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HMS CM CANopen User Manual

Canopen module for simatic s7-1200
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User Manual
CM CANopen
CANopen Module for SIMATIC S7-1200
Doc.Id. HMSI-216-117
Rev. 1.00
Connecting Devices
+$/067$' ‡ &+,&$*2 ‡ .$5/658+( ‡ 72.<2 ‡ %(,-,1* ‡ 0,/$12 ‡ 08/+286( ‡ &29(175< ‡ 381( ‡ &23(1+$*(1
HMS Industrial Networks
Mailing address: Box 4126, 300 04 Halmstad, Sweden
E-mail: info@hms-networks.com
Visiting address: Stationsgatan 37, Halmstad, Sweden
Web: www.anybus.com

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Summary of Contents for HMS CM CANopen

  • Page 1 User Manual CM CANopen CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Rev. 1.00 Connecting Devices +$/067$' ‡ &+,&$*2 ‡ .$5/658+( ‡ 72.<2 ‡ %(,-,1* ‡ 0,/$12 ‡ 08/+286( ‡ &29(175< ‡ 381( ‡ &23(1+$*(1 HMS Industrial Networks Mailing address: Box 4126, 300 04 Halmstad, Sweden E-mail: info@hms-networks.com...
  • Page 2 Important User Information This document is intended to provide a good understanding of the functionality offered by the CM CANopen Mod- ule for SIMATIC S7-1200. The reader of this document is expected to be familiar with high level software design, and communication sys- tems in general.

  • Page 3: Table Of Contents

    Table of Contents Table of Contents Preface About This Document How To Use This Document ........................ 1 Related Documents..........................1 Document History ........................... 1 Conventions & Terminology........................2 Glossary ..............................2 Support ..............................2 Chapter 1 Product Overview Introduction .............................. 3 Features..............................
  • Page 4 Table of Contents Chapter 7 Supported Objects Static Data Types............................ 26 Communication Profile Area........................ 26 CiA 301 Communication Profile Objects..................26 Configuration Manager ........................29 Network Management Objects ....................... 30 Manufacturer Specific Objects......................36 I/O Buffer Addresses and Object Dictionary Indices Relation ............41 Chapter 8 Interface Functions CANopen Interface Functions ......................

  • Page 5: Preface

    This document contains a general introduction as well as a description of the technical features pro- vided by the CM CANopen Module for SIMATIC S7-1200, including configuration of the device. The reader of this document is expected to be familiar with PLC and software design, as well as with communication systems in general.

  • Page 6: Conventions & Terminology

    • Bulleted lists provide information, not procedural steps • The term ‘user’ refers to the person or persons responsible for installing the CM CANopen mod- ule in a network. • Hexadecimal values are written in the format NNNNh, where NNNN is the hexadecimal value.

  • Page 7: Product Overview

    CANopen network to a SIMATIC S7-1200 PLC. The figure below shows a CM CANopen module attached to a SIMATIC S7-1200 PLC to provide the connection from the PLC to CANopen. In this case the PLC is standalone, but it is possible to connect it to a PROFINET network.

  • Page 8: Features

    • The module can be integrated in the hardware catalogue of TIA Portal. • CANopen configuration via CM CANopen Configuration Studio (external tool). • Complies to the CANopen communication profile CiA 301 rev. 4.2 and the CiA 302 Draft Standard Proposal rev. 4.1.

  • Page 9: Canopen Fieldbus Functionality

    Chapter 2 2. CANopen Fieldbus Functionality The functionality of the CM CANopen Module for SIMATIC S7-1200 is defined by the CANopen CiA 301 rev. 4.2 specification and the CANopen CiA 302 Draft Standard Proposal rev. 4.1. The module can be configured either as a manager or as a slave on the CANopen network.

  • Page 10: Transparent Can Mode

    Chapter 3 3. Transparent CAN Mode The CM CANopen Module for SIMATIC S7-1200 integrates Transparent CAN 2.0A (11 bit identifiers). With this protocol, the module allows transmission of any CAN frame from the PLC regardless of the overlaying CAN protocol, and is capable of receiving a number of predefined CAN frames from the CAN network.

  • Page 11: Chapter 4 Installation

    Chapter 4 4. Installation The mounting and configuration of the CM CANopen Module for SIMATIC S7-1200 is done following these steps: 1. Mounting 2. Configuring the SIMATIC S7-1200 PLC to use the module (See “SIMATIC S7-1200 PLC Con- figuration” on page 10) 3.

