Altivar 31 CANopen

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Altivar 31

CANopen

!

2

________________________________________________________________________________________________________ 3 ____________________________________________________________________________________________________ 4 _______________________________________________________________________________________________________ 10 ___________________________________________________________________________________________________ 11 ___________________________________________________________________________________________________ 12 PL7 SyCon _______________________________________________________________________________ 15 ___________________________________________________________________________________________________ 24 ___________________________________________________________________________________________________ 37

SA !"#$%&'()*+,-./01231!456789:$%)*;<=>?$%@$A

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:

• Altivar 31 CANopen

• !

• "#$%&'()* +,!

• -./'(0 :- '1234 (567$89:;< ...)- %&'(=> (?@$AB$CD$EF$ ...)

Altivar 31 Heartbeat!GHIGHJKL V1.2 MNOP

4

ATV 31

ATV 31

ppppp

A QR

:

1 ST LED UV ( z!WX ) 7YZ[\]^_

2

1 ` 4 BabcYd

3 ef+,gh (ij^BkJl ATV 31 ppppp A Omn )

4 RUN! (o3 ) p<Llqr:;stu^v (J ATV 31 ppppp A)

5 STOP/RESET!p<L^vwvxyB^[z (J ATV 31 ppppp A)

6 IQR|~'12QR3||

7 ` LED l'12 4 BcYd<LY CANopen ]O./56 ( RUN! ) &z ( ERR! )

Altivar 31

RUN

ESC

ENT

STOP

RESET

RUN

ERR

CAN

1

2

4

3

5

7

6

5

CANopen

s 4 ATV 31 <` CANopen PCMCIA (TSX CPP 100) ` PLC Premium

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ATV 31 CANopen ¬24®¬2 (¯X : VW3 CAN TAP 2)°± 5 `²h³ 2 2´µ¶ CANopen ·]^¸O 2 ` RJ45 2KN.¹ ATV 31 CANopen ¬] 2 Altivar 31 1 ` RJ45 2kLl` Altivar 31 º PowerSuite (L PC Pocket PC»o3¼ ) ½¾

¿ÀÁ±` ATV 31 ¶¬2O<ÂÃlÄ± ATV1!ÅÆ2O¿À 2 ATV 31<Â PowerSuite lÇU:;sKN`'123È@§'12 Modbus ?@ÉÊ±ËÌÍ

Î,gh (VW3 A31101) ÏKN¶ PowerSuite!2O<Ðl¨ÑÒs<Á#´ ATV 31 '12¶ CANopen ¬2 (Ä± ATV1!ÓÔO )

ATV 31 CANopen ¬]ÕÖ×± 2 RJ45 2^¸KN±¨ØÙ : 0.3 m & 1 m (¯X : VW3 CAN CA RR1)

l 1 Mbits/s ÚÛ CANopen ÜÝeÁ# 0.3 m ¬]

MODICONTSX CPP ACC 1TELM

A B

MODICON EB 534 TELM

1 2

MODICON EB 534 TELM

1 2

TSX CPP ACC1

Master PLC+ TSX CPP 100

Altivar 31

2170272T 2170272T

EB 534 EB 534

PowerSuite

CANopen ·]^¸

CANopen ·]^¸

ATV 31 CANopen ¬2 VW3 CAN TAP 2

ATV 31 ¬] VW3 CAN CA RR

p

PLC+ TSX CPP 100

6

ATV 31 CANopen

(VW3 CAN TAP2)

Legend:

1 Þßà 2 ATV1! RJ45 \2<ÉÊ´á` Altivar 31 '12lµO 3 ATV1! RJ45 \2<ÉÊ´áâ` Altivar 31 '12 (¿À±ã ) lµO¿À`Î,gh¶ PowerSuite!2O<Âä~

4 PowerSuite! RJ45 \2<K PowerSuite (PC Pocket PC) Î,gh 5 L (ON) åæ (OFF) ç]èh (120 Ω ) æé 6 LêT /ëT?ì]]í 7

CANopen h³î<4]^¸<^èROÅ± S4 & S5

8

fl 4 ²ï<LlRQRO ¬2 ( ðñ 60 mm) 9 ·]^¸dòó?R 10 L CANopen ·]^¸æ 11 LêT /ëT?]æ

ôõ õ

1

ATV1 ATV2

PowerSuite

S1 S2

S3

ON

S4 S5

OFF

2 3

4

2

4

7

9

8

10

3

57

6

9

8

11

10

7

ATV 31 CANopen ´×± 2 RJ45 2 (VW3 CAN CA RR 03 VW3 CAN CA RR 1) ]¸¶'12 RJ45 2& ATV 31 CANopen ¬2 (VW3 CAN TAP 2) O ATV1! ATV2! RJ45 \2

