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CANopen
SCW100
User’s Guide
Page 1: ...Motors Automation Energy Transmission Distribution Coatings CANopen SCW100 User s Guide ...
Page 2: ...CANopen User s Guide Series SCW100 Language English Document 10008601670 01 Build 221 Publication Date 04 2022 ...
Page 3: ...Summary of Revisions The information below describes the reviews made in this manual Version Revision Description R00 Cancelled R01 First edition ...
Page 4: ... COMMUNICATION 13 5 C CONFIGURATION 15 C2 COMMUNICATION 15 6 OPERATION IN THE CANOPEN NETWORK 16 6 1 ACCESS TO THE DATA 16 6 2 CYCLIC DATA 16 6 3 ACYCLIC DATA 16 6 4 COMMUNICATION OBJECTS COB 16 6 5 COB ID 17 6 6 EDS FILE 17 7 OBJECT DICTIONARY 18 7 1 DICTIONARY STRUCTRE 18 7 2 DATA TYPE 18 7 3 COMMUNICATION PROFILE COMMUNICATION OBJECTS 18 7 4 MANUFACTURER SPECIFIC OBJECTS 19 8 COMMUNICATION OBJE...
Page 5: ...Error Control Node Guarding 29 8 5 3 Error Control Heartbeat 31 8 6 INITIALIZATION PROCEDURE 32 9 STARTUP GUIDE 34 9 1 INSTALLING THE PRODUCT ON THE NETWORK 34 9 2 CONFIGURING THE EQUIPMENT 34 9 3 CONFIGURING THE MASTER 34 9 4 COMMUNICATION STATUS 34 9 5 OPERATION USING PROCESS DATA 35 9 6 ACCESS TO PARAMETERS ACYCLIC MESSAGES 35 10FAULTS AND ALARMS 36 Appendix A QUICK REFERENCES 37 ...
Page 6: ...ly rw Read write RTR Remote Transmission Request NUMERICAL REPRESENTATION Decimal numbers are represented by means of digits without suffix Hexadecimal numbers are represented with the letter h after the number Binary numbers are represented with the letter b after the number DOCUMENTS The CANopen protocol was developed based on the following specifications and documents Document Version Source CAN ...
Page 7: ...er manager SCW100 with CANopen accessory Network management task NMT 5 transmission PDOs 2 reception PDOs Heartbeat Consumer Heartbeat Producer Node Guarding SDO Client SYNC producer consumer It is supplied with an EDS file for the network master configuration Acyclic data available for parameterization SCW100 7 ...
Page 8: ...to 1 Mbit s Maximum bus length of 1000 meters LED Net CAN Connector CANopen S1 S2 Address S3 Baud S4 Termination Figure 2 1 Connector indications and configurations for SCW100 2 2 CONNECTOR The interface is available through a 4 wire plug in connector with the following pin assignment 5 8 Table 2 1 Pin assignment of connector for CANopen interface Pin Name Function 5 CAN_H Communication signal CAN_...
Page 9: ...nificant Switch S1 Eh Switch S2 2h Since switch S1 is the least significant the address composed by the switches is 2Eh or 46 decimal Figure 2 2 Rotary switches for address configuration 2 4 BAUD RATE The SCW100 starter manager has a rotary S3 hex switch that allows you to configure the communication rate According to the position of the switch this configuration is programmed as indicated in the table...
Page 10: ...le at this state Green alternating each 200ms Pre operational Device is in the Pre operational state PDOs are not available for communication Green solid Operational Device is in the Operational state Table 2 5 LED NET RED Indication State Description Off No error Device is operating normally Red one flash Warning or Passive Indicates the CAN interface is in Warning or Error Passive state It may oc...
Page 11: ...d rates and the maximum cable length that can be used in the installation according to the protocol recommendation Table 3 1 Supported baud rates and cable length Baud Rate Cable length 10 kbit s 1000 m 20 kbit s 1000 m 50 kbit s 1000 m 100 kbit s 600 m 125 kbit s 500 m 250 kbit s 250 m 500 kbit s 100 m 800 kbit s 50 m 1 Mbit s 25 m All network equipment must be programmed to use the same communic...