  • Page 12: Status Leds

    4.3 Maximum Cable Lengths When designing the CANopen network, please take into account the maximum cable length for differ- ent baud rates. Baud rate (kilobaud) Maximum cable length (m) 2500 1000 1000 CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 13: Line Termination

    If the cable you are using is not terminated, connect a line termination between contacts 2 and 7 (CAN_L and CAN_H) beneath the slot, where the module is mounted. The impedance of the termination should be 120  (5%, 1/4 W max.). CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 14: Chapter 5 Configuration

    The CM CANopen module offers the SIMATIC S7-1200 PLC access to a CAN/CANopen network, where the CM CANopen module either acts as a Transparent CAN module or acts as a slave or a man- ager on a CANopen network, depending on the settings in the parameter list. The SIMATIC S7-1200 may act as a PROFINET slave, with another PLC on the PROFINET network as master.
  • Page 15 Configuration 11 Double-clicking on the CM CANopen Module for SIMATIC S7-1200 in the list of modules in TIA Por- tal will open a window, where the user can set the values of the module parameters. The following parameters, that have to be defined, can be found in the CANopen Interface tab:...

  • Page 16: Canopen Network Configuration

    The CM CANopen Module for SIMATIC S7-1200 can be configured either as a manager or as a slave on the CANopen network. The configuration is decided by the PLC (by the Parameterization values).
  • Page 17 2. Enter a name for the project and the path to where the project should be stored, optionally with information like author and descriptive comments. Press “Create”. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 18 3. Select “Devices & networks” to the left and then press “Add new device”. 4. Select the PLC type used in the configuration. Select correct software version and optionally en- ter a name for the PLC (default PLC_1). Press “Add”. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 19 Configuration 15 5. Select the CM CANopen module in the list as shown in the picture. Drag and drop an instance of the module to the left side of the PLC module. 6. Double click on the Ethernet connector on the PLC and enter a proper IP address for the PLC.
  • Page 20 Configuration 16 7. Double click on the connector of the CM CANopen module and choose the module parameter tab. Enter the values in the parameter list. Please note that these parameters are valid for the module on the CANopen network. ...
  • Page 21 10. If the download was successful the following screen will appear asking if the PLC should start. Press Finish and the PLC will start running the empty program that was downloaded. 11. The configuration of the module is now finished and the PLC programming can start. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 22 5. Download the configuration to the CANopen manager as Concise DCF-files. The configuration is automatically stored locally in nonvolatile memory. Please consult the user manual for the configuration tool for details and/or contact HMS support, see “Support” on page 2.

  • Page 23: Canopen Module Specification

    Chapter 6 6. CANopen Module Specification 6.1 NMT State Machine The function of the CM CANopen Module for SIMATIC S7-1200 can be described as a state machine with four states. Initialization State Description Initialization When the power is switched on, the module starts initializing. This is done in three steps: basic initialization, reset application and reset communication.
  • Page 24 Note: At a STOP from the PLC, the data last received is stored in the CM CANopen module. When the PLC issues a RUN the stored data is sent on the CANopen bus. The behavior of the module is the same if the connection is lost with the PLC on PROFINET.

  • Page 25: Data Exchange

    Object index A4C0h, subindex 241... Output data buffer, bytes 248... 255 Object index A4C1h, subindex 1... 2 No default mapping No default mapping There is no default mapping for master mode. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 26 Object index A040h, subindex 241... Input data buffer, bytes 240... 247 Object index A040h, subindex 241... Input data buffer, bytes 248... 255 Object index A041h, subindex 1... 2 No default mapping No default mapping CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 27: Error Control

    (defined in the object directory of the devices, object 1016h, page 27), a heart- beat event is triggered by the consumer. The ERROR LED on the front of the CM CANopen Module for SIMATIC S7-1200 will indicate the event and a diagnostic error will be logged to the SIMATIC S7- CM CANopen Module for SIMATIC S7-1200...

  • Page 28: Node Guarding

    If it is in OPERATIONAL state, it will thus go to PRE-OPERATIONAL state and wait for the user to take action. If it is in manager mode it will take action according to the settings in the manager objects. The CM CANopen Module for SIMATIC S7-1200 can act as both heartbeat consumer and as heartbeat producer.

  • Page 29: Diagnostics

    CANopen Module Specification 25 6.3.4 Diagnostics When an event or alarm is generated by the CM CANopen module, the device alarm code 1Ah (external error) is transmitted and will trigger an interrupt in the PLC user program. This interrupt indicates that there is an alarm/event to be polled out from the module.

