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Chapter 4 Deployment

Manual VIPA System 300S SPEED7

4-18

HB140E - CP - RE_342-1CA70 - Rev. 09/46

A CANopen device can be structured as follows:

Communication

Status machine

SDO

PDO

PDO

SYNC

NMT

Heartbeat or

Node Guarding

SDO

Status machine

Application

Object

Object directory

Index Subind.

Value

entry 1
entry 2
entry 3
      .
      .
      .

entry n

Application

Application

Object

Application

Object

Application

Object

Application

Object

P

ro

ce

ss (

I/O

s)

CA

N b

us

s

ys

te

m

.

.

.

Communication

Serves the communication data objects and the concerning functionality for
data transfer via the CANopen network.

Application

The application data objects contain e.g. in- and output data. In case of an
error, an application status machine switches the outputs in a secure state.
The object directory is organized as 2 dimension table. The data is addres-
sed via index and subindex.

Object directory

This object directory contains all data objects (application data +
parameters) that are accessible and that influence the behavior of
communication, application and status machines.

In many fieldbus systems the whole process image is transferred - mostly
more or less cyclically. CANopen is not limited to this communication
principle, for CAN supports more possibilities through multi master bus
access coordination.
CANopen divides the process data into segments of max. 8byte. These
segments are called

p

rocess

d

ata

o

bjects (PDOs). Every PDO represents

one CAN telegram and is identified and prioritized via its specific CAN
identifier.
For the exchange of process data, the VIPA CAN-Master supports 80
PDOs. Every PDO consists of a maximum of 8 data bytes. The transfer of
PDOs is not verified by means of acknowledgments since the CAN protocol
guarantees the transfer.
There are 40 Tx transmit PDOs for input data and 40 Rx receive PDOs for
output data. The PDOs are named seen from the CAN-Master:
Receive PDOs (RxPDOs) are received by the CAN-Master and contain
input data stored at the PII (

p

rocess

i

mage of the

i

nputs).

Transmit PDOs (TxPDOs) are send by the CAN-Master and contain output
data stored at the PIQ (

p

rocess

i

mage of the

o

utputs).

The assignment of the PDOs to input or output data happens via WinCoCT
automatically.

Structure of the
device model

PDO

«
...
54
55
56
57
58
...
»

Содержание 300S SPEED7 - CP

Страница 1: ...VIPA System 300S SPEED7 CP 342 1CA70 Manual HB140E_CP RE_342 1CA70 Rev 09 46 November 2009...

Страница 2: ...c Compatibility Directive 2006 95 EC Low Voltage Directive Conformity is indicated by the CE marking affixed to the product Conformity Information For more information regarding CE marking and Declara...

Страница 3: ...guidelines 2 1 Overview 2 2 Installation dimensions 2 3 Installation Standard Bus 2 4 Assembly SPEED Bus 2 5 Cabling 2 8 Installation Guidelines 2 12 Chapter 3 Hardware description 3 1 System overview...

Страница 4: ...Contents Manual VIPA System 300S SPEED7 ii HB140E CP RE_342 1CA70 Rev 09 46...

Страница 5: ...em 300S like dimensions and environment conditions will also be found Chapter 2 Assembly and installation guidelines In this chapter you will find all information required for the installation and the...

Страница 6: ...des a self contained description of a specific topic The following guides are available in the manual an overall table of contents at the beginning of the manual an overview of the topics for every ch...

Страница 7: ...ents EX zone The manual must be available to all personnel in the project design department installation department commissioning operation The following conditions must be met before using or commiss...

Страница 8: ...Safety information Manual VIPA System 300S SPEED7 4 HB140E CP RE_342 1CA70 Rev 09 46...

Страница 9: ...ormation about the project engineering of a SPEED7 system from VIPA General information about the System 300S like dimensions and environment conditions will also be found Topic Page Chapter 1 Basics...

Страница 10: ...components thereby causing the module to become inoperable or unusable Modules that have been damaged by electrostatic discharges can fail after a temperature change mechanical shock or changes in the...

Страница 11: ...lized The single modules of the System 300V from VIPA are similar in construction to Siemens Due to the compatible backplane bus the modules from VIPA and Siemens can be mixed System 300S The System 3...

Страница 12: ...r at the left side of the CPU Standard bus serial SPEED Bus parallel The System 300S series consists of a number of CPUs These are programmed in STEP 7 from Siemens For this you may use WinPLC7 from V...

