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CANopen

Agenda

5

6

7

8

9

10

1

2

3

4

User and system overview CANopen

CANopen: The physics

CANopen: Connection XC100-XI/ON

CAN-protocol

CiA-Device object

CANopen: Network management (NMT)

CANopen: Parametrizing data transmission

CANopen: Parametrize with SDOs

Connection of XC600 with XION

CANopen: XION-Diagnostics

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CANopen

Agenda

15

16

17

18

19

20

11

12

13

14

Diagnosis XC600

EDS and DCF files

CANopen: Connecting 3rd party devices to XSystem

CANopen: Process data objects (PDO)

CANopen: PDO-Mapping

Communication XC100-MI4

CANopen Device

CANopen: Connection XC100-XC100

Several XControls address the same station

CANopen Routing

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CANopen

Agenda

25

26

27

28

29

30

21

22

23

24

CAN-Direct Access

Profibus DP – CAN comparison

CANopen URLs and Books

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CANopen

User and system overview CANopen

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CANopen

Scope of applications

CAN

(Fa. Bernstein [CAL])

(Selectron)

(Fa. Moog, Servoantriebe)

(Gelma [CAL] Lageregler,

[L2] RAOs)

(Textil)

(Selectron [CAL])

(Gelma, Bernstein [CAL] Wöhrle [1,2,7])

(B&R [CAL], Klaschka [L1], AB [Device Net],
Sigmatec)

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CANopen

System overview and technology

XC200

XC100

XC600

HPG

XI/ON

CAN

Stn 1

Max Stn 127

Transmission rate: 10, 20, 50, 125 (default), 250, 500, 800, 1000 kbit/s

EASY

MI4 und MV4

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CANopen

CANopen: The physics

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CANopen

What is contained in a CAN node ?

CAN-Controller

µC

CAN-Tranceiver

CAN

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CANopen

Practical values for the trunk length

kbit/s

Trunk length in m

30 50 100 250 500 1000 2500 /../ 5000

10

20

62,5

125

250

800
500

1000

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CANopen

CANopen specifications according to CiA

trunk

length [m]

Cable resistance

[mOhm/m]

wire cross-section

[mm²]

terminating

resistance

[Ohm]

Baudrate [kBit/s]

0 .. 40

70

0,25 .. 0,34

124

1000 at 40m

40 .. 300

<60

0,34 .. 0,6

150 .. 300

>500 at 100m

300 .. 600

<40

0,5 .. 0,6

150 .. 300

>100 at 500m

600 .. 1000

<26

0,75 .. 0,8

150 .. 300

>50 at 1km

DC parameters for CANopen networks for less than 64 nodes

wire cross-section

[mm²]

n = 32

n = 64

n = 100

n = 32

n = 64

n = 100

0,25

200

170

150

230

200

170

0,5

360

310

270

420

360

320

0,75

550

470

410

640

550

480

Cable type

Maximum trunk length [m] (1)

Maximum truk length [m] (2)

(1) Safety margin factor of 0.2

(2) Safety margin factor of 0.1

Maximum trunk length for different cable types and node numbers

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CANopen

Our cable recommendation

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CANopen

Caution: Please regard the polarity when connecting!

node 1 . . . . . . . . node n

CAN Bus Line

1

2

0



CAN_H

CAN_L

1

2

0



ISO 11898-2 Network Set-up

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CANopen

Hardeware installation of a CAN - XION Gateway

• Bit Rate (10kbit/s - 1Mbit/s)

8

8

0

7

9

1

F

4

C

2

3

5

6

A

B

D

E

0

7

9

1

F

4

C

2

3

5

6

A

B

D

E

High

Low

<=> 12 Hex => Station address 18 (Dez)

• Address switches (0-127)

Caution: Address „0“ must not be used!

1
2
3
4

„0“,Of „1“,On

• Accept configuration

press for 2 secs!

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CANopen

Baud rates DIP switch

Switch (position)

reserved

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CANopen

DIN 41652

Pin Signal Description

1

-

Reserved

2 CAN_L

CAN_L bus line dominant low

3 CAN_GND CAN Ground
4

-

Reserved

5 (CAN_SHLD) Optional CAN Shield
6 GND

Optional Ground

7 CAN_H

CAN_H bus line dominant high

8 -

Reserved

9 (CAN_V+) Optional CAN external positive supply

9-p in Sub Connector

Quelle: CIA

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CANopen

5-pin Mini Style Connector

male

1

2

3

4

5

female

1

2

3

4

5

If 5-pin Mini Style Connectors are used the following pinning applies:

Pin

Signal

Description

1

(CAN_SHLD) Optional CAN Shield

2

(CAN_V+)

Optional CAN external positive supply (dedicated for supply of

transceiver and optocouplers, if galvanic isolation of the bus

node applies)

3

CAN_GND

Ground / 0V / V-

4

CAN_H

CAN_H bus line (dominant high)

5

CAN_L

CAN_L bus line (dominant low)