Page 12: ...ce this makes the occurrence of transmission errors possible CANopen Master 24Vdc Power Supply Termination Termination Derivation Figure 3 1 CANopen network installation example In order to avoid problems with current circulation caused by difference of potential among ground connections it is necessary that all the devices be connected to the same ground point To avoid voltage difference problems...
Page 13: ... baud rate 4 125 Kbit s CAN baud rate 5 100 Kbit s CAN baud rate 6 50 Kbit s CAN baud rate 7 20 Kbit s CAN baud rate S4 Communication P0033 CAN Controller Status Range 0 5 Default 0 Description It allows identifying if the CAN interface is enabled and if the communication presents errors Indication Description 0 Disabled Inactive CAN interface 1 Reserved 2 CAN Enabled CAN interface is active and w...
Page 14: ...cates the device state regarding the CANopen network informing if the protocol has been enabled and if the error control service is active Node Guarding or Heartbeat Indication Description 0 Disabled CANopen protocol disabled 1 Reserved 2 Comm Enabled Communication enabled 3 Error Ctrl Enab Communication enabled and error control service enabled Node Guarding Heartbeat 4 Guarding Error Node Guardi...
Page 15: ... the digital outputs C2 Communication P0032 CAN Bus Off Reset Range 0 1 Default 0 Description It allows programming the inverter behavior when detecting a bus off error at the CAN interface Indication Description 0 Manual If bus off occurs LED will indicate this condition and the communication will be disabled The action programmed in parameter P0101 Action for Communication Fault will be performe...
Page 16: ...k device and the Server SDO responsible for taking care of that request Since SDO are usually used for the configuration of a network node they have less priority than other types of message Process Data Object PDO PDO are used for accessing equipment data without the need of indicating explicitly which dictionary object is being accessed Therefore it is necessary to configure previously which data ...
Page 17: ... exception of the COB ID for NMT and SYNC which are common for all the network elements Those values can also be changed during the device configuration stage Table 6 2 COB ID for the different objects COB Function Code bits 10 7 COB ID Resultant COB ID function address NMT 0000 0 SYNC 0001 128 80h EMCY 0001 129 255 81h FFh PDO1 tx 0011 385 511 181h 1FFh PDO1 rx 0100 513 639 201h 27Fh PDO2 tx 0101 ...
Page 18: ...neral structure of the dictionary has the following format Index Object Name Type Access Index indicates directly the object index in the dictionary Object describes which information the index stores simple variable array record etc Name contains the name of the object in order to facilitate its identification Type indicates directly the stored data type For simple variables this type may be an in...
Page 19: ... mapping PDO Mapping rw 1A03h RECORD 4th transmit PDO mapping PDO Mapping rw 1A04h RECORD 5th transmit PDO mapping PDO Mapping rw These objects can only be read and written via the CANopen network it is not available in other network interface The network master in general is the equipment responsible for setting up the equipment before starting the operation The EDS configuration file brings the li...
Page 20: ...1000h 0 Device Type UNSIGNED32 RO No 0 This code can be divided into two parts 16 low order bits describing the type of profile that the device uses and 16 high order bits indicating a specific function according to the specified profile 8 1 2 Object 1001h Error Register This object indicates whether or not an error in the device occurred The type of error registered for the equipment follows what is ...
Page 21: ...uration and therefore have low priority since they do not have to be used for communicating data necessary for the device operation There are two types of SDOs client and server Basically the communication initiates with the client usually the master of the network making a read upload or write download request to a server and then this server answers the request CANopen Master SDO Client Data for...
Page 22: ...request telegram the commands however are different Table 8 7 Command codes for SDO server Command Function Description Object Data 60h Download Write object Not used 43h Upload Write object 4 byte 4Bh Upload Write object 2 byte 4Fh Upload Write object 1 byte 41h Upload segment Initiates segmented response for read 4 byte 01h ou 0Dh Upload segment Last data segment for read 8 2 bytes For readings ...
Page 23: ...eiving and handling these data In this way it is possible to have communication among slaves of the CANopen network it is only necessary to configure one slave to transmit information and one or more slaves to receive this information CANopen Master Transmit PDO Receive PDO Receive PDO Data for operation Figure 8 2 Communication using PDOs NOTE PDOs can only be transmitted or received when the devi...