Страница 13: ...or for Ethernet Fast CP 341 with double RS 422 485 interface Fast digital input output modules Fast Digital IN OUT Every CPU 31xS has an integrated work memory During program run the total memory is d...

Страница 14: ...atible to the programming language STEP 7 from Siemens and may be programmed via WinPLC7 from VIPA or via the Siemens SIMATIC manager Here the instruction set of the S7 400 from Siemens is used Note P...

Страница 15: ...ection of the SPEED Bus CPs res DP master as CP 343 1 343 1EX11 res CP 342 5 342 5DA02 V5 0 Project engineering of all SPEED Bus modules as single DP slaves in a virtual DP master module speedbus gsd...

Страница 16: ...l plugged modules If your SPEED7 CPU has additionally an integrated CP 343 this is also configured as CP 343 1 but always below the former placed CP 343 1 Project engineering of the SPEED Bus CPs and...

Страница 17: ...ot 0 104 VIPA VIPA_SPEEDbus Order no 332 7DA00 AO SPEEDbus Slot 0 106 VIPA VIPA_SPEEDbus Order no 343 7EX00 CP SPEEDbus Slot 0 108 VIPA VIPA_SPEEDbus Order no 323 2BH00 DIO SPEEDbus Slot 0 Setting of...

Страница 18: ...standard bus following the real modules and connect it with the depending DP slaves SPEED Bus CPs have to be configured in the Siemens SIMATIC manager at the standard bus behind the real modules as vi...

Страница 19: ...n this chapter you will find all information required for the installation and the cabling of a process control with the components of the System 300 Topic Page Chapter 2 Assembly and installation gui...

Страница 20: ...ackplane bus coupler to the module from the backside The backplane bus coupler is included in the delivery of the peripheral modules With SPEED Bus the bus connection happens via a SPEED Bus rail inte...

Страница 21: ...Assembly and installation guidelines HB140E CP RE_342 1CA70 Rev 09 46 2 3 Installation dimensions 1tier width WxHxD in mm 40 x 125 x 120 65mm 40mm 122 mm 125 mm 125mm 120mm 175mm Dimensions Basic encl...

Страница 22: ...ection of the cable to the protected earth conductor has to be 10mm 2 Stick the power supply to the profile rail and pull it to the left side up to 5mm to the grounding bolt of the profile rail Take a...

Страница 23: ...mum 65mm space above and 40mm below the profile rail Please look for a low impedance connection between profile rail and background Connect the profile rail with the protected earth conductor The mini...

Страница 24: ...push it to the left to the isolation bolt of the profile rail Fix the power supply by screwing SLOT1 DCDC CPU SLOT2 To connect the SPEED Bus modules plug it between the triangular positioning helps to...

Страница 25: ...n Fix the CPU by screwing SLOT1 DCDC CPU SLOT2 Repeat this procedure with the peripheral modules by clicking a backplane bus coupler stick the module right from the modules you ve already fixed click...

Страница 26: ...s couplers and parts of the CPU gray connectors with CageClamp technology are used You may connect wires with a cross section of 0 08mm 2 to 2 5mm2 You can use flexible wires without end case as well...

Страница 27: ...nd opening for wires 1 2 3 The picture on the left side shows the cabling step by step from top view For cabling you push the locking vertical to the inside with a suiting screwdriver and hold the scr...

Страница 28: ...front connector on the module until it locks In this position the front connector juts out of the module and has no contact yet Strip the insulation of your wires If needed use core end cases Thread t...

Страница 29: ...392 1AM00 Push the release key at the front connector on the upper side of the module and at the same time push the front connector into the module until it locks Bolt the fixing screw of the front c...

Страница 30: ...res without interferencing the environment All System 300 components are developed for the deployment in hard industrial environments and fulfill high demands on the EMC Nevertheless you should projec...

Страница 31: ...solated Analog lines must be laid isolated When transmitting signals with small amplitudes the one sided lying of the isolation may be favorable Lay the line isolation extensively on an isolation prot...

Страница 32: ...ay the isolation one sided Then you only achieve the absorption of the lower frequencies A one sided isolation connection may be convenient if the conduction of a potential compensating line is not po...

Страница 33: ...v 09 46 3 1 Chapter 3 Hardware description Here the hardware components of the CP 342S CAN are more described The technical data are to be found at the end of the chapter Topic Page Chapter 3 Hardware...

