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At a Glance Shared application-specific function manual Ref. TLX DS COM PL7 40.

TSX DM CPP 100E 09/2000 3


4 TSX DM CPP 100E 09/2000

Table of Contents

About the book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

Chapter 1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Principles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10General architecture of a CANopen field bus . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Transmission speed and bus length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 2 Introduction to the PCMCIA card TSX CPP 100 . . . . . . . . . . . .13At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.1 Description of the TSX CPP 100 card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15About the TSX CPP 100 card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Mounting the PCMCIA card. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Connection unit TSX CPP ACC1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2.2 Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Standards and characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22Processors which support the TSX CPP 100 card . . . . . . . . . . . . . . . . . . . . . . . 23

Chapter 3 Software implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27Installation principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28Implementation methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

3.2 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30How to access the configuration screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31PCMCIA card TSX CPP 100 configuration screen . . . . . . . . . . . . . . . . . . . . . . . 32Description of the I/O data and bus performance at start-up . . . . . . . . . . . . . . . 34Description of the selection of the configuration loading mode . . . . . . . . . . . . . . 36How to load a configuration using XWAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38Slave configuration screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39How to configure a CANopen PCMCIA card. . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

5

Configuration documentation file for the PCMCIA card TSX CPP 100 . . . . . . . . 433.3 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45Access to CANopen SDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46Accessing the CAN link layer PDUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48IDENTIFICATION Request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49Diagnostic command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

3.4 Debugging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Description of the debug screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

3.5 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Diagnostics from the status LEDs on the PCMCIA card TSX CPP 100 . . . . . . . 57Diagnostics data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58How to perform a diagnostic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

3.6 Language objects associated with the TSX CPP 100 card . . . . . . . . . . . . . . . . . 65At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Language objects in implicit exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66Language objects for explicit exchange. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70Explicit exchange management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71Language objects associated with configuration . . . . . . . . . . . . . . . . . . . . . . . . . 72Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83

6

About the book

At a Glance

Document Scope This manual is for users wishing to implement the PCMCIA CANopen communica-tion card:l TSX CPP 100 on Premium,

Validity Note This documentation describes the implementation of the PCMCIA card TSX CPP 100 under PL7 V4.0.

Related Documents

User Comments We welcome your comments about this document. You can reach us by e-mail at [email protected]

Title of Documentation Reference Number

Shared communication application documentation TLX DSCOM PL740E

TSX DM CPP 100E 09/2000 7

About the book

8 TSX DM CPP 100E 09/2000

TSX DM CPP 100E 09/2000

1
General
At a Glance

Aim of this Chapter

This chapter introduces the main features of CANopen communication.

What’s in this Chapter?

This Chapter contains the following Maps:

Topic Page

Principles 10

General architecture of a CANopen field bus 11

Transmission speed and bus length 12

9

General

Principles

Introduction Originally developed for automotive vehicle borne systems, the CAN communication bus is now used in many areas, such as:l transport,l moving part devices,l medical devices,l building,l industrial control.

The advantages of the CAN system are:l the bus allocation system,l error detection,l data exchange reliability.

Master/slave structure

The CAN bus has a master/slave structure for bus management. The master managesl slave initialization,l communication errors,l slave status.

Peer to peer communication

Communications on the bus are made peer to peer; at any moment, each device can send a request on the bus and the relevant devices reply. The priority of the re-quests circulating on the bus is determined by an identifier at individual message level.

CAN identifiers Explicit exchanges of CAN PDUs at link level (See Accessing the CAN link layer PDUs, p. 48) use extended identifiers over 29 bits (CAN standard V2.0B).11 bit identifiers (CAN standard V2.0A) can be used for sending, but the receiving of this type of identifier is not supported.

10 TSX DM CPP 100E 09/2000

General

General architecture of a CANopen field bus

At a Glance A CANopen architecture includes:l a bus master (PCMCIA card TSX CPP 100 card),l slave devices.

The bus flow rate depends on its length and the cable type used (See Transmission speed and bus length, p. 12).

Note: it is also possible to put several TSX CPP 100 PCMCIA cards on the bus, one of them becomes the master and the others are in listen mode. The cards that are in listen mode allow the Premium PLCs which they depend upon to know the state of the bus and its slaves at any moment.

Note: the TSX CPP 100 PCMCIA card manages two bus segments (A and B) by means of the connection unit TSX CPP ACC1.

TSX DM CPP 100E 09/2000 11

General

Transmission speed and bus length

At a Glance CANopen allows 128 devices (the bus master and 127 remote slaves). The trans-mission speed is closely linked to the bus length and the type of cable used. The two following examples enable you to evaluate authorized values.

Example 1 The following table describes the relationship between the maximum transmission speed and the bus length in relation to the type of cable used, for a maximum of 32 slaves, without repeater, on segments A or B of the TSX CPP 100 card.

Example 2 The following table describes the relationship between the maximum transmission speed and the bus length in relation to the type of cable used, for a maximum of 100 slaves, without repeater, on segments A or B of the TSX CPP 100 card.

Transmission flow rate Bus length Cable characteristics

1 Mbit/s 25 m 0.25 mm2, AWG 23

800 Kbit/s 50 m 0.34 mm2, AWG 22

500 Kbit/s 100 m 0.34 mm2, AWG 22

250 Kbit/s 250 m 0.34 mm2, AWG 22

125 Kbit/s 500 m 0.5 mm2, AWG 20

50 Kbit/s 1000 m 0.75 mm2, AWG 18

20 Kbit/s 1000 m 0.75 mm2, AWG 18

10 Kbit/s 1000 m 0.75 mm2, AWG 18

Transmission flow rate Bus length Cable characteristics

1 Mbit/s 25 m 0.34 mm2, AWG 22

800 Kbit/s 50 m 0.6 mm2, AWG 20

500 Kbit/s 100 m 0.6 mm2, AWG 20

250 Kbit/s 250 m 0.6 mm2, AWG 20

125 Kbit/s 500 m 0.75 mm2, AWG 18

50 Kbit/s 1000 m 1 mm2, AWG 17

20 Kbit/s 1000 m 1 mm2, AWG 17

10 Kbit/s 1000 m 1 mm2, AWG 17

12 TSX DM CPP 100E 09/2000

TSX DM CPP 100E 09/2000

2
Introduction to the PCMCIA card TSX CPP 100
At a Glance

Aim of this Chapter

This chapter introduces the main technical features of the PCMCIA card TSX CPP 100.


This Chapter contains the following Sections:

Section Topic Page

2.1 Description of the TSX CPP 100 card 15

2.2 Technical specifications 21

13

PCMCIA card TSX CPP 100

14 TSX DM CPP 100E 09/2000


2.1 Description of the TSX CPP 100 card

At a Glance

Aim of this Section

This section describes the physical appearance of the PCMCIA card TSX CPP 100 and how to connect it.

What’s in this Section?

This Section contains the following Maps:

Topic Page

About the TSX CPP 100 card 16

Mounting the PCMCIA card 17

Connection unit TSX CPP ACC1 19

TSX DM CPP 100E 09/2000 15


About the TSX CPP 100 card

At a Glance The CANopen communication card TSX CPP100 is used to implement a CANopen architecture. This card is master of the bus and allows connection of devices re-specting the CANopen standard:l Implicit exchange of Process Data Objects using %MW words.l Explicit exchange of Service Data Objects via the function blocks READ_VAR

and WRITE_VAR.l Compatibility with device profiles and standardized communication on CANopen

(2.0A and 2.0B).

Physical description

The TSX CPP 100 card is a type III PCMCIA card which is inserted into the PCMCIA communication slot on the processor.This module is composed of the following elements:

Description This table describes the elements in the previous figure.

ERRCOM

TSX CPP 100

1

2

3Side view

Front view

Number Description

1 Fixing brackets, on the top and bottom of the card, which are used to attach it to the processor.

2 LEDs, which are used for diagnostics of the working of the communication card (See Diagnostics, p. 57).

3 Bus cable. This 60 cm cable has a male 15 point Sub-D connector at the end to connect to the TSX CPP ACC1 (See Connection unit TSX CPP ACC1, p. 19).

16 TSX DM CPP 100E 09/2000


Mounting the PCMCIA card

At a Glance The PCMCIA card is inserted into the slot reserved for communication cards. The cable which connects to the bus is supplied with card and plugs into the TSX CPP ACC1 unit (also called the TAP) by means of the 15 point Sub-D connector. The fol-lowing procedure describes the various steps to be followed.

CAUTION

A PCMCIA card can only be inserted or unplugged when the PLC is switched off.

Failure to observe this precaution can result in injury or equip-ment damage.

