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CXxxxx-M510/B510

CANopen Optional Interface for CX9020, CX5xx0 and CX20xx

2/9/2021 | Version: 1.0

Summary of Contents for CX-B510 Series

Page 1: ...AS2000 Blindtext Blindtext Blindtext Manual EN CXxxxx M510 B510 CANopen Optional Interface for CX9020 CX5xx0 and CX20xx 2 9 2021 Version 1 0...

Page 2: ......

Page 3: ...3 4 2 1 General 33 4 2 2 FC 51xx 34 4 2 3 ADS 35 4 3 CANopen slave 36 4 3 1 CAN node 36 4 3 2 SDOs 38 4 3 3 PDO 39 5 Parameterization and commissioning 40 5 1 PDO Parameterization 40 5 2 Parameterizat...

Page 4: ...the transmission type 65 5 3 8 Creating a PLC project 66 5 3 9 Linking variables 68 5 3 10 Load configuration to CX 69 5 3 11 Adding a CANopen master 71 6 Error handling and diagnostics 73 6 1 Diagno...

Page 5: ...rams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT EtherCAT P Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automation G...

Page 6: ...o are familiar with the applicable national standards Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note The safety instruction...

Page 7: ...Foreword CXxxxx M510 B510 7 Version 1 0 1 3 Documentation issue status Version Modifications 1 0 First version...

Page 8: ...ons makes it possible to link several Embedded PCs with each other via the fieldbus level The optional interfaces are detected parameterized and configured in TwinCAT and the connected I O components...

Page 9: ...ested polled A CAN data request telegram causes the modules to send their input data The required communication type is set via the transmission type parameter see PDO 39 tab Bus access procedures CAN...

Page 10: ...tion state When the initialization state is completed the device automatically switches to pre operational state Pre Operational After the initialization the device automatically switches to pre opera...

Page 11: ...ally at power up 2 After initialization the pre operational state is reached automatically this involves sending the boot up message 3 6 cs 1 0x01 Start_Remote_Node Starts the device enables outputs a...

Page 12: ...Boot up message 11 bit identifier 2 byte of user data 0x700 1792 node ID 0x00 2 1 2 Node Monitoring The heartbeat and guarding mechanisms are available for monitoring CANopen device failures These mec...

Page 13: ...he master within the set Node Life Time a guarding error the slave assumes that the master has failed the watchdog function In this case the slave sets its outputs to error state sends an emergency te...

Page 14: ...way the entries for the transmit PDOs are located from index 0x1800 TxPDO1 to index 0x19FF TxPDO512 For each existing process data object PDO there is an associated communication parameter object Twin...

Page 15: ...ve axes simultaneously listen to the actual value in the master axis TxPDO Communication without master based on PDO linking PDO transmission types CANopen offers following options for transferring pr...

Page 16: ...s worthwhile to synchronize the determination of the input information and the setting the outputs For this purpose CANopen provides the SYNC object a CAN telegram of high priority but containing no u...

Page 17: ...n additional event and the input data are sent PDO Mapping PDO mapping refers to mapping of the application objects real time data from the object directory to the process data objects The CANopen dev...

Page 18: ...Change mapping entries 0x1600ff or 0x1A00ff SI 1 8 4 Set sub index 0 in the mapping parameters to the valid value The device then checks the entries for consistency 5 Create PDO by entering the identi...

Page 19: ...nsmitting the index and sub index of the desired parameter and the server sends the parameter including index and sub index in its answer telegram The same pair of identifiers is used for both upload...

Page 20: ...a byte 0x4F 0x4B 0x47 0x43 Client Server Download Request 11 bit identifier 8 bytes of user data 0x600 1536de c node ID 0x22 Index0 Index1 SubIdx Data0 Data1 Data2 Data3 Parameters Explanation Index0...

Page 21: ...cation Parameter communication is interrupted if it is faulty The client or server send an SDO telegram with the following structure for this purpose 11 bit identifier 8 bytes of user data 0x580 clien...

Page 22: ...7 00 13 Data type does not agree parameter length too short 0x06 09 00 11 Sub index not present 0x06 09 00 30 General value range error 0x06 09 00 31 Value range error parameter value too great 0x06 0...

Page 23: ...302 online bus load monitor and bus trace error management for each device freely configurable Optional interface B510 Technical data B510 Fieldbus CANopen Data transfer rate 10 20 50 100 125 250 500...

Page 24: ...open connection The CAN bus line is connected via a 9 pin D sub socket with the following configuration Pin Assignment 1 not used 2 CAN low CAN 3 CAN ground internally connected to pin 6 4 not used 5...

Page 25: ...hm terminating resistor to prevent reflections This is also necessary even if the cable lengths are very short Since the CAN signals are represented on the bus as the difference between the two levels...

Page 26: ...uplers CAN controllers are almost constant the line length must be chosen in accordance with the baud rate Baud rate Bus length 1 Mbit s 20 m 500 kbit s 100 m 250 kbit s 250 m 125 kbit s 500 m 50 kbit...