Страница 34: ...us 125 CAN slaves can be connected to one CANopen master Project engineering under WinCoCT from VIPA Diagnosis ability 40 Transmit PDOs 40 Receive PDOs PDO Linking PDO Mapping 1 SDO as Server 127 SDO...

Страница 35: ...ording to the following pattern over the operating condition of the CP Master operation RUN green ERR red BA yellow IF red Meaning Master has no project this means the interface is deactivated Master...

Страница 36: ...waiting for valid parameters from the CPU CPU is still in RUN Slave is in operational state this means data exchange between master and slaves Inputs may be read and outputs may be accessed CPU is st...

Страница 37: ...le component and hardware release which begins with px and differs in a number with six digits The pkg file name may be found at a label right down the front flap of the module Details to the firmware...

Страница 38: ...nterface Connection 9pin D type plug Network topology Linear bus active bus termination at both ends Medium Screened three core cable unscreened cable permitted depending on environment Data transfer...

Страница 39: ...r SPEED Bus from VIPA The module may only be used at a SPEED Bus slot at the left side of the CPU Topic Page Chapter 4 Deployment 4 1 Basics CANopen 4 2 Addressing at SPEED Bus 4 4 Project engineering...

Страница 40: ...ed under the heading of DS 301 by the CAN in Automation association CiA The communication specifications DS 301 define standards for CAN devices These specifications mean that the equipment supplied b...

Страница 41: ...is possible to connect or disconnect any station without interruption to the system It is therefore also possible to commission a system in various stages Extensions to the system do not affect the op...

Страница 42: ...he hardware catalog to slot 3 of your 1 profile rail Now you may extend your system with up to 3 profile rails by starting each with an IM 361 from Siemens at slot 3 You may access the modules with re...

Страница 43: ...vice is NMT Master and confirm your setting by Close Set parameters like diagnostics behavior and CPU address ranges with Node PLC Parameters Create a slave group with and add your CANopen slaves via...

Страница 44: ...projects Choose Options Install new GSD file Select SPEEDBUS GSD Now the modules of the System 300S from VIPA are integrated in the hardware catalog and can be projected WinCoCT Windows CANopen Config...

Страница 45: ...c parameters like baud rate selection of the master etc More detailed information is to find in the WinCoCT manual WinCoCT allows you to preset VIPA specific parameters for the CAN master by doing a r...

Страница 46: ...e state via SFC 13 Slave failure recovery When activated the OB 86 is called in the CPU in case of slave failure and reboot Error control If this option is selected the NMT master sends all Guarding e...

Страница 47: ...oCT and export as wld file Import CAN master project engineering Project engineering of the modules at the standard bus Project engineering of all SPEED Bus modules as a virtual Profibus net you need...

Страница 48: ...to the register Connections in the main window Here the process data are shown in a matrix as inputs 1 column and as outputs 1 row To monitor the process data of a device with a click on the accordin...

Страница 49: ...ht side of the CPU at the standard bus are configured with the following approach Start the hardware configurator from Siemens with a new project and insert a profile rail from the hardware catalog Pl...

Страница 50: ...Profibus DP master for the project engineering of SPEED Bus systems required The Siemens hardware configurator does not execute an address check for external DP master systems Standard bus serial SPEE...

Страница 51: ...A VIPA_SPEEDBUS Order number 31xS SPEED7 CPU SPEEDbus Slot 0 102 VIPA VIPA_SPEEDBUS Order number 322 1BH70 DO SPEEDbus Slot 0 104 VIPA VIPA_SPEEDBUS Order number 331 1DA70 AI SPEEDbus Slot 0 101 105 1...

Страница 52: ...pre operational n STOP RUN automatically After POWER ON and at valid project data in the CPU the master switches automatically into RUN The master has no operating mode lever After POWER ON the proje...

Страница 53: ...network variables Object 0xA040 16 Bit input network variables Object 0xA100 32 Bit input network variables Object 0xA200 64 Bit input network variables Object 0xA440 Like to see in the following ill...

Страница 54: ...t output network variables Object 0xA680 64 Bit output network variables Object 0xA8C0 Like to see in the following illustration the objects of the digital output data use the same memory area of the...

Страница 55: ...on portion and a module ID gives the difference between this and a level 2 message The function determines the type of message object and the module ID addresses the receiver CANopen devices exchange...

Страница 56: ...ication and status machines In many fieldbus systems the whole process image is transferred mostly more or less cyclically CANopen is not limited to this communication principle for CAN supports more...

