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CANopen Communication

FC5101 and FC5102

56

Version: 2.0

5.6

SDO communication with FC510x

CANopen SDO (Service Data Object) communication is used to read or write any parameters in the
CANopen bus node's object directory. The FC5101CANopen PCI card uses SDO communication to
configure the communication parameters when starting up. Two types of application-specific SDO
communication are additionally possible:

1. Downloading Application-Specific Parameters when Starting Up

The appropriate parameters are to be entered here in the System Manager for the corresponding node
under "SDO". The objects that result from the configuration under CAN node appear in square brackets. Any
desired number of object directory entries can then be added.

Fig. 44: Edit SDO entry

The card expects a positive acknowledgement of the parameter download from the relevant bus device. If it
was not possible to write a parameter (the bus device has aborted the SDO) the card then attempts to read
the corresponding value back and to compare it with the value that was to be written. This is because it
could, for instance, be a read-only value, and therefore already correctly configured within the bus device. If
they agree with one another, the card moves onto the next parameter entry.

2. Upload and download at runtime via ADS

It is possible to perform SDO accesses to the bus devices' object directories using Beckhoff's ADS
communication when the system is running. This is also possible from the PLC, from the NC, from the OPC
server, from ActiveX controls or from any other ADS device.

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Содержание FC5101

Страница 1: ...Documentation FC5101 and FC5102 PCI Cards for CANopen 2 0 2017 11 17 Version Date...

Страница 2: ......

Страница 3: ...BK51x0 BX5100 5 pin open style connector 19 3 2 10 LC5100 Bus connection via spring loaded terminals 19 3 2 11 Fieldbus Box M12 CAN socket 20 4 Parameterization and Commissioning 21 4 1 Configuration...

Страница 4: ...FC5101 and FC5102 4 Version 2 0 7 Bus Trace function 74 7 1 FC510x as bus monitor 74 8 Appendix 80 8 1 CAN Identifier List 80 8 2 Approvals 95 8 3 Bibliography 95 8 4 List of Abbreviations 96 8 5 Supp...

Страница 5: ...data diagrams 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 Au...

Страница 6: ...or trained specialists in control automation and drive engineering who are familiar with the applicable national standards Description of instructions In this documentation the following instructions...

Страница 7: ...tatus Version Comment 2 0 Migration 1 0 completely revised FC510x Monitor Software documented CANopen Protocol description revised 0 9 Pre Release Preliminary version 11 03 2002 The using of the FC510...

Страница 8: ...ard features CAN terminating resistors 120 ohm These can be activated via a jumper up to hardware version 3 or a slide switch from hardware version 4 near the CAN connectors The Flash Disk socket is c...

Страница 9: ...Ground internally connected to pin 6 5 Shield 6 CAN Ground internally connected to pin 3 7 CAN high CAN The unlisted pins are not connected Note an auxiliary voltage of up to 30 VDC may be connected...

Страница 10: ...s SYNC objects are transmitted with a mean timing having the accuracy of the quartz oscillator while process data exchange with the application is synchronized throughout only with TwinCAT Emergency m...

Страница 11: ...ny data in this object directory is accessed via service data objects SDO There are additionally a few special objects such as telegram types for network management NMT synchronization error messages...

Страница 12: ...y repeaters which also allow the construction of tree structures Bus access procedures CAN utilizes the Carrier Sense Multiple Access CSMA procedure i e all participating devices have the same right o...

Страница 13: ...he PC housing it must be switched off and the mains plug must be removed In may be necessary before fitting to set the jumper in order to activate the internal CAN bus terminating resistors or to set...

Страница 14: ...the two levels the CAN leads are not very sensitive to incoming interference EMI Both leads are affected so the interference has very little effect on the difference Fig 8 Insensitivity to incoming in...

Страница 15: ...f all drop lines 1 Mbit s 1 m 5 m 500 kbit s 5 m 25 m 250 kbit s 10 m 50 m 125 kbit s 20 m 100 m 50 kbit s 50 m 250 m Drop lines must not have terminating resistors Fig 9 Sample topology of drop lines...