: ANSI/B93.55M-1981

Mini-style Connector

Quelle: CIA

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CANopen

Open Style Connector

1 2 3 4 5

1 2

3 4

5

female

male

If Open Style Connectors are used the following pinning is recommended:

Pin

Signal

Description

1

CAN_GND

Ground / 0 V / V-

2

CAN_L

CAN_L bus line (dominant low)

3

(CAN_SHLD) Optional CAN Shield

4

CAN_H

CAN_H bus line (dominant high)

5

(CAN_V+)

Optional CAN external positive supply (dedicated for supply of

transceiver and optocouplers, if galvanic isolation of the bus

node applies)

Open-style Connector

Quelle: CIA

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CANopen

CANopen: Connection XC100-XI/ON

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CANopen

Schedule for configuring a CAN network 3

XI/ON

IB7.0

QB0.0

XC100

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CANopen

Schedule for configuring a CAN network 4

XI/ON

IB7.0

QB0.0

XC100

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CANopen

XI/ON

IB7.0

QB0.0

XC100

Schedule for configuring a CAN network 5

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CANopen

XI/ON

IB7.0

QB0.0

XC100

Schedule for configuring a CAN network 6

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CANopen

Schedule for configuring a CAN network 7

XI/ON

IB7.0

QB0.0

XC100

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CANopen

Schedule for configuring a CAN network 8

XI/ON

IB7.0

QB0.0

XC100

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CANopen

Exercise: Configuration of a CAN network

XI/ON

I0.0

Q0.0

Qx.x

Ix.x

XC100

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CANopen

CAN-protocol

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CANopen

CAN

Station 1

(Consumer)

CAN

Station 2

(Producer)

CAN

Station 3

(Consumer)

CAN

Station 4

(Consumer)

Frame I

Local

Intelligence

Local

Intelligence

Local

Intelligence

Local

Intelligence

bus lines

Filter

Filter

Filter

Filter

Broadcast Communication

SOurce: CIA

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CANopen

CAN

Station 1

(Consumer)

CAN

Station 2

(Producer)

CAN

Station 3

(Consumer)

CAN

Station 4

(Consumer)

Local

Intelligence

Local

Intelligence

Local

Intelligence

Local

Intelligence

bus lines

Filter

Filter

Filter

Filter

RTR I

Frame I

Remote Request

Source: CIA

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CANopen

CAN

Station 1

(Consumer)

CAN

Station 2

(Producer)

CAN

Station 3

(Consumer)

CAN

Station 4

(Consumer)

Local

Intelligence

Local

Intelligence

Local

Intelligence

Local

Intelligence

bus lines

Filter

Filter

Filter

Filter

Frame I

Frame 3

Frame 2

Multiple Bus Access

Source: CIA

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CANopen

Identifier

Daten

Pro

ce

ss

Da

taO

bje

ct

17

4

197

6

19

1044

6, 7, 99

Receive-Filter list

Broadcast

4, 8

4, 16

11, 17

Station 1

Station 2

Station 3

Station 4

All stations monitor the line for

messages with identifiers
contained

in their receive list

CSMA/CA: Object orientated addressing

=PDO

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CANopen

SOF Identifier

Control DATA

CRC

HCK

EOF

RTR

8 Byte

HD 6

10 9 8 7 6 5 4 3 2 1 0

Station
1

Station
2

Station
3

Station 2 wants to set HIGH, other still pull to LOW -> good-bye Station 2 !

Station 1 wants to remain on HIGH signal, Station
3 pulls signal to LOW -> Station 1 is out of the
game !

..and the winner is: Station 3

1 1 0 1 0 0 1 1 1 1 1 (1695 dez.)

1 1 0 1 0 1 1 1 1 1 1 (1727 dez.)

1 1 0 1 0 0 1 0 1 1 0 (1686 dez.)

The lowest Identifier wins...

All Stations send and listen

simultaneously...

Bus access with CSMA/CA (Dominant / Recessive)

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CANopen

CiA-Device object

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CANopen

Germany Honeywell Allen Bradley France

CANopen

SDS

Device Net

Sub MMS

CMS similar MMS
NMT
DBT

L7

L2

L1

ISO / DIS 11519-1

ISO / DIS 11898, 9141

4 diferent, incompatible Layer 7 specifications

Application layer

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CANopen

CAN and CANopen: Process data objects (PDO)

CAN

CANopen

CAN

CANopen

Producer

Consumer

PDO

CAN

PDO

CANopen

PDO

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CANopen

Identifier

Data

Pro

ce

ss

Da

taO

bje

ct

17

4

197

6

19

1044

6, 7, 99

Receive-Filter list

Broadcast

4, 8

4, 16

11, 17

Station 1

Station 2

Station 3

Station 4

All stations monitor the line for

messages with identifiers
contained

in their receive list

CSMA/CA: Object orientated addressing

=PDO

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CANopen

SOF Identifier

Control DATA

CRC

HCK

EOF

RTR

8 Byte

HD 6

10 9 8 7 6 5 4 3 2 1 0

Station
1

Station
2

Station
3

Station 2 wants to set HIGH, other still pull to LOW -> good-bye Station 2 !

