CANopen Getting Started User's Manual

Transcription

1 CANopen Getting Started User's Manual Version: 1.00 (October 2006) Model No.: MACOGETST-ENG All information contained in this manual is current as of its creation/publication. We reserve the right to change the contents of this manual without warning. The information contained herein is believed to be accurate as of the date of publication; however, Bernecker + Rainer Industrie- Elektronik Ges.m.b.H. makes no warranty, expressed or implied, with regards to the products or the documentation contained within this book. In addition, Bernecker + Rainer Industrie- Elektronik Ges.m.b.H. shall not be liable in the event of incidental or consequential damages in connection with or resulting from the furnishing, performance, or use of these products. The software names, hardware names, and trademarks used in this document are registered by the respective companies. 1

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3 Chapter 1: General information Chapter 2: B&R Fieldbus Configurator Figure index Table index Index 3

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5 Table of contents Chapter 1: General information Manual history Configuration of B&R CANopen bus controllers X20 CANopen bus controller X67 CANopen bus controller EDS file X20 Register User s Manual CANopen communication Device profiles Object directory Service and process data objects PDO mapping table Layout PDO layout (default) I/O objects Chapter 2: B&R Fieldbus Configurator Introduction Installing the EDS file User interface Directory structure Creating a CANopen configuration Inserting a master Global settings Master configuration Bus parameters Inserting a slave Slave configuration Slave configuration Online connection Downloading the created configuration Result of the configuration Simple diagnostics Additional functions Overview tables Online diagnostics master Online communication - slave Project configuration in Automation Studio Requirements Communication profile Creating a BR module Inserting a BR module Configuration of B&R CANopen bus controllers Initialization I/O data traffic Transferring project to controller

6 Table of contents 6

7 General information Manual history Chapter 1 General information Chapter 1 General information 1. Manual history Version Date Comment 1.00 October 2006 First version Table 1: Manual history 7

8 General information Configuration of B&R CANopen bus controllers 2. Configuration of B&R CANopen bus controllers The purpose of this Getting Started document is to provide an example configuration of the CANopen bus controller using the B&R Fieldbus Configurator. The range of B&R CANopen bus controllers includes modules from the X20 and X67 systems. All B&R CANopen bus controllers support X2X Link. The main goal here is to decentralize the backplane of a rack system. The cable replaces the backplane that connects all of the modules. Directly connected X20, X67 and XV modules can be arranged in intervals of up to 100 m past the confines of the switching cabinet. 2.1 X20 CANopen bus controller The X20 CANopen bus controller X20BC0043 makes it possible to connect X2X Link I/O nodes to CANopen. It has automatic transfer rate detection and AutoMapping of the I/O modules connected with X2X Link. All CANopen operating modes (synchronous, event, and polling) are supported, as are PDO linking, life/node guarding, and emergency objects. X20 or other modules that are based on X2X Link can be connected to the bus controller. For a detailed description of the X20BC0043, including a list of required accessories, refer to the User's Manual for that particular module. Technical details are listed in the corresponding data sheet. Model number Short description Image X20BC0043 X20 bus controller fieldbus interface, 1 CANopen interface, status indicator LEDs 2.2 X67 CANopen bus controller Table 2: X20 CANopen bus controller The X67 CANopen bus controller X67BC4321 (IP67 protection) makes it possible to couple the X2X I/O system to CANopen. In addition to all the properties already listed for the X20 bus controller, it also has 8 digital channels that can be configured as either inputs or outputs. For more detailed information regarding the product and its configuration options, refer to the User's Manual or data sheet for the module. 8

9 General information EDS file Model number Short description Image X67BC4321 X67 CANopen bus controller, X2X Link supply 3 W, 8 digital channels can be configured as input or output, 24 VDC, 0.5 A, configurable input filter, LED status indicators Chapter 1 General information The following refers to CANopen bus controllers in general. The variants are only discussed with respect to actual variations in the creation of the project. 3. EDS file Table 3: X67 CANopen bus controller For successful integration of a B&R CANopen bus controller in the engineering tool, the corresponding EDS (Electronic Data Sheet) file must be imported. The EDS files for the modules listed above are available on the B&R homepage ( Entering a model number or serial number under "Product Search" brings up the corresponding product information. The download area for each module has a link to the EDS package. Before you download the file, you can select a version number. When integrating a CANopen bus controller for the first time, it is recommended to use the highest available version. 4. X20 Register User s Manual The X20 Register User's Manual contains detailed register descriptions of all X20 modules supported on X2X Link as well as information about various channel types, the B&R ID code and information about function models and cycle times. Information regarding the X67 modules can be found directly in their respective data sheets, which are available on the B&R website ( 9