Страница 16: ...meter marking length data every 20cm Fig 10 Structure of CAN cable ZB5100 ZB5200 CAN DeviceNet Cable The ZB5200 cable material corresponds to the DeviceNet specification and is also suitable for CANop...

Страница 17: ...erence will be transmitted from the mounting rail to the screen of the bus cable In that case the screen should not be attached to the couplers it should nevertheless still be fully connected through...

Страница 18: ...ockets with the following pin assignment Pin Assignment 2 CAN low CAN 3 CAN ground internally connected to pin 6 6 CAN ground internally connected to pin 3 7 CAN high CAN The unlisted pins are not con...

Страница 19: ...is close to the supply potential Since the CANopen BK51X0 BX5100 Bus Couplers provide full electrical isolation of the bus connection it may in appropriate cases be possible to omit wiring up the CAN...

Страница 20: ...r supply and then the CAN Check the cabling and only then switch on the voltage 3 2 11 Fieldbus Box M12 CAN socket The IPxxxx B510 IL230x B510 and IL230x C510 Fieldbus Boxes are connected to the bus u...

Страница 21: ...System Manager For applications without TwinCAT PLC or NC the TwinCAT System Manager Tool configures the programming interfaces for a wide range of application programs ActiveX control ADS OCX for e...

Страница 22: ...escription BK5100 29 Bus Coupler BK5110 29 Economy Bus Coupler BK5120 29 Bus Coupler successor of BK5100 LC5100 29 Low cost Bus Couplers IPxxxx B510 29 Fieldbus compact box CANopen in output module pr...

Страница 23: ...CANopen card and is thus synchronized with the CANopen bus All other tasks are served asynchronously via corresponding buffers For all operation modes you can individually set the communication type f...

Страница 24: ...than with the Sync Master PC task runtime differences e g due to case dependent program branches are compensated the FC510x card delays pending send telegrams until after the SYNC telegram the indivi...

Страница 25: ...chronization Mode Master Cycle Time Displays the cycle time of the corresponding highest priority task The display is updated when the mapping is generated Watchdog Time Here a watchdog can be activat...

Страница 26: ...c cycle is 10 ms the FC510x sends its synchronous PDOs 4 ms 40 of 10 ms after the SYNC Search This is used to search all existing FC510x channels the required channel can be selected In the case of an...

Страница 27: ...evice with its own net ID which can be changed here All ADS services diagnostics acyclic communication intended for the FC510x have to address the card via this Net ID Box States tab Fig 24 Box States...

Страница 28: ...the card in relation to the TwinCAT system RUN RESET OFFLINE and STOP are distinguished GlobalState 2 gives information about the status of the CAN controller CAN Warning Limit Reached and Bus Off are...

Страница 29: ...r Box Expandable CANopen input output module in protection class IP67 BK51x0 IX B510 tab Fig 26 BK51x0 IX B510 tab Node Id Sets the node ID of the CAN bus device between 1 and 63 BK51x0 and or 1 and 9...

Страница 30: ...ous transmission types For further details see also BK51X0 manual Firmware Update Enables the updating of the coupler firmware via the serial interface requires KS2000 software package interface cable...

Страница 31: ...en using the FC510x EL6751 this box also enables you to receive and send any CAN identifier this enables communication with any CAN node The only condition is the support of at least one of the baud r...

Страница 32: ...Identifier for emergency messages or guarding protocol They result from the node address Use Heartbeat Heartbeat is used for monitoring of the node If this is deactivated the guarding is used for moni...

Страница 33: ...cted to the TwinCAT if the Baud Rate 60 and the bit timing parameters comply The respective protocol can then be simulated within the PLC pro gram It is also possible to run CANopen devices and genera...

Страница 34: ...g 30 Tree Representation TwinCAT firstly provides two send and receive PDOs with Default Identifiers 61 for a general CANopen node Superfluous PDOs can be selected and removed TxPDOs are sent by the C...

Страница 35: ...on the basis of the updated terminal configuration Other inputs can be managed using Append Insert Delete and Edit ADS tab In order to be able to read and write SDO objects during the runtime e g from...