Station 1 wants to remain on HIGH signal, Station
3 pulls signal to LOW -> Station 1 is out of the
game !

..and the winner is: Station 3

1 1 0 1 0 0 1 1 1 1 1 (1695 dez.)

1 1 0 1 0 1 1 1 1 1 1 (1727 dez.)

1 1 0 1 0 0 1 0 1 1 0 (1686 dez.)

The lowest Identifier wins...

All Stations send and listen

simultaneously...

Bus access with CSMA/CA (Dominant / Recessive)

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CANopen

CANopen: Network management (NMT)

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CANopen

Network management

NMT-Master (1)

Slave(2)

Switches Node On/Of

Node control

Error supervision

1 error!

Slave(127)

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CANopen

Node Monitoring

Still alive?

Status

Cyclic Monitoring (Node Guarding)

Acyclic Monitoring (Heartbeat)

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CANopen

Cyclic monitoring with Node guarding

Slave1

NMT-Master

Still alive?

Status

Still

aliv

e?

Sta

tus

Slave2

Slave127

S

till

a

liv

e?

S

ta

tu

s

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CANopen

Slave out of order!

Cyclic monitoring with Node guarding

Still alive?

Example:

Master out of order!

=> e.g. after 300ms the slave puts
the outputs to ZERO!

100 ms

100

3

Still alive?

No status reply

request: „Alive ?“ missing

100 ms

=> After 300 ms the master reports
the
slave missing at the control centre!

request: „Alive ?“ missing

100 ms

request: „Alive ?“ missing

100 ms

No status reply

Still alive?

No status reply

100 ms

100 ms

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CANopen

Exercise: Nodeguarding

1000

3

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CANopen

Monitoring with Heartbeat

He

art

be

at t

ele

gra

m

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CANopen

Configuration of the Heartbeat

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CANopen

Exercise: Synchronization and Heartbeat
monitoring

XI/ON

XC600

I0.0

Q0.0

Qx.x

Ix.x

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CANopen

Emergency Telegram

24V

Emergency (Error Register and properitary information)

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CANopen

CANopen: Parametrizing data transmission

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CANopen

What is a PDO ?

Temperature sensor

COB-ID

Data

1-2047

0

8

COB-ID

ProcessData

Up to max.

1234

25

1234

25°C

PressureTime

Speed

etc.

ProcessDataObject

Transmit-PDO

Data

Receive-PDO

COB= CommunicationOBject

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CANopen

The COB-ID

(Communication Object Identifier)

Node ID + Default Ofset

COB-ID serves the purpose of addressing and prioritizing the
PDOs

Default-COB-ID

8 Byte PDO

Caution: Please take care that the COB-ID is not already assigned otherwise

TPDO

Node 1

181
281
381
481

RPDO

201
301
401
501

Filter

TPDO

Node 2

182
282
382
482

RPDO

202
302
402
502

Filter

=> the smaller the node address the higher the priority of the Default PDO!

TPDO

Node 127

26F
36F
46F
56F

RPDO

327
427
527
627

Filter

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CANopen

Parametrizing of the PDOs

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CANopen

Internal
event

1. Event- or Timer-
driven

producer

consumer(s)

Remote Frame

2. Remote
request

producer

consumer(s)

Sync

3. Synchronous
transmission
(cyclic, acyclic)

producer

consumer(s)

PDO transmission methods 1

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PDO transmission methods 2

Asynchronous:

Event riggered

PDO

Synchronous:

Sync

PDO

Sync

PDO

cyclic

Sync
Sync

PDO

Sync
Sync

Acyclic

Sync

Request

PDO

Request triggered

Request triggered

Request

PDO

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time

Sync Sync Sync Sync Sync Sync

Synchronous PDO

asynchronous PDO

Synchronous and asynchronous transmission of
PDOs

Sync-window

{

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time

Sync Sync Sync Sync Sync Sync

Synchronous cyclic transmission of a PDO

Synchronous acyclic transmission of a PDO

Synchronous cyclic/acyclic transmission of PDOs

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Configuration of the PDO Synchronization

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Configuration of the PDO synchronization

Sync-Producer

Sync-Consumer

Sync-Consumer

1. Sync Signal

2. Start signal
Axis 1

3. Start signal
Axis 2

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Configuration of the PDO synchronization

Sync-Producer

Sync-Consumer

Sync-Consumer

1. Sync-Signal

2. Start signal
Axis 1

3. Start signal
Axis 2

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Configuration of the PDO synchronization

Sync-Producer

Sync-Consumer

Sync-Consumer

1. Sync-Signal

2. Start signal
Axis 1

3. Start signal
Axis 2

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CANopen

Configuration of the PDO synchronization

Sync-Producer

Sync-Consumer

Sync-Consumer

1. Sync-Signal

2. Start signal
Axis 1

3. Start signal
Axis 2

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Inhibit Time - Minimum time between two
transmission requests

Inhibit Time

PDO x

PDO y

I7.3

I9.2

PDO y

I7.3

I9.2

PDO x

...