10 General information CANopen communication 5. CANopen communication 5.1 Device profiles With CANopen, device characteristics are described in so-called device profiles. For each device type, particular data and parameters (called "objects" for CANopen) are strictly defined. The CAN in Automation (CiA) organization describes the device profiles in various standards. "Draft Standard 401", for example, deals with digital and analog I/O devices. Both the X20 and X67 CANopen bus controllers fall under this category. 5.2 Object directory An "object directory" contains an overview of all data and parameters (objects) for a CANopen device. The data reflect the process image, whereas the parameters can be used to influence the function of a CANopen device. The objects are indexed so that they can be clearly identified and addressed. This index can also be divided into several sub-indexes. The structure of the object directory, the assignment of index numbers, and several mandatory entries are specified in the device profiles. The object directory is saved for the user as an EDS file. The EDS file contains all objects and their characteristics (index, sub-index, name, data type, default value, access possibilities, etc.). In this way, the entire functionality of the CANopen device is described in the EDS file. 5.3 Service and process data objects In a CANopen network, data (reference data) is transferred in the form of telegrams. There are service data objects (SDOs) and process data objects (PDOs). With SDOs one can access all entries in the object directory, however they are mostly used for initialization during the boot procedure. PDOs bundle all objects (variables and parameters) from the object data directory. A PDO (max. 8 Bytes each) can consist of multiple objects. 5.4 PDO mapping table PDO (process data objects) SDO (service data objects) - Transfer of real-time data - Transfer of system parameters - No answer to telegram (fast data transfer) - Answer to telegram (slow data transfer) - High priority identifier - Low priority identifier - Max. 8 Bytes / telegram - Distribution of data across multiple telegrams - Set data format - Index addressable data Table 4: Service and process data objects Each bus controller (X20 / X67) has its own Excel table to define the PDO mapping for the bus controller. The file has three views: Layout, PDO layout, and I/O objects. The following section will describe the PDO mapping for the example configuration used in chapter 2. 10

11 General information CANopen communication Layout In the Layout view, the X2X configuration can be arranged after the corresponding bus controller. The bus controller is placed on slot 0 and the corresponding module (X20BC0043 -> X20PS9400, X67BC4321 -> X67DM1321) on slot 1. All subsequent modules can be chosen from the selection menu. The example configuration consists of the bus controller (X20BC0043), the supply module (X20PS9400) and a digital output module (X20DO8332). Chapter 1 General information Figure 1: Layout view - X20BC PDO layout (default) After the desired configuration is set up, the corresponding default PDO mapping is automatically created. The table shows the 8 bytes of each PDO (for both sent and received data). All data from the previously configured modules is mapped according to their order (starting with slot 1). Figure 2: PDO layout (default) X20BC0043 The occupied bytes contain the slot number of the corresponding module, as well as an indication of whether the data is input or output data (digital or analog). The bytes are arranged according to the Little Endian principle, i.e. lowest byte first. For our example configuration, the PDO layout looks like this: 11

12 General information CANopen communication Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Tx PDO1 Rx PDO1 Slot 2, DO1-8 Tx PDO2 Slot 1, AI1 LSB Slot 1, AI1 HSB Slot 1, AI2 LSB Slot 1, AI2 HSB Slot 1, AI3 LSB Slot 1, AI3 HSB Rx PDO2 The contents of this table are absolutely necessary for proper configuration of the bus controller, and essential for functioning communication I/O objects Table 5: PDO layout for the example configuration Every I/O module that conforms to the CANopen standard can be defined using objects from the common object directory. Entries in the object directory are universally valid and are implemented according to the functionality of each particular module. The following indexes are listed in the table: Object index 0x6000 0x6200 0x6401 0x6402 0x6411 0x6412 Description Read input, 8-bit Write output, 8-bit Read analog input, 16-bit Read analog input, 32-bit Write analog output, 16-bit Write analog output, 32-bit Table 6: Excerpt from the object directory The data packets of the X20DO8332 module (8 digital outputs), for example, are located under the object index 0x6200. Figure 3: Mapping - I/O objects 12

13 General information CANopen communication The example configuration has the following I/O objects: Index (hex) Sub-index (dec) Data point Product code Write state 8 output lines - 0x6200 0x Slot 2, DO 1-8 X20DO8332 Read analog input, 16-bit - 0x6401 0x Slot 1, AI1 LSB X20PS9400 Slot 1, AI1 HSB X20PS9400 0x Slot 1, AI2 LSB X20PS9400 Slot 1, AI2 HSB X20PS9400 0x Slot 1, AI3 LSB X20PS9400 Slot 1, AI3 HSB X20PS9400 Chapter 1 General information Table 7: Mapping of the I/O objects for the example configuration This information is required for bus controller configuration with the B&R Fieldbus Configurator. 13

