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XControl-CANopen-UDP
Agenda
5
6
7
8
9
10
1
2
3
4
XControl
XControl and XIOC
Changing the baud rate of the programming port
Schedule for serial programming connection
XC200 Hardware Overview
XC100/XC200: FLASH card
Interrupt, Counter and Incremental decoder
Pointers
Direct peripherals access
XC200 Programming connection via Ethernet
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XControl-CANopen-UDP
Agenda
15
16
17
18
19
20
11
12
13
14
Information: OPC-Server schedule1
Ethernet communication via UDP
User and system overview CANopen
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XControl-CANopen-UDP
Agenda
25
26
27
28
29
30
21
22
23
24
CANopen: Network management (NMT)
CANopen: Parametrizing data transmission
CANopen: Parametrize with SDOs
CANopen: Connecting 3rd party devices to XSystem
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XControl-CANopen-UDP
Agenda
35
36
37
38
39
40
31
32
33
34
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XControl-CANopen-UDP
X
Control
XC600
The modular, open industry control with
IT functionality by Moeller
XControl
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XControl-CANopen-UDP
High comfort of operation
even without programming
tool
Designed for industry in any detail
Ready for the
most demanding
control tasks
Open for teleservice,
supervisory system
connection and field
communication
X
Control: The Main Market Requirements
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XControl-CANopen-UDP
Hardware
Handling
Software
1
2
3
X
Control XC600: Agenda
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XControl-CANopen-UDP
Hardware
1
X
Control
XC600
XC600: Hardware
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XControl-CANopen-UDP
Robust, stapled
frames
Mounting without tools
Open for modern automation tasks
Motion control
Image processing
…
Secured
hardware
Lockable pins
Communication
modules
Up to 3 extension modules
Open for extensions
Open for I/O‘s
X
Control: Open Hardware Platform
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XControl-CANopen-UDP
Basic Module
Mechanical Mounting (DIN rail)
Alimentation Module
Voltage
transformatio
n
Extension Module
Up to 3 Fieldbus Modules or
other extensions
CPU Module
Windows NTe with real time PLC
system on Pentium processor
Operation Module
Display, Function selector switch,
LED’s, Menue selector button
„Modular“, „without tools“ and „made for
industry“aren‘t necessarily contrasts
X
Control: The Modules
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XControl-CANopen-UDP
Buffering the real time clock
Battery
Load and export data
Compact Flash Card
LED’s
Display of actual status
Display
LCD 4 lines x 12 characters
Function selector
switch
Menu selection button
Menu selection
Run, Run-P, Stop, MRes
Easy access
X
Control: The Operation Module
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XControl-CANopen-UDP
XC600: Assembly
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XControl-CANopen-UDP
Address setting of the optional modules
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XControl-CANopen-UDP
CPU
• Pentium I
• Windows NT embedded
• OPC Server
• Real time PLC system …
free for application
specific coupling
RAM
Operating system,
data, 1 – 8 MB IEC
code, other programs
RS 232
Flash Disk
Hard disk without
moving parts
Ethernet
Programming
link
Network
coupling
Web /
Teleservice
OPC for
visualisation,
ERP systems
etc.
Compact with highest
performance: The head of
XControl
X
Control: The CPU Module
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XControl-CANopen-UDP
…
Up to 31 slaves
on 1 line
…
…
Via Repeater: Up to 124 slaves on 4 lines
…
…
Up to 126 slaves
on 1 Strang
Three Communication Modules
can integrate up to 370
participants
Comm. Module
Profibus-DP
Comm. Module
CANopen
R
R
Configuration
completely via XSoft
RS 485
CAN
Slave = XI/ON as Gateway to analogue/digital
signals or field equipment with fieldbus
capability
or
X
Control: The communication Modules
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XControl-CANopen-UDP
Designed for
industry
IP 20
Protection degree
Acc. to EN61131-2
Type testing
Acc. to EN50082-2
(Industry)
EMC
Acc. to IEC 60 068-2-29
Permanent shock strength
Acc. to IEC 60 068-2-27
Shock strength
Acc. to IEC/EN 61 131
Vibration strength
-25 .. 70°C
Storage temperature
0 .. 55°C
Ambient temperature (operation)
Mechanical
Tests
EMC Tests
X
Control: Quality Data
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XControl-CANopen-UDP
Handling
2
X
Control
XC600
XC600: Handling
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XControl-CANopen-UDP
Comfortable diagnosis
and handling even
without programming
tool or external
visualisation
4 lines with 12 digits
Choice of menue
by turning
1
Confirm by
pushing
2
Cursor blinks
X
Control: Display + Menu selection button
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XControl-CANopen-UDP
PACK_8=ON
HAUBE_2=AUF
AUSSCHUSS=7
Diagnosis
Program
Receipt
Device
System
Back
Main Menu
User-specific
Display
Basic menue
Turn
Push
X
Control: The Menus
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XControl-CANopen-UDP
!
! = non-acknoledged event
PLC mode
Loaded program
Informed at a
glance
Push: To main menu
Turn: To user-specific display
Position Function selector switch
S = Stop
P = Run-P
R = Run
X
Control: The Basic Menu
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XControl-CANopen-UDP
Control sends strings to
display
3
When programming: Choice of
important variables , definition of
strings
1
X
Soft
PACK_8=ON
HAUBE_2=AUF
AUSSCHUSS=7
Within each control
cycle: interrogation
of chosen variables
2
Actual and specific
information at a
glance
X
Control: User-specific display
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XControl-CANopen-UDP
Displays errors and
events
Reset, Copy, aktivate,
Load, Delete
Define IP address, date/time,
security, language, hardware
configuration, software
version
Shut down, new start
Back to basic menu
Diagnosis
Program
Receipt
Device
System
Back
Logic menu paths:
Quick finding without
manual
X
Control: Main menu
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XControl-CANopen-UDP
Error diagnosis:
All non-acknoledged
program errors are
shown with time of
occurance
Battery empty, hardware
module missing, program
missing …
List of events:
Has the program been
running without
problems?
Was it stopped or
started? When was that?
Starts / Stops
Strong support while
commissioning,
servicing and
operating
X
Control: Menu diagnosis
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XControl-CANopen-UDP
INTERNAL
EXTERNAL
RAM
Compact
Flash (Plug-in
at operation
module)
Flash Disk (Hard
memory on CPU
module)
Activated
program /
receipt
ACTIVATE
LOAD
Program /
receipt
RUN /
RUN-P
Simple and safe data
management and
program starting
COPY
Loaded
program /
receipt
Start
STOP
Program /
recipe
X
Control: Menus „Program“ und „Recipe“
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XControl-CANopen-UDP
Activate
Password
Security
Function selector switch at
RUN
Device
Activating password via
menus
+
Securing after commissioning
Protection against unautorized
menu manipulation
Access only to Basic Menu
and User-specific Menu
“Lock switch”: Protection
against unauthorized swich
operation
Display shows: “Function
selector swich at RUN!”
Protection against unauthorized
programming
Programming only with
switch position RUN-P
X
Control: Security
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XControl-CANopen-UDP
When performing a RESET some data is to be put back to
its initial values while other data shall maintain their
values
Example: Feed data of a shaft
Example: Statistic data
... are maintained
... are reset
VAR Persistant
... are maintained
... are reset
... are maintained
... are maintained
VAR Retain Persistant
VAR Retain
WARM
COLD
Safe starts through
correct initialization
STOP
RUN
RUN
M-RES
1
2
Within XSoft variables are declared precisely
3
Resets during operation bring about the
desired initialization
Or power cycle
X
Control: Menu „Program“ – Reset functionality
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XControl-CANopen-UDP
SECURITY
Define
password
Other
network
participants
GATEWAY
Define IP address
IP ADDRESS
Definition as network
participant
SUBNETMASK
NAME
SOFTWARE
Interrogation of actual
version
DATE / TIME
LANGUAGE
(English, German, Italian,
French)
Efficient
configuration and
interrogation
HARDWARE
Interrogation of actual modules
Router
X
Control: Menu „Device“
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XControl-CANopen-UDP
Operation
Removal or
malfunction of a
hardware
module
Time
Commissioning
AUTOcONFIG = OFF
“Freeze” of nominal
configuration
Error reported
SF-LED shows
red
Perfect supervision of
hardware
X
Control: Menu „Device“ – Hardware configuration
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XControl-CANopen-UDP
Transparency
Process monitoring
Visualisation
Efficiency
Process production
data
Coupling manag.