¿ÀÁ±` Altivar 31 l ATV 31 CANopen ¬2O<ÂÉÊ ATV1!2

ATV1ATV2

Power

Suite

8

CANopen

:• 2.5 mm • PZ01

: : NsË%ÃL¬2 e% • PZ01 öæà 1÷æÞ • ´¬2iøßlùúO :

- ` AM1-DP200 AM1-DE 200 DIN ìû - ü 2 M4 à (ý 20 mm Ø ) ß¶RQRO

• j«·]^¸ 20 & 21<¿sþËY

• ´?] 22 ßl^¸OqB

• ß? 23

• ´·]^¸¶h³î 7 O<¿sþËY 2.5 mm h³îà² y 0.25 N.m

• à 19 & (PZ01) ös?]&

• ´êT /ëT?ì]¶]í 6 O

• ]´^¸ß

• ¿À~h<ÂÃ´BuæéL ON¿~ÂÃL OFF

• ´ÞOÞísN^¸# ¹

• ÞRx (PZ01) ´µß¶B

20

19

22

23

21

7

6

9

!"#

"#$%&'

RJ45

()*+

(2)

Modbus X (3)

RS232 / RS485 r2Î,gh^®

Ó X ì]T 1 GND T ? 2 CAN_L T CAN_L ]]è 3 SHLD

(^¸dòó ) K¥dòó

4 CAN_H T CAN_H ]]è 5 (V+) ST K¥^® (1)

(1)¿À CANopen ^¸±á 4 Ö (ST ) ì]<ÂÃ´µ¶Ó 5 O<N V+ K¥Xe¶µ CANopen

ATV1 ATV2 PowerSuiteÓ X Ó X Ó X 1 CAN_H 1 CAN_H 1 2 CAN_L 2 CAN_L 2 3 CAN_GND 3 CAN_GND 3 4 D1 (2) 4 D1 (2) 4 D1 (2)

5 D0 (2) 5 D0 (2) 5 D0 (2)

6 6 6 7 VP (3) 7 7 VP (3)

8 (2) 8 (2) 8 (2)

8 mm 8 mm

54 mm

Shielding

S1 S2

S3

ON

S4 S5

OFF

1 2 3 4 5

GNDCAN_L

SHLD

CAN_H(V+)

8........................1

10

Altivar 31 CANopen ./"#×KN ./A e

I×Á#l^vwv!'12|"3#$%&Á#l'12'u() (å^*+. ) *,#-.

I*l-0e %´/F4 Node-ID! (0UÅ1W )

I%234 (0) 567 Altivar 31 CANopen ./,-./ Altivar 31 0) CANopen1234 ,5678)9:

% 4ºµË±l CANopen ]O«./ÚÙ89×

:Iô<];<ØÙ=>L./ÚÙs7 Altivar 31 L CANopen ]O"?@AB./ÚÙ;<]ØÙ :

µCµ<4<ÁDLE±^Fñ CANopen «GL ATV 31 CANopen ^Fñ<O7eËØÙ~ÉÊHI

l 1,000 kbits/s ÚÛs<¬]ØÙÉÊJKl 0.3 m

;< =>9 ?@AB CD9 CANopen ?@

0 127 0

CANopen ÚÙ

0,010 kbits/s20 kbits/s50 kbits/s

125 kbits/s250 kbits/s500 kbits/s

1,000 kbits/s

0

.

. .

.

.

.