...

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Event Time

Hours later.....

?

Wire broken, device out of order?

Temp

Time

E.g.:
EventTime=10s

after 10 s:

After another 10 s:

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PDO Parameters: Event Time

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CANopen

CANopen: Parametrize with SDOs

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CANopen

Addressing of an SDO in the object directory

CANopen device

Object directory of

the device parameters

1-9Fh

Data types

A0h-
FFFh

Reserved

1000h- Communications
1FFFh

parameters

2000h-

Manufacturer spe

5FFFh cific parameters
6000h-

Standard device

9FFFF profile parameters

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CANopen

How to define a reaction for an analog sensor ?

Max

Min

Limits

negative
positive

Delta

Delta or limit value ?

• Analog Input Interrupt Trigger Selection

(6421H)

1.

Values for delta or limits?

• Analog Input Interrupt Delta unsigned

(6426H)

or

• Analog Input Interrupt negative Delta unsigned

(6427H)

or

• Analog Input Interrupt positive Delta unsigned

(6428H)

or

•Analog Input Interrupt Upper Limit Integer

(6424H)

•Analog Input Interrupt Lower Limit Integer

(6425H)

2.

Create interrupt upon occasion of the
event!

•Analog Input Global Interrupt Enable
(

6423H)

3.

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Parametrizing an Analog Input

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CANopen

Configuring a device with SDOs (Service Data
Object)

0-10V
0-20mA
4-20mA

Operating mode ?

• Analog Input Mode

(5420H)

Sample:
Analoginput 1: 0-20mA
Analoginput 2: 4-20mA

=> 5420 Sub1= 0
=> 5420 Sub2= 1

With the Subindex the input/output to be parametrized is selected!

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CANopen

Substitute values at bus failure

Generate substitute value on error ?

• Error Mode Output 8-bit

(6206 H)

• Error Mode Output 16-bit (6306 H)

• Error Mode Output 32-bit (6326 H)

• Analog Output Error Mode (6443 H)

1.

Substitute value on error !

• Error Value Output 8-Bit

(6207 H)

• Error Value Output 16-Bit

(6307 H)

• Error Value Output 32-Bit

(6327 H)

• Analog Output Error Value Integer
(

6444 H)

2.

=1 Send substitute value
=0 Keep latest value

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CANopen

Exercise: Parametrizing of the analog I/Os via SDOs

The analog input shall send a
value on a delta of 10
increments !

0-10V

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CANopen

Connection of XC600 with XION

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CANopen

Setup of a CAN network 1

XI/ON

IB7.0

QB0.0

XC600

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Setup of a CAN network 2

XI/ON

IB7.0

QB0.0

XC600

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Setup of a CAN network 3

XI/ON

IB7.0

QB0.0

XC600

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Aufbau eines CAN-Netzwerkes

XI/ON

IB7.0

QB0.0

XC600

Setup of a CAN network 4

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Setup of a CAN network 5

XI/ON

IB7.0

QB0.0

XC600

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Setup of a CAN network 6

XI/ON

IB7.0

QB0.0

XC600

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CANopen

Exercise

XI/ON

XC600

I0.0

Q0.0

Qx.x

Ix.x

: Creation of a CAN-network

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CANopen

CANopen: XION-Diagnostics

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CANopen

CAN-Diagnosis via device LEDs

GW: Green
Operational. Power supply OK.

IOs: Green
Configured IOs existing; XI/ON communication running.

Err: OFF
Error free communication between CAN-Gateway and
other CAN stations

Bus: Green
Status of the device is operational.

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Diagnostics CAN-Gateway-LEDs 1

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Diagnostics CAN-Gateway-LEDs 2

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Diagnostic information of a CAN station

CAN

XC200

XC100

XC600

XV-...-T..

XI/ON

2 Byte

Emergency

Errorcode

1Byte

Error

Register

Manufacturer specific

error register

Emergency telegram

MI4-MV4

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Data content of the error register

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Diagnosis XC600

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Diagnosis of the bus communication

Start address for the module‘s
diagnosis data

TYPE GETBUSSTATE:
STRUCT

BOLDENABLE : BOOL;
ENABLE: BOOL;
DRIVERNAME:POINTER TO STRING;
DEVICENUMBER:INT;
READY:BYTE;
STATE:INT;
EXTENDEDINFO:ARRAY[0..129] OF BYTE;

END_STRUCT
END_TYPE

CAN_line

AT

%MB284

: GETBUSSTATE;

Global Variable list

Bit

7 6 5 4 3 2 1 0 Station

Byte 0

X X X A

Byte 1

X X X B

Byte 2

X X X C

Byte 3

X X X D

Byte 128

X X X Z

Byte 129 X X X X X X X X

Each Byte contains the diagnosis data of one station.

They are stored in 3 Bits.