systems
Cost service
Updates + access
Remote
Programming
Failure safety
Cost service
Remote supervision +
diagnosis
Teleservices
Remote
applications
Advantage machine builder
Advantage machine owner
Via OPC
OPC Server
Via TCP/IP + Router
TCP/IP
Via Web
Webserver
No additional
hardware
necessary
X
Control: Integrated communication for remote
applications
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XControl-CANopen-UDP
X
Soft
Remote programming
TCP/IP
Te
le
p
h
o
n
e
n
e
tw
o
rk
Pro-
vider
Router
Machine with control
unit
X
Control
Remote
supervision
Web
Web
Server
Generator
PLC
System
SMS
Data viewer:
Specific
information about
the machine
Error messages /
preventive
maintenance
Router
TCP/IP
Router
Service
Support
Complete access
Telephone support for
local service
Well planned visit by
service specialist
R
e
m
o
te
d
ia
g
n
o
s
is
Perfect support of
Teleservices
XControl: Teleservices and Remote programming
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XControl-CANopen-UDP
OPC =
OLE for Process
Control
World standard for open, safe and quick
process data communication
No need of additional and
expensive coupling hardware and
software
Within XControl: OPC Server
Visualisation (HMI),
Management (ERP, SCADA…) etc.
Management level: OPC Client
X
Control: Coupling of management systems
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XControl-CANopen-UDP
Untested Software
Industrie-PC
Hersteller XY
Software
doesn’t fit to
Windows
updates
Virusses
Real time
problems
X
Control:
Tested hardware und
software
Safety and system stability
have priority one!
Hardware
components don’t
change
Service
problems
Operating system
has to be
implemented by user
Waste of time
X
Control:
Operating system
installed + stable
hardware
X
Control: Open, but safe
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XControl-CANopen-UDP
Fieldbus modules
Open for remote
applications, system
coupling and field
communication
OPC Server
Webserver
Very large memory
Highest speed
Extension modules
Strong for the
most demanding
control tasks
Display + menus
High comfort operation
even without programmer
or external visualization
No moving parts
Fan-less operation
Designed for industry
X
Control: The professional industrial control
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XControl-CANopen-UDP
X
Control XC100 +
X
I/OC I/O-Modules +
X
Vision Text-Display
The convincing machine and system control by
Moeller
XControl and XIOC
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XControl-CANopen-UDP
Control
X
Control XC100
Visualization
X
Vision Text Display
Input and Output with
X
I/OC Modules
Software
X
Soft for all
X
system applications
The components for small and medium applications
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XControl-CANopen-UDP
The compact
controls with
integrated I/O
X
Control
XC100
XC100
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XControl-CANopen-UDP
Display PLC-Status
:
Run / Stop, SF
Operating mode switch
: Run /
Stop
Status display
local I/O
Local I/O
8 DI
24 VDC
6 DO 24 VDC
Battery
for Retention and Real time
clock
CAN-interface
with integrated T-connector
(Connection of two CAN-lines via
cage-clamp terminal)
Slot for
Multi-Media-memory card
RS232
(RJ45-socket)
LEDs
(16 or 32 MB)
X
Control XC100: The operation elements
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XControl-CANopen-UDP
Inputs / Outputs
8 DI
24 VDC
6 DO 24 VDC
Flexible Connection
- Screw or cage clamp terminals
- Terminal blocks completely removable
X
Control XC100: Local I/O
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XControl-CANopen-UDP
CPU
• XC100 = 0.5 ms / 1000
instructions
• PLC real time system
Working memory
SRAM
- Program
- Recipes
- Visu-Texts
CANopen
Real time clock
Battery
Multi-Media-Card
- Fieldbus-Master
- Control networking
(XControl to XControl)
- Programming port
- Modem, Printer etc.
- configurable: 1.2 thru
115 kBaud
RS 232
- Program 64 / 128 kB
- Retentive Data 4 / 8 kB
- Data 60 / 120 kB
Internal Flash memory
- Operating system
- Data of the operating system
XV-Flash
- with XV devices
- 512 kB for Visu-Texts
- 8 digital Inputs
- 6 digital Outputs
- galvanically
separated
Locale I/O
X
Control XC100: Setup of the CPU
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XControl-CANopen-UDP
CPU
Working memory
SRAM
-
1 Program
- Recipes
- Visualization Texts
Multi-Media-Card
-
Programming access
- Modem
- Barcode reader etc.
- 1.2 .. 115 kBaud
RS 232
(XC100/200)
Ethernet
(XC200)
-
1
Program 64-128 kB
- Retentive Data 4-8 kB
- Data 60 / 120 kB
Create boot project
Download
Program on Multi-Media-
Card has priority
STOP RUN
The program in the SRAM
is started
Battery
X
Control XC100: Load, Backup and Start
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XControl-CANopen-UDP
High performance PLC with IT-Functions in
compact design
X
Control XC200
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XControl-CANopen-UDP
CAN
CAN
Ethernet
Ethernet
CAN
Profibus DP
XC100
XC200
XC600
Memory
Processing speed
•128K (256K)
•0,5ms/K
•512K
•0,05ms/K
•8MB
•0,02ms/K
XC200: The compact high performance machine
controller
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XControl-CANopen-UDP
Decentralized HMI-
machine controller in
Ethernet network
Data logger for QM or
production data on MC,
access directly via
Ethernet
Fast PLC in compact design
0,05ms/K
2 integr. Counters
2 Interrupt inputs
Gateway CAN -Ethernet
Solves positioning
tasks with integrated
incremental decoder
Ethernet
MMC
Ethernet
Ethernet
QS
Specialities
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XControl-CANopen-UDP
- Compact PLC for machine builders
- Assembly on hat rail
- Power supply 24V DC
- Elements for display and operation
- Real time clock
- Memory card for data backup, recipe
handling and
Data logging
Features (1)
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XControl-CANopen-UDP
- Two memory sizes
- 256K/128K memory for user-program/-data
- 512K/ 256K memory for user-program/-data
- RS232 Programming interface
-10/100MBit Ethernet interface for
programming, network data
communication or service access
-Onboard local I/O
- CANopen fieldbus interface
- Battery for data buffering and real time
clock
- High processing speed
- 32 Bit Processor with 0,05 ms/K instructions
Features (2)
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XControl-CANopen-UDP
Display PLC status
:
Run / Stop, SF
Operation mode switch
: Run /
Stop
Status display
local I/O LEDs
Local I/O
8 DI
24 VDC
- 2 Interrupt
- 2 Counter
- 1 incremental encoder
6 DO 24 VDC
Battery
for retentive data and real time
clock
CAN-interface
Plugable, with integrated T-
connector
(connection via cage clamps)
_Interface slot for
Multi-Media-
memory cards
RS232/Etherne
t
Programming /
communicatio
n
(RJ45-socket)
USB-interface
Operating / display elements
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XControl-CANopen-UDP
0, 1, 2 , 3 , .........
, 13, 14 ,
15
<- max. 510 mm ->
Flexible connectivity:
- Pluggable terminals
- tension cage clamp or screw
Digital inputs / outputs
- 24VDC 8 and 16 point I/Q
- 24VDC configurable (4DI, 12 DI/DO, 4DO as 2A)
- 230VAC 16 DI
Analoge inputs / outputs
-Current, Voltage, Temperature up to 8 channels
per module
-Fast (1ms) 2AI-1AO or 4AI-2AO
Many technology modules
Counters, Incremental encoder inputs,
Communication
Generous extensibility:
-
Up to 15 XI/OC modules, only 510mm wide
- Max. 254 digital I/O
- Max. 112 Analog I/O
Locale I/O extension
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XControl-CANopen-UDP
- Flexible combination of XC200 +
Xvision
Textdisplay for HMI control
- 2 Display types (4*20, 8*40 characters)
- Cursor block, Numeric keyboard,
Function keys
- 3 XI/OC extensions plugable
- Especially suited as a remote operating
panel
via ethernet
XVision
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XControl-CANopen-UDP
XC200 as
CAN slave
XC200 as
CAN master
CANOpen fieldbus
master
- up to 500 KBaud
- Also usable as slave
- SDO communication
- Programmable via CAN
- Simple data exchange
between controllers via
network variables
-cyclic
-Event triggered
CANopen networking with XC200
XC200 in Multimaster configuration
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XControl-CANopen-UDP
10/100MBit Ethernet
- Network communication with
network global variables
-Cyclic
-Event triggered
-Data communication via UDP
telegrams
-Between controllers
-To PC applications
-To all devices with
Ethernet interface
ETHERNET
Ethernet networking with XC200
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XControl-CANopen-UDP
Access via OPC
•Visualisation
•EXCEL
•Visual Basic
Data exchange via OPC
•Access to all process variables
•Connection to all standard SCADA packages
•Connection to Office applications (EXCEL, ..)