125 kbits/s

./ÚÙ 10 kbits/s 20 kbits/s 50 kbits/s 125 kbits/s 250 kbits/s 500 kbits/s 1,000 kbits/s];<ØÙ 5,000 m 2,500 m 1,000 m 500 m 250 m 100 m 5 m

11

EF&B

LM Altivar 31 4 BabQRcYdANOP`XY LED LY CANopen./56

GH LED IJ) :

LED

IJ Altivar 31 / CANopen IJ

CANopen QK2RL OFF! (éS ) 56

Altivar 31 RL STOPPED! (wv ) 56

Altivar 31 RL PRE-OPERATIONAL! (To3 ) 56

Altivar 31

KLM OPERATIONALN (OP ) IJ

QRSTU

G Altivar 31 CANopen QK2UV WARNING (WV ) (¿XYZ¹Ç )

GL[0U\]^¹_^`ìa ERROR (XY )

CANopen QK2RL bus-off! (]éS ) 56

LED

IJ LED IJ)=VW

LED 4 XY

LED 4 Z[ (200 ms ON and 1 second OFF)

LED 4 \[ (200 ms ON, 200 ms OFF, 200 ms ON, and 1 second OFF)

LED N 2.5 Hz 1Û [] (200 ms ON & 200 ms OFF)

LED 4 ON

12

^

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ab_`

Altivar 31 ./bciL : • CAN 2.A;• CANopen def (DS301 V4.02)

Ughi; :

Çjkl¤ Can In Automation Ü : http://www.can-cia.de

c>_`

Altivar 31 "#bcWm : • '12&ouQK«bc! (DSP-402 V2.0<ÚÙ:; ) • Drivecom bc (21)

Drivecom & CANopen DSP402 Õno

Å1W (11 B ) %@ (;<ØÙ 8 0 ) COB-ID 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0

13

^

=de)fg

PDO (Process Data Objects1h<ijk ) PDO ULpº¹,8éA"%@

PLC ´5.¹ PDO qr>?stµuv&u (qr>'( )

Altivar 31 ±wTx PDO:

• áw PDO (PDO 1 yKDLË±:; ) :- `z PDO<LQK (QK CMDD! ) '12 - `| PDO<LQK (56 ETAD! ) '12

PDO 1 4~<!u PDO Jlµ%@4&'"|

• á 2 w PDO (PDO LÚÙ:; ) :- `z PDO<QK'12 (QK CMDD!&ÚÙ4 LFRD! )Iô<K/×4`©'(QK CMDD!&ÚÙ4 LFRD!ÏKNGµ#$`± '(

- `| PDO<LQ'12 (56 ETAD!&ÚÙAB4 RFRD! )Iô<K/×4`©'(56 ETAD!&ÚÙAB4 RFRD!ÏKNGµ#$`'(

PDO 6 ./:;KNG?@µ~3 : ~ (L PDO 1) ();<iL~ (SYNC) Iô±á 3 ¨:;<()~;<lI¨;e#$"Á~µ%@4-&'ÂËu PDO /|<ÐJl SYNC ~!r½KN3l~:;s Inhibit time! (67"½ ) & Event timer! (^k"2 ) KN3%&

SDO (Service Data Objects1fg<ijk ) SDO UL×& PLC K.¹ SDO A[()j|

Altivar 31 1 ` SDO<± 2 COB-ID Å1 :• 1 `Lk (G PLC |<L Altivar 31) • 1 `LÃ (UG Altivar 31 | PLC)Altivar 31 ùbu

lmfg

• 23Å1Wx (COB - ID)<?@?@ • NMT GH : Start_Remote_Node (16#01), Start_Remote_Node (16#02), Enter_Pre_Operational (16#80), Reset_Node (16#81),

Reset_Communication (16#82) • l COB-ID 0 z • Heartbeat (u ) (JDL Altivar 31 V1.2 MNOP ) • 0U\] • L (EMCY) • SYNC GH<Lá 2 w PDO (PDO 6)

G=/fg

• "½ (TIME)

n0op (Node-ID)

Node-ID

= CANopen ]O'12?@

Client! (h ) '12|UA (¿ : PLC)

14

^

qrstu) (COB - ID)l:ç¬eÅ1W5/µ COB - ID ( )

Altivar 31 ù u COB-ID<µ CANopen ?@k¡ (JDL PDO1 PDO)

&' COB-ID

h C '12 000 (16#000) ÜÝGH (NMT)

h C '12 128 (16#080) SYNChronisation GH (SYNC)

h C '12 12816#080 + Node-ID LGH (EMCY)

h B '12 38416#180 + Node-ID '12Q (PDO 1 | PDO)

h C '12 51216#200 + Node-ID '12QK (PDO 1 z PDO)

h B '12 64016#280 + Node-ID '12&^vQ (PDO 6 | PDO)

h C '12 76816#300 + Node-ID '12&^vQ (PDO 6 | PDO)

h B '12 140816#580 + Node-ID Ã'12¢* (| SDO)

h C '12 153616#600 + Node-ID '12¢*k (z SDO)

h C '12 179216#700 + Node-ID

ÜÝ (NMT, 0U\] , u )

h B '12 Network management (ÜÝ<tu£¤ )