Страница 36: ...on e V user association with which this data format can be checked eds files for the Beckhoff CANopen slave devices are available for download from the Beckhoff website Since it was found that a large...

Страница 37: ...diagram Fig 33 CANopen bootup state diagram Pre Operational After initialization the Bus Coupler goes automatically i e without the need for any external command into the Pre Operational state In this...

Страница 38: ...power on defaults 12 13 14 cs 130 0x82 Reset_Communication Carries out a reset of the communication functions Objects 0x1000 0x1FFF are reset to their power on defaults Sample 1 The following telegram...

Страница 39: ...Node Guarding is used to monitor the non central peripheral modules while they themselves can use Life Guarding to detect the failure of the guarding master Guarding involves the master sending remot...

Страница 40: ...the master has failed the watchdog function It then puts its outputs into the error state sends an emergency telegram and returns to the pre operational state After a guarding time out the procedure...

Страница 41: ...re brought in to a defined initial state 2 Identify Node Presence of the nodes is first established through an SDO upload of the object 0x1000 Device Type The content supplied by a node is checked for...

Страница 42: ...configured for the Guard Time the appropriate parameters are now written to the nodes Because the heartbeat process generates less bus loading than guarding an attempt is first made to start this form...

Страница 43: ...00 1400 01 Initiate Download Rq expedited Identifier for RxPDO1 is 0x201 4 2347 581 8 60 00 14 01 00 00 00 00 1400 01 Initiate Download Rsp 4 2356 601 8 2f 00 18 02 ff 00 00 00 ff 1800 02 Initiate Dow...

Страница 44: ...rds There can be up to 512 RxPDOs ranging up to index 0x15FF In the same way the entries for the transmit PDOs are located from index 0x1800 TxPDO1 to 0x19FF TxPDO512 The Beckhoff Bus Couplers or Fiel...

Страница 45: ...ntifier of any other slave node Fig 36 Default identifier allocation Master Slave Fig 37 PDO linking Peer to Peer If the consumer producer model of CANopen PDOs is to be used for direct data exchange...

Страница 46: ...ance through a monitoring or diagnostic device brought into the network while it is running The time behavior of remote frame and response telegrams depends on what CAN controller is in use Components...

Страница 47: ...ups can be given new target positions one after another but these positions only become valid at the next SYNC without the need to be constantly outputting reference points A device whose TxPDO is con...

Страница 48: ...whether the polled data is up to date Transmission types 252 and 253 are for this reason not supported by the Beckhoff PC cards terminals Asynchronous The transmission types 254 255 are asynchronous b...

Страница 49: ...on 51 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 device profile provide a default mapping for...

Страница 50: ...ata can be freely allocated to the PDOs The mapping tables must be configured for this as from Version 4 of CANopen only the following procedure is permitted and must be followed precisely 1 First del...

Страница 51: ...nication type s These have different advantages and disadvantages Cyclic synchronous communication provides an accurately predictable bus loading and therefore a defined time behavior you could say th...

Страница 52: ...es and are therefore very short follow each other closely on the bus at 1 Mbit s this can generate an interrupt every 40 s for example an NMT master might transmit all its guarding requests in an unbr...

Страница 53: ...ent one telegram pair For a download the client sends the data together with its index and sub index and the server confirms reception For an upload the client requests the data by transmitting the in...

Страница 54: ...SB Index1 Index high byte Unsigned16 MSB SubIdx Sub index Unsigned8 Data0 Data low low byte LLSB Data3 Data high high byte MMSB It is optionally possible to give the number of valid parameter data byt...

Страница 55: ...06 06 00 00 Access interrupted due to hardware error 0x06 07 00 10 Data type or parameter length do not agree or are unknown 0x06 07 00 12 Data type does not agree parameter length too great 0x06 07 0...

Страница 56: ...ired number of object directory entries can then be added Fig 44 Edit SDO entry The card expects a positive acknowledgement of the parameter download from the relevant bus device If it was not possibl...

Страница 57: ...ata to be written is to be fetched The programmer is himself responsible for dimensioning the buffer to such a size that LEN bytes can be taken from it The buffer can be a single variable an array or...