•Connection to user-created WINDOWS applications (Visual Basic, ...)
ETHERNET
OPC Client
XSoft OPC
Server
Open interfaces
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XControl-CANopen-UDP
Extremely powerful and fast machine
control with very
c
ompact dimensions
Saving of large amounts of
data on
MultiMediaCard
A powerful
IEC- Software
package
for all XControl
PLCs
Very good
Expandability
•Locally up to 15 modules
•Decentrally via integrated
CANopen
interface
OPC Server
supports direct
connection to all OPC client
applications
Fast 100MBit/s
Ethernet
interface
Web Server
for easy data
access with standard WEB
browsers
USB
interface for attaching
printers and external
memory
XControl XC200: Summary
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XControl-CANopen-UDP
The user-friendly Text-
Visualization
for
X
Control
X
vision
Text Display
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XControl-CANopen-UDP
Display
:
• Character height: 5 mm/10 mm
selectable
• LCD-Display with STN-Technology
• Back lighting switchable on and off
via software
• Contrast control 0..100%
Robust metal frame:
front
design customer specific on
demand; protection class IP65
Function keys
with inscription strips
Display PLC-Status
:
Run / Stop / SF
8 lines à 40
characters
4 lines
à 20
characters
XV-101-K84
XV-101-K42
X
Vision Text-Displays
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XControl-CANopen-UDP
IEC-
Programm
Variable
declaration
Declare Instance
of the
function block
Call-up of
the instance
in the program
Eventually including
of the hardware
inputs
X
Soft: Programming the Text-Display
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XControl-CANopen-UDP
X
Soft: Function blocks of the visualization library
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XControl-CANopen-UDP
WRITEVALUE
Strobe
Row
Column
Font
Digits
Precision
LeadingZero
DataType
IntValue
FloatValue
Reverse
Blink
Active
Error
CAL Value_output(Strobe:=TRUE , Row:=7 , Column:=30 ,
Digits:= 8, LeadingZero:=TRUE,
DataType:=WRITE_INT, IntValue:=Input_value)
CAL Value_output(Strobe:=FALSE)
Value_output : WriteValue;
IEC-Program
Variable
declaration
[0...7]
[0...39]
[0...5]
[0...39]
digits beh. dec.point
[0...39]
[0,1]
[INT, UINT,..., REAL]
Variable to be written
Variable to be written
Inverting [0,1]
[0,1]
Function block
X
Soft: Example „Write variable value“
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XControl-CANopen-UDP
Up to 4 Fonts per
Program
Download
X
Soft: Open text and font editor
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XControl-CANopen-UDP
... or loading of predefined fonts
Manual Font
creation ...
X
Soft: Font editor
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XControl-CANopen-UDP
WriteText
Strobe
Row
Column
Text_column
LD 2
ST Text_column
...
LD 1
ST Text_row
Text_row
Active
File in Excel Format
Integration into the
PLC-Program
X
Soft: Text editor
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XControl-CANopen-UDP
X
Control XC100 +
X
I/OC I/O-Modules +
X
Vision Text-Display
The convincing machine and system control by
Moeller
XControl and XIOC
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XControl-CANopen-UDP
Control
X
Control XC100
Visualization
X
Vision Text Display
Input and Output with
X
I/OC Modules
Software
X
Soft for all
X
system applications
The components for small and medium applications
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XControl-CANopen-UDP
The compact
controls with
integrated I/O
X
Control
XC100
XC100
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XControl-CANopen-UDP
Display PLC-Status
:
Run / Stop, SF
Operating mode switch
: Run /
Stop
Status display
local I/O
Local I/O
8 DI
24 VDC
6 DO 24 VDC
Battery
for Retention and Real time
clock
CAN-interface
with integrated T-connector
(Connection of two CAN-lines via
cage-clamp terminal)
Slot for
Multi-Media-memory card
RS232
(RJ45-socket)
LEDs
(16 or 32 MB)
X
Control XC100: The operation elements
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XControl-CANopen-UDP
Inputs / Outputs
8 DI
24 VDC
6 DO 24 VDC
Flexible Connection
- Screw or cage clamp terminals
- Terminal blocks completely removable
X
Control XC100: Local I/O
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XControl-CANopen-UDP
0, 1, 2 , 3 , .........
, 13, 14 ,
15
<- max. 510 mm ->
Flexible connectivity:
- Pluggable terminals
- tension cage clamp or screw
Digital inputs / outputs
- 24VDC 8, 16 and 32 point I/Q
- 24VDC configurable (4DI, 12 DI/DO, 4DO as 2A)
- 230VAC 16 DI
Analog inputs / outputs
-Current, Voltage, Temperature up to 8 channels
per module
-Fast (1ms) 2AI-1AO or 4AI-2AO
Many technology modules
Counters, Incremental encoder inputs,
Communication
Generous extensibility:
-
Up to 15 XI/OC modules, only 510mm wide
- Max. 494 digital I/O (15 * 32 +14)
- Max. 40 Analog I/O (at present max 5 modules
due to
max. power consumption)
Locale I/O extension
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XControl-CANopen-UDP
CPU
• XC100 = 0.5 ms / 1000
instructions
• PLC real time system
Working memory
SRAM
- Program
- Recipes
- Visu-Texts
CANopen
Real time clock
Battery
Multi-Media-Card
- Fieldbus-Master
- Control networking
(XControl to XControl)
- Programming port
- Modem, Printer etc.
- configurable: 1.2 thru
115 kBaud
RS 232
- Program 64 / 128 kB
- Retentive Data 4 / 8 kB
- Data 60 / 120 kB
Internal Flash memory
- Operating system
- Data of the operating system
XV-Flash
- with XV devices
- 512 kB for Visu-Texts
- 8 digital Inputs
- 6 digital Outputs
- galvanically
separated
Locale I/O
X
Control XC100: Setup of the CPU
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XControl-CANopen-UDP
CPU
Working memory
SRAM
-
1 Program
- Recipes
- Visualization Texts
Multi-Media-Card
-
Programming access
- Modem
- Barcode reader etc.
- 1.2 .. 115 kBaud
RS 232
(XC100/200)
Ethernet
(XC200)
-
1
Program 64-128 kB
- Retentive Data 4-8 kB
- Data 60 / 120 kB
Create boot project
Download
Program on Multi-Media-
Card has priority
STOP RUN
The program in the SRAM
is started
Battery
X
Control XC100: Load, Backup and Start
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XControl-CANopen-UDP
Changing the baud rate of the programming
port
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XControl-CANopen-UDP
Wie ändere ich die Baudrate der
Programmierschnittstelle?