TSX DM CPP 100E 09/2000 17


Procedure The following table describes the steps to be followed when installing a TSX CPP 100 card.

Step Action Illustration

1 Switch off the PLC.

2 Insert the card into its slot

3 Tighten the card screws so that the card cannot move, thus ensuring it will operate properly.

4 Connect the card cable to the TSX CPP ACC1 unit using the 15 point Sub-D con-nector, not forgetting to tighten the fixing screws.

5 Switch the PLC on again.

18 TSX DM CPP 100E 09/2000


Connection unit TSX CPP ACC1

At a Glance The CAN open card TSX CPP 100 connects with the female Sub-D 15 pin connector on the connection unit TSX CPP ACC1 by means of the cable supplied with the card. This unit allows you to connect two CANopen bus segments (allowing you to double the length of the bus) by means of its two 9 pin Sub-D connectors.

The cables and other connection accessories are available from specialized compa-nies.

Connection unit TSX CPP ACC1

This figure illustrates a TSX CPP ACC1 connection unit.

Description of the figure

This table describes the elements in the previous figure.

12

3

4

56

7

Element Description

1 15 pin Sub-D connector: the TSX CPP 100 card is fitted into this connector.

2 Female 9 pin Sub-D connector: connector A for linking CANopen segment A.

3 Connection unit TSX CPP ACC1.

4 LEDs displaying the bus operation via the unit TSX CPP ACC1.

5 Female 9 pin Sub-D connector: connector B for linking CANopen segment B.

6 DIN fixing rail.

7 CANopen bus connector, with or without line termination.

TSX DM CPP 100E 09/2000 19


9 pin Sub-D connector

This figure illustrates a male 9 pin Sub-D bus connector, A or B, for linking a bus seg-ment to the connection unit TSX CPP ACC1.

Description of the connector

This table describes the connectors.

5 4 3 2 1

9 8 7 6

Element Description

1 Reserved

2 CAN_L

3 CAN_GND

4 Reserved

5 CAN_SHLD

6 GND

7 CAN_H

8 Reserved

9 CAN_V+

20 TSX DM CPP 100E 09/2000


2.2 Technical specifications

At a Glance

Aim of this Section

This section describes the main technical characteristics of the TSX CPP 100 card.



Topic Page

Standards and characteristics 22

Processors which support the TSX CPP 100 card 23

TSX DM CPP 100E 09/2000 21


Standards and characteristics

Standards The TSX CPP 100 communication card conforms to the following international stan-dards:

Electrical characteristics

l Logical DC V supply: 5 V provided by the rack supplyl Power consumption: 3W

Environmental characteristics

l Storage temperature: -25 °C to 70 °Cl Operating temperature: 0° C to 70 °Cl Storage hydrometry: 30% to 95 %, with no condensationl Operating hydrometry: 5 % to 95 %, with no condensation.

International standards ISO IS 11898, CAN High Speed Transceiver and Data Link Layer

US Standards UL508

Radiation standards EU Label, FCC-B (50082-1)

22 TSX DM CPP 100E 09/2000


Processors which support the TSX CPP 100 card

At a Glance Premium and Atrium processors version 5.0 or above support the CANopen PCMCIA card. Implementation is via PL7 V4.0 software.General configuration of a CANopen bus is done using the software Sycon version 2.630 onwards (TLX LFBCM).

Types of processors and capacities

The following table gives details of the processors supporting the CANopen PCMCIA card, TSX CPP 100, and their maximum storage capacities.

Note: It is mandatory for the PCMCIA card to be installed in the slot located in the processor module. As a result, only one CANopen bus is available for each PLC CPU.

Processor Maximum size of PL7 configuration data (1)

Maximum size of input/output data

MAST task FAST task

TSX P57-203T PCX 57-203

16 Kb 512 %MW(256+256)

64 %MW(32+32)

TSX P57-253 16 Kb 512 %MW(256+256)

64 %MW(32+32)

TSX P57-303 32 Kb 1024 %MW(512+512)

128 %MW(64+64)

TSX P57-353T PCX-353

32 Kb 1024 %MW(512+512)

128 %MW(64+64)

TSX P57-453 64 Kb 3584 %MW(1792+1792)

256 %MW(128+128)

Key (1) : this maximum size can be exceeded if you load the configuration into the card using the Sycon software (See Description of the selection of the configuration loading mode, p. 36). The maximum size of configuration data authorized by the Sycon software is 256 Kb.

Note: the configuration fill rate is given in the word %KWy.1.2 (See Language ob-jects associated with configuration, p. 72).

TSX DM CPP 100E 09/2000 23


24 TSX DM CPP 100E 09/2000

TSX DM CPP 100E 09/2000

3
Software implementation
At a Glance

Aim of this Chapter

This chapter describes the various configuration, operation and diagnostics options for a CANopen application.


This Chapter contains the following Sections:

Section Topic Page

3.1 General 27

3.2 Configuration 30

3.3 Programming 45

3.4 Debugging 54

3.5 Diagnostics 56

3.6 Language objects associated with the TSX CPP 100 card 65

25


26 TSX DM CPP 100E 09/2000


3.1 General

At a Glance

Aim of this Section

This section describes the software implementation of a PCMCIA TSX CPP 100 card.



Topic Page

Installation principles 28

Implementation methodology 29

TSX DM CPP 100E 09/2000 27


Installation principles

At a Glance The implementation of a CAN bus requires the definition of the physical context of the application into which it will be integrated (rack, power supply, processor, mod-ules or devices, etc.) and then its software installation.

Software installation will be carried out from within the different PL7 editors:l either offline,l or online: in this case, modification is limited to certain parameters.Configuration of the bus is carried out from within the Sycon software.

Installation principles

The table below shows the different installation phases.

Mode Phase Description

Offline Declaration of the PCMCIA card TSX CPP 100

It is mandatory for the card to be installed in the type III PCMCIA slot in the processor.

Configuration l Entering of the configuration parameters.l Declaration of the bus configuration using the Sycon software

and generation of configuration file *.COl Selection of the *.CO configuration file under PL7

On or offline Symbolization Symbolization of the variables associated with the CANopen card.

Programming Programming of specific functions:l associated bit objects and words,l specific instructions.

Online Transfer Transfer of the application to the PLCA transfer of the application to the PLC or a cold start of the application configures and starts up the TSX CPP 100 card.

DebuggingDiagnostics

Different methods can be accessed for debugging the application, controlling inputs/outputs and fault diagnostics:l PL7 language objects,l the PL7 debug screen,l LED signals.

On or offline Documentation Printing of the various items of information relating to the configuration of the TSX CPP 100 card.

Note: The order defined above is given as an indication. The PL7 software allows you to use editors interactively in any order you wish. (However, you cannot use the data or program editors without first completing the configuration.)

28 TSX DM CPP 100E 09/2000


Implementation methodology

Overview The following flowchart shows the implementation methodology for a TSX CPP 100 card.

Recommenda-tions

When the configuration of the CANopen bus is too big to allow the change to PL7 mode, the following checks are recommended:l See if you can remain in PL7 mode using a more powerful Premium processor

(See Types of processors and capacities, p. 23).l Change to Sycon mode, if it is not possible to select a more powerful processor.

Configuration of the card in the PLC

Declaration and configuration of the TSX CPP 100 card and the slaves

using the Sycon tool

Configuration of how the bus is to behave

Saving of the .CO configuration file

PL7 mode

Sycon mode

Selection under PL7of the .CO file

Downloading of the configuration into the card using the Sycon tool

Transfer of the application onto the PLC

Debugging and diagnostics

Documentation

TSX DM CPP 100E 09/2000 29


3.2 Configuration

At a Glance

Aim of this Section

This section describes the configuration of a PCMCIA TSX CPP 100 card.



Topic Page

How to access the configuration screen 31

PCMCIA card TSX CPP 100 configuration screen 32

Description of the I/O data and bus performance at start-up 34

Description of the selection of the configuration loading mode 36

How to load a configuration using XWAY 38

Slave configuration screen 39

How to configure a CANopen PCMCIA card 40

Configuration documentation file for the PCMCIA card TSX CPP 100 43

30 TSX DM CPP 100E 09/2000


How to access the configuration screen

Procedure This operation is used to declare a TSX CPP 100 card in the processor’s type III PCMCIA slot. The example below describes the procedure.

Step Action

1 Open the hardware configuration editor from within the application browser.

2 Access the configuration screen for the processor communication channel by double clicking on the processor Comm zone.

3 In the pull-down menu, select the communication channel CHANNEL 1Example

4 In the pull-down menu, select the TSX CPP 100 PCMCIA card:Example

Result: a CANopen bus configuration screen appears (See PCMCIA card TSX CPP 100 configuration screen, p. 32).