Page 24: ...tion Bit Value Description 31 MSB 0 PDO is enabled 1 PDO is disabled 30 0 RTR permitted 29 0 Identifier size 11 bits 28 11 0 Not used always 0 10 0 LSB X 11 bit COB ID The bit 31 allows enabling or disabling the PDO The bits 29 and 30 must be kept in 0 zero they indicate respectively that the PDO accepts remote frames RTR frames and that it uses an 11 bit identifier Since the SCW100 does not use 29 ...
Page 25: ...bject corresponds to the parameter P1105 Reverse Start Command Sub index 3 2456 0010h the second mapped object has an index equal to 2456h sub index 0 zero and a size of 16 bits This object corresponds to the parameter P1110 Stop Command It is possible to modify this mapping by changing the quantity or the number of mapped objects Remembering that only 4 objects or 8 bytes can be mapped at maximum...
Page 26: ...this PDO is changed It works by changing the state Change of State This type does also allow that the PDO be transmitted according to the timer programmed in sub index 5 In the sub index 3 it is possible to program a minimum time in multiples of 100 µs that must elapse after the a telegram has been sent so that a new one can be sent by this PDO The value 0 zero disables this function The sub index...
Page 27: ... maximum of 4 objects or 8 bytes can be mapped NOTE In order to change the mapped objects in a PDO it is first necessary to write the value 0 zero in the sub index 0 zero In that way the values of the sub indexes 1 to 4 can be changed After the desired mapping has been done one must write again in the sub index 0 zero the number of objects that have been mapped enabling again the PDO 8 4 SYNCHRONIZ...
Page 28: ...pen network device can be described by the following state machine Power On Initialization Pre operational Operational Stopped 1 2 3 4 5 4 3 5 6 7 Figure 8 4 CANopen node state diagram Table 8 10 Transitions Description Transition Description 1 The device is switched on and initiates the initialization automatic 2 Initialization concluded it goes to the preoperational state automatic 3 It receives...
Page 29: ...the following structure Identifier byte 1 byte 2 00h Command Code Destination Node ID Table 8 12 Commands for the state transition Command Code Destination Node ID 1 START node transition 3 0 All the slaves 2 STOP node transition 4 1 127 Specific slave 128 Enter preoperational transition 5 129 Reset node transition 6 130 Reset comunication transition 7 The transitions indicated in the command code c...
Page 30: ...r Therefore the multiplication of these two values will result in the total necessary time for the communication error detection using this object The value 0 zero disables this function Once configured the slave starts counting these times starting from the first Node Guarding telegram received from the network master The master s telegram is of the remote type not having data bytes The identifier i...
Page 31: ...rs One or more consumers can monitor these periodic telegrams and if they cease occurring it means that any communication problem occurred CANopen Master Heartbeat Consumer Heartbeat Producer Heartbeat Message Periodic Error Timeout waiting for the message Communication interrupted E Figure 8 6 Error control service Heartbeat One device of the network can be both producer and consumer of heartbeat...
Page 32: ... Always 0 Slave State NOTE This object is active even in the stopped state see table 8 11 The value 0 zero in any of these two objects will disable this function If after the error detection the service is enabled again then the error indication will be removed The minimum value accepted by the SCW100 starter manager is 2 ms But considering the transmission rate and the number of nodes in the netw...
Page 33: ...e not stored in the nonvolatile memory Therefore every time the equipment is reset or switched off it is necessary to redo the communication objects parameter setting The manufacturer specific objects starting from 2000h that represents the parameters they are stored in the nonvolatile memory and thus could be set just once SCW100 33 ...
Page 34: ...his activity In general the following steps are necessary to perform the network configuration 1 Load the EDS file3 to the list of devices in the network configuration tool 2 Select SCW100 starter manager from the available list of devices on the network configuration tool This can be done manually or automatically if allowed by the tool 3 During the configuration of the network it is necessary to defin...