38400 Bit/s 57600 Bit/s
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XControl-CANopen-UDP
Information: Änderung der Programmierbaudrate
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XControl-CANopen-UDP
Information: Änderung der Programmierbaudrate
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XControl-CANopen-UDP
Information: Änderung der Programmierbaudrate
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XControl-CANopen-UDP
Information: Änderung der Programmierbaudrate
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XControl-CANopen-UDP
Aufgabe: Ändern Sie die Baudrate auf 57600 Bit/s
38400 Bit/s 57600 Bit/s
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XControl-CANopen-UDP
Schedule for serial programming connection
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XControl-CANopen-UDP
Fahrplan zur PC-XC100 Kopplung
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XControl-CANopen-UDP
Fahrplan zur PC-XC100 Kopplung
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XControl-CANopen-UDP
Fahrplan zur PC-XC100 Kopplung
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XControl-CANopen-UDP
Online operation
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XControl-CANopen-UDP
XC200 Hardware Overview
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XControl-CANopen-UDP
High performance PLC with IT-Functions in
compact design
X
Control XC200
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XControl-CANopen-UDP
CAN
CAN
Ethernet
Ethernet
CAN
Profibus DP
XC100
XC200
XC600
Memory
Processing speed
•128K (256K)
•0,5ms/K
•512K
•0,05ms/K
•8MB
•0,02ms/K
XC200: The compact high performance machine
controller
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XControl-CANopen-UDP
Data logger for QM or
production data on MC,
access directly via
Ethernet
Fast PLC in compact design
0,04ms/K
2 integr. Counters
2 Interrupt inputs
Gateway CAN -Ethernet
Solves positioning
tasks with integrated
incremental decoder
Ethernet
MMC
Ethernet
QS
Specialities
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XControl-CANopen-UDP
- Compact PLC for machine builders
- Assembly on hat rail
- Power supply 24V DC
- Elements for display and operation
- Real time clock
- Memory card for data backup, recipe
handling and
Data logging
Features (1)
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XControl-CANopen-UDP
- Two memory sizes
- 256K/128K memory for user-program/-data
- 512K/ 256K memory for user-program/-data
- RS232 Programming interface
-10/100MBit Ethernet interface for
programming,
network data communication or service
access
-Onboard local I/O
- CANopen fieldbus interface
- Battery for data buffering and real time
clock
- High processing speed
- 32 Bit Processor with 0,04 ms/K instructions
Features (2)
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XControl-CANopen-UDP
Display PLC status
:
Run / Stop, SF
Operation mode switch
: Run /
Stop
Status display
local I/O LEDs
Local I/O
8 DI
24 VDC
- 2 Interrupt
- 2 Counter
- 1 incremental encoder
6 DO 24 VDC
Battery
for retentive data and real time
clock
CAN-interface
Plugable, with integrated T-
connector
(connection via cage clamps)
_Interface slot for
Multi-Media-
memory cards
RS232/Etherne
t
Programming /
communicatio
n
(RJ45-socket)
USB-interface
Operating / display elements
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XControl-CANopen-UDP
0, 1, 2 , 3 , .........
, 13, 14 ,
15
<- max. 510 mm ->
Flexible connectivity:
- Pluggable terminals
- tension cage clamp or screw
Digital inputs / outputs
- 24VDC 8, 16 and 32 point I/Q
- 24VDC configurable (4DI, 12 DI/DO, 4DO as 2A)
- 230VAC 16 DI
Analog inputs / outputs
-Current, Voltage, Temperature up to 8 channels
per module
-Fast (1ms) 2AI-1AO or 4AI-2AO
Many technology modules
Counters, Incremental encoder inputs,
Communication
Generous extensibility:
-
Up to 15 XI/OC modules, only 510mm wide
- Max. 494 digital I/O (15 * 32 +14)
- Max. 40 Analog I/O (at present max 5 modules
due to
max. power consumption)
Locale I/O extension
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XControl-CANopen-UDP
XC200 as
CAN slave
XC200
as CAN
master
CANOpen fieldbus
master
- up to 500 KBaud
- Also usable as slave
- SDO communication
- Programmable via CAN
- Simple data exchange
between controllers via
network variables
-cyclic
-Event triggered
CANopen networking with XC200
XC200 in Multimaster configuration
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XControl-CANopen-UDP
10/100MBit Ethernet
- Network communication with
network global variables
-Cyclic
-Event triggered
-Data communication via UDP
telegrams
-Between controllers
-To PC applications
-To all devices with
Ethernet
interface
ETHERNET
Ethernet networking with XC200
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XControl-CANopen-UDP
Access via OPC
•Visualisation
•EXCEL
•Visual Basic
Data exchange via OPC
•Access to all process variables
•Connection to all standard SCADA packages
•Connection to Office applications (EXCEL, ..)
•Connection to user-created WINDOWS applications (Visual Basic, ...)
ETHERNET
OPC Client
XSoft OPC
Server
Open interfaces
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XControl-CANopen-UDP
Extremely powerful and fast machine
control with very
c
ompact dimensions
Saving of large amounts of
data on
MultiMediaCard
A powerful
IEC- Software
package
for all XControl
PLCs
Very good
Expandability
•Locally up to 15 modules
•Decentrally via integrated
CANopen
interface
OPC Server
supports direct
connection to all OPC client
applications
Fast 100MBit/s
Ethernet
interface
Web Server
for easy data
access with standard WEB
browsers
USB
interface for attaching
printers and external
memory
XControl XC200: Summary
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XC100/XC200: FLASH card
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When performing a RESET some data is to be put back to
its initial values while other data shall maintain their
values
Example: Feed data of a shaft
Example: Statistic data
... are maintained
... are reset
VAR Persistant *
... are maintained
... are reset
... are maintained
... are maintained
VAR Retain Persistant *
VAR Retain
WARM
COLD
Safe starts through
correct initialization
STOP
RUN
RUN
1
2
Within XSoft variables are declared precisely
3
Resets during operation bring about the
desired initialization
power cycle
X
Control: Reset functionality
* Not for XC100
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BOOT project
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Interrupt, Counter and Incremental decoder
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More than just digital Inputs- Interrupt Inputs!
IX0.4
IX0.5
If an Interrupt occurs, a special interrupt routine will be executed!
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What happens if the interrupt occurs?
Start PLC_PRG
Interrupt PLC_PRG
Jump into Interrupt-
routine
Continuation PLC_PRG
Interrupt programs interrupt standard programs!
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What happens if the interrupt occurs?
Task configuration
IX0.5
1 Interrupt occurs!
0Definition of the interrupt input
2
Execution of the Interrupt routine
3
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What to regard in connection with interrupts?-
Cycle time
Interrupt routines are not monitored by a watchdog.
Eternal loops will never be exited!
Cycle time trap
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What to regard in connection with interrupts?-
Breaks
PLC_PRG
Interrupt routines
Cycle time trap
Permanent occurance of interrupts leads to exceeding the cycle time limits!
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What happens on simultaneous interrupts?
Interrupt 3
Interrupt 2
Interrupt 1
Interrupt 4
Execution order
Simultaneous Interrupt routines will be executed one after the other.
The order depends on priority. Interrupt1 has the highest priority!
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Exercise: Interrupt
IX0.5
Program a cycle counter within an Interrupt program.
The interrupt program shall be executed whenever %I0.5 is activated.
What do you notice?
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Pointers
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Data access
Direct
But what to do in this case?
%MB0
Any_Data_type_Variable_0
?
%MBi
Any_Data_type_Variable_i
.
.
.
.
%MBn
.
.
Any_Data_type_Variable_n
.
.
i and n= integer numbers
INT_Variable1:= INT_Variable2;
INT_Variable_2
INT_Variable_1
Copy contents
Program in ST:
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Indirect Data Access
%MB0
=0
Any_Data_type_Variable_0
=17
RAM address:
%MB0
=17
e.g.
4711
Pointer_to_MB0:= ADR(%MB0);
(*=4711*)
Pointer_to _MB0
^
:=Any_Data_type_Variable_0
Program in ST
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Declaration of pointers
PROGRAM Pointertest
VAR
Pt_Name: POINTER TO
BYTE;
DWORD_Var: DWORD := 16#FDFCFBFA;
END_VAR
Pt_Name:=ADR(%MB0);
Pt_Name^:=DWORD_Var;
MB0=FA
MB1=0
MB2=0
MB3=0
=>
valid
for:
BYTE
SINT
USINT
See above.
