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02/05 AWB2724-1566GB

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9 Programming through CANopen network (routing)

Routing means to establish an online connection from a
programming device (PC) to any (routing-capable) PLC in a CAN
network without having to directly connect the programming
device to the target PLC. The target can instead be connected to
any other PLC in the network. All actions that are available
through a direct PC–PLC connection can also be implemented
through the routing connection:

• Program download
• Online modifications
• Program test (Debugging)
• Generation of boot projects
• Writing files in the PLC
• Reading files from the PLC

Routing has the advantage that a PLC connected to the
programming PC can access all routing capable PLCs on the CAN
bus. The selected project determines the PLC to communicate
with. This provides an easy way of controlling remote PLCs.

However, the data transfer from routing connections is
significantly slower than with direct (serial or TCP/IP) connections.
This results, for example, in slower display refresh rates of
variables and longer download times.

Prerequisites

The following prerequisites must be fulfilled to use routing:

• The routing PLC and the target PLC must both support routing.
• Both PLCs must be connected via the CAN bus.
• The PLCs must both have the same active CAN baud rate.
• The valid routing node ID must be set on both PLCs.

Routing through XC200

To perform a program transfer or routing using TCP/IP through a
connection between XC200 and PC, you must first set the block
size for the transferred data. The packet size (4 Kbyte or
128 Kbyte) depends on the transfer type (program transfer or
routing) and the operating system,

Table 8:

Block size for data transfer

Routing with the XC200 is possible from BTS version 1.03.02.

The block size can be changed only directly in the Windows
Registry.

Changing the block size

X

Close all XSoft applications.

X

Close the CoDeSys gateway server.

X

Change the block size to the required value.

The XSoft installation folder contains the following *.reg files for
entering the block size in the Windows Registry:

Alternatively, you can use the BlockSizeEditor application to
change the block size.

The download block size is defined in the following Registry key:

[HKEY_LOCAL_MACHINE\SOFTWARE\3S-Smart Software Solutions
GmbH\Gateway Server\Drivers\Standard\Settings\Tcp/Ip (Level 2
Route)]
"Blocksize"=dword:00020000

The default block size is 20000

hex

(=128 Kbyte), the block size for

routing is 1000

hex

(= 4 Kbyte).

Program/file transfer

Routing

BTS
< V1.03.02

BTS
f V1.03.02

BTS
< V1.03.02

BTS
f V1.03.02

Block size
Default:
128 Kbyte

128 Kbyte

128/4 Kbyte

Routing
not possible

4 Kbyte

h

Important

The program download with a block size of 4 Kbyte to a
PLC with an operating system version earlier than 1.03.02
will cause faulty behaviour!

If a program download is performed, the progress bar on
the programming device monitor will only change
erratically (about every 10 seconds).

h

You can change this setting only if you have administrator
rights on your PC.

Figure 65:Closing the CoDeSys gateway server

BlockSizeDefault.reg

Enters a block size of 20000

hex

=128 Kbyte

(default value) in the Registry.

BlockSizeRout.reg

Enters a block size of 1000

hex

= 4 Kbyte

in the Registry.

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Содержание XION-PLC-CANopen

Страница 1: ...Mail info moeller net Internet www moeller net 2002 by Moeller GmbH Änderungen vorbehalten AWB2724 1566D xx xx Ki 03 05 Printed in the Federal Republic of Germany 0x 02 Article No xxxxxx Hardware Engineering and Functional Description 02 05 AWB 2724 1566GB A A A Think future Switch to green Think future Switch to green ...

Страница 2: ... Roersch Editor Thomas Kracht Translator Dominik Kreuzer All rights reserved including those of the translation No part of this manual may be reproduced in any form printed photocopy microfilm or any other process or processed duplicated or distributed by means of electronic systems without written permission of Moeller GmbH Bonn Subject to alteration without notice ...