Page 35: ...ata mapped in the PDOs is automatically updated It is important to know these parameters to program the master as desired for the application 9 6 ACCESS TO PARAMETERS ACYCLIC MESSAGES Besides the cyclic communication using PDOs the CANopen protocol also defines a kind of acyclic message via SDO used especially in asynchronous tasks such as parameter setting and configuration of the equipment The EDS...
Page 36: ... CAN Bus Off Reset parameter has a value of 1 If the value of the P0032 CAN Bus Off Reset parameter is 0 it will be necessary to turn the remote unit off and on to reestablish communication Verify if there is any short circuit between the CAN circuit transmission cables Verify if the cables have not been changed or inverted Verify if all the network devices use the same baud rate Verify if termina...
Page 37: ...PPENDIX A QUICK REFERENCES Level 1 Page S Status S1 Product Information 38 S2 Starts 38 S3 Errors and Alarms 39 S4 Communication 40 C Configuration C1 Starts 41 C2 Communication 41 C3 Counters 41 C4 Commands 41 SCW100 37 ...
Page 38: ... 2078h 0 P0121 P1 Contactor 1 Opening Time 0 to 65535 ms ro 16bit 121 2079h 0 P0122 P1 Contactor 2 Closing Time 0 to 65535 ms ro 16bit 122 207Ah 0 P0123 P1 Contactor 2 Opening Time 0 to 65535 ms ro 16bit 123 207Bh 0 P0124 P2 Contactor 1 Closing Time 0 to 65535 ms ro 16bit 124 207Ch 0 P0125 P2 Contactor 1 Opening Time 0 to 65535 ms ro 16bit 125 207Dh 0 P0126 P2 Contactor 2 Closing Time 0 to 65535 m...
Page 39: ...rror 0 to 65535 ro 16bit 210 20D2h 0 P0211 P3 Status Alarm 0 to 65535 ro 16bit 211 20D3h 0 P0212 P4 Status 0 to 65535 ro 16bit 212 20D4h 0 P0213 P4 Status Contactor 0 to 1 ro 16bit 213 20D5h 0 P0214 P4 Status Error 0 to 65535 ro 16bit 214 20D6h 0 P0215 P4 Status Alarm 0 to 65535 ro 16bit 215 20D7h 0 S3 Status Errors and Alarms P0300 P1 Last Error 1 0 to 65535 ro 16bit 300 212Ch 0 P0301 P1 Last Err...
Page 40: ... to 65535 ro 16bit 332 214Ch 0 P0333 P3 Last Alarm 4 0 to 65535 ro 16bit 333 214Dh 0 P0334 P3 Last Alarm 5 0 to 65535 ro 16bit 334 214Eh 0 P0335 P4 Last Alarm 1 0 to 65535 ro 16bit 335 214Fh 0 P0336 P4 Last Alarm 2 0 to 65535 ro 16bit 336 2150h 0 P0337 P4 Last Alarm 3 0 to 65535 ro 16bit 337 2151h 0 P0338 P4 Last Alarm 4 0 to 65535 ro 16bit 338 2152h 0 P0339 P4 Last Alarm 5 0 to 65535 ro 16bit 339...
Page 41: ... 0 P0407 P4 Contactor Timeout 20 to 5000 ms 500 ms rw 16bit 407 2197h 0 P1000 Reset to Factory Settings 0 to 65535 0 rw 16bit 1000 23E8h 0 C2 Configuration Communication P0101 Action for Communication Fault 1 rw enum 101 2065h 0 0 No Action 1 Disable Outputs P0032 CAN Bus Off Reset 0 rw enum 32 2020h 0 0 Manual 1 Automatic C3 Configuration Counters P0158 Save Operation Counters in the mem NV FALSE t...
Page 42: ...1 stop Bit 1 Start 2 stop Bit 2 Start 3 stop Bit 3 Start 4 stop P1115 Digital Output Command 0 rw 16bit 1115 245Bh 0 Bit 0 DO1 Bit 1 DO2 Bit 2 DO3 Bit 3 DO4 Bit 4 DO5 Bit 5 DO6 Bit 6 DO7 Bit 7 DO8 Table A 3 Description of the parameter data types Data Type Description bool Represents a bit where the value 0 zero represents false the value 1 one represents true enum Enumerated type unsigned 8 bit c...
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