CHANNEL 1

(Link not configured)

CHANNEL 1:

CHANNEL 0CHANNEL 1

(No PCMCIA sub-module)

MAST

CHANNEL 1 CHANNEL 1

(No PCMCIA sub-module)

(Link not configured) MASTTSX FPP 200 FIPWAY PCMCIA CARDTSX FPP 10 FIPIO PCMCIA CARDTSX MBP 100 MODBUS+ PCMCIA CARDTSX MDM 10 PCMCIA MODEM CARDTSX SCP 111 RS232 OPEN PCMCIA CARDTSX SCP 114 RS485 OPEN PCMCIA CARDTSX CPP 100 CAN OPEN PCMCIA CARD

TSX DM CPP 100E 09/2000 31


PCMCIA card TSX CPP 100 configuration screen

At a Glance This screen is used to declare the communication channel and to configure the pa-rameters for a CANopen link.

Illustration The screen dedicated to CANopen communication looks like this:

CHANNEL 1

Designation: TSX P 57253 PROCESSOR

TSX CPP 100 CANOPEN PCMCIA CARD

CANopen MAST

Configuration

Watchdog

Activated

DeactivatedSyConPL7

Bus start-up Inputs Outputs

Configuration loading mode

AutomaticSemi-automatic (bus only)Via program

Maintain Reset

Transmission speed

COB-ID Message SYNCMessage SYNC periodAuto-Clear

Select database

Bus configuration

32

0

SyCon tool

hilscher

No. of words (%MW)

Index of first %MW32

32

No. of words (%MW)

Index of first %MW

1

2

35

4

6 7

8

Configuration size 1329 words

CHANNEL 1:

1 MBit/s128

100 ms

0

D:\4nodes.co

32 TSX DM CPP 100E 09/2000


Elements and functions

This table describes the different areas that make up the configuration screen:

Zone Number Function

shared 1 This zone is composed of: l a title bar which indicates the product reference and the module

position,l a drop-down list enabling configuration or debugging mode

to be selected (online mode only),l a window displaying the designation of the selected module.

specifica-tion

2 This drop-down list is made up of three options which set the rate of update for the storage areas associated with the I/O:l MAST: MAST task ratel FAST: FAST task rate

3 This zone is used to select how the bus is to behave at start-up.

4 This zone is used to configure the address (PLC internal memory) to which inputs from the CANopen devices will periodically be cop-ied.

5 This zone is used to configure the fallback mode for bus device outputs as well as the address (PLC internal memory) where the outputs from CANopen devices will periodically be read.

6 This zone used to configure the bus:l Selection of the Sycon configuration file (*.CO) (See How to se-

lect a configuration file, p. 40)l PL7 or Sycon configuration (See Description of the selection of

the configuration loading mode, p. 36)

7 This zone is used to activate or deactivate the CANopen bus watchdog. The watchdog is activated by default. It is triggered when the PCMCIA card can no longer manage the bus correctly. When it is triggered, it makes all the slaves’ outputs change to ze-ro.

8 This button is used to start the Sycon software, if it is installed on the PC.

WARNING

It is recommended that you pay special attention to how the bus is per-forming if the watchdog is deactivated.

Failure to observe this precaution can result in severe injury or equipment damage.

TSX DM CPP 100E 09/2000 33


Description of the I/O data and bus performance at start-up

At a Glance The configuration screen is used to configure how the bus performs at start-up, as well as the inputs and outputs for the slaves on the bus.

Bus start-up This figure illustrates the bus start-up configuration zone.

The bus can be started in three ways:l Automatic: bus configuration, communication management and slave I/O up-

date are launched at start-up, without intervention from the application.l Semi-automatic: bus configuration and communication management are

launched at start-up, but the management of the I/O must be validated by the ap-plication by use of the corresponding language objects (See Output word objects, p. 69).

l Via program (bus and I/O): bus start-up must be entirely managed by the appli-cation by use of the corresponding language objects (See Output word objects, p. 69).

Inputs This figure illustrates the inputs configuration zone.

To configure the inputs to the bus slaves, you must indicate a memory area into which the inputs will be periodically copied. To define this area, you must indicate:l A number of words: this is the number of input words corresponding to the size

of input data configured using the Sycon software.l The address of the first word: this is the address of the first word in the input

memory area.

Bus start-up

AutomaticSemi-automatic (bus only)Via program

Note: the %MW words contain the values of the bus slave inputs. When loading via PL7 is selected, it is possible to find out the words associated with the slaves, by clicking on the button Bus configuration in the configuration screen. When loading via Sycon is the mode selected, only the Sycon software can be used to find out slaves associated with the %MW words. These %MW words are used di-rectly by the application as inputs.

Inputs

32

0

No. of words (%MW)

Index of first %MW

34 TSX DM CPP 100E 09/2000


Outputs This figure illustrates the outputs configuration zone.

To configure the outputs, you must indicate, as for the inputs, the word table which will contain the value of the bus outputs, but also the type of fallback required, if the slaves switch into fault mode.l Maintain,l Reset to Zero (Reset)

Note: the %MW words contain the values of the bus slave outputs. When loading via PL7 is selected, it is possible to find out the words associated with the slaves, by clicking on the button Bus configuration in the configuration screen. When loading via Sycon is the mode selected, only the Sycon software can be used to find out slaves associated with the %MW words. These %MW words are used di-rectly by the application as outputs.

Note: the word tables are located in the PLC internal memory. The two areas must not overlap, as this will cause abnormal operation of the application.

Note: If the number of input or output words is different to that defined by the con-figuration (See At a Glance, p. 36) file (file named *.CO), the PL7 software flags this at the time of configuration validation.

Note: the maximum size allowed for the memory area reserved for the I/O depends upon the processor type and associated task (See Types of processors and capac-ities, p. 23).

OutputsMaintain Reset

32

32

No. of words (%MW)

Index of first %MW

TSX DM CPP 100E 09/2000 35


Description of the selection of the configuration loading mode

At a Glance The configuration screen is used to select the configuration loading mode. The two scenarios are as follows:l loading via the PL7 software,l loading via the Sycon software.For each scenario, you must select the configuration database (See How to select a configuration file, p. 40) created with the Sycon software.

Illustration The following figure illustrates the configuration screen zone that is used to select the configuration loading mode.

SyConPL7


Transmission speedCOB-ID Message SYNCMessage SYNC periodAuto-Clear

Select database

Bus configuration

Files\Hilschert\SyCon\Schneider.co

125 kBits/s

128

100 ms0

Configuration size words1329

36 TSX DM CPP 100E 09/2000


Description The following table describes the various options:

Zone Description

Select database This zone is used to select the database that corresponds to the bus configuration managed by the PCMCIA card TSX CPP 100. This configuration is carried out from within the Sycon software, which manages the *.CO file that must be selected (See How to select a configuration file, p. 40).

PL7 When this button is selected, the bus configuration is loaded with the PL7 application. When the application is too big (memory size greater than that allowed for the processor), the PL7 software does not allow this selection and you must select Sycon as described below.

Sycon When this button is selected, the bus configuration is considered as having already been loaded into the PCMCIA card from the PC and from the Sycon software. The PL7 software just carries out a check to verify that the card configuration is identical to that of the .CO file selected. Moreover, it is not possible to modify the bus parameters from within PL7. To modify the configuration, it is necessary to use the Sycon software.

Transmission speed

When the PL7 loading mode has been selected, this zone displays the transmission speed on the bus defined in Sycon.

COB-ID Message SYNC

When the PL7 loading mode has been selected, this zone displays the COB-ID Message SYNC selected in Sycon.

Message SYNC period

When the PL7 loading mode has been selected, this zone displays the bus period selected in Sycon.

Auto-Clear When the PL7 loading mode has been selected, this zone displays the mode Auto-clear on or Auto-clear off selected in Sycon.

Bus configuration

When the PL7 loading mode has been selected, this button provides access to the configuration of the bus slaves.

TSX DM CPP 100E 09/2000 37


How to load a configuration using XWAY

General When the CANopen bus is configured in loading mode by Sycon, it is possible to load the configuration onto the TSX CPP 100 card using the XWAY Driver.

This loading can be carried out with an Ethernet network, or simply on a Unitelway bus.

Procedure This table describes the steps to be carried out to load the configuration of a CAN-open card using the XWAY communication drivers.

Note: MAKE SURE you always put the PLC in STOP mode during the download-ing procedure.

Note: when the choice of XWAY communication driver has been validated, you need to exit the Sycon software to change the driver.