Страница 58: ...open Node see System Manager CO_Index DWORD This is the Index of the CANopen Object Dictionary Entry CO_SubIndex DWORD This is the Sub Index of the CANopen Object Dictionary Entry DataLength DWORD Thi...

Страница 59: ...ITE Error END_IF The SDO_WRITE function block that has been called in turn calls the ADSWRITE function a number of times It looks like this starting with the variable declaration FUNCTION_BLOCK SDO_WR...

Страница 60: ...taFinished TRUE Error ADSWrite ErrId ELSE IF NOT ADSWrite busy THEN state 2 WriteDataFinished TRUE END_IF END_IF 2 ADSWrite WRITE FALSE state 0 END_CASE 5 7 Baud rate and bit timing The following baud...

Страница 61: ...F 641 767 0x1801 0x1A01 PDO2 rx analog outputs 110 0x301 0x37F 769 895 0x1401 0x1601 PDO3 tx analog inputs 111 0x381 0x3FF 897 1023 0x1802 0x1A02 PDO3 rx analog outputs 1000 0x401 0x47F 1025 1151 0x14...

Страница 62: ...TwinCAT task is running flashes at 2 Hz off At least one box state is not zero e g device not found wrong configuration device fault TwinCAT task is not running on off TwinCAT is running CAN controll...

Страница 63: ...e Diag tab for details 8 0x08 Node StartUp in progress Node was found and has been started 11 0x0B FC510x Bus OFF CAN chip has entered the Bus OFF state transmit error counter is running 12 0x0C Pre O...

Страница 64: ...ous TX PDO absent 3 Node signaling PRE OPERATIONAL 4 Event timer timed out for one TX PDO 5 No response during guarding 6 Toggling missed several times during guarding Bits 5 15 Associated COB ID Offs...

Страница 65: ...f data and the bus loading DiagFlag Is set to 1 if new diagnostic data such as emergency has been placed in the card s memory GlobalState Reserved for internal evaluations LastAdsError Last ADS error...

Страница 66: ...case primarily depends on the time required to transmit the PDOs 6 4 Error telegrams Emergency The CANopen FC510x fieldbus card stores arriving emergency messages in the diagnostic area starting at o...

Страница 67: ...0x1104 Incorrect AdsState in INIT state 0x1105 Incorrect DeviceState at StopFieldbus 0x1106 Device cannot change from STOP to RUN if a CDL is not defined 0x1107 Device cannot change from STOP to RUN...

Страница 68: ...internal watchdog time 0x1301 AddCdl I O access multiplier is too large 0x1302 AddCdl Start cycle must be smaller than I O access multiplier 0x1303 AddCdl Incorrect data length for output area 0x1304...

Страница 69: ...S command is too large 0x1616 Error communicating with an AMS box First data packet is too large 0x1617 Error communicating with an AMS box First offset is incorrect 0x1701 AddDeviceNotification Lengt...

Страница 70: ...ady defined 0x200C AddBox Syntax error in ADS StartUp parameters 0x200D AddBox Syntax error in ADS StartUp parameters 0x200E AddBox Emergency Id is already defined 0x200F AddBox Too many PDOs defined...

Страница 71: ...etting of the baud rate is an increased number of error frames the diagnostic LEDs then show Warning Limit exceeded or Bus off state entered Error Frames Warning limit exceeded passive error or bus of...

Страница 72: ...value is greater than 65 Ohms it indicates the absence of a terminating resistor or a break in a signal lead If the measured value is less than 50 Ohms look for a short circuit between the CAN lines m...

Страница 73: ...d record the voltage between the screen and the power supply ground at each node The maximum potential difference between any two devices should be less than 5 volts Detect and localize faults The low...

Страница 74: ...e FC510x are temporarily stored in a ring buffer by the task linked with the FC510x the stored telegrams can then be accessed by ADS Beckhoff offers a CANopen monitoring program CANMON with filter 76...

Страница 75: ...the FC510x in the cycle time of the task The cycle time of the additional task is to be set as follows depending on the baud rate Baud rate Cycle time of the additional task 1 Mbaud 10 ms 800 kbaud 12...