14 General information CANopen communication 14

15 B&R Fieldbus Configurator Introduction Chapter 2 B&R Fieldbus Configurator 1. Introduction The B&R Fieldbus Configurator makes it possible create a uniform configuration for the most popular fieldbus systems, such as Profibus, CANopen, and DeviceNet. Standardized configuration files (GSD, EDS files) are used to configure the various bus stations. A graphic editor is used to configure the bus and the corresponding bus stations. Additionally, the B&R Fieldbus Configurator can create BR files (with the ending ".br"). These are needed to configure the stations for a project using Automation Studio and contain the entire configuration of the fieldbus network. Chapter 2 B&R Fieldbus Configurator 2. Installing the EDS file When the program starts, the B&R Fieldbus Configurator automatically reads all EDS files which are stored in its EDS directory. The device names are recorded in an internal list. The device specific data is read from the EDS file during the configuration. If a CANopen device is required that does not yet appear in the selection list, it must be added. There are two ways to do this. Either via the user interface itself or within the directory structure of the B&R Fieldbus Configurator. 2.1 User interface New EDS files can be integrated via the menu under File->Copy EDS. In the window that opens, the source path of the desired EDS file (".eds") can be entered. A copy of the selected file is saved for CANopen in the EDS folder of the B&R Fieldbus Configurator. Be sure that the files you are importing are not write protected. In addition to the EDS file, the graphic file needed to display the module in the Configurator is also imported. A message box will appear to acknowledge the successful copy of the EDS file and the corresponding bitmap file. 2.2 Directory structure All EDS files for CANopen imported into the Configurator are saved in one folder. This folder is found here: BrAutomationTools/BRFBCfg/Fieldbus/CANopen/EDS. EDS files to be added can be placed in this folder. To ensure a successful integration, the files must have the format ".eds". The Configurator's EDS folder can be moved anywhere in the directory structure. It is also possible to create a new folder. 15

16 B&R Fieldbus Configurator Installing the EDS file Figure 4: EDS folder It is important to remember, however, that the B&R Fieldbus Configurator can only use one folder as a reference for the electronic data sheets (EDS files). All necessary EDS files must therefore be stored in this folder. The path for the EDS folder can be set in the menu under: Settings->Set path. Figure 5: Path of the EDS files In the field "EDS File Directory", you can enter the path for the folder containing the EDS files. You can also set the path for the "Project File Directory". If you do not wish to change them, the default values can be used. For the Configurator to apply the changes you have made, the software must be restarted. 16

17 B&R Fieldbus Configurator Creating a CANopen configuration 3. Creating a CANopen configuration Select File->New to create a new configuration. All installed fieldbus systems are shown in a list. In this example, "CANopen" should be selected as the fieldbus. The name of the newly created project can be assigned at the end or with the function File->Save As. 3.1 Inserting a master A master can be inserted using the menu option Insert->Master. This can be also be done using the appropriate icon. A selection window opens, which lists all available masters on the left side. Here you have the chance to assign masters a station address and a description. These can be edited at any time when configuring the individual masters. In the example, the module 3EX is selected as CANopen master. Chapter 2 B&R Fieldbus Configurator Figure 6: Master selection After selecting the master (3EX ), the configuration will look like this: Global settings Figure 7: Selecting the CANopen master 3EX By placing the focus on the master and selecting the menu option Settings->Global settings, double-clicking on the master, or via the right-click menu, you can open the global settings window. 17

18 B&R Fieldbus Configurator Creating a CANopen configuration Process data addresses can be assigned automatically using the Fieldbus Configurator. If this option is activated, the addresses are assigned starting at 0 and increasing according to the entry order of the nodes before the download. They can be displayed and checked under the menu option View->Address table. When auto addressing is deactivated, the user must enter the addresses manually. The bottom section configures the assignment of the COB ID (Communication Object Identifier) and the PDOs (Process Data Objects) when inserted. Here you can choose to manually assign the COB ID, or to have the it assigned automatically according to CANopen profile 301. For this example, use the settings as shown in the screenshot Master configuration By placing the focus on the master and selecting the menu option Settings->Master settings, double-clicking on the master, or via the right-click menu, you can open the master configuration window. Startup behavior after system initialization If "Automatic release of the communication by the device" is selected, the master device starts with the data exchange on the bus immediately after the initialization has completed. When "Controlled release of the communication by the application program" is selected, data exchange on the bus is initialized by the application program. This option guarantees that no unwanted states reach the outputs, since the application program has complete control over the I/O data traffic. However, this requires systematic control of the modules by the application program. The following example configuration is executed using Automation Studio. User program monitoring The watchdog time determines how long the device waits for the software watchdog to be triggered by the application program until it sets the outputs of the slave device to zero. Addressing mode Figure 8: Global settings The addressing mode for the process data determines how the process data addresses (offsets) are interpreted. Byte addressing and word addressing are both possible. 18

19 Storage format (word module) B&R Fieldbus Configurator Creating a CANopen configuration The storage format determines how the data words are stored in the process image. For the word format, you can switch between Big or Little Endian addressing. Chapter 2 B&R Fieldbus Configurator Handshake of the process data Selection the handshake process for the process data between the application and the master. This selection is important for successful data exchange between the application program and the device. The handshake selected must be supported by the application program. This is the case, for example, for "buffered, host controlled" transfer procedures. The option "no consistence, uncontrolled" is only useful for quick, simple diagnostics. Hardware parameter Figure 9: Master settings The size of the hardware's dual port memory is specified with this parameter. The value increases or decreases the valid address range for the process data addresses. This is only a static display of the value. It cannot be changed. For the following example, the settings should be made to match those in the following screenshot. 19