Step Action

1 Connect to the PLC which contains the TSX CPP 100 card with the help of the PL7 V4 software.

2 Switch this PLC to STOP mode.

3 Launch the Sycon software.

4 Load or create the desired configuration with the help of the Sycon software.

5 Select the command On line → Load.Result: a message appeared indicating that during configuration loading, com-munication between the slaves stopped.

6 Click on YES to indicate that you agree with this halt to inter-slave communica-tion.Result: a selection window from the XWAY or CIF driver appears.

7 Select the XWAY driver then click on OK.Result: the XWAY driver coordination window appears.

8 Select the required driver (Uni-telway, XIP etc.) using the field Driver selection.

9 Enter the PLC address (Network, Station, Rack, Module), then click on OK to launch the loading process.Result: during loading, a window indicates the progress of the data transfer. When the transfer is complete, this window disappears and makes way for the main screen of bus configuration.

38 TSX DM CPP 100E 09/2000


Slave configuration screen

At a Glance With PL7 software, it is possible to access bus slave configuration. The information on the screen is almost identical to the debugging screen information (See Descrip-tion of the debug screen, p. 54).

Illustration The following diagram describes the screen which displays slave configuration.

Operation l Click on a slave from the list of CANopen slaves.l The slave parameters in inputs and outputs appear in the Inputs and Outputs

zones.l Slave information appears in the CANopen device details zone.

No. of slaves

440004No. %MW as input No. %MW outputs

CANopen slaves

00010002

0005

Device name Act.

CBM-DIO8 1

1

1000

0

Life T.Addr.

CANopen bus configuration

1

ATV58_E

CBM-DIO8 1000

Total

0003 CBM-DIO8 1 5000 OutputsParameter Symbol

Parameter Symbol%MW400

Inputs

Close

CBM-DIO8

ESD

Node1

EMCY=129 TxPDO=N

Device name:

Name of vendor

Description:

COB-ID

Details of CANopen devices

TSX DM CPP 100E 09/2000 39


How to configure a CANopen PCMCIA card

At a Glance In order to configure a TSX CPP 100 card, some procedures are essential or require special explanation. Details are given in the following procedures.

How to select a configuration file

This table describes the steps in the procedure to select a CANopen configuration.

Step Action

1 Click on the button Select Database:

Result: a screen like this appears:

SyConPL7



Select database

Bus configuration

Configuration size words

Open

Cancel

Open

Project

?

Look in:

Schneider.co

CANopen FILE (*.co)

Name:

Type:

Base.coFrégate1.coSchneider.co

40 TSX DM CPP 100E 09/2000


2 Select the required *.CO file and then click on OK.

Result: if the number of words reserved for inputs and outputs corresponds to the selected configuration, the configuration appears in the PL7 configuration screen.

If it does not, a warning message informs you that the number of input or output words does not correspond to the file selected.Example:

When the .CO file passes the maximum capacity for configuration data (See Types of processors and capacities, p. 23), an error message appears. You must then either use a more powerful Premium processor, or switch to Sycon mode and load the configuration directly into the card using the Sycon software.

Step Action

SyConPL7



Select database

Bus configuration

Files\Hilschert\SyCon\Schneider.co

125 kBits/s

128

100 ms0

Configuration size words1329

CAN OPEN

You have reserved more words than is necessary. The current configuration of channel TSX CPP100 requires 4 input words and 4 output words.

OK

TSX DM CPP 100E 09/2000 41


Procedure for configuring a CANopen card

The following table describes the procedure for configuring a CANopen TSX CPP 100 PCMCIA card.

Step Action

1 Select the type of bus start-up.

2 Click on the Sycon Tool button in order to start the Sycon configuration soft-ware.

3 Using the Sycon software, configure your CANopen bus according to the devic-es planned for the bus.

4 Note the size of the buffers to be reserved for inputs and outputs for configura-tion of the PLC tables.

5 Save the configuration in a file with the .CO extension.

6 Return to PL7.

7 Enter the number of input and output words, indicating the values that you noted at Step 4.Note: Take care! Each %MW is made up of two bytes.

8 Enter the start addresses for the tables, in such a way that there is no overlap between inputs and outputs.

9 Select a configuration file (See How to select a configuration file, p. 40).

10 Select the PL7 radio button, if you want to incorporate the CANopen configura-tion into the PL7 application.

11 Click on the Watchdog Activated button.

12 Confirm the configuration.

42 TSX DM CPP 100E 09/2000


Configuration documentation file for the PCMCIA card TSX CPP 100

At a Glance Via the Processor module, a documentation file describing the application configu-ration for the PCMCIA card TSX CPP 100 is available in the PL7 documentation ed-itor.

Illustration It is presented in the following format:

TSX 57353 [RACK 0 POSITION 0]

Module Identification

Product Reference: TSX57353 Designation: TSX P 57353 PROCESSOR

Address: 000 Symbol:

Channel Parameters: 0

Task/Channel Assign-ment:

MAST

Type of Channel: Terminal Port Channel Symbol:

Application-Specific Function:

UNI-TELWAY LINK Channel Symbol:

Transmission Speed 19200 Bits/s Delay: 30 ms

Type of Module: Master Parity: odd

No. of slaves: 8

Channel Parameters: 1

Task/Channel Assign-ment:

MAST

Type of Sub-module: CANOPEN PCMCIA CARD TSX CPP 100

Type of Channel: PCMCIA Port Channel Symbol:

Application-Specific Function:

CANOPEN

Inputs Address of first %MW 32 Length: 424

Outputs Address of first %MW 1056 Length: 102

Output fallback strategy Reset to zero

Configuration mode: Automatic TSX CPP 100 Watchdog: active

TSX DM CPP 100E 09/2000 43


Loading mode: PL7 CANOPEN configuration file: E:\DB1.CO

CANopen bus config.: Transmission Speed :

1 MBits/s COB-ID message Sync: 128

Auto-Clear: off Period message Sync: 100 ms

CANopen slave configuration

Addr. Type Act./Guard poll

1 AMM 09000 1 / 1

2 Profile 401 standard EDS 1 / 0

3 ADM 37010 1 / 0

CANopen slave language objects:

Addr. Inputs Symbol Outputs Symbol

1. %MW32 %MW1056

%MW33

%MW34

%MW35 %MW1057

%MW36 %MW1058

44 TSX DM CPP 100E 09/2000


3.3 Programming

At a Glance

Aim of this Section

This section describes the tools available for programming the operation of and ob-taining information on a CAN open bus managed by the PCMCIA card TSX CPP 100.You can program the CANopen bus operation using UNI-TE requests:l Send and receive SDO messages on the bus,l Access the link layer by sending PDUs.

You can also monitor the bus and its operation: l Identify the master,l Send diagnostic requests to the bus devices.These requests are sent to the CANopen master (PCMCIA card TSX CPP 100) which processes them.



Topic Page

Access to CANopen SDOs 46

Accessing the CAN link layer PDUs 48

IDENTIFICATION Request 49

Diagnostic command 52

TSX DM CPP 100E 09/2000 45


Access to CANopen SDOs

At a Glance The READ_VAR and WRITE_VAR communication functions are used to access CANopen SDO type data transfer. The parameters of these functions determine the action that is performed.These services are based on standard CANopen CMS standardized message han-dling. See the documentation for the CANopen slaves for information about the SDO formats used.

Syntax of the WRITE_VAR function

The communication function syntax is as follows:WRITE_VAR(ADR#y.1.SYS, ‘SDO’, index:subindex, NodeID, %MWi:L, %MWk:4)

The following table describes the different function parameters.

Parameter Description

ADR#y.1.SYS Address of the exchange destination device.l y: processor slot in the rack (0 or 1)l 1 : channel (always 1)l SYS: UNI-TE server of the PCMCIA card

‘SDO’ SDO object type (always SDO in capitals)

index:subin-

dex

Double word or immediate value identifying the CANopen SDO index or subindex:The most significant word making up the double word contains the sub-index and the least significant word the index.

NodeID Word or value identifying the destination device on the CANopen bus

%MWi:L Table of words containing the data to be sent (minimum length = 1)

%MWk:4 Exchange management parameters: four words identifying the address of the PL7 data used to control the WRITE_VAR function

46 TSX DM CPP 100E 09/2000


Syntax of the READ_VAR function

The communication function syntax is as follows:READ_VAR(ADR#y.1.SYS, ‘SDO’, index:subindex, NodeID, %MWi:L, %MWk:4)


Management parameters

The following table gives details of the %MWk:4 words.


ADR#y.1.SYS Address of the exchange destination device.l y: processor slot in the rack (0 or 1)l 1 : channel (always 1)l SYS: UNI-TE server of the PCMCIA card

‘SDO’ SDO object type (always SDO in capitals)

index:subindex Double word or immediate value identifying the CANopen SDO index or subindex:The most significant word making up the double word contains the subindex and the least significant word the index.