15

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yzw CANopen |~Ns¥¦§l PL7 PRO ( V4.3 0 ) & SyCon ( V2.8 0 ) e4 Altivar 31 #/ CANopen PLC q1ÍË~¨IRË¼P4 : PL7 PRO V4.3 & SyCon V2.8

Ns¥e¦§ CANopen ]J 1 CANopen (TSX 57353 V5.1 Premium PLC + TSX CPP 100 CANopen PCMCIA )& 1 ` (Altivar 31) ©I~?@Ë~× CANopen ]Oµ#$ ÑÒ¢*¿sËYuv&u+@ (%IW& %QW)

PL7 PRO l PL7 PRO s<ª«`tÃ,¬<÷æ`®¯ CANopen ]Ã,¬

+°IÃ,¬×<l TSX 57353 Comm ± Channel 1 (.² 1) e TSX CPP 100 CANopen PCMCIA

U³ hilscher ´µ (lOe`ST¶e ) ·u SyCon ×8¸

: ¿ÀE±l PC O SyCon<ÂI´µä5cY

16

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SyCon 56 CANopen

CANopen PLC

U³ OK!¹ SyCon ºË¥¦5láB[ :

File!Ae¥¦ New!»¼ª«`t×<x¥¦ CANopen![½]¾¯

I»¼5l SyCon eª«`¿Üb

l-0e<º´5ÀÁ\ÂI×<x´µ»E4 ATV 31 - Software Setup Example.co!

Insert!Ae¥¦ Master. . .!»¼ (U³ ´µ )

I"´5[ Insert Master!¥¦ TSX CPP 100! ( TSX CPP 110! ) «<Ã*U³ Add >>!

ÄKN+° Node-ID &eI

17

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SyCon ) CANopen % Altivar 31 EDS l SyCon sÉÊìvÅÆ Altivar 31 EDS <N´µÇl«%@ÈeIF4 ATV31_Vxy.eds! Vx.y: Altivar 31 ¼P

- x: ~%É - y: '~%É

~l SyCon sìvÊ<Ã File!Aeo3 Copy EDS!»¼x¥¦OÆ EDS I"5mY¥¦ÕË import thecorresponding bitmap files! (ìv8ÃB )U³ Yes! SyCon B%@Èe¯ 3 ` Altivar 31 56ÅI*5cYCÅ

¿ÀI»¼ª")ª<Â´[j.ÌÍÎv 1 EDS & 3 `B

Eds &Ål PowerSuite CD ROM emn<ül Altivar 31 '12×n CD ROM emn

Settings ( ) Ae¥¦ CANopen xo3 Bus Parameter...! (]% ...) »¼<N× CANopen ÜÝÏbÛ

µl Bus Parameter! (]% ) e[lÐä3ÑÒ¿À~±é]%Çj<kÓ SyCon ÔvÕÖ

: ¿À Altivar 31 PDO 6<xl~!:;e3× (()() ) <ÂÃÓ×¢* Communication Cycle Period! (./()r ) <µ234L 100 ms<¿ØÙËY

A31_Vxy_s.dib A31_Vxy_r.dib A31_Vxy_d.dib

18

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CANopen n( Altivar 31

U³ OK!¹ SyCon

Ë¥¦0U«lË¥¦B[ :

Insert!Aeo3 Node...!»¼ (U³ ´µ )

ÚuÛÅÜ (I"Ý54 ) ¶®¯ Altivar 31 B<Ã*ÞpU³

l[ Insert Node! (Óv0U ) e<¥¦ ATV31 «<Ã*A³ Add >>!´µ

ÄKN+° Node-ID &eI0U

19

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Altivar 31ß³ÃL Altivar 31 3 Node Configuration! (0U× ) ´5[

sQËY Node Configuration!4×z&| PDO 6 `3àá9 :

Cá9âã¿s :