20 B&R Fieldbus Configurator Creating a CANopen configuration 3.2 Bus parameters Using the menu option Settings->Bus parameters you can open the bus parameter configuration window, where the basic settings for the CANopen network are made. Baud rate Both the X20BC0043 and the X67BC4321 have automatic baud rate detection and support the entire available range of baud rates. Master stops when a node guard or heartbeat error occurs Defines the master's behavior when communication to at least one node is interrupted. If activated, then the master also ceases communication with all other active nodes. If deactivated, then an interruption in communication with one node has no influence on communication with other nodes. Furthermore, the master attempts to reestablish communication to nodes which have been interrupted. Synchronization object (SYNC) Figure 10: Configuring the bus parameters Set the period duration and the message number COB ID (Communication Object Identifier). The default setting for the COB ID is

21 Heartbeat function B&R Fieldbus Configurator Creating a CANopen configuration Select this to use the heartbeat protocol for device monitoring. In the field "Master producer heartbeat time", the cycle time for the master is entered in ms. Activate global start node After the master has started each node individually, it sends a global start message that synchronizes all nodes. 29-bit selection entries When this option is activated, 29-bit message support is enabled for the master. 3.3 Inserting a slave Chapter 2 B&R Fieldbus Configurator A CANopen slave can be inserted into the configuration via menu option Insert->Slave, or by clicking on the appropriate icon. All slave devices that have EDS files stored in the EDS directory are available for selection and displayed in the list on the left. A filter can be used to limit the selection list to certain profiles (301- application layer and communication profile, 401- device profile for generic I/O modules) or vendors. Additional information regarding the individual slaves can be found below the "Available slaves" selection list if they have been selected. The slave can be moved to the list on the right by double-clicking on it, or by clicking on the Add button. Figure 11: Slave selection window 21

22 B&R Fieldbus Configurator Creating a CANopen configuration The station address (Node ID) automatically increases by one with each slave added to the list on the right. The station address and the slave name can be changed at any time in the slave configuration window. Information: Both X67 and X20 CANopen bus controllers must be restarted before they take on the newly assigned node numbers. Figure 12: X20BC node number switches Figure 13: X67BC node number switches Note: A slave can be selected more than once. However, each slave must have its own unique station address to tell it apart from other slaves on the network. Important: the station addresses entered must match the node numbers set on the bus controller. In this example configuration, the CANopen bus controller X20BC0043 (node number 2) is selected as slave. It connects the CANopen network with the X2X Link. Figure 14: Master - Slave example configuration 22

23 3.3.1 Slave configuration B&R Fieldbus Configurator Creating a CANopen configuration The slave configuration window opens with a double-click on the desired slave or via the menu option Settings->Node configuration. Chapter 2 B&R Fieldbus Configurator Configuration - upper area of window: Node Device name from the EDS file. Description Option to assign a symbolic name. Figure 15: Node configuration window Activate nodes in the current configuration If this setting is activated, process memory is used in the master for this node and no data is exchanged from the master to this node. If it is deactivated, process memory is used in the master for this node, however no data exchange occurs from the master to this node. 23

24 B&R Fieldbus Configurator Creating a CANopen configuration Automatic assignment of COB ID according to CANopen profile 301 Activated by default. The COB ID for a PDO is automatically preset based on the node address and independent of the PDO used. If this is deactivated, the COB ID can be assigned manually. Note: If the setting "Automatic assignment of COB ID according to CANopen profile 301" is deactivated, the Fieldbus Configurator does not check whether COB IDs are used more than once. This is left completely up to the user. The user should also check whether the node used supports the particular function. Device profile and device type At the beginning of communication, the master compares these entries with the actual device. If inconsistencies arise, the master generates an error. Both digital and analog input and output data are available for selection as device type. For this example configuration, both the analog input data (X20PS9400) and the digital output data (X20DO8332) must be selected. Node address The node address defines the location of the device on the bus and must be unique. Important: the entry must match the node numbers set on the bus controller. Error control protocol configuration The error control protocol configuration is used to set the device monitoring using node guarding, life guarding, and heartbeat. Particular settings for this can be found in the Help for the Fieldbus Configurator. Emergency COB-ID / Node guard COB-ID Informative, non-changeable COB IDs Node BootUp Defines the master's start-up behavior with respect to each individual node. The master runs through several states with each node before the BootUp order is complete. The individual steps (states) can be activated or deactivated. By default they are all activated. OPC objects OPC stands for "OLE (Object Linking and Embedding) for Process Control". The entries for the OPC objects refer to the symbols for the OPC server for SDO communication. Further information can be found in the Fieldbus Configurator online help. For this example configuration there are no changes to make here. Object configuration The object configuration button can be used to view the object directory from the EDS file and, if necessary, to use it for node configuration. See section "Slave configuration" for a description. 24