NodeID Word or value identifying the destination device on the CANopen bus

%MWi:L Table of words containing the data to be received (minimum length = 1)

%MWk:4 Exchange management parameters: four words identifying the address of the PL7 data used to control the READ_VAR function

Word number Most significant byte Least significant byte Data managed by

%MWk Exchange number Activity bit the system

%MWk+1 Operation report Communication report

%MWk+2 Timeout you

%MWk+3 Byte length:l for a WRITE_VAR, initialize this word with the number of bytes to be

sent.l for a READ_VAR, when the request is terminated, this word

contains the number of characters received in the word table of received data.

TSX DM CPP 100E 09/2000 47


Accessing the CAN link layer PDUs

At a Glance The communication function SEND_REQ provides access to the PDU s on the CAN link layer.

Syntax The syntax of the communication function is presented in the following format:SEND_REQ(ADR#y.1.SYS, 16#9F, %MWi:L, %MWj:L, %MWk:4)

The following table describes the various parameters of the function.




ADR#y.1.SYS The address of the exchange destination device.l y: the processor’s slot in the rack (0 or 1)l 1 : channel (always 1)l SYS: UNI-TE server of the PCMCIA card

16#9F Function code

%MWi:L Table of at least 4 words.l %MWi: action mode (101: send with local confirmation of the card)l %MWi+1 and %MWi+2: identifier at the level of the CANopen link

layer; these two words form a double word which must contain a value between 0 and 536 870 911 (29 bits)Note: identifiers between 0 and 2047 (11 bits) are only accessed in write

l %MWi+3 to %MWi+6 : PDU data, 8 maximum

%MWj:L Not used (length set to 1)

%MWk:4 Exchange management parameters: four words identifying the address of the PL7 data used to control the function



%MWk+1 Operation reportl correct response: 16#61l incorrect response: 16#FD

Communication report

%MWk+2 Timeout user

%MWk+3 Length: initialization with the length of the table %MWi:L mandatory before sending the function. When the request is completed, this word contains the number of bytes received.

48 TSX DM CPP 100E 09/2000


IDENTIFICATION Request

At a Glance This request enables the master of the CANopen (TSX CPP 100 PCMCIA card ) bus to be identified.This request is carried out using the communication function SEND_REQ.

Syntax The communication function syntax is as follows:SEND_REQ(ADR#y.1.SYS, 16#0F, %MWi:L, %MWj:L, %MWk:4)



ADR#y.1.SYS Exchange destination entity address.l y: Processor slot number, 0 or 1l 1 : channel (always 1)l SYS: access to UNI-TE server from the PCMCIA card

16#0F Request code

%MWi:L Not used for the IDENTIFICATION function (length is 1)

%MWj:L Table of words containing the card identification information. Length L must be 12.

%MWk:4 Exchange management parameters: four word identifying the address of the PL7 data used to control the IDENTIFICATIONfunction

TSX DM CPP 100E 09/2000 49


%MWj:L The following table gives details of %MWj:L words.

Word number Most significant byte Least significant byte

%MWj Product code:l 16#05 : TSX Premium

16#FF

%MWj+1 Length of identification string: 16#0C

Number of BCD coded version (Version 1.0 coded 16#10)

%MWj+2 ‘S’ ‘T’

%MWj+3 ‘ ‘ ‘X’

%MWj+4 ‘P’ ‘C’

%MWj+5 ‘ ‘ ‘P’

%MWj+6 ‘0’ ‘1’

%MWj+7 16#00 ‘0’

%MWj+8 LED state, the ERR LED is coded on the first two bits and the COM LED on the following two according to the following sequences:l 0, 0 : Off,l 0, 1 : Blinking,l 1, 0 : Fixed on

PCMCIA card state:l 0 : Absent,l 1 : Autotest,l 2 : Failure,l 3 : Ready,l 4 : Waiting,l 5 : Not configured

%MWj+9 Product type: 16#02 Functional type: 16#2E

%MWj+10 Error typel x0: Card in Test/Debug mode,l x1: Bus error or inactive bus,l x2: Absent connection unit,l x3: Autotest or inaccessible

card,l x4: Reserved,l x5: Card different to the one

configured,l x6: Absent card,l x7: Error on at least slave,

Catalog reference: 16#01

%MWj+11 - 16#00

50 TSX DM CPP 100E 09/2000



The following table gives details of %MWk:4 words.



%MWk+1 Operation report, positive 16#3F report


%MWk+2 Timeout you

%MWk+3 Length: initialization to 0 is obligatory before the function is sent

TSX DM CPP 100E 09/2000 51


Diagnostic command

At a Glance A diagnostics command is sent by the SEND_REQ function block:

In this case, theSEND_REQ function is used to:l obtain diagnostics on the bus slaves,l obtain the version of a CANopen PCMCIA card,l obtain status variables,l obtain the history of bus errors.

Syntax The syntax of the communication function is as follows:SEND_REQ (ADR#y.1.SYS, 16#0031, %MWi:3, %MWj:L, %Mwk:4)

The table below describes the various parameters of the function.


ADR#y.1.SYS The address of the exchange destination device.l y: the processor’s slot in the rack (0 or 1)l 1 : channel (always 1)l SYS: UNI-TE server of the PCMCIA card

16#0031 Request Code

%MWi:3 Request parameters:l %MWi: type of diagnostic object:

l 1 ... 127 : Diagnostics of slave 1 to 127l 128 : Version of the CANopen cardl 129 : Status of the CANopen card; the response is equivalent to the

contents of the status word %IWy.1.2 (See Input word objects, p. 67).l 130 : Historical report of error messages

l %MWi+1: Start address in the diagnostics table (Default value is 0). To access part of the diagnostics table, it is possible to specify a start word in the table (Offset start)

l %MWi+2: Length in bytes of the diagnostics to be read. In general, this length is equal to twice the length of the response table.

%MWj:L Receive table, it contains the diagnostic data (See Diagnostics data, p. 58).

%MWk:4 Exchange management parameters: four words identifying the address of the PL7 data used to control the SEND_REQ function.

52 TSX DM CPP 100E 09/2000






%MWk+1 Operation report:l positive response: 16#61l incorrect response: 16#FD


%MWk+2 Timeout user

%MWk+3 Length: number of bytes in the response (initialization mandatory to activate the function when the number of bytes sent is 6)

TSX DM CPP 100E 09/2000 53


3.4 Debugging

Description of the debug screen

At a Glance The Debugging function or the ability to double click on the TSX CPP 100 PCMCIA card in the PL7 configuration is only available in online mode.The contents of the screen depend upon the configuration mode used. The informa-tion detailed on the slaves is only available when the configuration mode selected is: PL7 (PL7 radio button).

Illustration The figure below is an example of a debug screen.

No. of slaves

440004No. of %MW on input No. of %MW outputs

CANopen slave status

00010002

0005

Device name Act.

CBM-DIO8 1

1

1000

0

Life T.Addr.

TSX 57353 [RACK 0 POSITION 0]

Designation: TSX P 57353 PROCESSOR Version: 5.0

Debugging

DIAG...

1

ATV58_E

CBM-DIO8 1000

TSX CPP 100 CAN OPEN PCMCIA CARDCHANNEL 1

CANopen

CHANNEL 1:

4

3

1

2

56

7

8

10

9

Total

MAST

0003 CBM-DIO8 1 5000

CANopen slave data

OutputsParameter Symbol

HexBinDatabase Output value

OK

Value

Parameter Symbol Value2051%MW400

Inputs

Dec

Information on master

Request to send

Entry requestResponse received

54 TSX DM CPP 100E 09/2000


Description The table below shows the different zones of the debug screen:

Number Element Function

1 Title bar Indicates the product reference and the position of the module

2 Function selection

l Debugging (available in online mode only)l Configuration

3 Channel field Indicates the characteristics of channel 1.

4 DIAG button When a module fault is detected, the button is used to access information about the status of the module.

5 CANopen slave configuration

This zone displays all the CANopen bus slaves. In load configuration via PL7 mode, a faulty slave is displayed in red, when the fault disappears, it is displayed in blue. If there is no fault, it is displayed in black. Selecting a slave updates zones 6, 8, 9 and 10.Act.: indicates whether the slaves was activated in the Sycon configuration (1=activated, 0=deactivated)Guard P.: product of Guard time by life factor.

6 Inputs When a slave is selected, this zone contains the list of words, which are associated with it on input.

7 Output value When an output word in zone 8 is selected, its value can be modified by entering a new value then clicking on the OK button.