Страница 3: ...evices Ensure a reliable electrical isolation of the low voltage for the 24 volt supply Only use power supply units complying with IEC 60364 4 41 VDE 0100 Part 410 or HD 384 4 41 S2 Deviations of the mains voltage from the rated value must not exceed the tolerance limits given in the specifications otherwise this may cause malfunction and dangerous operation Emergency stop devices complying with I...

Страница 4: ...2 ...

Страница 5: ...g 13 Mounting the XN PLC 13 Mounting the XI ON modules 13 3 Engineering 15 Control panel layout 15 Ventilation 15 Layout of units 15 Preventing interference 15 Suppressor circuitry for interference sources 15 Shielding 15 Lighting protection 16 Connecting system and field voltage 16 4 Using the XN PLC 17 Switch on behaviour 17 CPU status indicator 17 Configuring the start up behaviour with XSoft 1...

Страница 6: ...ct 26 mem 26 memc 26 memd 26 pinf 26 ppt 26 dpt 27 pid 27 cycle 27 canload 27 GetNodeId 27 SetNodeId 28 metrics 28 reload 28 remove 28 getswitchpos 29 getrtc 29 setrtc 29 6 Libraries function blocks and functions 31 Using libraries 31 Installing additional system libraries 31 XN PLC specific functions 32 Library XN_PLC_Util lib 32 Function CAN_BUSLOAD 32 Function GETAPPLICATIONSWITCH 32 7 Establis...

Страница 7: ...ANopen network routing 39 Prerequisites 39 Notes 40 Addressing 40 Procedure 40 PLC combinations for routing 42 Number of communication channels 42 10 RS 232 interface in transparent mode 43 Appendix 45 Dimensions 45 Technical data 46 Stichwortverzeichnis 49 ...

Страница 8: ...02 05 AWB2724 1566D 4 ...

Страница 9: ...eferences to more detailed descriptions in other manuals which are described with their title and documentation number e g AWB2786 1452GB For specific information about selecting installing configuring and using the XI ON modules see the documents listed below Power supply modules and digital I O modules AWB h1533g pdf XI ON station general Integration in CANopen XI ON gateway for CANopen AWB2725 ...

Страница 10: ...02 05 AWB2724 1566GB 6 ...

Страница 11: ...ting mode switch With the operating mode switch you can set the functions shown in table 1 Table 1 Operating mode switch functions For further information a chapter Using the XN PLC from page 17 Figure 1 Layout of the XN PLC CANopen a SET button b LED display 1 c I O module d End plate e LED display 2 f CANopen g System and field voltage h Operating mode switch 0 Stop 1 RUN 7 Mode 8 Factory 9 Rese...

Страница 12: ...n Configured constellation of module bus station corresponds with the actual selection communication running Green flashing at 1 Hz Station is in Force mode Red and GW LED off PLC not ready for operation or operating voltage not in the required range Red Module bus not ready for operation Red flashing at 1 Hz Non adaptable change of actual constellation of module bus stations Red green flashing at...

Страница 13: ... the memory range available for global data set the number of global data segments to 12 when you create a new project The default value is one The next section contains a description of how to change the number of allocated segments Figure 6 LED status indicator 2 LED Meaning Err Off Error free communication between XN PLC and other CANopen stations Red Faulty or interrupted communication between...

Страница 14: ...ogramming device takes place The handshake lines of the RS 232 interface can not be used You can also switch the RS 232 interface to transparent mode a chapter RS 232 interface in transparent mode on page 43 The interface port is a PS 2 socket It is not electrically isolated Programming cable Use programming cable XN PS 2 CABLE to connect the PC with the XN PLC Figure 8 Memory management changing ...

Страница 15: ...cified in ISO 11898 Listed below are a few requirements and rules for CANopen networks table 4 lists default parameters for CANopen networks with fewer than 64 CANopen stations Table 4 Standard parameters for CANopen network cable according to ISO 11898 Figure 10 Pin assignment CANopen CAN H Non inverted data signal dominant high Shield Fieldbus screen connection CAN L Inverted data signal dominan...

Страница 16: ...02 05 AWB2724 1566GB 12 ...