Страница 76: ...Ring buffer The size of the ring buffer is set here The recording time for the ring buffer size that has been set when the bus is fully loaded is also given Autostart If the Autostart checkbox is tick...

Страница 77: ...here Display A filter for the display output can be specified here Trigger Trigger conditions that will stop the measurement can be specified here It is possible for instance for a specific otherwise...

Страница 78: ...ier 0x210 equal to 1 has been found The following entries are to be made to achieve this Fig 59 Entering 250 telegrams Starting the Recording TwinCAT must be started and a variable in a cyclic task su...

Страница 79: ...601 Len 8 Data 40 00 10 00 00 00 00 00 3 2 0722 ID 632 Len 8 Data 80 00 00 00 00 00 04 05 4 2 0725 ID 601 Len 8 Data 80 00 00 00 00 00 04 05 5 2 2686 ID 732 Len 1 Data 00 6 2 7440 ID 701 Len 1 Data 00...

Страница 80: ...255 0x81 to 0xBF 0xFF TxPDO1 81 385 to 447 511 0x181 to 0x1BF 0x1FF RxPDO1 82 513 to 575 639 0x201 to 0x23F 0x27F TxPDO2 83 641 to 676 767 0x281 to 0x2BF 0x2FF RxPDO2 84 769 to 831 895 0x301 to 0x33F...

Страница 81: ...MCY Nd 42 dec hex Telegram type dec hex Telegram type dec hex Telegram type 385 0x181 TxPDO1 DI Nd 1 406 0x196 TxPDO1 DI Nd 22 427 0x1AB TxPDO1 DI Nd 43 386 0x182 TxPDO1 DI Nd 2 407 0x197 TxPDO1 DI Nd...

Страница 82: ...Nd 30 563 0x233 RxPDO1 DO Nd 51 522 0x20A RxPDO1 DO Nd 10 543 0x21F RxPDO1 DO Nd 31 564 0x234 RxPDO1 DO Nd 52 523 0x20B RxPDO1 DO Nd 11 544 0x220 RxPDO1 DO Nd 32 565 0x235 RxPDO1 DO Nd 53 524 0x20C R...

Страница 83: ...Nd 30 691 0x2B3 TxPDO2 AI Nd 51 650 0x28A TxPDO2 AI Nd 10 671 0x29F TxPDO2 AI Nd 31 692 0x2B4 TxPDO2 AI Nd 52 651 0x28B TxPDO2 AI Nd 11 672 0x2A0 TxPDO2 AI Nd 32 693 0x2B5 TxPDO2 AI Nd 53 652 0x28C T...

Страница 84: ...Nd 30 819 0x333 RxPDO2 AO Nd 51 778 0x30A RxPDO2 AO Nd 10 799 0x31F RxPDO2 AO Nd 31 820 0x334 RxPDO2 AO Nd 52 779 0x30B RxPDO2 AO Nd 11 800 0x320 RxPDO2 AO Nd 32 821 0x335 RxPDO2 AO Nd 53 780 0x30C R...

Страница 85: ...8 0x3BE TxPDO3 Nd 62 917 0x395 TxPDO3 Nd 21 938 0x3AA TxPDO3 Nd 42 959 0x3BF TxPDO3 Nd 63 dec hex Telegram type dec hex Telegram type dec hex Telegram type 1025 0x401 RxPDO3 Nd 1 1046 0x416 RxPDO3 Nd...

Страница 86: ...1193 0x4A9 TxPDO4 Nd 41 1214 0x4BE TxPDO4 Nd 62 1173 0x495 TxPDO4 Nd 21 1194 0x4AA TxPDO4 Nd 42 1215 0x4BF TxPDO4 Nd 63 dec hex Telegram type dec hex Telegram type dec hex Telegram type 1281 0x501 Rx...

Страница 87: ...1705 0x6A9 TxPDO5 Nd 41 1726 0x6BE TxPDO5 Nd 62 1685 0x695 TxPDO5 Nd 21 1706 0x6AA TxPDO5 Nd 42 1727 0x6BF TxPDO5 Nd 63 dec hex Telegram type dec hex Telegram type dec hex Telegram type 1921 0x781 Rx...