8 Outputs When a slave is selected, this zone contains the list of words, which are associated with it on output.

9 Information on …

When a slave is selected (click in zone 5), this zone contains its last diagnostic message, and to obtain information on the TSX CPP 100 card simply click on the table header.

10 Request to send

When a slave is selected, this zone is used to send a SDO request. Parameter syntax is identical to that used to transfer SDOs using READ_VAR and WRITE_VAR requests (See Syntax of the WRITE_VAR function, p. 46). Pressing the Request input button makes the request input fields appear.

TSX DM CPP 100E 09/2000 55


3.5 Diagnostics

At a Glance

Aim of this Section

This section describes the diagnostic tools, both hardware and software, available for the PCMCIA card TSX CPP 100.



Topic Page

Diagnostics from the status LEDs on the PCMCIA card TSX CPP 100 57

Diagnostics data 58

How to perform a diagnostic 61

56 TSX DM CPP 100E 09/2000


Diagnostics from the status LEDs on the PCMCIA card TSX CPP 100

At a Glance LEDs on the card allow you to see the status of the card and the CANopen bus. In normal operation, the ERR LED is off and the COM LED is permanently on.

Illustration The following figure indicates the position of the two LEDs, ERR and COM.

Diagnostics Depending on the state of the LEDs, the diagnostics are as follows:

ERRCOM

Status LEDs Meaning

ERR COM

Off Off Card has no power supply or configuration transfer in progress

Flashing(Irregular)

No configuration on the card

Flashing(Regular)

Card configured and ready, bus not active or no CANopen firmware

On Bus configured and active, no error

Permanently on.

Off Error detected, bus controller stopped

Flashing Error on card, configuration error, or error on synchronization between the card and the PLC (for more information, consult the module status diagnostics data)

On Bus configured and active, at least one bus subscriber cannot be reached or signal an error

TSX DM CPP 100E 09/2000 57


Diagnostics data

At a Glance During diagnostics, the first data to be used is implicit exchange %IW words (See Language objects in implicit exchange, p. 66).

Elsewhere there is diagnostics data which can be consulted by writing some pro-gram lines onto the PLC.The communication function SEND_REQ enables diagnostics to be carried out (See Diagnostic command, p. 52): l on the slave of its choice (1 to 127, one request per slave),l on the PCMCIA card version (128),l on the card state (129),and is used to obtain the history report on the messaging error messages (130).

The information provided comes from the PCMCIA card and is periodically updated.

The request reception table contains the information described in the following para-graphs.

Note: code 129 enables the same information to be received as is contained in the implicit exchange input words (See Input word objects, p. 67).

Note: information is given in byte tables. Whilst taking into account the possibility of requesting all or part of this table, it is necessary to pay attention to the most sig-nificant and least significant words of the %MWi:L table

Note: diagnostic information respects the CAN norm, you can find reference infor-mation on the site: http://www.can-cia.de.

58 TSX DM CPP 100E 09/2000


Slave diagnostics

The following table describes the information received following a request for diagnostics on a slave (code 1 to 127).

Description of an information block on the slave

The following table describes a type of information block.

Byte rank Description

0 Device status bits:l x0: No responsel x1: Overflow of error messages history tablel x2: Parameters errorl x3: Monitoring active devicel x4 to x6: Reservedl x7: Deactivated

1 and 2 Complementary information read at bus start-up on the standard object 16#1000 (CAN standardization)

3 and 4 Number of profile read at bus start-up on the standard object 16#1000 (CAN standardization)

5 Slave status:l 1 : Disconnectedl 2 : Connection in progressl 3 : In preparationl 4 : Readyl 5 : Operatingl 127 : Being prepared or missing

6 Error code (See Slave diagnostics codes, p. 77) (code of the last error generated by the slave)

7 Number of blocks of urgent information on the slave (0 to 5).Note: these blocks are added to the end of this table. Details of a type of block are given in the following paragraph.


0 and 1 Error code

2 Value of error register, object 16#1001 of the slave (CAN standardization)

3 to 6 Register value of the specific manufacturer state, object 16#1002 (CAN normalization)

7 Reserved

TSX DM CPP 100E 09/2000 59


Diagnostics on a card version

The following table describes the information received following a request for diag-nostics on a PCMCIA card (code 128).

Historical report of error messages

The following table describes the information received following a request for a historical report (code 130).

Description of a history report information block

The following table describes a type of information block.


0 to 7 Firmware version (character string)

8 to 10 Date of creation of the firmware version (BCD coded, DD.MM.YY)

11 to 13 Date of manufacture (BCD coded, DD.MM.YY)

14 to 17 Series number (BCD coded)

18 to 25 Protocol name (ASCII, without end of string character, e.g.: "CANopen")


0 and 1 Number of error blocksNote: these blocks are added to the end of this table. Details of a type of block are given in the following paragraph.

2 to 49 Contents of the error block (maximum 8 blocks)


0 Service code

1 ID concerned

2 and 3 Messaging error code (See Error codes, p. 73)

4 and 5 Detail on error code (See History codes, p. 77)

60 TSX DM CPP 100E 09/2000


How to perform a diagnostic

At a Glance The default search on the CANopen bus is first carried out with help from the PCM-CIA card LEDs. Next, you can use the procedure (as described above) which details bus start up management and the checks to be carried out using language objects (See Language objects associated with the TSX CPP 100 card, p. 65) provided by the PLC.

TSX DM CPP 100E 09/2000 61


Procedure The following table indicates the different phases of the procedure.

CANstate (1) is worth 16#00 or 16#40

YES

Check the status word of the master %IWy.1.3:x0...x7

CANopen

OK

Start the busIf PL7 program start up

mode

CANstate (1) is worth 16#C0

YES

Check the active slaves

OK

Slaves diagnostics OK

YES

Confirm the I/O

%Iy.1.ERR = 1

YES

NO

Check %IWy.1.0(following table)

If PL7 program or semi-automatic start up mode

Normal operation

NOK

NO

NO

Identify inactive slaves

(1) CANstate = %IWy.1.3:x8...x15

NOK

62 TSX DM CPP 100E 09/2000


How to check %IWy.1.0

This table describes the actions to be carried out in order to obtain an accurate diagnostic with the help of bits x8 à x15 de %IWy.1.0.

If… Then…

x8 = 1 it is a configuration errorCheck the detail of the error codes (See Input word objects, p. 67) in the words:l %IWy.1.1l %IWy.1.2

x9 = 1 it is a PDO transfer errorContact Schneider technical support

x10 = 1 it is a SDO transfer errorCheck the detail of the error codes (See Input word objects, p. 67) in the words:l %IWy.1.1l %IWy.1.2Check the historical report of error messages (See Historical report of error messages, p. 60).

x11 = 1 it is a PCMCIA card error.l Check the detail of the error codes in %IWy.1.1.l Check the contents of %IWy.1.3 :

l x0 : parameter error, the source of the error is indicated in %IWy.1.4l x1: the outputs are at zero after the breakdown of a slave (Autoclear ON),

the source of the error is indicated in %IWy.1.4l x3: Serious error, the card is not active on the busl x7: Faulty connection between the card and the TSX CPP ACC1

connection unit

x12 = 1 it is a bus error (bus not started or transmission error detected).l Check the number of %IWy.1.5 bus errors counter, if it is other than zero,

check the line.l Check the number of bus stops counter, if it is increasing, check the line and

restart the bus.Note : in non-automatic start up mode, the bus start up bit is %QWy.1:x0.

TSX DM CPP 100E 09/2000 63


x13 = 1 it is an error on a slave: communication error or I/O not confirmed.l Determine the last source of error contained in %IWy.1.4l Determine all the active slaves on the bus by consulting the %IWy.1.16 à

%IWy.1.23 bus status wordsl Perform a diagnostic of the faulty slaves with the help ofa diagnostic request

(See Diagnostic command, p. 52).Note: in non-automatic start up mode, the I/O start up bit is %QWy.1:x1.

x14 = 1 it is an output error: the outputs are positioned in fallback conditions.l Check that the PLC is in RUN model Check that the task associated with the module is activel Test the %IWy.1.0:x12 bit (bus error) and the %IWy.1.0:x13 bit (slave error).Note: in non-automatic start up mode, test the %QWy.1:x0 et %QWy.1:x bits.

x15 = 1 a new diagnostic is available for one or more slaves.l Determine these slaves by using the %IWy.1.16 à %IWy.1.23 status wordsl Carry out a diagnostic (See Diagnostic command, p. 52) of the affected

slave(s)

If… Then…

64 TSX DM CPP 100E 09/2000


3.6 Language objects associated with the TSX CPP 100 card

At a Glance

Aim of this Section

This section describes the implicit and explicit language objects associated with the TSX CPP 100 card.