Page 27: ...ey have decayed fully before the sampling time In the case of the bit timing settings selected in the Bus Couplers it can be assumed that this is the case provided the following drop line lengths are...

Page 28: ...d in BECKHOFF s range 2 x 2 x 0 25 mm AWG 24 twisted pairs cable colors red black white black double screened braided screen with filler strand can be attached directly to pin 3 of the 5 pin connectio...

Page 29: ...nts to the mounting rail assumes that the rail is appropriately earthed and free from interference If this is not the case it is possible that HF interference will be transmitted from the mounting rai...

Page 30: ...ermination resistor CANopen limits the number of devices per network to 64 The maximum possible network size is limited by the data rate For sample at 1 Mbit s a network size of 20 m is possible at 50...

Page 31: ...ogether with the slave No Description 1 The device name of the master is shown in brackets All CANopen slaves are added under the master 2 Under the CANopen master status messages are listed as input...

Page 32: ...ave RxPDOs are received by the device TxPDOs are sent by the device 3 Further settings for the CANopen slave can be implemented under the tabs Other tabs are displayed depending on whether slave or ot...

Page 33: ...d ID 1 5 2 3 4 No Description 1 Name of the CANopen device 2 CANopen device type 3 Here you can add a comment e g notes relating to the system component 4 Here you can disable the CANopen device 5 Run...

Page 34: ...the case that event driven communication is combined with cyclic synchronous communication In order to be able to respond to events quickly the task cycle time must be less than the cycle time of the...

Page 35: ...B510 35 Version 1 0 4 2 3 ADS The CANopen master is an ADS device with its own Net ID which can be modified here All ADS services diagnostics acyclic communication sent to the CANopen master must use...

Page 36: ...TwinCAT tabs CXxxxx M510 B510 36 Version 1 0 4 3 CANopen slave 4 3 1 CAN node 1 3 7 11 13 5 6 2 12 8 9 4 10...

Page 37: ...They result from the node address 7 Heartbeat is used for monitoring of the node If heartbeat is disabled guarding is used for monitoring The guard time as producer heartbeat time and guard time x li...

Page 38: ...kets were created automatically based on the current configuration Further entries can be created and managed via Append Insert Delete and Edit 2 If this option is selected the slave is restarted if n...

Page 39: ...etermines the send behavior of the PDO 255 corresponds to the event driven sending see Setting the transmission type 65 3 The length of the PDO depends on the created variables and can therefore not b...

Page 40: ...d reaction time for specific events Cycle time for regulation processes over the bus Safety reserves for bus malfunctions enough bandwidth for the repetition of messages Maximum baud rate depends on t...

Page 41: ...rature values Optimization of bus access latency time through modification of the identifier allocation is not however normally required On the other hand the identifiers must be altered if masterless...

Page 42: ...med that an event driven network running with a base loading of 30 40 has enough reserve for worst case scenarios but this assumption does not obviate the need for a careful analysis if delays could h...

Page 43: ...aster is added in TwinCAT and the two CANopen slaves are located via the master 5 2 1 Searching for target systems Before you can work with the devices you must connect your local computer to the targ...

Page 44: ...1 7 If you do not wish to search for any further devices click on Close to close the Add Route Dialog The new device is displayed in the Choose Target System window 8 Mark the device that you wish to...

Page 45: ...target device with CANopen slave This sample uses a CX2020 with CX2500 B510 fieldbus module Add the CANopen slave as follows 1 In the tree view on the left right click on I O Devices 2 In the context...

Page 46: ...ablished Each virtual slave is assigned a dedicated address via TwinCAT and is configured like an independent device for the CANopen master Prerequisites for this step A CANopen slave created in TwinC...

Page 47: ...DIP switch the address is only set in TwinCAT In this step the address is set in TwinCAT so that the CANopen slave can be reached by the CANopen master via this address Prerequisites for this step An...

Page 48: ...s follows 1 Right click on a CANopen slave in the tree view 2 In the context menu click on Insert TxPDO or Insert RxPDO in order to create PDOs in Tx or Rx direction The new TxPDOs or RxPDOs are added...

Page 49: ...e tree view click on a TxPDO or RxPDO to show more information 2 Right click on Outputs or Inputs depending on whether a TxPDO or RxPDO is selected 3 In the context menu click on Insert Variable The I...

Page 50: ...onous Cyclic Synchronous Asynchronous Name in TwinCAT acyc sync cyc sync async Prerequisites for this step A CANopen slave with process data objects PDO added in TwinCAT Specify the transmission type...

Page 51: ...ck on PLC Control The TwinCAT PLC Control window appears 3 In the menu click on File New and select the option PC or CX x86 4 Under Block type select the option Program and under block language select...

Page 52: ...added in TwinCAT A correctly compiled PLC project and a tpy file Proceed as follows 1 Switch back to the System Manager window 2 Right click on PLC Configuration in the tree view on the left 3 In the...

Page 53: ...and shows which inputs or outputs can be linked with variables 2 Double click on the inputs or outputs in the Attach Variable window The input variables are linked with the inputs of your hardware an...