  • Page 30: Static Data Types

    If the node has not been Min: 00h (default). max FFh guarded within its lifetime (“Life time factor”*”Guard time”), an error event is logged and a remote node error is indicated CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 31 STOP while CANopen man- ager is in state OPERA- TIONAL. 1400h Receive PDO Largest subindex supported parameter COB ID used by PDO 143Fh Transmission type See “RPDO Transmission Types” on page 23 CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 32 If entered manually, the bytes should be entered in reversed order: 65 76 61 73h. c. If entered manually, the bytes should be entered in reversed order: 64 61 6F 6C. d. Only valid in slave mode. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 33: Configuration Manager

    UNIT32 Configuration when comparing signature and configuration. Date 1F27h Expected 0 - 127 The time that the Configuration Manager expects to find UINT32 Configuration when comparing signature and configuration. Time CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 34: Network Management Objects

    Sub 1 - 127: RW address (subindex) should be restored during startup or not. If the entry value is 0, the no restore command should be sent to the device. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 35 4 If a mandatory slave generates an Error Control Event, send NMT Stop All Nodes (including self). Ignore bit 4 7 - 31 Reserved (0) CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 36 If a slave does not answer, the master will retry the request RetryFactor-1 times with an interval of GuardTime. Guarding will be performed only if non-zero values are entered for RetryFactor and Guard- Time. See also ... • “Node Guarding” on page 24 CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 37 All the nodes in the network should be transferred to the PRE-OPERATIONAL state: An SDO write access with the value 127 is executed to object 1F82h subindex 128 in the local object dictionary. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 38 Compares expected vendor (entered into this object) with actual vendor (object 1018h, subindex 1) for the slave with Node-ID i. Boot up of slave is continued only if they match. If not, the slave is not put in Operational. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 39 0, the timer is disabled and the master will wait endlessly. Value (ms) Description Default. No time limit for mandatory slaves to boot > 0 Time limit for mandatory slave to boot CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 40: Manufacturer Specific Objects

    Event indication CM CANopen For more information, see page 38. CM CANopen state For more information, see page 39. CM CANopen communication status For more information, see page 39. CM CANopen configuration bits For more information, see page 40. 5001h...
  • Page 41 50XXh. 5013h Device software error count Counts emergency messages caused by emergency error code class 60XXh. 5014h Communication error count Counts emergency messages caused by emergency error code class 81XXh. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 42 The table below gives the event indications for the CM CANopen that can be read from subindex 01h of the Status CM CANopen object. The bits are valid either only in manager mode or in both manager and slave mode.
  • Page 43 Status CM CANopen, 5000h, subindex 02h The table below gives the state of CM CANopen that can be read from subindex 02h of the Status CM CANopen object. The bits are valid either in manager or slave mode or in both.
  • Page 44 The table below gives definitions of the CM CANopen configuration bits that can be read from subind- ex 04h of the Status CM CANopen object. Bits 0 - 3 correspond to bits 0 to 3 of object 1F80h. Bit No...

  • Page 45: I/O Buffer Addresses And Object Dictionary Indices Relation

    A041h, 1 A100h, 128 Byte 255 A041h, 2 The picture shows the Transmit data area. The Receive data area is structured in the same way, see pic- ture on next page. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 46 A4C0h, 212 Byte 240- 247 Byte 248- 255 Byte 252 A4C0h, 253 A580h, 127 Byte 253 A4C0h, 254 A680h, 54 Byte 254 A4C1h, 1 A580h, 128 Byte 255 A4C1h, 2 CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 47: Interface Functions

    Chapter 8 8. Interface Functions All interface functions and function blocks are available for download from www.hms-networks.com/ can-for-S7-1200. 8.1 CANopen Interface Functions 8.1.1 Get Process Data In Input Parameters Name Data type Description Bool Starts the function. Has to be set to TRUE for one scan cycle.

  • Page 48: Set Process Data Out

    0091h. All data will be written as process data on the CAN- open network. The position of the data depends on the CANopen network configuration. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117...

  • Page 49: Sdo Read/Write

    Performs an SDO write on the node, index and subindex that is defined in the parameters. Data written is fetched from the area pointed to by DB. Both function blocks use RDREC and WRREC for the data transfer. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 50: Get Node & Network Status

    NVS error in module 4-7: (reserved) Uint8 Error flags (network) Bit: Definition: Network not ready Node error control event 2-7: (reserved) Uint8 CANopen Module Value: Definition: mode Master Slave Transparent CAN CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 51 CANopen Device missing NMT State Stopped NMT State Operational NMT Pre-operational Bit 4: Configuration Error bit No error Error Bit 5: Node mandatory bit Node optional Node mandatory Bits 6-7: (reserved) CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 52: Transparent Can Interface Functions

    CAN layer. The transparent mode is turned on by choosing “Transparent CAN” as operating mode during configuration in TIA Portal. Get Diagnostic Information is used to read diagnostic information from the CM CANopen module to the PLC.