See above
Pt_Name: POINTER TO
WORD;
See above
MB0=FA
MB1=FB
MB2=0
MB3=0
=>
valid for:
WORD
INT
UINT
See above
See above
Pt_Name: POINTER TO
DWORD;
See above
MB0=FA
MB1=FB
MB2=FC
MB3=FD
=>
valid for:
DWORD
DINT
UDINT
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Exercise
FB_Copy
Source_address
No_of_bytes
Dest_address
Pointer to the next
byte behind the copied
data area
Source_adr
Dest_adr
Length
Next_adr
Starting_edge
Strobe
: Creation of a general COPY block
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Solution
FB_Copy
Source_address
No_of_bytes
Dest_address
Source_adr
Dest_adr
Length
Next_adr
Starting_edge
Strobe
Pointer to the next
byte behind the copied
data area
: Creation of a general copy block with pointers
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Tips for handling pointers: Part 1
PROGRAM Pointertest
VAR
Pt_MB0: POINTER OF INT;
INT_VAR1: INT:= 16#1111;
INT_VAR2: INT:= 16#2222;
END_VAR
Pt_MB0:=ADR(%MB0);
Pt_MB0^:=INT_VAR1;
Pt_MB0:= Pt_MB0+1; (*increment counter*)
Pt_MB0^:=INT_VAR2;
MB0=0
MB1=0
MB2=0
MB3=0
MB0=11
MB1=11
MB1=22
MB2=22
Pt_MB0
Pt_MB0+1
MB0=0
MB1=0
MB2=0
MB3=0
MB0=11
MB1=11
Pt_MB0
Pt_MB0+2
MB3=22
MB2=22
Pt_MB0:= Pt_MB0+2; (*increment counter*)
You will get the pointer to the next vacant memory cell by incrementing the
pointer with the number of bytes that the applied data type consists of!
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Tips for handling pointers: Part 2
Beware of unconsciously doube-using memory cells!
Pt_aim:=ADR(%MB0);
Pt_aim:= Pt_aim+4; (*increase
counter*)
Pt_aim^:=INT_VAR1;
Byte_Var1:=15;
MB0=0
MB1=0
MB2=0
MB3=0
MB4=0
MB5=0
Pt_aim
Pt_aim+4
MB4=11
MB5=11
MB5=15
Byte_Var1
PROGRAM Pointertest
VAR
Pt_aim: POINTER OF INT;
INT_VAR1: INT:= 16#1111;
BYTE_VAR1 AT %MB5: BYTE;
END_VAR
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Pointer dynamics
.
.
MW0
MW100
MW102
MW16383
.
.
Marker range
Value
Optimized memory usage, since memory is defined during runtime depending
on the actual amount of data !
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Exercise: Archive data with pointers
act-TEMP
Decentral I/O
S3
P2
AA2: act-TEMP
Pmax
exerc.:Archive data with pointers
OFF
ON
AA1:memory-
usage 0-100%
ON
pressure
change
memory
full
Local I/O
H1
H2
H3
S1
S2
Temperature
change
H4
exerc.:Archive data with pointers
memory
time-p
time-p
time-Temp
Temp
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I0
I1
I2
I3
I4
I5
I6
I7
Q0
Q1
Q2
Q3
Q4
Q5
U10
U0 U1
Q0.0
Q0.1
Q1.0
Q1.1
Q2.0
Q2.1
QW4
I0.0
I0.1
I1.0
I1.1
I2.0
I2.1
I2.2
I2.3
IW3
Local I/O
Exercise: Archive data with pointers
I0
I1
I2
I3
I4
I5
I6
I7
Q0
Q1
Q2
Q3
Q4
Q5
U10
U0 U1
Q8.0
Q8.1
Q8.2
Q8.3
Q8.4
Q8.5
QW11
I5.0
I5.1
I5.2
I5.3
I5.4
I5.5
I5.6
I5.7
IW6
Decentral I/O
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Solution: Archive data with pointers
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Solution: Archive data with pointers
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Solution: Archive data with pointers
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Solution: Archive data with pointers
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Solution: Archive data with pointers
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Solution: Archive data with pointers
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Direct peripherals access
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How to access I/Qs faster than the PLC cycle
(*Program start*)
LD
Input
ST
Output
LD
Input
ST
Value
LD
PreSetOutput
ST
Output
(*Program end*)
Output-table
Output
Value
Input-table
Input
I/O table
operation:
Hardware read Input
IX0.0...
Activate Hardware Output
QX0.0...
Next
Cycle
During standard I/Q table operation there is NO access within the cycle!
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How to access I/Qs faster than the PLC cycle
IX0.0
Direct
Access
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Exercise: Direct Access
0..10V
Create a program for direct access of a digital and an
analog Input.
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Information: Direct access
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Information: Direct access
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Information: Direct access
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Information: Direct access
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XC200 Programming connection via Ethernet
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Connecting the XControl via TCP/IP
Programming
Diagnosis
Monitoring
Visualization
• Data exchange with TCP/UDP via Ethernet
TCP/IP via Ethernet
Router
TCP/IP via telephone network
Router
Remote-
{
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Point to point connection via Ethernet
Crosslink-Cable
10.2.12.221
10.2.12.222
=
0-255
=
IP address
IP address
Subnet mask
255.255.255.0
Subnet mask
255.255.255.0
=
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Point to point connection via Ethernet: Settings
Crosslink-Cable
IP address
Subnet mask
Communication parameters
1
3
2
Serial login;
then „PLC Browser“
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Settings
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Online operation
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Information: Web schedule1
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Information: Web schedule2
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Information: Web schedule3
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Information: Web schedule4
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Information: OPC-Server schedule1
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Information: OPC-Server schedule2
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Information: OPC-Server schedule3
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Information: OPC-Server schedule4
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Information: OPC-Server schedule5
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Information: OPC-Server schedule6
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Ethernet Intro
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PLC „classic“: PROs and CONs
PROs:
•
Specialized operating system,
thus determinisic and failure-
proof
•
„realtime“ capability
•
Everything on board, thus of good
value
•
Robust and suitable for industrial
environment by default
•
Fast restart after power-down,
thus minimal downtimes
•
Easy program update due to
pluggable memory modules, thus
very versatile
•
Certified for many application
fields
•
Investment protection due to long
availibility
CONs:
•
Proprietary systems resulting in
strong dependence on certain
manufacturers
•
High effort necessary for
communication with standard
software packages for data
management and processing
causing high commissioning cost
•
Restricted use of IT standard
technology
•
Few global players, therefore
possible difficulties with
availability and service
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IPC and Soft PLC: PROs and CONs
PROs:
•
Available worldwide; cheap
hardware components thanks to
high sales numbers
•
Attachment to standardized, well-
established operating systems,
thus simple and cheap connection
to standard software applications
•
Almost no restrictions as regards
memory size and processing
power
•
Simple attachment to the leading
communication technology
ETHERNET
CONs:
•
Risky investments due to ever
shorter product lifecycles
•
High effort for power fail safety
•
Increased effort for fulfilling
industrial requirements (e.g. no
harddisks)
•
Increased effort in the operating
system area for fulfilling time
critical requirements
(deterministics)
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Data communication on the advance
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Data communication on the advance
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Field level
Command level
Control level
S
u
c
o
n
e
t
K
In
te
rb
u
s
P
R
O
F
IB
U
S
-D
P
P
R
O
F
IB
U
S
-P
A
AS-Interface
Profibus-FMS
Multi master
acyclic
Master/Slave
cyclic
Networking levels
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XControl-CANopen-UDP
Field level
Command level
Control level
Networking levels
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XControl-CANopen-UDP
Dr. Robert M. Metcalfe in 1976
What is „ETHERNET“ ?
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Ethernet Basics
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The diagram .. was drawn by Dr. Robert M. Metcalfe in 1976 to present Ethernet to the National
Computer Conference in June of that year.
Ethernet
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Topics
• History, Standards, Terminology
• Transmission media
• Topologies
• Protocol
• Access methods, Collision management
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What is Ethernet ?
Ethernet is a certain type of a local area network
(LAN) which was developed in 1972 in the
renowned PARC-research facility of Xerox in Palo
Alto by Robert Metcalfe. In the meantime the
companies Intel, DEC and Xerox have specified a
common standard that has been established in the
IEEE-standard 802.3.
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History
• 1969
student Robert Metcalfe (founder of 3Com in
1979) develops a Host Interface
Controller for
DARPA (Defense Advanced
Research Projects
Agency) in the
company DEC.