Страница 17: ...de X Secure the XN PLC and the base modules on a 35 mm mounting rail Yo can connect up to 74 I O modules in slice design Engaging base modules XN P3x SBB and XN P3x SBBC immediately next to the XN PLC is not possible for mechanical reasons X Clip any electronics modules onto the base modules During commissioning or for maintenance you can connect and disconnect the electronics modules without affe...

Страница 18: ...02 05 AWB2724 1566GB 14 ...

Страница 19: ...carry high currents or cables to converters contactors or solenoids Control and signal cables e g for digital inputs Measurement and signal cables e g for fieldbus connections Take care to implement proper cable routing both inside and outside the control panel to keep interference as low as possible X Avoid parallel routing of cable sections in different power categories X Always keep AC cables a...

Страница 20: ...UL and GNDL Use separate power supply cabling for the system and field voltage You do not need a separate power source for the system and field supply Table 5 Rated values for the XN PLC s system and field voltage You can connect up to 74 XI ON modules in slice design to the XN PLC The power consumption of all modules must be less than the supply current supplied by the XN PLC If current consumpti...

Страница 21: ... The start up behaviour settings define mainly the handling of the retentive variables Changed settings take effect only when the power supply is switched on You can change the settings under PLC Configuration On the Other Parameters tab select one of the following options in the Start Behaviour field HALT COLDSTART WARMSTART HALT The user program is not started regardless of the position of the o...

Страница 22: ... l STOP When you set the operating mode switch to STOP the CPU changes to STOP state as soon as the program cycle is completed The outputs are set to 0 You can stop the program in one of two ways In online operation issue the STOP command Set the operating mode switch to its STOP position Table 6 Behaviour of the variables at PLC start Program processing and system time The user program is process...

Страница 23: ...ogram instructions can be executed in single step mode Cycle time monitoring is disabled Single cycle mode In single cycle operation one program cycle is performed in real time The outputs are enabled during the cycle At the end of the cycle the output states are cancelled and the outputs are switched off Cycle time monitoring is active Forcing variables and I Os All variables of a user program ca...

Страница 24: ...channel is available Timer interrupt The timer interrupt is triggered after an adjustable delay of 500 to 2500000 microseconds It interrupts the user program and executes a user defined application routine To program the delay time include the TimerInterruptEnable function from library XN_PLC_UTIL lib in your user program At input dwTimerTickUS enter the delay time The value is accepted with the s...

Страница 25: ...anges from RUN to STOP state The Timer interrupt can be inhibited and enabled from the user program Functions DisableInterrupt and EnableInterrupt in library XN_PLC_UTIL lib are available for this purpose Creating and transferring boot project Boot projects are created by loaded user projects programs and written to flash memory A power failure will clear the user project from memory The PLC then ...

Страница 26: ...log opens The system reports that the COM port is not initialized X Click the OS File button and select the required operating system file hex The target type and file version are displayed X Click Transfer OS to MMC The transfer begins Programming of the flash EPROMs takes about 10 to 20 seconds h Important When you download the OS all files saved on the PLC are deleted the existing operating sys...

Страница 27: ...nication interrupted may appear after the OS has been downloaded to the PLC You must log in again after each reboot As soon as you have logged on the following message appears No program on the PLC Should the new program be loaded Click Yes to load the program You can now create the boot project Figure 27 Warning during download Figure 28 OS successfully transferred to the PLC ...

Страница 28: ...he XN PLC s flash memory Type of diagnostics Function block Library Documentation Checking the XI ON modules Agreement of configured hardware with actual hardware performed once when the PLC is switched on or after the program has been loaded or started Module function check performed continuously XDiag_SystemDiag xSysDiagLib AWB2786 1456GB Module specific data such as short circuits are displayed...

Страница 29: ...information about the browser command is then shown Calling browser commands The browser commands can be used only in connection with XSoft To run these commands X Under Resources in the object organizer double click PLC Browser A new window PLC Browser appears in the workspace X Click The selection field lists the available browser commands X Double click the required command to select it The sel...