1 XM Automatic COB-ID allocation in accordance with Profile 301N (?@bc 301 u COB-ID ¬× ) ¥àkäåIá9Jl® 1 `æç 2 PDO 6 %"± (`!lIÑÒsÕÉÊ ) ¿ÀÄäç 2 PDO 6 %e#$`<Ã\èé¥I¶

2 K× PDO ¯ PDO: Lê`®¯¶ Configured PDOs! (K× PDO) ç¬ PDO<Ãl Predefined Process Data Objects (PDOs) from EDS file! ( EDS Tx¹,%@ ) ç¬¥¦Ê PDO<Ã*A³ Add to configured PDOs! (¯¶K× PDO) ´µ<üß³ PDO Ö£l Configured PDOs!ç¬¯ PDO < SyCon ´5ëìcY`í#×I PDO u:;L` PDO 1 e#$`<îä#%&µu:; : asynchronous! (~ ) (255)ïL PDO 6<KN×` Resulting CANopen specific transmission type! (mª CANopen bu¾¯ ) 4 0 (á 1¥à ) $ 1 ¶ 240 (á 2 ¥à ) 255 (á 4 M;*`¥à ) < 4 `¥à8ÃÃL asyclic synchronous! (()~ ) $ cyclic synchronous! (()~ ) $ asynchronous! (~ ) u:;¿ 32 þº SDO GH8éð~mY!¥<Ãñm PDO 1 & PDO 6 %¿À®òóÂKI¥#$ PDO Á#/¯¶ Configured PDOs!ç¬' : äðyï

3 ) ¡ PDO 6 ;<) COB-ID: Transmit PDO 6! COB-ID L 16#280(640) + Node-ID< Receive PDO 6! COB-ID L 16#300(768) + Node-ID¿À~× PDO 1 `%e``<Âkäåµ23 COB-ID 4ÕËq<!äÃ%&ï

4 ¢6 PDO 6 ;<)£¤¥=¦§:A³ PDO Contents Mapping. . .! (PDO oôõ ) ´µ<Ë¥× PDO oÁ/cYl`ö÷e<µeÍôõKN/:<xKµ¯K<ê` PDO ;ÇK¯ 4 `I"#ä#L#$ PDO 1 %<©4ôõÕø6

1

2

3

4

5

20

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5 Altivar 31 )¨T©ª«¬:A³ Configuration Error Control Protocol! (×ùXQK£¤ ) ´µ<ÁKN¥¦´ú¨QK£¤ûL Altivar 31: Node Guarding Protocol! (0U\]£¤ ) Heartbeat Protocol! (u£¤ )

- ®¯°«¬ : ¿À¥¦I£¤<Â`% Guard Time! (\]"½ ) & Life Time Factor! (-»r©% ) -ªb-»r!Q8éokÓ 34 þ0U\]£¤!¥ : le<´ Guade Time!×4 500 ms< Life Time Factor!×4 4<òü´ Life Time!×4 4 x 500 ms = 2 s

- ±«¬ : ¿À¥¦I£¤<Â% Master Guarding Time of Node! (16#1016: 16#xx) (0U\]"½ ) ÉÊ<L0U% Node Heartbeat Producer Time! (16#1017: 16#00) (0Uu-2"½ )¿À Master Guarding Time of Node!l×0U/4 0<´ä5ýþI0U[½]u>

: ¿À®l CANopen Ou£¤<ÂÃëìl Bus Parameter! (]% ) e·µ Heartbeat Function! ( 16 þl SyConsª«` CANopen ÜÝ!¥ ) Ã< CANopen ÉÊùI£¤<ä=LIR CANopen (TSX CPP 100) ÑÒ TSX CPP 100 CANopen PCMCIA ÕùI£¤ CANopen f

Iô< Node Heartbeat Consumer List! (0Uuü7 ) ç¬× Altivar 31 ýþ]Oô` (Gµ Node-ID 1Í ) ê`î±µ»E<x!4¤µ Producer Timer (msec.)! (-2"½ ( ))l Active!eé¥`¶<ÁKG Altivar 31 µ8Ã Node-ID!3qr>ýþlIÑÒs<8Ã Consumer Time (msec.)! (ü"½ ( )) ÉÊ<L Producer Timer (msec.)!