• 1970
the ALOHA-Net (multiple access protocol) is
developed and tested at the university of
Hawaii
• 1972
the idea is picked up by the XEROX Palo Alto
Research Center (Metcalfe works there by
then).
The project goal is: experimental
Ethernet
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History
• 1976
the results of the project are published. The
companies DEC, Intel and Xerox join in
the
company DIX and complete Ethernet to
the market
entry stage.
• 1980
Ethernet version 1.0 is passed.
• 1981
IEEE starts standardization efforts. The
Ethernet
specification is accepted without
major
modifications.
• 1982
Publication of Ethernet version 2.0
• 1985
worldwide recognition of the Ethernet standard
as
ISO/DIS 8802/3
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XControl-CANopen-UDP
History
• 1986
Publication of the 10Base2- and
10BroadT
standards
• 1987
Standardization of the 10BaseT
spezification
• 1991
Publication of the 10BaseF standard
• 1994
more than 10.000 suppliers support the
Ethernet globally
• 1995
Standardization of the 100 Mbit/s Ethernet
• 1997
Standardization efforts for the Gigabit
Ethernet and presentation of first products
prior to
the completion of the standard
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XControl-CANopen-UDP
Ethernet TCP/IP
Ethernet-
Header
Ethernet-DATA
FCS
IP-
Header
IP-DATA
IP-
frame
TCP-
Header
TCP-DATA
TCP-
frame
Ethernet-
frame
LAYER 7
Modbus etc.
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XControl-CANopen-UDP
Access method: CSMA/CD
Station is ready
to send
check
“Ether”
Sending of data
and checking the
“Ether”
Waiting
according
to back-off
algorithm
Medium
occupied
Discovered
collision
medium
availabl
e
send
jam signal
No collision
New attempt
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XControl-CANopen-UDP
Back-Off Algorithm
• If a collision has occurred, the stations try to
send again after a certain period of time.
• After the first collision there a two different
back-off times available, from which one is
chosen at random. Transmission probability
is 50%
• After the second consecutive collision there
are four different back-off times available,
from which one is chosen at random.
• The transmission probability now is 75%
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Truncated Binary Exponential Back-Off-
Algorithm
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
...
......
.........
...............
............
...............
...............
...............
...............
...............
...............
...............
Nuber of back-off times to be selected at random
2
4
8
16
32
64
128
256
512
1024
1024
1024
1024
1024
1024
1024
50%
75%
87,5%
93,75%
96,88%
98,44
99,22%
99,61%
99,80%
99,90%
99,90%
99,90%
99,90%
99,90%
99,90%
99,90%
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Which waiting times are used ?
• The 0...1024 fold of the double max. signal travel
time between the most remote stations + Offset is
used
• With 10 Mbit/s Ethernet that means:
• The waiting time is also called collision window, the
offset (9.6µs) is called gap.
• Only after the time of the collision window has
passed, you can be certain that there will be no
more collision.
Station 1
Station 2
25.6µs
25.6µs
51.2µs
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XControl-CANopen-UDP
Example
• After the first collision the stations willing to
send select a random waiting time of either
9.6µs or 9.6µs plus 51.2µs (duration of the
collision window). Condition: Only two
stations are involved, no new stations enter
the scene in the collision management
phase.
Waiting time(A) waiting time(B)
transmission
9.6µs
9.6µs NO
9.6µs
9.6µs+51.2µs
YES
9.6µs+51.2µs
9.6µs YES
9.6µs+51.2µs
9.6µs+51.2µs
NO
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XControl-CANopen-UDP
Delay depending on the network load
delay
20 %
40 %
30 %
10 %
50 %
60 %
70 %
80 %
Network load
low
high
High
throughput
Beginning
problems
Overload
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XControl-CANopen-UDP
Ethernet address
• Also called "MAC address"
• Globally unique ID for each device
• Burnt into ROM, cannot be modified
• Six Bytes in which manufacturer, device model
and serial number are coded
• Readable with many auxiliary tools e.g.
WINIPCFG
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XControl-CANopen-UDP
Ethernet frame
Preamble
SFD
DA
SA
LEN
FCS
Pad
Data
7 1 6 6 2 >=46
4
Preamble
DA
SA
Type
FCS
Pad
Data
8 6 6 2 >=46
4
Ethernet II DIX Frame:
IEEE 802.3 Frame:
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Ethernet frame
Preamble
Trailer consisting of the bit sequence “0101010101...” serving the
bit synchronization of the receiver.
SFD (Start Frame Delimiter)
Start character consisting of the bit pattern “10101011” showing
the recipient that the actual information will follow now.
DA (Destination Address)
Evaluated by the recipient‘s address filter; only data frames
destined for this recipient will be passed on to the communication
software.
SA (Source Address)
Sender‘s address
LEN (Length)
Indicates the length of the subsequent data field in Bytes
according to IEEE 802.3.
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Ethernet frame
Data and Pad
The data field may contain 46 to 1500 user data bytes. Are there
less than 46 bytes the Ethernet controller independently adds
padding bytes, until the total amount (data + pad) is 46. This
miminum length is crucial for the CSMA/CD procedure to work
faultlessly. The data field can be used at will, it only has to contain
complete bytes.
FCS (Frame Check Sequence)
A check character. It is obtained by taking the rest of the division
operation from the formula representing the wide-spread cyclic-
redundancy-check procedure. This formula is applied to the bit
sequence including the address field through to the padding field.
In case of en error the whole frame is ignored, i.e. not passed on to
the application program.
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XControl-CANopen-UDP
Ethernet Address
WIN-NT: ipconfig /all
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XControl-CANopen-UDP
Naming of the cable types
• Example:
10base5
– 10
Transmission rate in Mbytes/s
– base
Base or Broadband
– 5
Segment length in 100 meters
• UTP
unshielded twisted pair
• STP
shielded twisted pair
• S/STP
screened shielded twisted pair
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XControl-CANopen-UDP
Ethernet topologies
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XControl-CANopen-UDP
Ethernet Media
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Extension
• The maximum extension depends on the
medium and the transmission rate; here some
examples:
– 10base5
Segment: 500m
Total: 2500m (with 4 repeaters)
– 100baseTX UTP
Hub-Station: 100m
– 100baseFX
Hub-Station: 400m
25km (with Mono mode fibre)
– 1000baseSX Hub-Station:
550m
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XControl-CANopen-UDP
Repeater / Hub
Repeater
Hub
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XControl-CANopen-UDP
Bridge
Bridge
A
B
C
D
E
F
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XControl-CANopen-UDP
Switch = Multiport Bridge
Bridge
Switch
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XControl-CANopen-UDP
Hub - Switch
Switch
A
B
C
D
E
F
G
H
Hub
A
B
C
D
E
F
G
H
Hub
A
B
C
D
E
F
G
H
T
im
e
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XControl-CANopen-UDP
Characteristics of the switches
• Cut-Trough Switch
– noc cheking of the data frames
• Store-and-Forward
– checking of the data frames
• Frames with same destination
– kept in internal short term memory thus queueing
them
– discard them or create collision
• Broadcast messages
– go to all stations anyway (z.B. ARP) so switches are
of no advantage here
– there are specific approaches of different switch
manufacturers to reduce broadcast data traffic
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XControl-CANopen-UDP
Typical office wiring
Hub/Switch
Hub/Switch
P
a
tc
h
fi
e
ld
P
a
tc
h
fi
e
ld
Network socket
Patch cable
„normal“ Cat 5 cable
RJ 45
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www
• http://www.gigabit-ethernet.org
• http://wwwhost.ots.utexas.edu/ethernet/
• http://www.3com.com/technology/tech_net/white_papers/index.ht
ml#ethernet
• http://www.iaopennetworking.com/
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XControl-CANopen-UDP
Ethernet communication via UDP
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XControl-CANopen-UDP
What you have to do for UDP Communication
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XControl-CANopen-UDP
Two Function Blocks you need:
Firstly the „UDPcomTransmit“-FB
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XControl-CANopen-UDP
Two Function Blocks you need:
Secondly the „UDPcomReceive“-FB
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XControl-CANopen-UDP
Which Ports we can use?
20
80
1200
Web
FTP
21
8080
23
TelNet
XSoft
Programmierport
1215 ...