Topic Page

Language objects in implicit exchange 66

Language objects for explicit exchange 70

Explicit exchange management 71

Language objects associated with configuration 72

Error codes 73

TSX DM CPP 100E 09/2000 65


Language objects in implicit exchange

At a Glance This page describes all the implicit exchange (See : PL7 Micro/Junior/Pro ; Communication applications ; Volume 1) language objects for CANopen communication using the PCMCIA card TSX CPP 100, that can be displayed or modified by the application program.

Bit objects The table below shows the different bit objects for implicit exchange.

Object (1) Function Meaning

%Iy.MOD.ERR Module error bit This bit set to 1, indicates a module error (at least one of the channels has an error)

%Iy.1.ERR Channel error bit This bit set to 1, indicates a fault in the PCMCIA card.

Key

(1) Address yl y: corresponds to the processor’s slot number in the rack (0 or 1

depending upon the power supply used)

66 TSX DM CPP 100E 09/2000


Input word objects

The table below shows the different input word objects for implicit exchange.


%IWy.1.0 Communication chan-nel status word

Communication channel status bits:l x0 = 1: Channel error, OR logic between all the bits

that followl x1 to X7: Reservedl x8 = 1: Incorrectly configuredl x9 = 1: Error in I/O exchange (PDO)l x10 = 1: Messaging exchange error (SDO)l x11 = 1: Card error (card missing or not ready)l x12 = 1: Bus fault (at least one bus error type

event has been generated)l x13 = 1: Slave fault (a communication error has

been detected with one or more slaves)l x14 = 1: Output error (outputs are positioned at fall-

back conditions)l x15 = 1: New slave diagnostics available (a new di-

agnostic is available for one or more slaves)

%IWy.1.1 Error word This word contains a module error code (See Module error codes, p. 73) (last configuration or I/O error)

%IWy.1.2 Error word This word contains a detailed module error code (See 806 code detail, p. 76) (last configuration or I/O error)

%IWy.1.3 CANopen master sta-tus word

CANopen communication master status bits:l x0 = 1: Parameters errorl x1 = 1: Indicates that the outputs are at zero follow-

ing the failure of a slave, Autoclear ON.l x2 = 1: No exchanges on the bus (no slave is com-

municating)l x3 = 1: Serious error, the card is not active on the

busl x4 = 1: One or more bus error events have been

detectedl x5 = 1: The process has not yet authorized access

to the card.l x6 = 1: Timeout exceeded when sending CAN

messagesl x7 = 1: Faulty connection between the card and the

connection unit TSX CPP ACC1l x8 to x15: These bits make up a byte whose value

indicates the operating mode:l 16#00 : offline model 16#40 : bus in STOP model 16#80 : outputs are in security mode (set to ze-

ro)l 16#C0: bus in RUN mode

TSX DM CPP 100E 09/2000 67


%IWy.1.4 Status word for bus devices

The least significant byte (bits x0 to x7) contains the address of the slave which has generated the last er-ror.The most significant byte (bits x8 to x15) contains the last error code.

%IWy.1.5 Counter status word Counter of the number of bus errors

%IWy.1.6 Counter status word Counter of the number of bus stops

%IWy.1.7 Counter status word Counter of the number of timeouts on CAN messages

%IWy.1.8 to %IWy.1.15

Bus status words Devices active on the bus, each bit set to 1 corre-sponds to a slave active on the bus (8 words of 16 bits, so 128 bits, the master and 127 slaves)

%IWy.1.16to%IWy.1.23

Bus status words Diagnostics available on the bus, each bit set to 1 cor-responds to a device for which diagnostics are avail-able (8 words of 16 bits, so 128 bits, the master and 127 slaves)

Key

Address yl y: corresponds to the processor’s slot number in the rack (0 or 1 depending

upon the power supply used)


68 TSX DM CPP 100E 09/2000


Output word objects

The table below shows the different output word objects for implicit exchange.


%QWy.1.0 Operating mode control words

Control bits:l x0 = 1: Activates the bus configuration

x0 = 0: Deactivates the bus configurationThis bit is only used when the bus startup is man-aged by the application

l x1 = 1: Activates data transfer on the busx1 = 0: Deactivates data transfer on the busThis bit is used when the startup is semi-auto-matic or managed by the application

l x2 = 1: Initializes the error bits:l I/O errors,l messaging errors,l history errors.

l x3 = 1: Initializes the PCMCIA card. This bit warm starts the card and is only used when the bus start-up is managed by the application.

l x4 to x15: These bits are reserved. They are set to 0.

%QWy.1.1 Reserved -

Key

Address yl y: corresponds to the processor’s slot number in the rack (0 or 1 de-

pending upon the power supply used)

Note: these implicit exchange output objects are also called command words. They are positioned by the application. The bits x2 and x3 of the %Qwy.1.0 word are not automatically reset to zero.

TSX DM CPP 100E 09/2000 69


Language objects for explicit exchange

At a Glance This page describes the explicit exchange (See : PL7 Micro/Junior/Pro ; Communi-cation applications ; Volume 1) language objects for CANopen communication using PCMCIA cards TSX CPP 100. Generally, these objects can be displayed or modified by the application program.

Internal word The following table describes the word %MWy.1.2, updated by the request READ_STS %CHy.1:

Note: objects %MWy.1.0 and %MWy.1.1 are used for the management of explicit exchanges (See Word objects, p. 71).


%MWy.1.2 Status of the PCM-CIA card

l x0 = 1: Bus has a fault or is not initialized (in start-up mode managed by the application)

l x1 = 1: Slave has an error, one or more slaves have errors or are not in RUN mode

l x2 = 1: The connection unit TSX CPP ACC1 has an error or its cabling is faulty

l x3 = 1: The PCMCIA card is: l missing from its slot, orl not ready, orl has a serious error

l x4 = 1: The PCMCIA card is:l initializing, so not ready, orl has an error, orl cannot be accessed

l x5 = 1: The card or protocol type is not recog-nized

l x6 = 1: Error in I/O exchangesl x7 = 1: Configuration or parametering errorl x8 to x15: Reserved, (value 0)

Key



70 TSX DM CPP 100E 09/2000


Explicit exchange management

At a Glance This page describes all the language objects that manage explicit exchanges (See : PL7 Micro/Junior/Pro ; Communication applications ; Volume 1).

Word objects The table below shows the different word objects for managing explicit exchanges.


%MWy.1.0 Exchange in progress

l x0 = 1: Exchange in progress

%MWy.1.1 Exchange error l x0 = 1: Error during exchange

Key



TSX DM CPP 100E 09/2000 71


Language objects associated with configuration

At a Glance This page describes all the configuration language objects for CANopen communi-cation with the PCMCIA card TSX CPP 100 that can be displayed by the application program.

Internal constants

The following table describes the internal constants:

Object Function Meaning

%KWy.1.0 Constant value used by the system

Least significant byte: 16#00Most significant byte: 16#37

%KWy.1.1 Configuration bits l Output fallback mode when PLC changes to STOP mode:x0 = 0: Reset x0 = 1: Maintain

l x1 = 0: Load configuration via the terminalx1 = 1: Use Flash EEPROM configuration

l Bus control at start-up:x2 = 0: Automaticx2 = 1: Via the application

l I/O control at start-up:x3 = 0: Automaticx3 = 1: Via the application

l Data exchange synchronizationx4 = 0: MAST taskx4 = 1: FAST task

l x5 reservedl CANopen PCMCIA card watchdog

x6 = 0: Activatedx6 = 1: Deactivated

l x7 to X15: Reserved

%KWy.1.2 Configuration bits Size of the bus configuration in memory (in number of bytes)

%KWy.1.3 Configuration bits Size of input image zone in memory (in number of words)

%KWy.1.4 Configuration bits Size of output image zone in memory (in number of words)

%KWy.1.5 Configuration bits Address of the start of the input image zone (%MW)

%KWy.1.6 Configuration bits Address of the start of the output image zone (%MW)

Key

(1) Address yl y: corresponds to the position of the Processor in the rack (0 or 1 according

to the selected power supply).

72 TSX DM CPP 100E 09/2000


Error codes

At a Glance The following tables describe the different error codes that can arise in a CANopen configuration. The explanations given in each table allow you to program the application in order to more easily detect and correct any future abnormal operation.

Module error codes

The following table describes the error codes located in the words %IWy.1.1 (in the Description column) and %IWy.1.2 (in the Detail column).