25 B&R Fieldbus Configurator Creating a CANopen configuration The lower section of the slave configuration window contains the actual parameters for the bus controller. Current node Change to the configuration of another node without leaving the window. PDO mapping method Specifies the procedure for the PDO mapping. You can select either DS301 V3 or DS301 V4. We recommend the method DS301 V4. Here, mapped information in the node is deleted, rewritten, and then set to valid. Predefined process data objects (PDOs) from the EDS file Shows the list of PDOs from the EDS file that can be used for the configuration. The following table shows the correlation between the object index and the PDO layout generated with the Excel table. Chapter 2 B&R Fieldbus Configurator Object index PDO name Its equivalent in the PDO layout 1400 Receive PDO communication parameters Rx PDO Receive PDO communication parameters Rx PDO Receive PDO communication parameters Rx PDO Transmit PDO communication parameters Tx PDO Transmit PDO communication parameters Tx PDO Transmit PDO communication parameters Tx PDO Table 8: Correlation between object index and PDO layout By default both object 1400 and object 1800 are activated (indicated by activate button). This table must be adapted for the current configuration. For our example, according to the PDO layout (see chapter 1 "General information", section "PDO layout (default)" on page 11) this means that object index 1400 (Rx PDO1) and 1801 (Tx PDO 2) must be activated. "Add to configured PDOs" button Figure 16: Selection of objects 1400 and 1801 This button moves the activated PDOs from the overview of predefined PDOs into the configured PDOs window. 25

26 B&R Fieldbus Configurator Creating a CANopen configuration PDO contents mapping Double-clicking on the PDO or clicking on the "PDO contents mapping" button lets you view and change the transferred reference data. The set of "I/O Objects for PDO" that was created in the Excel table is the basis for the settings to be made here (see chapter 1 "General information", section "I/O objects" on page 12). Based on the sub-indexes there, the following configurations result: Figure 17: Configuration of sub-index, PDO_1400 Figure 18: Configuration of sub-index, PDO_

27 B&R Fieldbus Configurator Creating a CANopen configuration After configuration, the setting of the sub-indexes has changed the input and output lengths. They should now look like this: Figure 19: Configured PDOs PDO characteristics Setting for the transfer characteristics for the master input and output data. The default values can be used. (For more information see Fieldbus Configurator online help) Chapter 2 B&R Fieldbus Configurator Figure 20: Configuring the master output data Figure 21: Configuring the master input data 27

28 B&R Fieldbus Configurator Creating a CANopen configuration Define new receive PDO Define new transmit PDO Option to define a new receive or transmit PDO. (For a description see Fieldbus Configurator online help). Delete configured PDO This button can be used to delete the selected PDO. Symbolic name The symbolic names refer to the symbols for the OPC server. The node configuration for our example looks like this: Figure 22: Configured node 28

29 3.3.2 Slave configuration B&R Fieldbus Configurator Creating a CANopen configuration The bus controller and all I/O modules connected on the X2X Link are configured using the "Object configuration" button in the node configuration window (Menu: Settings->Node configuration). The section "Predefined supported objects from the EDS file" lists all available configurations. Besides the advanced settings and the description of the various objects, only object index 2041 (bus controller settings) and object indexes 2250 and up (configuration of connected modules) are of importance. Object index 2250 is for configuration of module 1, which is on slot 1 and is therefore the X20PS9400. Object index 2251 enables configuration of the module on slot 2 (X20DO8332). All objects that will be sent to the bus controller are listed in the area "Objects automatically written and configured during the node start-up sequence". The values from the user configuration can be added to the default values already listed. Configuration objects enable a unique configuration for each X2X Link module using 4 bytes. The first two bytes identify the register, the last two bytes are for the configuration value. Chapter 2 B&R Fieldbus Configurator Figure 23: Object configuration window Example: Setting the I/O mask for an X67DM1321 module. Channel 1 and channels 5-8 should be configured as outputs. These settings must be made according to the data sheet for the X67DM1321 module in register 16 (16 dec = $0010 hex). Since channels 1, 5, 6, 7, and 8 ( bin = $00F1) should be set as outputs, $00F1 must be written to register 16. The resulting sum is the value $001000F1 for the configuration. This value can then be assigned to the module as a parameter. 29

