadecimal) Here we see the communications object The contents of the subindeces (starting at 2000) are: Sub 0 => No. entries: 5h Sub 1 => COB-ID: 690h Sub 2 => Transm.Type: FFh Sub 3 => Inhibit Time: 0h Sub 5 => Event-Timer: C8h 11 The pre-defined addresses of the available objects for the Preventa safety controller are summarised here. 12 The CANopen configuration for the Preventa safety controller is finished. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 28

29 Connecting to the PLC 1 To connect the PC to the PLC select Program in the main menu, then Debug in the sub-menu to get access to the connect selection. 2 You can now either configure a new connection (see the menu at bottom of the window) or select a pre-configured connection. To connect click on OK. 3 You will be shown a progress bar while TwidoSuite establishes the connection. Download Program 1 After successfully connecting to the Twido, TwidoSuite compares the status of the project and the Twido PLC. Now you can either download your project or upload the contents of the PLC. 2 To download the project select: Transfer PC->controller and confirm with OK Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 29

30 3 If the Twido is already running it must be stopped first. Confirm with OK if you wish to proceed. 4 You will be warned that the contents of the PLC are about to be over-written. Confirm with OK to continue. 5 The download condition is indicated with a progress bar. 6 After a successful download, TwidoSuite jumps automatically to the online viewing. 7 A control panel appears in the foreground. Here you can start and stop the PLC. The upper button extends the window, offering more PLC status information 8 If you start the PLC you will be asked to confirm the action. If you wish to proceed with the start click on OK. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 30

31 9 After successfully starting the PLC the RUN indicator changes from yellow to green. 10 Here the expanded window with the PLC in RUN mode. 11 If the online status window is closed, a click in the upper left hand corner of the main window opens it again. 12 The sub-menu Manage animation tables allows access to the animation tables. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 31

32 Accessing Objects via an SDO Reading Objects via an SDO The following illustration of how XPS-MC Preventa safety controller objects can be accessed explicitly is based on the example of Object 2008, Sub-index 0 used in conjunction with the CAN_CMD1 TwidoSuite function block. Program Structure 1 The short application that appears below in ladder format is structured as follows: 2 Rung 0: Internal flag %M10 (controlled via the animation screen) is designed to ensure that the SDO is called only once. Hence, flag %M10 is copied to flag %M11, whereby %M11 is set to single-shot. 3 4 Rung 1: The data received from the last SDO request is buffered here. 5 6 Rung 2: The CAN_CMD1 function block is configured and called here. The block can only be called if no SDO call is currently in progress (flag %SW81:X3 = 1). 7 Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 32

33 8 The content of flag values %MW0 to 7 is as follows: 9 %MW0 => Start read command %MW1 => Node address %MW2 => OBJ index %MW3 => Length/subaddress %MW4 => Data word 1 %MW5 => Data word 2 %MW6,7 => Data from last CAN_CMD1 block call Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 33

34 Explanation of PDO Data General TP DO5 is transferred in accordance with transmission type 255 (FF hex) whenever the assigned data is changed or whenever the time set for the event timer elapses (this is set to 200 ms via the TwidoSuite.exe batch file). Animation Table 1 The data mapped in TPDO5 is displayed in the animation table. This data reveals that: - The safety application is in the RUN state (%IWC1.0.0) - The safety controller is operational (%IWC1.0.1) - The safety controller type is XPS-MC32 (%IWC1.0.1) - The safety controller configuration is valid (%IWC1.0.1) - Both emergency-off-switch inputs are set (%IWC1.0.5) - The tracer that triggers the timer is set (%IWC1.0.5) 2 Analyzer Trace 3 TP DO 5 (COB -ID: 690) appears in the analyzer s Trace window (Vector CAN analyzer), along with the corresponding data relating to the animation table and the two heartbeat telegrams of the Preventa safety controller (CO-ID: 701) and the TWDNCO1M Twido CANopen master module (COB-ID: 77F). The two heartbeat telegrams also reveal that both the CANopen master and the Preventa safety controller are in the operational state. 4 Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 34

35 Implementing Preventa Safety Controller Introduction This chapter decribes the steps required to configure and load the safety controller. The safety controller provides autonomous control of the system safety functions. The safety functions are included in the software XPSMCWIN as part of the SafetySuite package and only have to be programmed. Pre-conditions Before carrying out the steps below, the following is required: The configuration software XPSMCW IN is installed on your PC The Safety Controller XPSMC32ZC has apower supply The XPSMCWIN project Example.mmc is available The PC and the Safety Controller are connected via the programming cale (TSXCUSB485,TSXCRJMD25 und XPSMCCPC). Configuring the safety controller involves the following steops: Start the configuration Create a new project and configure the communication Define the stop categories Add the safety elements Check the configuration and save project Dowload to the safety controller and start Diagnosis function Access to objects via SDO Online-Status Preventa XPS AnimationTables Analyzer Protocol Mapping the PDO Objects TPOD5 Start the Configuration 1 After starting SafetySuite you will see the main window. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 35