Code Description Detail

0 No error, operating correctly

Standard errors

100 Invalid address (NULL pointer) -

101 Invalid value Value

102 Invalid ID object ID

103 Invalid driver status Status code

104 Size of read memory zone invalid Memory size

105 Size of data to be written invalid Size of data

106 Timeout Timeout counter for a SDO transfer or loading status when downloading a configuration

107 Synchronization error -

108 Stopped by the user -

Resource errors

200 Memory overflow -

201 Memory resources saturated -

Messaging errors

300 Invalid source address Value of address

301 Invalid destination address Value of address

302 Invalid service Service code

303 Invalid service class for a segment ID Specified value

304 Primitive function of service invalid Function code

305 ID of service called invalid Specified value

306 Invalid communication gate Port number

307 Invalid bus device ID Value of ID

308 Invalid SDO index Value of index

TSX DM CPP 100E 09/2000 73


309 Invalid SDO sub-index Value of sub-index

310 Remote error when executing a service Error code

311 Invalid COB-ID Value of COB-ID

312 Invalid type of transfer on the link layer Code of the transfer requested:l 101 : sendl 102 : receivel 103 : send and receive

PCMCIA card errors

600 Card missing -

601 Card different to TSX CPP 100 detect-ed

-

602 Card not ready to communicate -

603 Card no longer in RUN mode -

PCMCIA card communication errors

700 Error when sending a message to the card

-

701 Error when receiving a message com-ing from the card

-

702 Error when sending an output PDO to the card

-

703 Error when receiving an input PDO from the card

-

Configuration errors

800 Incorrect size of bus configuration data Configuration data size

801 Size of input image data invalid Size, in number of words, fixed at card start-up

802 Size of output image data invalid Size, in number of words, fixed at card start-up

803 Overlap of memory areas reserved for inputs and outputs

Type of overlap:l 1 : the start of the input area covers

the end of the output areal 2 : the start of the output area cov-

ers the end of the input area


74 TSX DM CPP 100E 09/2000


804 Data loading zone not found Type of zone:l 1 : global datal 2 : bus parametersl 3 : synchronization mode

805 Invalid configuration data checksum (inconsistency of bus configuration data in Sycon mode)

Checksum of the bus configuration data located in the card’s flash memory

806 Negative report on downloading of con-figuration

Most significant byte: card error code (See 806 code detail, p. 76).Least significant byte:l 16#00 : no loading in progressl 16#01 : load requestl 16#02 : loading in progressl 16#03 : loading completedl 16#11 : transfer to the PC request-

edl 16#12 : transfer to the PC in

progress


TSX DM CPP 100E 09/2000 75


806 code detail The following table describes the error codes, situated in the most significant byte of word %IWy1.2 and for the value 806 of the word %IWy1.1.

Code Description

48 Timeout

52 Unknown zone code

53 Maximum memory size exceeded

55 Incorrect parameter

57 Sequence error in downloading

59 Incomplete data downloaded

60 Duplicate address

61 Size of PDO address table too big

62 Size of the bus device parameter zone too big

63 Mode of PDO transmission unknown

64 Size of PDO data too big

65 Transmission speed unknown

66 Synchro COB-ID outside limits

67 Synchro message Timer Preset value outside limits

68 Size of input data + offset greater than the maximum size of the input image zone

69 Size of output data + offset greater than the maximum size of the output image zone

70 Inconsistency between the configuration of the PDOs and the PDO address table

71 Invalid length of PDO address table

72 Length of download data invalid

73 Urgent message COB-ID outside limits

74 Bus device monitoring message COB-ID outside limits

75 PDO length indicator outside limits

76 Size of SDO data too big

76 TSX DM CPP 100E 09/2000


History codes The following table describes the error codes, located in the fifth and sixth byte of the diagnostics history table.

Slave diagnostics codes

The following table describes the error codes, located in the seventh byte of a slave’s diagnostics table.

Code Description

3 Service rejected by the device

17 No response from the device

51 Length of the receive memory zone too long

53 Length of fragmented protocol data greater than the size of the buffer memory

54 Unknown function requested by the card driver

55 Bus device address outside limits

57 Sequence error during a fragmented transfer. The action is canceled.

200 card not configured

Code Description

30 Error in slave monitoring

31 Change of status of a device on the bus, device unavailable

32 Sequence error in bus monitoring protocol

33 No response for a configured PDO

34 No response when configuring device

35 Profile of device configured different to profile of device present on the bus

36 Type of device configured different to type of device present on the bus

37 Unknown SDO response

38 Frame received greater than 8 bytes

39 Device not scanned or stopped (for example in Autoclear mode)

TSX DM CPP 100E 09/2000 77


Sycon charging error codes

The following table describes the error codes that can occur while loading configu-ration or firmware onto the card using the XWAY driver.

Code Description

0 No error, operating correctly

Standard errors

8001 Driver inoperative

8002 Unknown event code from the driver

8003 Command code not recognized by the driver

8004 Command refused

8005 Another command is always active

8006 Command sent to an invalid device

Allocation errors

8010 No device assigned

8011 Device already assigned

Communication errors

8020 Sending of a department request when no device is connected

8021 Initialization of a connection when there is already one

8022 Time-out

8030 Driver status reading error

8031 Error following the sending of a request on the network

8032 Sending mail-box always busy

8033 Network response error

8034 No available response from the inbox

8035 Input/output data transfer error

Driver initialization errors

8080 Parametering errors

8081 General driver initialization error

Multitask processing errors

-1 Non-created work task

-2 Invalid task pointer or synchronized object

-3 No synchronization event has been created

78 TSX DM CPP 100E 09/2000

Glossary

CAN Controller Area Network: field bus originally developed for motor vehicles, which is now used in many areas of tertiary industry.

CiA CAN in Automation: international group of users and manufacturers of CAN prod-ucts.

COB Communication OBject: transport unit on the CAN bus. A COB is identified by a unique identifier coded over 11 bits, [0, 2047]. A COB contains a maximum of 8 data bytes. A COB’s transmission priority is given by its identifier; the lower the identifier, the higher the priority of the associated COB.

CRC Cyclic Redundancy Checksum: cyclic redundancy checksum which indicates that no character has been "deformed" during the transmission of the frame.

CSMA/CA Carrier Sense, Multiple Access / Collision Avoidance : method of communica-tions management on a network which characterizes the link layer.

DIN Deutsches Institut für Normung : German standards institute.

C

D

TSX DM CPP 100E 09/2000 79

Glossary

EDS Electronic Data Sheet: description file for each CAN device (supplied by the man-ufacturers). With the configuration software Sycon, in order to add a device to the bus, you must select the corresponding EDS. EDSs are available on the site http://www.can-cia.de or from the hardware supplier.

LLC Logical Link Control .

MAC Medium Access Control .

MDI Medium Dependent Interface .

MTBF Mean Time Between Failure : mean time between two failures.

OD Object Dictionary: dictionary of objects recognized by CAN. A hexadecimal code is given to each type of object. The dictionary groups together all the object codes.

PCMCIA Personal Computer Memory Card International Association

PDO Process Data Object : there are RPDOs (Receive PDO) and TPDOs (Transmit PDO).

E

L

M

O

P

80 TSX DM CPP 100E 09/2000

Glossary

PDU Process Data Unit : there are APDUs (Application PDU). A PDU at link layer level is an APDU encapsulated by the headers and the bytes characterizing this link layer.

PMA Physical Medium Attachment.

SDO Service Data Object : there are SSDOs (Server SDO) and CSDOs (Client SDO).

TAP Transmission Access Point.

S

T

TSX DM CPP 100E 09/2000 81

Glossary

82 TSX DM CPP 100E 09/2000

CBAIndex

AAccessing the configuration screen, 31Architecture, 11

BBus length, 12

CCharacteristics, 22Configuration, 30

How to, 40Loading, 36Performance of the CANopen bus, 34Slave inputs, 34Slave outputs, 34

Configuration screen, 32

DDebugging, 54Diagnostics, 56, 58

Command, 52Documentation file, 43

EError codes, 73Exchange management, 71Explicit exchange, 70

TSX DM CPP 100E 09/2000

GGeneral, 9

IIDENTIFICATION, 49Implicit exchange, 66Input words, 67Installation

Principles, 28Introduction to CANopen, 10

LLanguage objects, 65

Configuration, 72Explicit, 70Implicit, 66

LEDs, 57

MMethodology, 29Mounting PCMCIA card, 17

OOutput words, 69

83

Index

PPDU, 48Physical description of CPP 100, 16Processors, 23

RREAD_VAR, 46Report, 71

SSelect a configuration file, 40Signaling, 57Software, 25Standards, 22

TTopology, 11Transmission speed, 12TSX CPP 100, 13TSX CPP ACC1, 19

WWRITE_VAR, 46

84
TSX DM CPP 100E 09/2000

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