30 B&R Fieldbus Configurator Creating a CANopen configuration Obj. idx. (hex.) Subindex (hex.) Parameter Value Parameter settings Access types 2041 Bus controller settings 0 Number of entries 4 Predefined value read only 1 Handle missing module X 0 = bus controller goes into Operational mode even when a module is missing (default) 1 = if module missing -> Preoperational mode 2 Handle module mismatch X 1 = bus controller goes into Operational mode even when there is a module mismatch (default) 0 = bus controller can not be switched to Operational mode if there is a module mismatch OR bus controller returns to Preoperational mode when a mismatch is identified 3 X2X settings XX This sub-index is used to select the bit rate on the X2X bus. The default value is 03. For an overview of the values, see table below. 4 Handle bus error X 0 = bus controller enters Error mode after a certain number of CAN bus errors 1 = errors are fixed automatically 2250 Parameters - module 1 0 Number of entries 24 Predefined value read only 1 Get configured Module ID 0000 Displays the Module ID (source: module data sheet) Read / Write 2 Get connected Module ID FFFF Reads the Module ID read only 3 Get connected firmware 0000 Reads the the firmware version read only version 4 Digital input bytes FF Read / Write 5 Digital output bytes FF As soon as the configuration is saved in the bus controller, the values under this sub-index can be Read / read. (otherwise default FF) Write 6 Number of 16-bit analog input channels FF Read / Values can be set; however, this requires expert Write knowledge and is not recommended. 7 Number of 16-bit analog output channels FF Read / Write 8 Number of 32-bit analog input channels FF Read / Write 9 Number of 32-bit analog output channels Read / Write Read / Write Read / Write Read / Write FF Read / Write A Parameter 1 FFFFFFFF Configuration, e.g. filter configuration Read / Write Parameter 25 FFFFFFFF Parameter settings Read / Write 23 Get connected hardware revision 0000 Reads the hardware revision read only 24 Get connected serial number Reads serial number read only Table 9: Configuration using the object index 30

31 B&R Fieldbus Configurator Creating a CANopen configuration The table below describes the configuration for the X2X cycle time. Value Maximum number of modules Equivalent in µs Chapter 2 B&R Fieldbus Configurator Table 10: X2X network configuration For the given example, the following configurations are made: Obj. idx. Subindex Parameter Value Parameter settings Access types 2041 Bus controller settings 1 Handle missing module 1 1 = if module missing -> Preoperational mode Read / Write 2 Handle module mismatch 0 0 = bus controller can not be switched to Operational mode if there is a module mismatch OR bus controller returns to Preoperational mode when a mismatch is identified Read / Write 3 X2X settings 03 The default value is 03, which corresponds to 1000µs Read / Write 4 Handle bus error 0 0 = bus controller enters Error mode after a certain number of bus errors 2250 Parameters - module 1 1 Get configured Module ID 1F8C Module ID $1F8C corresponds to X20PS9400 Read / Write 2251 Parameters - module 2 1 Get configured Module ID 1B9D Module ID $1B9D corresponds to X20DO8332 Read / Write Table 11: Configuration of X20BC0043, X20PS9400, X20DO8332 Read / Write Figure 24: Configuration of X20BC0043 / X20DO8332 in the Fieldbus Configurator 31

32 B&R Fieldbus Configurator Online connection 4. Online connection An online connection is required to load the newly created configuration to the CANopen master. To select this and start the download, select menu option Online->Download. A window opens with a list of available interfaces. In this example, the serial interface will be used. To do this, select "CIF Serial Driver". Information about the configuration options can be found in the online help for the B&R Fieldbus Configurator. Figure 25: Interface selection The serial interface selected on the programming device (PC) can be connected using the "Connect COM X" button. If the connection attempt fails, the appropriate error number is returned (see online help for the error codes). Only when the returned error value is "0" can the interface be used for communication. The following image shows a connection to the COM 1 interface. Figure 26: Selection - COM interface 32

33 4.1 Downloading the created configuration B&R Fieldbus Configurator Online connection Once a connection has been established via the serial interface, the configuration can be transferred. If bus data traffic is already in progress, a message appears stating that both the master and the slave will be stopped for the attempted download. 4.2 Result of the configuration If in the master configuration the start up behavior after system initialization was set to "Automatic release of the communication by the device", then the CANopen slaves (in this case the B&R CANopen bus controllers) start automatically and should be in RUN mode, just like the master. (Descriptions of the corresponding LEDs can be found in the data sheet). When "Controlled release of the communication by the application program" is selected, the slave waits for the application program to initialize the start. This can be observed on the status LEDs (Preoperational mode). The bus controllers are not switched to RUN mode until after they are initialized and started in the application program. Chapter 2 B&R Fieldbus Configurator 4.3 Simple diagnostics The network connections view is a quick and simple interface for controlling the module outputs. Warning: this is only possible if "no consistence, uncontrolled" is set as data transfer process and "automatic release of the communication by the device" is set as parameter for the user interface (master configuration). The network view can be opened with the menu option Window->Network View. The left column contains the logical network view, which shows both the master and the corresponding slaves. In the middle is a variable (tag) list, and to the right is the I/O watch window. Pulling selected bus elements from the left side into this window lets you monitor input and output data and assign the provided values. To do this, right-click on the desired element and choose "Start". Figure 27: Network view 33

34 B&R Fieldbus Configurator Online connection The configured inputs and outputs are listed in a table for overview. For the X20DO8332 all outputs were set (object index 1400 set to FF). 4.4 Additional functions The following section will introduce additional functions and system diagnosis options found in the Fieldbus Configurator Overview tables Overview tables for the configured system can be opened under the menu option View: Device table Overview of devices connected on the network Figure 28: I/O watch Address table Figure 29: Excerpt from device table The address table provides an overview of all configured PDOs and the start addresses occupied in the process image, including their length. Figure 30: Excerpt from address table 34