Страница 57: ...SDO read or write access from your PLC program to the CAN master You address your master via the plug in location and the destination slave via its CAN address The process data is defined by INDEX and...

Страница 58: ...ity reason 0x06040047 General internal incompatibility in the device 0x06060000 Access failed due to an hardware error 0x06070010 Data type does not match length of service parameter does not match 0x...

Страница 59: ...access 1byte 2byte or 4byte 0xF024 The SFC is not supported 0xF025 Write buffer in the CANopen master full service can not be processed at this time 0xF026 Read buffer in the CANopen master full serv...

Страница 60: ...contains the description of all relevant parameters for the communication 0x1000 0x1018 General communication specific parameters e g device name 0x1400 0x1427 Communication parameters e g identifier...

Страница 61: ...ment 1F82h Request NMT 1F83h Request Guarding 2000h Initialize Rx COB ID for OB57 2001h Node ID PLC STOP 2002h Node ID PLC Run 2003h Start address RxPDO Counter 2004h Start address NG HB ToggleBit 200...

Страница 62: ...ng 0x1001 0 Error Register Unsigned8 ro Y 0x00 Error register Bit 7 Bit 0 ManSpec reserved reserved Comm reserved reserved reserved Generic ManSpec Manufacturer specific error specified in object 0x10...

Страница 63: ...w N 0x00000000 Contains the length of time window for synchronous PDOs in s Index Sub index Name Type Attr Map Default value Meaning 0x1008 0 Manufacturer device name Visible string ro N Device name o...

Страница 64: ...factor x guard time life time watchdog for life guarding If a guarding telegram is not received within the life time the node enters the error state If the life time factor and or guard time 0 the nod...

Страница 65: ...signed32 ro N Revision Number 4 Serial Number Unsigned32 ro N Serial Number Index Sub index Name Type Attr Map Default value Meaning 0x1400 0x1427 0 Number of elements Unsigned8 ro N 0x02 Communicatio...

Страница 66: ...0 0x1827 0 Number of elements Unsigned8 ro N 0x05 Communication parameter of the first transmit PDO subindex 0 number of following parameters 1 COB ID Unsigned32 rw N 0x80000180 Node ID COB ID TxPDO1...

Страница 67: ...ame Type Attr Map Default value Meaning 0x1F22 Array Concise DCF Domain rw N This object is required for the Configuration Manager The Concise DCF is the short form of the DCF Device Configuration Fil...

Страница 68: ...very assigned node you need one entry Subindex 0 has the value 127 Every other Subindex corresponds with the Node ID of the node Byte Bit Description Byte 0 Bit 0 0 Node with this ID is not a slave 1...

Страница 69: ...ntry 1F82h in the local object directory Subindex 0 has the value 128 Subindex x with x 1 127 Initiates the NMT service for nodes with Node ID x Subindex 128 Initiates NMT service for all nodes At wri...

Страница 70: ...9 bit ID 0 1 0 1 1 29 bit Identifier Bit number Value Meaning 31 MSB 0 PDO exists is valid 1 PDO does not exist is not valid 30 0 1 no RTR allowed on this PDO 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2...

Страница 71: ...s RxPDO Counter Unsigned8 rw N 0 Start address RxPDO Counter For the RxPDO counter a start address in the process input image of the PLC may be defined by this index There is one counter for each RxPD...

Страница 72: ...0 X 6 Toggle bit for COB ID 0x731 0x738 X 7 Toggle bit for COB ID 0x739 0x740 X 8 Toggle bit for COB ID 0x741 0x748 X 9 Toggle bit for COB ID 0x749 0x750 X 10 Toggle bit for COB ID 0x751 0x758 X 11 To...

Страница 73: ...2 X 9 B Data byte 3 X 10 B Data byte 4 X 11 B Data byte 5 X 12 B Data byte 6 X 13 0 B Data byte 7 X 14 B Status byte X 15 B Data length X 16 X 17 X 18 X 19 DW COB ID X 20 B Data byte 0 X 21 B Data by...

Страница 74: ...5 3 B Data byte 7 X 56 B Status byte X 57 B Data length X 58 X 59 X 60 X 61 DW COB ID X 62 B Data byte 0 X 63 B Data byte 1 X 64 B Data byte 2 X 65 B Data byte 3 X 66 B Data byte 4 X 67 B Data byte 5...