Page 54: ...A completed PLC project added in the System Manager Variables from the PLC project linked with the hardware in the System Manager A CX selected as target system Load the configuration on the CX as fol...

Page 55: ...then on Choose Runtime System 11 Select the runtime system from the CX and click on OK 12 In the menu bar at the top click on Online then Login The PLC project is logged in 13 In the menu bar at the...

Page 56: ...uisites for this step TwinCAT must be in Config mode A selected target system in this sample it is the Embedded PC CX2020 M510 Add a CANopen device as follows 1 Start the System Manager 2 In the tree...

Page 57: ...that are found are displayed in the tree view on the left including Bus Terminals connected to the devices or slave boxes Repeat the steps if not all devices are displayed If not all devices and slave...

Page 58: ...slave In the last step the CANopen master is added in TwinCAT and the two CANopen slaves are located via the master 5 3 1 Searching for target systems Before you can work with the devices you must con...

Page 59: ...name Administrator Password 1 6 If you do not wish to search for any further devices click on Close to close the Add Route Dialog The new device is displayed in the Choose Target System window 7 Sele...

Page 60: ...ected target device with CANopen slave This sample uses a CX2020 with CX2500 B510 fieldbus module Add the CANopen slave as follows 1 In the tree view on the left right click on Devices 2 In the contex...

Page 61: ...blished Each virtual slave is assigned a dedicated address via TwinCAT and is configured like an independent device for the CANopen master Prerequisites for this step A CANopen slave created in TwinCA...

Page 62: ...DIP switch the address is only set in TwinCAT In this step the address is set in TwinCAT so that the CANopen slave can be reached by the CANopen master via this address Prerequisites for this step An...

Page 63: ...s follows 1 Right click on a CANopen slave in the tree view 2 In the context menu click on Insert TxPDO or Insert RxPDO in order to create PDOs in Tx or Rx direction The new TxPDOs or RxPDOs are added...

Page 64: ...the tree view click on a TxPDO or RxPDO to show more information 2 Right click on Outputs or Inputs depending on whether a TxPDO or RxPDO is selected 3 Click on Add New Item in the context menu The In...

Page 65: ...onous Cyclic Synchronous Asynchronous Name in TwinCAT acyc sync cyc sync async Prerequisites for this step A CANopen slave with process data objects PDO added in TwinCAT Specify the transmission type...

Page 66: ...tree view Prerequisites for this step A newly created TwinCAT XAE project Create a PLC project as follows 1 Right click on PLC in the tree view 2 In the context menu click on Add New Item and select t...

Page 67: ...ick on the PLC project then click on Build in the context menu You have successfully created a PLC project and added the project in TwinCAT A PLC instance with the variables for the inputs and outputs...

Page 68: ...utputs can be linked with the variables from the PLC project 2 Double click on the inputs or outputs of the hardware in the Attach Variable window Link the input variables with the inputs and the outp...

Page 69: ...his step A completed PLC project added in the System Manager Variables from the PLC project linked with the hardware in the System Manager A CX selected as target system Load the configuration from th...

Page 70: ...er in the tree view 9 In the context menu click on Auto Save to Target as Archive The setting is selected You have successfully loaded the CX configuration From now on TwinCAT will start in Run mode a...

Page 71: ...r in TwinCAT Prerequisites for this step TwinCAT must be in Config mode A selected target system in this sample it is the Embedded PC CX2020 M510 Add a CANopen device as follows 1 In the tree view on...

Page 72: ...that are found are displayed in the tree view on the left including Bus Terminals connected to the devices or slave boxes Repeat the steps if not all devices are displayed If not all devices and slave...

Page 73: ...Green and red flashing rapidly Baud rate search active Green off Red on CAN not configured ERR Green on Red off All nodes have NodeState 0 Green 200 ms Red 200 ms All boxes in OP state but the tasks h...

Page 74: ...variable provides information on the status of the master GlobalState 0 0 Device is in RUN status 1 Device is in RESET status 2 Device is in OFFLINE status 3 Device is in STOP status GlobalState 1 FW...

Page 75: ...SDO data mismatch at StartUp 8 Node StartUp in progress 11 FC510x Bus OFF 12 Pre Operational 13 Severe bus fault 14 Guarding toggle error 20 TxPDO too short 22 Expected TxPDO is missing 23 Node is Ope...

Page 76: ...a PDO is sent ReceiveCounter RxPDOs feature an additional ReceiveCounter variable under the Status menu item The input variable is incremented by one whenever a PDO is received In this way newly arriv...

Page 77: ...n ZB5100 CAN cable 4 core fixed installation 2 x 2 x 0 25 mm price per meter Connector Item number Description ZS1051 3000 Bus interface connector D sub for CANopen in the housing with switchable term...

Page 78: ...the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can r...

Page 79: ...components there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 0 5246 963 0 Fax 49 0 5246 963 198 e mail info beckhoff com Beckhoff Support Support...

Page 80: ......

Page 81: ...Beckhoff Automation GmbH Co KG H lshorstweg 20 33415 Verl Germany Phone 49 5246 9630 info beckhoff com www beckhoff com...

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