Страница 88: ...O6 Nd 20 489 0x1E9 TxPDO6 Nd 41 510 0x1FE TxPDO6 Nd 62 469 0x1D5 TxPDO6 Nd 21 490 0x1EA TxPDO6 Nd 42 511 0x1FF TxPDO6 Nd 63 dec hex Telegram type dec hex Telegram type dec hex Telegram type 577 0x241...

Страница 89: ...Nd 20 745 0x2E9 TxPDO7 Nd 41 766 0x2FE TxPDO7 Nd 62 725 0x2D5 TxPDO7 Nd 21 746 0x2EA TxPDO7 Nd 42 767 0x2FF TxPDO7 Nd 63 dec hex Telegram type dec hex Telegram type dec hex Telegram type 833 0x341 RxP...

Страница 90: ...Nd 41 1022 0x3FE TxPDO8 Nd 62 981 0x3D5 TxPDO8 Nd 21 1002 0x3EA TxPDO8 Nd 42 1023 0x3FF TxPDO8 Nd 63 dec hex Telegram type dec hex Telegram type dec hex Telegram type 1089 0x441 RxPDO8 Nd 1 1110 0x45...

Страница 91: ...1257 0x4E9 TxPDO9 Nd 41 1278 0x4FE TxPDO9 Nd 62 1237 0x4D5 TxPDO9 Nd 21 1258 0x4EA TxPDO9 Nd 42 1279 0x4FF TxPDO9 Nd 63 dec hex Telegram type dec hex Telegram type dec hex Telegram type 1345 0x541 Rx...

Страница 92: ...0x5E9 TxPDO10 Nd 41 1534 0x5FE TxPDO10 Nd 62 1493 0x5D5 TxPDO10 Nd 21 1514 0x5EA TxPDO10 Nd 42 1535 0x5FF TxPDO10 Nd 63 dec hex Telegram type dec hex Telegram type dec hex Telegram type 1601 0x641 Rx...

Страница 93: ...0x6E9 TxPDO11 Nd 41 1790 0x6FE TxPDO11 Nd 62 1749 0x6D5 TxPDO11 Nd 21 1770 0x6EA TxPDO11 Nd 42 1791 0x6FF TxPDO11 Nd 63 dec hex Telegram type dec hex Telegram type dec hex Telegram type 1857 0x741 Rx...

Страница 94: ...1449 0x5A9 SDO Tx Nd 41 1470 0x5BE SDO Tx Nd 62 1429 0x595 SDO Tx Nd 21 1450 0x5AA SDO Tx Nd 42 1471 0x5BF SDO Tx Nd 63 dec hex Telegram type dec hex Telegram type dec hex Telegram type 1537 0x601 SD...

Страница 95: ...ing Nd 53 1804 0x70C Guarding Nd 12 1825 0x721 Guarding Nd 33 1846 0x736 Guarding Nd 54 1805 0x70D Guarding Nd 13 1826 0x722 Guarding Nd 34 1847 0x737 Guarding Nd 55 1806 0x70E Guarding Nd 14 1827 0x7...

Страница 96: ...troller Area Network Standards ISO 11898 Road Vehicles Interchange of digital information Controller Area Network CAN for high speed communication CiA DS 301 CANopen Application Layer and Communicatio...

Страница 97: ...the network and to monitor nodes PDO Process Data Object A CAN telegram for the transfer of process data e g I O data RxPDO Receive PDO PDOs are always identified from the point of view of the device...

Страница 98: ...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...

Страница 99: ...19 FC510x tab 23 Fig 20 Synchronization Mode 24 Fig 21 Synchronization Mode Slave sync master balanced PC clock 25 Fig 22 Synchronization Mode Master 25 Fig 23 Example 26 Fig 24 Box States tab 27 Fig...

Страница 100: ...b 66 Fig 51 Node State 66 Fig 52 Wiring diagram for test setup 72 Fig 53 Inserting the FC510x as a CANopen Monitor 74 Fig 54 Linking the FC510x with a task 75 Fig 55 FCxxxx Monitor tab 76 Fig 56 CAN M...

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