Страница 75: ...loconverter drives Nodeguarding Heartbeat with CANopen specified by DS301 is not supported by Lenze Here a SDO transfer may be established by this index A SDO request is sent by the CAN master to the...

Страница 76: ...xecuted at PLC STOP PLC RUN transition Index Sub index Name Type Attr Map Default value Meaning 0x2101 0x00 Number of elements Unsigned8 ro N 10 Number of available entries 0x01 COB ID Unsigned32 rw N...

Страница 77: ...B 57 is to be activated and the Number of messages is to be set to 1 for the correct work with the data Furthermore the COB IDs 20ECFF00h and 20EBFF00h are to be entered in the Index 2000h The number...

Страница 78: ...0x6100 0x00 16bit digital input block Unsigned8 ro N depending on the fitted components Number of available digital 16bit input blocks 0x01 1 input block Unsigned16 ro N 1 digital input block 0xA0 160...

Страница 79: ...00 0x00 16bit digital input block Unsigned8 ro N Depending on the compo nents fitted Number of available digital 16bit output blocks 0x01 1 output block Unsigned16 rw N 1 digital output block 0x0A 160...

Страница 80: ...ut block 0xA0 160 input block Unsigned16 ro N 160 digital input block Index Sub index Name Type Attr Map Default value Meaning 0xA200 0x00 32bit digital input block Unsigned8 ro N depending on the com...

Страница 81: ...lock 0xA0 160 output block Unsigned16 rw N 160 digital output block Index Sub index Name Type Attr Map Default value Meaning 0xA680 0x00 32bit digital input block Unsigned8 ro N Depending on the compo...

Страница 82: ...R INPUT WORD I Q M D L constant Address CAN master VIPA 342 1CA70 6000h n 100h Node ID with n 1 8 slot at SPEED Bus RET_VAL OUTPUT INT I Q M D L Return value RECORD OUTPUT ANY I Q M D L Target area fo...

Страница 83: ...e return value contains an error code if an error is detected when the function is being processed If no error did occur then RET_VAL contains the length of the data that was transferred More Informat...

Страница 84: ...d 1 Node Guarding is activated 7 4 reserved The byte is reserved for future extensions ID of the station the diagnostics come from Type of station the diagnostics come from 0 Slave 1 NMT master Byte N...

Страница 85: ...lave station was not received within a guarding time 3 The guarding answer of a slave station was not received within the time Guardtime t LifeTimeFactor n Before this event code 2 was already sent n...

Страница 86: ...nal incompatibility in the device 0x06060000 Access failed due to an hardware error 0x06070010 Data type does not match length of service parameter does not match 0x06070012 Data type does not match l...

Страница 87: ...2 Info 3 Info 4 Low Byte High Byte Error Code Description Info 0 Info 1 Info 2 Info 3 Info4 0x0000 Reset Emergency 0x00 0x00 0x00 0x00 0x00 0x1000 PDO Control 0xFF 0x10 PDO Number LowByte Timer Value...

Страница 88: ...tion Data type Memory block Description REQ INPUT BOOL I Q M D L constant REQ 1 start processing SZL_ID INPUT WORD I Q M D L constant SZL ID of the partial list or the partial list extract INDEX INPUT...

Страница 89: ...OPList The SZL lists here have a length of 8 words Starting with 0 each bit of the SZL corresponds to a Node ID in ascending order Bit 0 of byte 0 corresponds to Node ID 1 Bit 3 of byte 1 corresponds...

Страница 90: ...t parameters RET_VAL and BUSY Calling the SFC 12 within the OB 100 is not supported If you have started a deactivation or activation job and you call SFC 12 again before the job is completed the way i...

Страница 91: ...tivated it with SFC 12 the operating system does not detect the failure As a result there is no subsequent start of OB 86 or diagnostics buffer entry The station failure is detected only after the sta...

Страница 92: ...Chapter 4 Deployment Manual VIPA System 300S SPEED7 4 54 HB140E CP RE_342 1CA70 Rev 09 46...

Страница 93: ...3 Environmental conditions 1 6 Error messages 4 20 F Fast introduction 4 5 Firmware update 3 5 I I O data 3 5 Installation 2 1 Installation guidelines 2 12 Interface 3 5 Interference influences 2 12 I...

Страница 94: ...Index Manual VIPA System 300S SPEED7 A 2 HB140E CP RE_342 1CA70 Rev 09 46 M Stich...

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