35 B&R Fieldbus Configurator Online connection ID table The ID table provides a sorted list of CANopen network message numbers occupied by each node. This includes the emergency ID, node guard ID, and the IDs of the PDOs. SDO table Figure 31: Excerpt from the ID table The SDO table lists all objects transferred during the node BootUp phase for each node. In addition to the node address, the object index and sub-index are shown for each entry along with the corresponding value. Chapter 2 B&R Fieldbus Configurator If there is an x under "PDO dialog box", then the entry was created automatically when a PDO was added (this can be changed in the node configuration). If there is no x, then the object was created manually in the object configuration and can be changed there. Exceptions to this include the entries "COB ID SYNC" and "Communication cycle period", which can be changed in the bus parameter dialog box. Configured objects from the PDO dialog box can be hidden or shown. You can select between decimal and hexadecimal views. Figure 32: Excerpt from the SDO table 35

36 B&R Fieldbus Configurator Online connection Online diagnostics master If the focus is on the master, various diagnosis tools can be opened under View. Start debug mode Slaves with errors (red connection line) can be viewed using the "Start debug mode" function. Double-clicking on this gives you more detailed information about the error. Extended device diagnostics Figure 33: Error-free network The extended device diagnostics can be used to display the general variables as well as communication errors (see Fieldbus Configurator online help). Global state field Figure 34: Extended device diagnostics The "Global state field" shows the cyclic status over the bus status and the connected devices. The first line displays the master's main state. The status can be OPERATE, STOP or OFFLINE. The next row displays individual bus errors. An outstanding error is displayed in a red field. For the meanings for each of the errors (e.g. TOUT = Timeout Error), see the online help for the Configurator. 36

37 B&R Fieldbus Configurator Online connection "Collective online error location and corresponding error" displays the address of the faulty station and the current error in plain text. "Static bus information" displays the number of detected bus short circuits and rejected telegrams. "Device specific status bits" display the selected buttons "Parameterized devices", "Activated devices", and "Devices with diagnostics". The corresponding station address is displayed as a colored number. A queued diagnostics message can be displayed by double-clicking on the station address. This display is updated cyclically. Chapter 2 B&R Fieldbus Configurator Figure 35: Global state field Live list Shows an overview of the active devices on the CANopen master. Figure 36: Excerpt from the Live list 37

38 B&R Fieldbus Configurator Online connection I/O Monitor The "I/O monitor" is an easy way to display and modify the first 32 bytes of the process image. In the example shown we can see, for example, that all outputs of the X20DO8332 are set. The values can be displayed in either decimal or hexadecimal. Message monitor The "Message monitor" provides access to the CIF mailbox. (More information can be found in the Fieldbus Configurator online help) Start / stop communication Figure 37: I/O Monitor Selecting "Start / stop communication" lets you start or stop communication from the master to the slave. 38

39 B&R Fieldbus Configurator Online connection Online communication - slave If the focus is on the slave, communication objects can be read and written under View. Read / write object Objects can be read and manually written with values. The following example reads the index 0x2041 (bus controller settings) and its sub-index 3 (X2X settings). Chapter 2 B&R Fieldbus Configurator Figure 38: Reading an object 39

40 B&R Fieldbus Configurator Project configuration in Automation Studio 5. Project configuration in Automation Studio To configure the CANopen slaves in Automation Studio, they must first be integrated. They cannot simply be inserted in the hardware tree as usual. A BR module must therefore be created by the B&R Fieldbus Configurator that contains the entire network configuration. This can then be inserted as a "System object". 5.1 Requirements The B&R CANopen bus controller is controlled using the FB_Lib library. With this and the integrated BR files it is possible to configure the bus controller. 5.2 Communication profile The settings in the B&R Fieldbus Configurator must be different than in the previous example to enable the CANopen bus controller to be able to be controlled by the application program. In the master configuration, the communication profile must be switched to "Controlled release of the communication by the application program" and the data traffic must be switched to "Buffered, host controlled". All other settings can be used as they are. 5.3 Creating a BR module If you are satisfied with your configuration in the B&R Fieldbus Configurator, and all modules are set up, then a BR module can be created via menu option Tool->Generate DBM/BR module. To do this the focus must be on the master in the graphic view. The creation of the BR module runs in the background. The created files are stored in the project folder. A subfolder is created, with the same name as the master, which contains the entire configuration. The created BR files are named as follows: "com_xxx.br". Where "xxx" stands for the station number that was entered for the master. In addition to the ".br" file, a ".dbm" and a ".bak" file are also created. Figure 39: BR module folder In the above figure, the project is saved with the name "CANopen". It contains the BR files for the master with the station number "000". 40