Bit 0: 1 = Station existing

Bit 1: 1 = Data exchange ok

Bit 2: 1 = Diagnosis data available

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CANopen

Exercise : CAN-diagnostics

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Diagnosis of the bus communication

ENABLE:

1 = activate

0 = deactivate

DRIVERNAME:

For the respective drivers the

following names are used:

Local XION:

XcXion

PROFIBUS DP:

XcNetIo

CANopen:

XcNetIo

DEVICENUMBER: (0,1,2) number assigned to the

PROFIBUS-DP- or CANopen-

Module address.

For local XION generally has to

be assigned “0”.

(For an additional PROFIBUS-

DP-/CANopen- Module with the

address CE000 you also have to

enter „0“. Local XION and

PROFIBUS-DP/CANopen are

then distinguished by the name

of the driver)

BUSMEMBERID: (Node-) Number/Address of the station.

For local XION it is generally “0”.

In a PROFIBUS-DP-line the first slave normally is

assigned the address 2.

For CANopen the addressing (Node ID) of the stations

can start with 1. In the attached sample the module XC-

NET-CAN gets the Node ID 1. Please regard, that with

CANopen the lowest addresses have the highest priority.

READY:

0 = Block inactive

1 = Block active

STATE:

for the values –1, 0, 1, 2, 3 the following constants are

defined:

-1: NDSTATE_INVALID_INPUTPARAM

0: NDSTATE_NOTENABLED

1: NDSTATE_GETDIAG_INFO

2: NDSTATE_DIAGINFO_AVAILABLE

3: NDSTATE_DIAGINFO_ NOTAVAILABLE

EXTENDEDINFO: In these 100 Bytes extended diagnostic info is available

(ARRAY [0..99] OF BYTE)

Byte 16 and 17 of the ExtendedInfo contain the Error code of the Emergency Telegrams!

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CANopen

EDS and DCF files

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EDS file
information
: generation
date,
Version,
etc.

General
device info:
Name,serial
number,
Hardware
revision,
etc.

Object
inventory
with
predefine
d values

The EDS file (Electronic Data Sheet)

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EDS Form

for

diferent

Configurations

of one

device type

EDS Form

for

diferent

Configurations

of one

device type

EDS

250 Kbit/s

ID = 18

250 Kbit/s

ID = 18

1 Mbit/s

ID = 2

1 Mbit/s

ID = 2

20 Kbit/s

ID = 63

20 Kbit/s

ID = 63

DCF

Module 63

Module 63

Module 18

Module 18

Module 2

Module 2

Device

EDS and DCF

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CANopen

CANopen: Connecting 3rd party devices to

XSystem

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CANopen

How to connect 3rd party devices to XControl?

e.g.
Pressure sensor by the company Trafag

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CANopen

Copying the EDS file into the XSoft directory

CO

P

ED

S-

Da

te

i

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Path for project specific configurations

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CANopen

XSoft PLC configuration

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CANopen

CANopen: Process data objects (PDO)

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COB-ID

ProcessData

ProcessDataObject

What is a PDO?

Temperature sensor

COB-ID

Data

1-2047

0

8

Up to max.

1234

25

1234

25°C

Press-
ure

Time

Velocity

etc.

Transmit-PDO

Data

Receive-PDO

COB= CommunicationOBject Identifier

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The COB-ID (Communication Objekt Identifier)

The COB-ID serves the addressing and prioritizing of the
PDOs !

0

10

313029

2047 diferent COB-IDs

=0 means 11-Bit-ID
=1 means 29-Bit-ID

=0 RTR is possible with this PDO
=1 RTR is not possible with this PDO

=0 PDO exists / is valid
=1 PDO does not exist / is invalid

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CANopen

Default-PDOs of a CANopen device according to CiA
DS-401

CAN

TPDO4

TPDO3

TPDO2

TPDO1

RPDO4

RPDO3

RPDO2

RPDO1

Digital

Bit:

0-63

Analog

channels:

0-3

4-7 8-11

Hardware-Input

Hardware-Output

Digital

Bit:

0-63

Analog

channels:

0-3

4-7 8-11

0-10 0/ 4-20 mA

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Predefined COB-IDs

Device ID + DefaultOfset

Default-COB-ID:

8 Byte PDO

... Up to device 127

181 281 381 481 201 301 401 501

Send-PDOs

Receive-PDOs

Device 1

182 282 382 482 202 302 402 502

Send-PDOs

Receive-PDOs

Device 2

All COB-IDs in Hex!

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Exercise

Send-PDOs

Receive-PDOs

Device-ID 64

?

: What are the COB-IDs of the default PDOs?

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CANopen

Automatic connection of CAN devices with XControl

181

Send-
PDOs

Receive-
PDOs

201

...

...

PDOs do not own a
COB-ID yet !

181 281 381 481 201 301 401 501

Send-PDOs

Receive-PDOs

Device 1

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CANopen

Exercise: CAN-XION-Station with 14 analog outputs

Configure a XION-Station to address 2 with 7
„XN-2AO“ modules!