Only for Service-Personal!
Free Ports for User!
...
...
...
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XControl-CANopen-UDP
For each XControl you need a seperate Instance of UDPcomReceive
Communication between more than two PLC‘s:
XC1
XC2
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XControl-CANopen-UDP
Maximum Count of Instance of UDPcomReceive
Instance 1:
Instance 20:
. . .
RUN:
Read UDP-Data
STOP:
Close Socket of:
Instance 1
Instance 2
Instance 3
Instance 20
S
w
it
ch
10 ms
Xcontrol-Program-Cylce
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XControl-CANopen-UDP
512
B_arTraData
1
1215
The first UDP-Project
1
1
I0.1
Q0.1
I0.0
0
10.1.33.xyz
1
512
B_arRecData
1
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Exercise: Change Data via UPD
I0.1
Q0.1
10.1.33.???
Q0.5
I0.1
Transmit-Strobe:I0.0
Transmit-Strobe:I0.0
10.1.33.???
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XControl-CANopen-UDP
Exercise: Change Data via UPD II
TransmitData:=ReceiveData+1;
TransmitData
ReceiveData
(*TransmitData/ReceiveData is a Byte*)
QB0.0
QB0.0
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Ethernet Network variables
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Information: Schedule Ethernet
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Information: Schedule Ethernet
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XControl-CANopen-UDP
Information: Schedule Ethernet
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User and system overview CANopen
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XControl-CANopen-UDP
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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XControl-CANopen-UDP
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: The physics
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XControl-CANopen-UDP
What is contained in a CAN node ?
CAN-Controller
µC
CAN-Tranceiver
CAN
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XControl-CANopen-UDP
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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XControl-CANopen-UDP
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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XControl-CANopen-UDP
Our cable recommendation
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XControl-CANopen-UDP
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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XControl-CANopen-UDP
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“,Off „1“,On
• Accept configuration
press for 2 secs!
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XControl-CANopen-UDP
Baud rates DIP switch
Switch (position)
reserved
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XControl-CANopen-UDP
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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XControl-CANopen-UDP
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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XControl-CANopen-UDP
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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XControl-CANopen-UDP
CANopen: Connection XC100-XI/ON
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XControl-CANopen-UDP
Schedule for configuring a CAN network 3
XI/ON
IB7.0
QB0.0
XC100
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XControl-CANopen-UDP
Schedule for configuring a CAN network 4
XI/ON
IB7.0
QB0.0
XC100
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XControl-CANopen-UDP
XI/ON
IB7.0
QB0.0
XC100
Schedule for configuring a CAN network 5
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XControl-CANopen-UDP
XI/ON
IB7.0
QB0.0
XC100
Schedule for configuring a CAN network 6
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XControl-CANopen-UDP
Schedule for configuring a CAN network 7
XI/ON
IB7.0
QB0.0
XC100
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XControl-CANopen-UDP
Schedule for configuring a CAN network 8
XI/ON
IB7.0
QB0.0
XC100
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XControl-CANopen-UDP
Exercise: Configuration of a CAN network
XI/ON
I0.0
Q0.0
Qx.x
Ix.x
XC100
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XControl-CANopen-UDP
CAN-protocol
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XControl-CANopen-UDP
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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XControl-CANopen-UDP
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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XControl-CANopen-UDP
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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XControl-CANopen-UDP
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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XControl-CANopen-UDP
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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XControl-CANopen-UDP
CiA-Device object
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XControl-CANopen-UDP
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 different, incompatible Layer 7 specifications
Application layer
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XControl-CANopen-UDP
CAN and CANopen: Process data objects (PDO)
CAN
CANopen
CAN
CANopen
Producer
Consumer
PDO
CAN
PDO
CANopen
PDO
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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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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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XControl-CANopen-UDP
CANopen: Network management (NMT)
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XControl-CANopen-UDP
Network management
NMT-Master (1)
Slave(2)
Switches Node On/Off
Node control
Error supervision
1 error!
Slave(127)
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Node Monitoring
Still alive?
Status
Cyclic Monitoring (Node Guarding)
Acyclic Monitoring (Heartbeat)
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Cyclic monitoring with Node guarding
Slave1
NMT-Master
Still alive?
Status
Still
aliv
e?
Sta
tus
Slave2
Slave127
S
till
a
liv
e?
S
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tu
s
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XControl-CANopen-UDP
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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XControl-CANopen-UDP
Exercise: Nodeguarding
1000
3
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XControl-CANopen-UDP
Monitoring with Heartbeat
He
art
be
at t
ele
gra
m
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Configuration of the Heartbeat
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XControl-CANopen-UDP
Exercise: Synchronization and Heartbeat
monitoring
XI/ON
XC600
I0.0
Q0.0
Qx.x
Ix.x
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Emergency Telegram
24V
Emergency (Error Register and properitary information)
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XControl-CANopen-UDP
CANopen: Parametrizing data transmission
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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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The COB-ID
(Communication Object Identifier)
Node ID + Default Offset
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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Parametrizing of the PDOs
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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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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: Parametrize with SDOs
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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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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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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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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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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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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
different
Configurations
of one
device type
EDS Form
for
different
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: Connecting 3rd party devices to
XSystem
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How to connect 3rd party devices to XControl?
e.g.
Pressure sensor by the company Trafag
p
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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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XSoft PLC configuration
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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 different 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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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 + DefaultOffset
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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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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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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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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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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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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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: 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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XControl-CANopen-UDP
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
Off
Parametrize input filter
TPDO
Start node
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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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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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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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Profibus DP – CAN comparison
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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 effective data transfer rate !
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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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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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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 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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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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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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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 URLs and Books
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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
Document Outline
- Agenda
- Slide 3
- Slide 4
- Slide 5
- XControl
- XControl: The Main Market Requirements
- XControl XC600: Agenda
- XC600: Hardware
- XControl: Open Hardware Platform
- XControl: The Modules
- XControl: The Operation Module
- XC600: Assembly
- Address setting of the optional modules
- XControl: The CPU Module
- XControl: The communication Modules
- XControl: Quality Data
- XC600: Handling
- XControl: Display + Menu selection button
- XControl: The Menus
- XControl: The Basic Menu
- XControl: User-specific display
- XControl: Main menu
- XControl: Menu diagnosis
- XControl: Menus „Program“ und „Recipe“
- XControl: Security
- XControl: Menu „Program“ – Reset functionality
- XControl: Menu „Device“
- XControl: Menu „Device“ – Hardware configuration
- XControl: Integrated communication for remote applications
- XControl: Teleservices and Remote programming
- XControl: Coupling of management systems
- XControl: Open, but safe
- XControl: The professional industrial control
- XControl and XIOC
- The components for small and medium applications
- XC100
- XControl XC100: The operation elements
- XControl XC100: Local I/O
- XControl XC100: Setup of the CPU
- XControl XC100: Load, Backup and Start
- XControl XC200
- XC200: The compact high performance machine controller
- Specialities
- Features (1)
- Features (2)
- Operating / display elements
- Locale I/O extension
- XVision
- CANopen networking with XC200
- Ethernet networking with XC200
- Open interfaces
- XControl XC200: Summary
- Xvision Text Display
- XVision Text-Displays
- XSoft: Programming the Text-Display
- XSoft: Function blocks of the visualization library
- XSoft: Example „Write variable value“
- XSoft: Open text and font editor
- XSoft: Font editor
- XSoft: Text editor
- Slide 62
- Slide 63
- Slide 64
- Slide 65
- Slide 66
- Slide 67
- Slide 68
- Slide 69
- Changing the baud rate of the programming port
- Wie ändere ich die Baudrate der Programmierschnittstelle?
- Information: Änderung der Programmierbaudrate
- Slide 73
- Slide 74
- Slide 75
- Aufgabe: Ändern Sie die Baudrate auf 57600 Bit/s
- Schedule for serial programming connection
- Fahrplan zur PC-XC100 Kopplung
- Slide 79
- Slide 80
- Online operation
- XC200 Hardware Overview
- Slide 83
- Slide 84
- Slide 85
- Slide 86
- Slide 87
- Slide 88
- Slide 89
- Slide 90
- Slide 91
- Slide 92
- Slide 93
- XC100/XC200: FLASH card
- XControl: Reset functionality
- BOOT project
- Interrupt, Counter and Incremental decoder
- More than just digital Inputs- Interrupt Inputs!