Страница 30: ...s a macro Example memc As mem but addresses are added to the start address of the code range Example memd As mem but addresses are added to the start address of the data range Example pinf Shows project information Example ppt Displays the program block pointer table Example Figure 30 Browser command reflect mem SPACE start address SPACE or end address Figure 31 Browser command mem Figure 32 Brows...

Страница 31: ...ays the node ID of the CANopen field bus Example Figure 36 Browser command dpt Figure 37 Browser command pid Figure 38 Browser command cycle Figure 39 Browser command canload h In addition to the browser command function block CAN_BUSLOAD can be used to determine the CAN bus utilization from the user program a section Function CAN_BUSLOAD page 32 h Important With a bus utilization of 75 percent or...

Страница 32: ...ash memory to the user memory Example If you run the reload command again after the XN PLC is in STOP state the following information is displayed remove Deletes the boot project in the flash memory of the XI ON PLC Example Figure 41 Browser command SetNodeId Figure 42 Browser command metrics Figure 43 Browser command reload Figure 44 Browser command reload ok Figure 45 Browser command remove ...

Страница 33: ... changes the PLC date and or time Syntax Example Figure 46 Browser command getswitchpos Figure 47 Browser command getrtc setrtc_YY MM DD DW_HH MM SS Legend _ Space YY The last two digits of the year 00 F YY F 99 MM Month 01 F YY F 12 DD Day 01 F DD F 31 DW Weekday 01 F DW F 07 01 Monday 07 Sunday HH Hour 00 F HH F 23 MM Minute 00 F MM F 59 SS Second 00 F SS F 59 Figure 48 Browser command setrtc ...

Страница 34: ...02 05 AWB2724 1566GB 30 ...

Страница 35: ...braries are then automatically called up as well The following overview lists the documents in which the function blocks and functions are described Installing additional system libraries You can install libraries manually as follows X In your project click the Resources tab in the object organizer X Double click the Library Manager element From the Insert menu select Additional Library The Open d...

Страница 36: ...ns FALSE Each read cycle has a duration of 500 ms For information about evaluating the returned value see canload on page 27 The function call in the user program is as follows Function GETAPPLICATIONSWITCH With this function you can query the position of the application switch After an H signal at input xEnable the number to which the switch is set is displayed This allows an external program sel...

Страница 37: ...or the port do the following X Double click the displayed value for example 38400 The field becomes grey X Enter the desired value You can double click the field again to select the required baud rate e g 57600 bit s Communication settings baud rate of the CPU X In the Resources tab select PLC Configuration X In the PLC Configuration dialog click the Other Parameters tab X In the Baudrate listfiel...

Страница 38: ...02 05 AWB2724 1566GB 34 ...

Страница 39: ...ings are listed X From the pull down list field select your target system in our example XN PLC CANopen and double click it Figure 58 Hardware layout for the sample project IX0 0 IX1 1 QX2 1 SERVICE RESET RS232 APPLICATION U Sys GND Sys U L GND L PLC CANopen GW SF IOs RUN STP Err BUS 11 21 12 22 13 23 11 21 12 22 13 23 11 21 12 22 13 23 11 21 12 22 13 23 11 21 12 22 13 23 11 21 12 22 13 23 11 21 1...

Страница 40: ...urces tab in the object organizer and double click the PLC Configuration resource The PLC Configuration editor that opens in the workspace shows the PLC s configuration in the tree view and further settings in the tabs to the right Click the plus symbol next to Configuration XN PLC CANopen A further control element XN PLC CANopen SLOT is displayed Click this element The right editor section now co...

Страница 41: ...e variables declaration and the program as shown in figure 64 Compile the project X From the Project menu select Rebuild all A message with the number of errors or a warning appear Log on to the PLC X From the Online menu select Login The project is transferred You can now test the program Figure 63 Viewing the addresses Figure 64 Program with declaration ...

Страница 42: ...02 05 AWB2724 1566GB 38 ...