• How does XSystem solve the problem, that a
maximum of 12 analog outputs can be placed in the
default PDOs ?

• What do you have to change, so that the data
exchange will work with all analog ouput signals?

14 * 0-10V

...

2

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XI/ON specific Default-PDOs

PDO5

2. Group of digital I/Os
Bits 64 thru 127

COB-ID TPDO

800001C0h+Node-ID

Meaning

COB-ID RPDO

80000240h+Node-ID

PDO13

4. Group of analog I/Os
Channels 12-15

800001A0h+Node-ID 80000220h+Node-ID

PDO16

7. Group of analog I/Os
Channels 24-27

800004A0h+Node-ID 80000520h+Node-ID

Bit 31=1 => PDOs are blocked!

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Enabling the specific XI/ON-PDOs

1

0

COB-ID:

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Exercise: CAN-XION-Station with 14 analog outputs
(Part 2)

14 * 0-10V

...

2

34

Create another XI/ON station with the address 34
and one module „XN-2DO“.

• What do you notice ?

• What do you have to do ?

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Each COB-ID must be unique !

13. Analog Input

PDO13 - COB-ID:

01A0 hex + 2 = 01A2 hex

1. Digital Input
PDO1 - COB-ID
0180 hex + 22 hex = 01A2 hex

Node-ID 2

Node-ID 34 (=22 hex)

XI/ON-specific default-PDOs could appear once more at higher
node-IDs ! In that case the PDO has to be modified !

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Which COB IDs must NOT be assigned ?

All numbers in Hex !

Free 128dez COB-IDs

0x80:

Sync-Signal

0x81-0x100:

Emergency

Free 128dez COB_IDs

0x181-0x580:

Default-PDOs

0x581-0x600:

SDO-Response (580+Node-ID)

0x601-0x680:

SDO-Request (600+Node-ID)

Free 128dez COB_IDs

0x701-0x780:

Nodeguard

Free 128dez COB_IDs

0x7FF

(End - 2047 Decimal)

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CANopen: PDO-Mapping

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PDO-Mapping

RPDO 0x182

At PDO you define the mapping the COB-ID of the receive-PDO to
the COB-ID of the send-PDO !

Attention ! Please keep track of your actions !

TPDO 0x182

RPDO 0x182

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Communication XC100-MI4

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254 Byte

254
Byte

12345

12345

Schedule Communication between XC100 and MI4

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The Communication function block XC100-MI4

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Most important parameters of MI4netCANopenARR

usi:NodeID
usi_ADRNewDataRea
dy
ui_ADRIndex
usi_ADRSubindex

x_WriteINT32

usi_WriteOffset
usi_WriteNr

T_TimeOutTransSDO

2

%IB3

%IW

4

%B6

TRUE

1

254

T#2s

dw_arr_INT32

dw_arr_FLOAT32

ARRAY [1..254] OF DWORD
ARRAY [1..254] OF DWORD

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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Schedule Communication between XC100 and MI4

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CANopen

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CANopen

CANopen Device

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Communication between PLCs

Master 1

Device 2

Device 127

...

RPDO1
RPDO2
RPDO3
RPDO4

TPDO1
TPDO2
TPDO3
TPDO4

RPDO1
RPDO2
RPDO3
RPDO4

TPDO1
TPDO2
TPDO3
TPDO4

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CANopen

How to transfer variables from the PLC program to
CAN?

PLC_PRG
VAR
A: UINT;
B: UINT;
Y: UINT;
END_VAR

1 Declare

My_Parameter_list
Name Index Subindex Accessright Variable
Cycles_A 2000 1 read only

PLC_PRG.A

Cycles_B 2000 2 read only

PLC_PRG.B

Value_Y 2001 1 write only

PLC_PRG.Y

2Create Object Directory

Receive PDOs
PDO 16#1400
Index 16#2001, Sub1

3 PDO-Mapping

Send PDOs
PDO 16#1800
Index 16#2000, Sub1
Index 16#2000, Sub2

ED

S-

fil

e

4

Generate EDS

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CANopen

Information: Fahrplan XC100 als CANopen-Device

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CANopen

Information: Fahrplan XC100 als CANopen-Device

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CANopen

Information: Fahrplan XC100 als CANopen-Device

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CANopen

Information: Fahrplan XC100 als CANopen-Device

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Information: Fahrplan XC100 als CANopen-Device

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Information: Fahrplan XC100 als CANopen-Device

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Information: Fahrplan XC100 als CANopen-Device

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Information: Fahrplan XC100 als CANopen-Device

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Information: Fahrplan XC100 als CANopen-Device

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CANopen

CANopen: Connection XC100-XC100

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Caution with XC100-XC100 connection via CAN. Part
1

XC100_1

XC100_2

e.g. COB-ID 203

1

2

3

Default-COB-IDs:

Global Variable List
XC100_1

Cyclic Write
Identifier: 203

Careful with default-PDOs. Avoid already used COB-IDs!