  • Page 53: Can_Rcv

    Description Bool Starts the block. Has to be set to TRUE for one scan cycle. Word Logical address of the CM CANopen module. Bool Set to TRUE for one scan cycle to acknowledge a newly read CAN frame. Dint Number of data block.

  • Page 54: Can_Ctrl

    Bool Starts the block. Has to be set to TRUE for at least one scan cycle to start the block. Word Hardware address of the CM CANopen module. Function code: 1: Set acceptance filter in the module 2: Set number of frames to store before warning (BUFFER LIMIT REACHED) 3: Clear RX buffer.
  • Page 55 FCN = 5 Resets the CAN controller. Clears Bus Off condition, if present. If a Bus Off condition is generated, the CAN Controller has to be reset, before communication can be resumed CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 56: Get Diagnostic Information

    Definition Additional Information Code BUSOFF error The CAN controller of the CM CANopen has reached a BUS OFF state, e.g. due to a bad network connection or a faulty baud rate. Transparent CAN When running Transparent CAN mode this diagnostic is See “Transparent CAN Status...
  • Page 57 RECEIVE MESSAGE LOST TRANSMIT QUEUE: HALF FULL TRANSMIT QUEUE: WARNING LIMIT 8-15 (reserved, set to 0) The status code 0000h indicates ‘SUCCESS’, while e.g. 0024h indicates ‘RECEIVE MESSAGE LOST’ and ‘BUFFER FULL’. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 58: Appendix A Technical Specification

    Operating: 15% to 95% non-condensing Non operating: 5% to 95% non-condensing Temperature Operating: 0 °C to +60 °C (+32°F to +140 °F) Non operating: -40 °C to +70 °C (-40 °F to +158 °F) CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 59: Regulatory Compliance

    The certification has been documented by UL in file E214107. Galvanic isolation on sub-network interface • SS-EN 61131-2:2007: Pollution Degree 2 Material Group IIIb 250 V or 250 VDC Working voltage 500 V Secondary circuit transient rating CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 60: Appendix B Status Led Timing Diagrams

    Single flash 200 ms 1000 ms Double flash 200 ms 200 ms 200 ms 1000 ms Triple flash 200 ms 200 ms 200 ms 200 ms 200 ms 1000 ms CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 61: Appendix C Canopen Emergency Codes

    C. CANopen Emergency Codes Below is a list of the CANopen emergency codes that can be produced by the CM CANopen Module for SIMATIC S7-1200. The five latest emergencies, reported by the module, can be read from the list in object 1003h, see page 26.
  • Page 62 CANopen Emergency Codes 58 Emergency Description Code FFA0h PLC has entered STOP state while network is in OPERATIONAL. Module goes to PRE-OPERATIONAL. (Only in slave mode) These codes conform to the CANopen standard. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 63: Appendix D Error Codes (Ret)

    SDO error (XX = SDO error code) 39XX CM message error (XX = Message error code, see “Message Error Codes” on page 60) FF00 Error code missing a. All error codes are given in hexadecimal format. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

  • Page 64: Message Error Codes

    Number of retries to read SDO exceeded Number of retries to write acyclic request exceeded Failed to create DB Data did not fit in the specified data area. Try increasing the size CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 65 Invalid data type Value too high Value too low Bad device state General error Can not be stored Can not be stored locally OD file generation failed Transparent CAN function block error CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 66 DB number exceeds the maximum number permitted for the CPU. SFC24 80A1 X specifies the offset from DBSTART where the error occurred DB number entered is less than or equal to 0 CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 67 The data of the previous read/write job on the module have not yet been SFC14 80C0 processed by the module. SFC15 80C1 System error with external DP interface module. SFC14, 808X, SFC15 80B2, 80B3, 80C2, 80FX, 87XX CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...
  • Page 68 The SFC/SFB number and the RET_VAL value gives the origin of the error code that is generated by the CM CANopen function blocks if the error originates from outside the module. Please consult the configuration tool manual for further information. CM CANopen Module for SIMATIC S7-1200 Doc.Id. HMSI-216-117 Doc.Rev. 1.00...

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