36 2 In this window, select: XPSMCWIN. 3 After invoking XPSMCWIN you are shown the user desktop. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 36

37 4 To connect to the controller you must first define the communications interface. To do this select: Controller->COM Selection 5 select the serial Port that you are using. In our case: COM 1. 6 To check the connection, upload the status from the controller. Select: Controller->Controller Info Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 37

38 7 The window Controller Info displays the Type, the Firmware Version and the Extension. Via Details more information is available. Create a new project and configure the communication 1 To create a new project select: File->New 2 In the dialog window ent er a project name as Title. The Author and Comment entries are optional. Contnue with OK. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 38

39 3 In the Device Library under the entry Controller select the Safety Controller XPSMC32ZC with CANopen extension. Use Drag&Drop to copy it to the Configuration frame. 4 In the pop up dialog you can change the default name Controller1. Click on change in the CANopen frame to go to the next window. 5 Here you can define the CANopen parameters. For Controller1: Addre ss: 1 Baud Rate: 500kBit/s Click on OK to set the values and leave the dialog. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 39

40 6 The CANopen parameters are now shown in the CANopen frame. Continue with OK. 7 The Configuration window now displays the controller with its outputs. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 40

41 Define the Stop Categories 1 Each output can be assigned a stop category. In our example we use o1 and o4. Use right mouse click and select Properties to go to the properties of the safety outputs. 2 For o1 select Stop Category 0 (stop without delay). Enter a Name and leave the other fields blank. Continue with OK. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 41

42 3 You should now see: Add the Safety Elements 1 In the Device Library the safety elements are displayed in groups. 2 We require a 2-channel E-STOP button. Select Emergency Stop->2-channel. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 42

43 3 and drag the Element to the configuration frame and drop it on the configured o1: Stopcat_0. 4 For the E-STOP button select: Name: Emergency Stop Function: two channel switch For the Inputs select: Ch.1 Ch.2 Control Output Control Output i01 i02 c01 c02 continue with OK. 5 Tim ers are found in the Device Library under Miscellaneous Devices. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 43

44 6 Using Drag&Drop assign the timer to output o4. 7 For the timer input the following: Name: Timer Function: switch ON pulse Time : 9.9 and in the Input fileds: Ch.1 Control Output i03 c03 switch ON pulse: When the safety input shows a rising edge and stays at 1, the delay starts and the safety output is set to 1. When the delay period is complete or the safety input goes to 0 the safety output is reset to 0. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 44

45 8 The configuration should now appear as in the image on the right. The configuration is now finished. Check the configuration and Save Project 1 You can check the configuration with: Check->Check Configuration. 2 If all is ok, you will be shown the message: No errors found 3 The configuration can be saved with File->Save As. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 45

46 4 In the save dialog give the file name (*.mcc) and path (save in). You can recover the configuration at a later date with File->Open Download to Safety Controller and start 1 To download the project to the safety controller, select: Controller-> Download Configuration to Controller. 2 Select the controller to which you wish to download to. here: Controller1. and click on Download 3 Confirm the download with Yes. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 46

47 4 If the controller is running it must be stopped first. Click Yes to stop the controller. 5 Enter the password and click OK. Note: The standard password is safety. The password can be changed using: Controller->Change Password 6 You will be shown a status bar during the download. 7 The protocol is displayed Continue with Validate. 8 Under Your name enter a name and continue with OK. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 47

48 9 You will be asked for the password again. 10 Confirm the message for upload and validation with Yes. 11 The downlaod was successful. Now you can start the controller by clicking on Yes. 12 The controller is now running with the new configuration. 13 You can get the status of the controller with: Controller->Controller Info. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 48

49 Diagnosis Function 1 For diagnosis and test purposes you can upload the different states of the XPSMC to your PC. Note: During diagnosis the XPSMC remains in run mode so that the complete machine cycle can be monitored. The safety elements are assigned numbers which, including an error code, can be transferred to the PLC via CANopen For example for the E_OFF this number is Start the diagnosis with: Mode->Diagnostics. 3 The actual status is indicated in the status bar. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 49

50 4 Here an example in which no button was pressed. Red Dot The corresponding safety output is de-activated (safety door open) or the Input is open. Green Dot The corresponding safety output is activated or the input is closed. Grey Dot The corresponding safety output is not used or the PC has not received any diagnostic data for this item from the XPSMC. 5 Here is an example in which the E-OFF was pressed. The red dot with the lightening symbol means this element is in error mode. Click on the element to see the error message Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 50