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XC100_1

XC100_2

Global Variable List XC100_1
VAR_GLOBAL
XC1_1:USINT;
...
XC1_8:USINT;
END_VAR

For each variable a PDO will be created !

XC1_1

Identifier1

Network variable list

XC1_2

Identifier2

Caution with XC100-XC100 connection via CAN. Part
2

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Several XControls address the same station

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Several XControls receive messages from the same
station

XI/ON-Node-ID 2

Node-ID 1

Node-ID 3

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There can only be one !

XI/ON-Node-ID 2

Node-ID 1

Node-ID 3

• starts,

• initialises,

• monitors
The stations

The Start-Init-Monitoring Master

• starts,

• initialises,

• monitors
The stations

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Several XControls transmit to the same station

XI/ON-Node-ID 2

Node-ID 1

Node-ID 3

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Information: Settings for multiple access

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Exercise

XI/ON-Node-ID 2

Node-ID 1

Node-ID 3

XI/ON-Node-ID 4

XION4_Q:=XION2_I;

XION2_Q:=XION4_I;

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Solution

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Information

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CANopen Routing

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How to program XControl via CAN

Master 1

Device 2

Device 127

...

RS232

XSOFT

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Routing in two different cases

RPDO

Without data exchange via CAN With data exchange via CAN

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Information: Schedule for routing

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Information: Schedule for routing

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Information: Schedule for routing

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Exercise: Routing

Node-ID 1

Node-ID 22

Cooperate with your table neighbour.
Create a project for your XC100 with one of the a.m. node IDs and load
this into the PLC via the programming connection. Connect both
XControls via CAN.
Take turns with the following step:
Access the pther XControl from your XControl and upload its program
into your XSoft.

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CAN-Direct Access

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What to do when there is no EDS file?

CO

P

ED

S-

Da

te

i

?

EDS file missing!

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Direct access to the CAN bus

Node-ID:1

0x183

8 Byte Data

Start node

0x183

Configure/inquire input filter

3

4

5

Node sending

Node-ID:3

0

Preparation:

- Importing the CanUser.lib and the
CanUserMaster.lib

- Inserting a CAN master module in the PLC
configuration

- Setting the node ID of the CAN master

2

1

Node Reset

Configure (e.g. NodeGuarding)

6

NodeGuarding

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CAN direct access: Just two libraries for all PLC
types (I)

CANUser.lib

0x183

On
Of

Parametrize input filter

TPDO

Start node

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CANopen

CAN direct access: Just two libraries for all PLC
types (II)

CanUserMaster.lib

Configure node

Diagnosis (only with EDS and node in the

PLC configuration)

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Node Reset

Always = 0!
0 for NMT!
2 Bytes
No remote request
Standard Prio = 0!
Node reset
Node address 3

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CANopen

Start node

For the starting of a node use the function „CanUser_Write“!

Always = 0!
0 for NMT!
2 Bytes
No remote request
Standard Prio = 0!
Start node = 1 !
Node address 3

Return value

Blocks

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Read PDOs

For each PDO another instance of the function block
„CanUser_ReadImage“ has to be created !

Always 0!

Desired COB-ID in Hex

Blocks

16#183

3

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CANopen

The main program for „Start Node“ and „Read
PDO“!

VAR

CANImage_0x183: CanUser_ReadImage;
State: INT;
PressureValue: WORD;

END_VAR

(*StartNode*)

PLC_PRG.Akt_StartNode;

(*Read PDO 0x183*)

PLC_PRG.Akt_ReadImage_PDO0x183;
IF CANImage_0x183.xReady THEN
IF CANImage_0x183.iStatus = 1 THEN
PressureValue :=

WORD_TO_INT(SHL(BYTE_TO_WORD(CANImage_0x183.bByte1),8)
OR BYTE_TO_WORD(CANImage_0x183.bByte0));
END_IF;
END_IF;

Refer to slide:
„Start node“

Refer to slide:
Read PDOs with the function block

„CanUser_ReadImage“

Blocks

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Diagnosis via Emergency Telegram

Blocks

Always 0 !

Identifier for emergency telegram:
80hex + Node-ID=0x82

=1 then new data has arrived
Number of emergency bytes
Low byte of the CAN error code
High byte of the CAN error code
Error register

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The main program for emergency

VAR
...
ErrorCode_Node2: WORD;
Errorregister_Node2: BYTE;
END_VAR

(*StartNode*)
...
(*Read PDO 0x182*)
...