Страница 43: ...ransferred data The packet size 4 Kbyte or 128 Kbyte depends on the transfer type program transfer or routing and the operating system a table 8 Table 8 Block size for data transfer Routing with the XC200 is possible from BTS version 1 03 02 The block size can be changed only directly in the Windows Registry Changing the block size X Close all XSoft applications X Close the CoDeSys gateway server ...

Страница 44: ...ple and log on You can run the following functions Program download Online modification Program test Debugging Create bootable project Filing source code Note for project creation The node ID node number and the baud rate of the target PLC to the routing function can be defined in the Additional parameters tab in the PLC Configuration window Enter the baud rate on the CANopen bus and the Node ID n...

Страница 45: ... Parameters X Click the New button under local channels The New Channel dialog appears X Select the channel in the Device field XC200 Serial RS232 Level 2 Route Tcp or Ip Level 2 Route X In the Name field you can assign a new name e g Rout_232 X Confirm with OK and return to the original window You have now determined the parameters for the hardware connection between the PC and the PLC node ID 2 ...

Страница 46: ... and carry out the action PLC combinations for routing The following PLC support routing Number of communication channels Several communication channels can be opened e g PC n PLC 2 PC n PLC 3 depending on the PLC communication channel connected to the PC The status indicator of PLC 2 and 3 can be implemented simultaneously Table 9 Type and number of communication channels depending on the PLC Fro...

Страница 47: ... the interface for sending and receiving the data and for setting the interface parameters If transparent mode is active no communication is possible with the XSoft programming system Transparent mode must first be disabled When transparent mode is closed the original communication parameters are re initialized The transparent mode is forcibly deactivated when the PLC changes to the STOP mode The ...

Страница 48: ...02 05 AWB2724 1566GB 44 ...

Страница 49: ...02 05 AWB2724 1566GB 45 Appendix Dimensions 113 25 114 75 50 6 74 4 ...

Страница 50: ...closure protection IP 20 Rated insulation voltage V 500 Interference emission EN 50081 2 Class A Interference immunity EN 50082 2 Battery lifetime Normally 10 years Weight kg 0 15 Dimensions W x H x D mm 50 x 112 x 75 Connecting terminals Plug in terminal block Conductor cross section Screw terminals Stranded with ferrule mm2 0 5 to 1 5 Solid core mm2 0 5 to 2 5 Electromagnetic Compatibility EMC E...

Страница 51: ... V DC 5 Output current A 3 2 Off load stability Yes Short circuit proof Yes Electrically isolated from supply voltage No CPU Microprocessor Infineon C164 Memory Program code Kbyte 128 Program data Kbyte 128 Marker and or retain data Kbyte 4 8 16 Cycle time for 1 k instructions bit byte ms 0 5 Interfaces Serial interface RS 232 without handshake line Data transmission rate kbit s 38 4 or 57 6 Conne...

Страница 52: ...nsmission rate bit s 10 Kbit s to 1 Mbit s Electrical isolation Yes Device profile To DS301V4 PDO type Asyn cyc acyc Connection Terminal block 5 pin Bus termination resistors External Stations No Up to 126 Watchdog Yes RTC real time clock Yes XION PLC CANopen ...

Страница 53: ...play edit function 29 Diagnostics 24 Diagnostics possibilities 41 Download operating system 22 E Electromagnetic contamination 15 Electronics modules XI ON 13 Elements XN PLC 7 Engineering 15 F Field voltage 7 16 Forcing 19 Forcing variables and I Os 19 Function blocks 31 Functions 31 H Halt 17 Handshake lines 10 I Inductors 15 Interface communication defining 33 Interfaces CANopen 11 Service prog...

Страница 54: ...le cycle mode 19 Single step mode 19 Source code 24 Start up behaviour configuring 17 Status indication LED 8 Status indication XSoft 20 Supply voltage 16 Suppressor circuitry for interference sources 15 Switch on behaviour 17 System events 20 System voltage 7 16 T Target ID 40 TCP IP connection for routing 39 Test and commissioning 19 Time display edit function 29 Timer interrupt 20 Transfer rate...

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