51 6 Here an example in which the acknowledge button or timer was activated. The green dot with the hour glass indicates this output belongs to category 1. The cahnge-over conditions are no longer fulfilled, the delay is still active. A yellow dot indicates that a component or output is active but not yet started.. 7 The diagnostic message window shows the following message if the E-STOP is pressed. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 51

52 Access to Objects via SDO General Objects are accessed via an SDO using the CAN_CMD1 TwidoSuite function block, CAN_CMD1, which is integrated in the above demo application. Preventa XPS Online Status 1 In our example, Object 2008 (Sub-index 0) is to be read out. This object contains the states of outputs 1 to 8 of the Preventa safety controller. Assuming that the following safety controller state applies. Animation Table 2 if Object 2008 (Sub-index 0) is accessed via an SDO, the following result will be produced: 3 Analyzer Trace 4 The SDO access data is located in %MW4 and %MW5. 5 The content of %MW4 (bin.: ) corresponds to the states of the safety controller outputs. Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 52

53 Mapping PDO Objects TPOD 5 These objects are available in TwidoSuite (if the TwidoSuite.exe batch file has been executed). Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 53

54 Appendix Detailed Component List Hardware Components Pos. Amt. Description Part Number Rev./ Vers Twido modular PLC with 12 DI/8D0 TWDLM DA20DRT V Twido CANopen Master TWDNCO1M V Safety Controller, 32 Inputs, XPSMC32ZC V2.32 CANopen connector set spring for XPSMCTC32 XPSMC32ZC CANopen - connector normal TS XCA NK CDF90T CANopen Cable (xx=meter) TS XCA NCxyy E-STOP button, trigger action XALK 178G Acknowledge and warning button XB5AW363 Safety triggered (blue) Button housing XALD Power switch Power Supply 3A 24V ABL8REM24030 Software Components Pos. Amt. Description Part Number Rev./ Vers TwidoSuite Progr.-Software TWDB TU10EF V USB to RS485 Converter TS XCUSB Programming cable RJ45 to TS XCRJM D25 MINIDIN SafetySuite XPSMCW IN V Adapter for safety controller XPSMCCP C Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 54

55 Component Protection Classes Positioning Component In Field, On Site Protection Class Twido PLC Modular with expansions Preventa Safety Controller XPSMC Phaseo Power supply 24 V DC E-STOP housing double/triple button housing, empty Illuminated buttons, all colours, low profile Auxiliary switch with LED + 1 switch (1 NO), all colours Cabinet Front Inside IP54 IP65 IP67 IP55 IP65 IP20 X X X X X X X Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 55

56 Component Features Components Twido Modular PLC The PLC used in this example is a Twido Modular PLC basic unit, a TwidoSuite software package and programming cable: 24VDC 12 digital Inputs 8 digital Relay Outputs extensible up to 7 Modules (Analog- and communications modules also possible) two programming languages: Ladder Instruction list (IL) Pre-defined functions: drum control fast counters up to 5kHz very fast counters up to 20 khz Frequency measuring khz Registers forr LIFO/FIFO buffering PWM- / PLS-output External PLC start PID Controller Twido CANopen Ma ster TWDNCO1M The implementation of the Twido CANopen interface is according to Schneider Electric Conformance Class M10. This means that the CANopen performance characteristics have certain limitations. For the Twido CANopen Module TWDNCO1M these are: 1 to 16 Slaves on CANopen Bit-Rates: 125 kbit/s, 250 kbit/s and 500 kbit/s No. PDOs: <= 16 TPDOs + <= 16 RPDOs no support for SYNC-Modus Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 56

57 Preventa Safety Controller XPSMC32ZC The CANopen interface on the safety controller XPS-MC conforms to profile DS401. Due to the specification of the safety controllerpdos 5 to 8 are used, however only PDO5 is available for the Twido. Data can only be transferred from the safety controller to the CANopen Master via PDO (Transmit-PDO 5); Transferal of the CANopen Master s output data per Receive-PDO to the safety controller is not implemented. The mapping of the objects in TPDO 5 is fixed and cannot be altered. The Safety Controller XPS-MC has the following CANopen characteristics: implementation according to profile 401. Bit-Rates: 20, 50, 125, 250, 500, 800 kbit/s and 1Mbit/s. No. PDOs: Standard TPDO 1 to 4 not implemented, extended TPDO 5 to 8 implemented. No Receive PDOs. Supports the SYNC-Mode (not usuable with Twido). Tw ido and Preventa XPS-MC w ith CANopen_EN.doc Schneider Electric 57

58 Contact Author Telephone Schneider Electric GmbH Machines & Process Architectures Schneider Electric GmbH Steinheimer Strasse 117 D Seligenstadt Germany As standards, specifications and designs change from time to time, please ask for confirmation of the information given in this publication. Twido and Preventa XPS-MC with CANopen_EN.doc 58