(*Emergency*)

PLC_PRG.Akt_Emergency
IF CANImage_Emergency_Node2.xReady THEN
IF CANImage_Emergency_Node2.iStatus = 1 THEN

ErrorCode_Node2:=SHL(BYTE_TO_WORD(CANImage_Emergency_Node2.bBy

te1),8)
OR

BYTE_TO_WORD(CANImage_Emergency_Node2.bByte0);
Errorregister_Node2:=CANImage_Emergency_Node2.bByte2
END_IF;
END_IF;

Blocks

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CANopen

Profibus DP – CAN comparison

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CANopen

CAN-DP-comparison: Baudrate

Minimum Baudrate

Default Baudrate

Maximum Baudrate

1500 kbit/s

12 Mbit/s

CAN DP

1 Mbit/s

10 kbit/s
9,5 kbit/s

125 Kbit/s

Factor

1/1

1/12

1/12

1,5 Mbit/s

DP transmit telegrams with a baud rate up to 12 times higher than CAN;
important, however is only the efective data transfer rate !

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CANopen

CAN-DP-comparison: How do the devices
communicate?

DP-Master

Slave1Slave2 Slave3SlaveN

Temp.

5

Temperature

Sensor

5

Temperature

control

5

Temperature

recorder

3

time

3

clock

Sensor

control

Te

m

p

Te

m

p

event

cycle

Multimaster

Master/Slave

CAN is safer than DP! Starting from 12 participants CAN is faster than DP !

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CANopen

CAN-DP-comparison: Extension

Minimum
Extension

Average
Extension

Maximum
Extension

5000 m at 10kbit/s

CAN DP

500 m at 125 kbit/s

Factor

1 / 2,5

2,5 / 1

4 / 1

DP has a higher maximum extension than CAN at maximum
Baudrate.
CAN has a better maximum extension with minimum and default
Baudrate.

1200m at 93,75 kbit/s bis 9,5kbit/s

200 m at 1,5 Mbit/s

40 m at 1 Mbit/s
100m at 12 Mbit/s

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CANopen

CAN-DP-comparison: Topology -> Line

1

2

4

3

6

5

7

8

125

9

127

126

R

R

0

31

32

63

64

95

95

127

R

R

CAN: This way..

or that:

1

2

4

3

6

5

7

8

125

9

127

126

R

R

50 m

50 m

DP:

From 32 stations on it is: CAN can be expanded with or without repeaters. DP needs them!

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CANopen

CANopen specifications according to CiA

trunk

length [m]

Cable resistance

[mOhm/m]

wire cross-section

[mm²]

terminating

resistance

[Ohm]

Baudrate [kBit/s]

0 .. 40

70

0,25 .. 0,34

124

1000 at 40m

40 .. 300

<60

0,34 .. 0,6

150 .. 300

>500 at 100m

300 .. 600

<40

0,5 .. 0,6

150 .. 300

>100 at 500m

600 .. 1000

<26

0,75 .. 0,8

150 .. 300

>50 at 1km

DC parameters for CANopen networks for less than 64 nodes

wire cross-section

[mm²]

n = 32

n = 64

n = 100

n = 32

n = 64

n = 100

0,25

200

170

150

230

200

170

0,5

360

310

270

420

360

320

0,75

550

470

410

640

550

480

Cable type

Maximum trunk length [m] (1)

Maximum truk length [m] (2)

(1) Safety margin factor of 0.2

(2) Safety margin factor of 0.1

Maximum trunk length for different cable types and node numbers

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CANopen

CAN-DP-comparison: Deterministics

5

5

value

3

value

5

3

Collisions

DP-Master

Slave1Slave2 Slave3SlaveN

Sensor

control

Te

m

p

Te

m

p

Cycle

DP is deterministic, if there is no telegram repetitions due to transmission errors.

CAN is not deterministic!

Higher priority wins!

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CANopen

Profibus
DP

Access method

Master/Slave, Token Passing possible

deterministic

Topology

Line, with repeater: Tree, Star

Media

Twisted Pair shielded, fibre optics

station number

126 (31 without Repeater)

distance

2 400 m; with Repeater up to 9600 m

transmission rate

9,6 kbit/s / 19,2 / 93,75 / 187,5 / 500 /

1 500 / 12 Mbit/s

Daten size per telegram

244 Byte

data traffic

cyclic (and acyclic with DP V1)

Standards

EN 50170, DIN 19245 T3

Lobby

Profibus User organisation (PNO)
with more than 170 members a.o. Bosch,

Siemens, MOELLER, ABB

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CANopen

CAN Controller Area
Network

Access method

CSMA/CA event/message orientated

Topology

Line with short stubs

Media

Twisted Pair, fibre options

Number of stations

128, Multimaster

Distance

e.g. 40 m at 1 Mbit/s

up to 1 km at 50 kbit/s

max. trunk length not specified

transmission rate

10 kbit/s to 1Mbit/s

Data size per telegram

1 ... 8 Byte

data traffic

acyclic

Standards

ISO 11898

Lobby

CiA (CAN in automation), Intel, Philips, Bosch
Semiconductors, Motorola, NEC, Siemens

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CANopen

CANopen URLs and Books

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CANopen

Useful URLs

CAN cables
www.LAPPKABEL.de

Tool suppliers

Organisations

www.can-cia.org/

www.IXXAT.de

www.vector-cantech.com

(CAN in automation)

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Book tips 1

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Book tips 2

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice

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Notice