41 B&R Fieldbus Configurator Project configuration in Automation Studio 5.4 Inserting a BR module Created BR modules can be inserted in an open Automation Studio project. A "System Object" can be inserted under the menu option Insert->New Object. The desired BR file can be selected and integrated using the browse function. The inserted BR module can be found in the list of data objects. Chapter 2 B&R Fieldbus Configurator 5.5 Configuration of B&R CANopen bus controllers The bus controllers must be initialized, started/stopped and configured explicitly by the task. The following example will describe a simple control of the outputs. A more detailed description of all function blocks used can be found in the in the Automation Studio online help in the category "Libraries" Initialization Module initialization procedure: Figure 40: Inserted BR module Figure 41: Module initialization 41

42 B&R Fieldbus Configurator Project configuration in Automation Studio FBInit When this function is called, the module specified by "FBInit_0.Device" is initialized. In this case it is a 3EX CANopen master (SL3), using the CANopen interface (IF1). FBConfig The "FBConfig_0.DevIdent" parameter specifies the module on which a download should occur. Data is returned by the "FBInit" function. The "FBConfig_0.ConfModulName" pointer specifies the name of the configuration module which should be loaded on this module. Here the "com_000" from the X20BC0043 configuration with connected X20DO8332 has been selected I/O data traffic In this example application, the outputs of the X20BC0043 and the X20DO8332 should be controlled. A variable is used to count upwards and send the result to the digital outputs. If an overrun occurs, it resets to 0 and starts again. FBStart The "FBStart_0.DevIdent" parameter specifies which master should be started. Data is supplied by the FBInit function. FBio Figure 42: Cyclic program sequence This function block is attached to the previously selected buffered, master controlled communication profile. I/O data transfer is buffered by cyclically calling the FBKs from a task class and by the configured configuration mode. The "FBio_0.DevIdent" parameter specifies the module onto which the I/O data should be 42

43 B&R Fieldbus Configurator Project configuration in Automation Studio copied. Data is returned by the FBInit function. This FBK copies the input and output data areas between the CANopen master and the specified buffers for the bus controller. Permissible process data transfer procedures (set in the B&R Fieldbus Configurator) are: Buffered, host controlled Bus synchronous, host controlled 5.6 Transferring project to controller After the newly created project has been successfully compiled (Project->Build all) it can be transferred to the controller. (Project->Transfer to Target). To start the CPU, execute a warm restart (Project->Services->WarmRestart). Due to the task to be transferred, all outputs of the X20DO8332 should be controlled. This can be seen on the corresponding LEDs. Chapter 2 B&R Fieldbus Configurator 43

44 B&R Fieldbus Configurator Project configuration in Automation Studio 44

45 Figure index Figure 1: Layout view - X20BC Figure 2: PDO layout (default) X20BC Figure 3: Mapping - I/O objects Figure 4: EDS folder Figure 5: Path of the EDS files Figure 6: Master selection Figure 7: Selecting the CANopen master 3EX Figure 8: Global settings Figure 9: Master settings Figure 10: Configuring the bus parameters Figure 11: Slave selection window Figure 12: X20BC node number switches Figure 13: X67BC node number switches Figure 14: Master - Slave example configuration Figure 15: Node configuration window Figure 16: Selection of objects 1400 and Figure 17: Configuration of sub-index, PDO_ Figure 18: Configuration of sub-index, PDO_ Figure 19: Configured PDOs Figure 20: Configuring the master output data Figure 21: Configuring the master input data Figure 22: Configured node Figure 23: Object configuration window Figure 24: Configuration of X20BC0043 / X20DO8332 in the Fieldbus Configurator Figure 25: Interface selection Figure 26: Selection - COM interface Figure 27: Network view Figure 28: I/O watch Figure 29: Excerpt from device table Figure 30: Excerpt from address table Figure 31: Excerpt from the ID table Figure 32: Excerpt from the SDO table Figure 33: Error-free network Figure 34: Extended device diagnostics Figure 35: Global state field Figure 36: Excerpt from the Live list Figure 37: I/O Monitor Figure 38: Reading an object Figure 39: BR module folder Figure 40: Inserted BR module Figure 41: Module initialization Figure 42: Cyclic program sequence Figure index 45

46 Figure index 46

47 Table index Table 1: Manual history... 7 Table 2: X20 CANopen bus controller... 8 Table 3: X67 CANopen bus controller... 9 Table 4: Service and process data objects Table 5: PDO layout for the example configuration Table 6: Excerpt from the object directory Table 7: Mapping of the I/O objects for the example configuration Table 8: Correlation between object index and PDO layout Table 9: Configuration using the object index Table 10: X2X network configuration Table 11: Configuration of X20BC0043, X20PS9400, X20DO Table index 47

48 Table index 48

49 Index A Automation Studio...40 B B&R Fieldbus Configurator...15 BR module...40 Bus parameters...20 C CANopen communication...10 CANopen configuration...17 CiA...10 D Device profiles...10 E EDS file...9 I I/O objects...12 Installing the EDS file...15 M Master configuration N Node number switches O Object directory P PDO layout PDO mapping PDOs Process data objects S SDOs Service data objects Slave configuration X X20 CANopen bus controller... 8 X20 Register User s Manual... 9 X20BC X67 CANopen bus controller... 8 X67BC Manual history...7 Index 49

50 Index 50