- What happens if the interrupt occurs?
- Slide 100
- What to regard in connection with interrupts?- Cycle time
- What to regard in connection with interrupts?- Breaks
- What happens on simultaneous interrupts?
- Exercise: Interrupt
- Pointers
- Data access
- Indirect Data Access
- Declaration of pointers
- Exercise
- Solution
- Tips for handling pointers: Part 1
- Tips for handling pointers: Part 2
- Pointer dynamics
- Exercise: Archive data with pointers
- Slide 115
- Solution: Archive data with pointers
- Slide 117
- Slide 118
- Slide 119
- Slide 120
- Slide 121
- Direct peripherals access
- How to access I/Qs faster than the PLC cycle
- Slide 124
- Exercise: Direct Access
- Information: Direct access
- Slide 127
- Slide 128
- Slide 129
- XC200 Programming connection via Ethernet
- Connecting the XControl via TCP/IP
- Point to point connection via Ethernet
- Point to point connection via Ethernet: Settings
- Settings
- Slide 140
- Information: Web schedule1
- Information: Web schedule2
- Information: Web schedule3
- Information: Web schedule4
- Information: OPC-Server schedule1
- Information: OPC-Server schedule2
- Information: OPC-Server schedule3
- Information: OPC-Server schedule4
- Information: OPC-Server schedule5
- Information: OPC-Server schedule6
- Ethernet Intro
- PLC „classic“: PROs and CONs
- IPC and Soft PLC: PROs and CONs
- Data communication on the advance
- Data communication on the advance
- Networking levels
- Slide 157
- What is „ETHERNET“ ?
- Ethernet Basics
- Ethernet
- Topics
- What is Ethernet ?
- History
- Slide 164
- Slide 165
- Ethernet TCP/IP
- Access method: CSMA/CD
- Back-Off Algorithm
- Truncated Binary Exponential Back-Off-Algorithm
- Which waiting times are used ?
- Example
- Delay depending on the network load
- Ethernet address
- Ethernet frame
- Slide 175
- Slide 176
- Ethernet Address
- Naming of the cable types
- Ethernet topologies
- Ethernet Media
- Extension
- Repeater / Hub
- Bridge
- Switch = Multiport Bridge
- Hub - Switch
- Characteristics of the switches
- Typical office wiring
- www
- Ethernet communication via UDP
- What you have to do for UDP Communication
- Two Function Blocks you need: Firstly the „UDPcomTransmit“-FB
- Two Function Blocks you need: Secondly the „UDPcomReceive“-FB
- Which Ports we can use?
- Communication between more than two PLC‘s:
- Maximum Count of Instance of UDPcomReceive
- The first UDP-Project
- Exercise: Change Data via UPD
- Exercise: Change Data via UPD II
- Ethernet Network variables
- Information: Schedule Ethernet
- Slide 201
- Slide 202
- User and system overview CANopen
- Scope of applications
- System overview and technology
- CANopen: The physics
- What is contained in a CAN node ?
- Practical values for the trunk length
- CANopen specifications according to CiA
- Our cable recommendation
- ISO 11898-2 Network Set-up
- Hardeware installation of a CAN - XION Gateway
- Baud rates DIP switch
- 9-p in Sub Connector
- Mini-style Connector
- Open-style Connector
- CANopen: Connection XC100-XI/ON
- Schedule for configuring a CAN network 3
- Schedule for configuring a CAN network 4
- Schedule for configuring a CAN network 5
- Schedule for configuring a CAN network 6
- Schedule for configuring a CAN network 7
- Schedule for configuring a CAN network 8
- Exercise: Configuration of a CAN network
- CAN-protocol
- Broadcast Communication
- Remote Request
- Multiple Bus Access
- CSMA/CA: Object orientated addressing
- Bus access with CSMA/CA (Dominant / Recessive)
- CiA-Device object
- Application layer
- CAN and CANopen: Process data objects (PDO)
- Slide 237
- Slide 238
- CANopen: Network management (NMT)
- Network management
- Node Monitoring
- Cyclic monitoring with Node guarding
- Slide 244
- Exercise: Nodeguarding
- Monitoring with Heartbeat
- Configuration of the Heartbeat
- Exercise: Synchronization and Heartbeat monitoring
- Emergency Telegram
- CANopen: Parametrizing data transmission
- What is a PDO ?
- The COB-ID (Communication Object Identifier)
- Parametrizing of the PDOs
- PDO transmission methods 1
- PDO transmission methods 2
- Synchronous and asynchronous transmission of PDOs
- Synchronous cyclic/acyclic transmission of PDOs
- Configuration of the PDO Synchronization
- Configuration of the PDO synchronization
- Slide 260
- Slide 261
- Slide 262
- Inhibit Time - Minimum time between two transmission requests
- Event Time
- PDO Parameters: Event Time
- CANopen: Parametrize with SDOs
- Addressing of an SDO in the object directory
- How to define a reaction for an analog sensor ?
- Parametrizing an Analog Input
- Configuring a device with SDOs (Service Data Object)
- Substitute values at bus failure
- Exercise: Parametrizing of the analog I/Os via SDOs
- EDS and DCF files
- The EDS file (Electronic Data Sheet)
- EDS and DCF
- CANopen: Connecting 3rd party devices to XSystem
- How to connect 3rd party devices to XControl?
- Copying the EDS file into the XSoft directory
- Path for project specific configurations
- XSoft PLC configuration
- CANopen: Process data objects (PDO)
- What is a PDO?
- The COB-ID (Communication Objekt Identifier)
- Default-PDOs of a CANopen device according to CiA DS-401
- Predefined COB-IDs
- Slide 286
- Automatic connection of CAN devices with XControl
- Exercise: CAN-XION-Station with 14 analog outputs
- XI/ON specific Default-PDOs
- Enabling the specific XI/ON-PDOs
- Exercise: CAN-XION-Station with 14 analog outputs (Part 2)
- Each COB-ID must be unique !
- Which COB IDs must NOT be assigned ?
- CANopen: PDO-Mapping
- PDO-Mapping
- CANopen Device
- Communication between PLCs
- How to transfer variables from the PLC program to CAN?
- Information: Fahrplan XC100 als CANopen-Device
- Slide 302
- Slide 303
- Slide 304
- Slide 305
- Slide 306
- Slide 307
- Slide 308
- Slide 309
- CANopen: Connection XC100-XC100
- Caution with XC100-XC100 connection via CAN. Part 1
- Caution with XC100-XC100 connection via CAN. Part 2
- Several XControls address the same station
- Several XControls receive messages from the same station
- There can only be one !
- Several XControls transmit to the same station
- Information: Settings for multiple access
- Slide 328
- Slide 329
- Information
- CANopen Routing
- How to program XControl via CAN
- Routing in two different cases
- Information: Schedule for routing
- Slide 335
- Slide 336
- Exercise: Routing
- CAN-Direct Access
- What to do when there is no EDS file?
- Direct access to the CAN bus
- CAN direct access: Just two libraries for all PLC types (I)
- CAN direct access: Just two libraries for all PLC types (II)
- Node Reset
- Start node
- Read PDOs
- The main program for „Start Node“ and „Read PDO“!
- Diagnosis via Emergency Telegram
- The main program for emergency
- Profibus DP – CAN comparison
- CAN-DP-comparison: Baudrate
- CAN-DP-comparison: How do the devices communicate?
- CAN-DP-comparison: Extension
- CAN-DP-comparison: Topology -> Line
- Slide 354
- CAN-DP-comparison: Deterministics
- Profibus DP
- CAN Controller Area Network
- CANopen URLs and Books
- Useful URLs
- Book tips 1
- Book tips 2
- Notice
- Slide 363
- Slide 364
- Slide 365
- Slide 366
- Slide 367
- Slide 368
- Slide 369
- Slide 370
- Slide 371
- Slide 372
- Slide 373
- Slide 374
- Slide 375
- Slide 376
- Slide 377
- Slide 378
- Slide 379
- Slide 380
- Slide 381
- Slide 382
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