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HMS Anybus CANopen Slave How To Configure

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How to configure an Anybus CANopen slave module with TwidoSoft
SCM-7032-042
Rev 1.01
How to configure an Anybus CANopen
slave module with TwidoSoft
www.anybus.com
HMS Industrial Networks AB
Page 1 (29)

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Summary of Contents for HMS Anybus CANopen Slave

  • Page 1 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 How to configure an Anybus CANopen slave module with TwidoSoft www.anybus.com HMS Industrial Networks AB Page 1 (29)
  • Page 2 Thorbjörn Palm More information about the network and products For further information about the Anybus products, please consult the HMS webpage, www.anybus.com. The latest manuals, etcetera can be downloaded from that location. The CANopen user organisation has a webpage on the Internet, www.can-cia.org. Several technical guides about CANopen are available in or via this page.

  • Page 3: Table Of Contents

    How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Contents Applicable Anybus products ........................4 Requirements ............................4 Solution overview .............................5 Anybus configuration..........................6 Anybus Slave configuration......................6 Anybus CompactCom configuration ....................6 Communicator configuration ......................7 Anybus X-gateway configuration ....................12 CANopen configuration .........................14 Testing ..............................22...

  • Page 4: Applicable Anybus Products

    How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Applicable Anybus products The following table specifies the relevant Anybus products for this document. Description Name / Type Anybus X-gateway CANopen Anybus Communicator CANopen Anybus-Slave CANopen Anybus-S Drive Profile...

  • Page 5: Solution Overview

    Rev 1.01 Solution overview This application note describes how to configure an Anybus CANopen Slave product with a Schneider Twido PLC. Below you can find an overview of the system described in this document. Other nodes may be attached to the network, but are not necessary. Also make sure the network is terminated in a correct way.

  • Page 6: Anybus Configuration

    How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Anybus configuration The first step is to configure the baudrate and the node address. The Anybus Slave, Anybus Communicator and Anybus X-gateway are configured by switches. Set the baud rate and node address switches in the desired positions as seen below.

  • Page 7: Communicator Configuration

    How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Communicator configuration Start the Anybus Communicator and create a new configuration. Choose the CANopen fieldbus and the desired size of the I/O data. The configuration differs depending on what type of data is used. Using PDOs only, please see section Using PDOs only below.
  • Page 8 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Using SDOs When using SDOs the I/O sizes has to be set to user defined as shown below. In this case 10 bytes of I/O data (PDO) is used.
  • Page 9 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Figure 5 Configuring the ABC. In this case a loop back dongle at the serial connection of the Communicator is connected. To loop data the generic data mode is selected, all other values are left at their defaults. The next step is to configure the sub- network.
  • Page 10 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Figure 7 Configuring the consume transaction. Leave the settings for the consume transaction at the defaults as shown above. For the produce transaction the update time is set to 500ms as shown below.
  • Page 11 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Right click on the produce and consume transaction respectively and select add data. In this case 20 bytes of data is used. Figure 9 Configuring the consume data.

  • Page 12: Anybus X-Gateway Configuration

    How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Anybus X-gateway configuration Use the HyperTerminal or TeraTermPro on a PC to configure the X-gateway. Connect a serial cable between the PC and the config port on the X-gateway.
  • Page 13 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 The figure below shows an example; in this case a CANopen Slave to Modbus-TCP Slave X-gateway is used. 20 bytes of I/O data on the Modbus-TCP side and 20 bytes of Input and Output PDO on the CANopen side are configured.

  • Page 14: Canopen Configuration

    How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 CANopen configuration To configure the PLC and the CANopen bus the tool Twidosoft is used. Start a new project from the File menu. The first step is to decide if to use the online or offline alternative.
  • Page 15 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Offline Start a new project and right click on the PLC in the navigation tree and select Change Base Controller. Figure 14 Opening the Change Base Controller dialogue.
  • Page 16 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Right click on the Expansion Bus in the navigation tree to the left and select Add a module. Figure 16 Opening the Add a module dialogue. Then select the type module and click on Add and then on Done .
  • Page 17 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 CANopen configuration To be able to configure the Anybus module the eds-file has to be imported. Right click on the TWDNCO1M and select configure. Note: The PLC must be in disconnected mode.
  • Page 18 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Select the eds-file, for example EDS_ABS_COP_F040_8PDO_V_3_07_01.eds, and click on open as shown below. Figure 20 Importing the EDS-file for the Anybus module. The next step is to configure the PDOs used by the Anybus module and the PLC. First the Anybus module has to be set up as a node on the CANopen network.
  • Page 19 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Next click on the tile Mapping. The default PDOs are configured as shown in the window below. It is possible to remove PDOs or Objects if desired. Use the scroll bar to toggle betweeen Transmit and Receive PDOs.
  • Page 20 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 The next step is to open the Linking tile. In this window the PDOs to be transmitted and received by the master is selected. Use the scroll bar to toggle betweeen Transmit and Receive PDOs.
  • Page 21 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 The last tile Symbol, displays the access of the PDOs in the PLC memory. The I represents the RPDOs and Q the TPDOs of the PLC. The first 8 input rows are corresponding to the memory in the PLC occuppied by the received PDO, the first 8 output rows are corresponding to the transmitted PDO.

  • Page 22: Testing

    How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Testing In this particular case the Communicator with a loop dongle at the sub-network connector is used for test purpose. This results in, the data send from the PLC to the Anybus Communicator on the CANopen network is looped back to the PLC.
  • Page 23 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 If necessary follow the steps below to find out what address are used in the PLC. Otherwise please go to the next page. To find out the addresses used by the PLC right click on the TWDNCO1M module and select Configure, the Configuration Editor is now opened.
  • Page 24 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 The next step is to enter some of the addresses seen above in the Animation table. Please follow the steps below. 1 Enter the Input and Output addresses to be monitored in the Address field .
  • Page 25 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 4 Enter some values in the Retained column for the addresses to be written. In this case data to the output bytes QWC1.0.0, QWC1.0.1 and QWC1.0.2 are written.

  • Page 26: Monitoring Using The Communicator

    How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Monitoring using the Communicator Using the ABC Config Tool the Node Monitor can be used to monitor the input and output data. Open the ABC Config Tool and right click on New Node. Select Node Monitor in the menu as seen below.

  • Page 27: Monitoring Using The X-Gateway

    How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 Monitoring using the X-gateway To monitor the data in the X-gateway, a program that scans the other network side is needed. If the other network is Ethernet or Modbus based, the tool ModScan32 can be used. In the Ethernet case the X-gateway also has a web interface where the configuration can be viewed.
  • Page 28 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 The same values are written to the first Holding Registers as seen below. The window shows the Input data written to the PLC. Figure 34 Monitoring the output data of the X-gateway using ModScan32.
  • Page 29 How to configure an Anybus CANopen slave module with TwidoSoft SCM-7032-042 Rev 1.01 2 Web interface The configuration can also be verified using the web interface in the X-gateway. Note: To use the web interface it is required that the X-gateway has an Ethernet connection.

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