PL7 PRO ¯²w³´ CANopen n \Â CANopen ×x4µ»E (File Ae Save! Save As...!»¼ ) I×\Âl .co e

l 15 þl PL7 PRO s×!¥ecY PL7 PRO e<A³ Select Database! (¥¦%@È ) µ<¥¦ì\Â (¿ C:\Program Files\Schneider\SyCon\Project\ATV31 - Software Setup Example.co! )3¥¦*< Configuration LoadingMode! (×v:; ) ç¬´/t

¿<¿ÀÁ PDO 6 2 ` PDO<Â~3¿Oá9<©4I*ÉÊ67 PDO 1 2 ` PDO : sQ PL7 ò567BL?@ 4 Altivar 31 z PDO 1

SyCon V2.8 ä5 u67 PDO1<ÉÊ±Ã,¬ PL7 )ª

¿À®67 PDO 1 u PDO & /z PDO<ÉÊl PL7 Ã,¬e3< SDO GH8Ã Receive/Transmit PDO1 parameter! COB-ID used by PDO!á 31 B (s ) ´5 PDO Å4 not valid! (. )Ã`<>ä#%& COB-ID ôµ 31 `Bï

µ¶ ·µ¶ ./) PDO ) PDO 16#1400 16#01 z¶ PDO 1 COB-ID 16#00000200 + Node-ID 16#80000200 + Node-ID

16#1800 16#01 |¶ PDO 1 COB-ID 16#00000180 + Node-ID 16#80000180 + Node-ID

%MD1000:=16#80000184;(* = PDO *)%MW500:=16#1400;(* - %MD500 LSB *)%MW501:=16#0001;(* - %MD500 LSB *)%MW22:=50;(* = 50 x 10 ms = 500 ms *)%MW23:=4;(* = 4 *)(* | SDO WRITE »¼ *)WRITE_VAR(ADR#0.1.SYS,’SDO’,%MD500,4,%MW1000:2,%MW20:4);

21

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ÏKN× CANopen OK§¨¥à

¸ CD9 =>9 ( g ) MAST MAST ¹ FASTL¥¦á CANopen ÜÝ #H¾¯ : PL7 PRO ¼Ã,¬/¬4 Mast Task! (#H ) & Fast Task! (Ú#H )

n. º º1»º1¹¼½©ª

CANopen tu"[½]34

¾¿ %MW0 ! %MW31 (%MW <À ) + (Á6 %MW)

PLC %MW %£&ë` %MW < TSX CPP 100 CANopen PCMCIA uv%@´5ôõlµOkþÄË CANopen NM PLC <NKuv¬×%;<4¬×¹Çä~ÕE±9ÐQ<«¤Ïä~¬×4;4<©4Ã[½]×K#5±Ë&' Altivar 31 ~uv%@K#¶ 10 `0 (5 ` ) <Ðüv<Á#.¹wm` PDO Transmit PDO!¶ : PDO 14 2 0< PDO 6 Ç4 8 0 (23<4 4 0 ) : le<º´ %MW uv%4 2<©4J± Transmit PDO 6!23ôõ4 CANopen uv (4 IB I Len!<¿ SyCon s ) áùv\4 %MW0ò< CANopen uv4 %MW0 & %MW1

¾Â %MW32 ! %MW63 (%MW <À ) + (Á6 %MW)

éL Inputs! (uv ) lIRÃ±.<Ðº PLC u& TSX CPP 100 CANopen PCMCIA 8é Altivar 31 ~u%@K#¶ 10 `0 (5 ` ) <Ðü<Á#.¹wm` PDO Receive PDO!¶ : PDO 1 4 2 0< PDO 6 Ç4 8 0 (23<4 4 0 ) : le<º´ %MW u%4 2<©4J± Receive PDO 6!23ôõ4 CANopen u (4 QB O Len!<¿ SyCon s )Iô<¬×CuQK~µLuv* : áù4 %MW2ò CANopen uÁ4 %MW2 & %MW3

¾Â ÃÄ ¯r¹ÃÄ

>l8é#H (O ) w7" CANopen uÕ\ÕyB4<©4òwä5ìa TSX CPP 100 w789

ÅÆÇ ./ ./¹

¿ÀI¥à/·<ÂÊä#q CANopen ]" TSX CPP 100 CANopen PCMCIA CANopen Q,¬´5ÀÁ/ºI"<Ë± CANopen u´5/yB4 0

È¿ÉÊ PL7 PL7 ¹ SyCon PL7:

CANopen ]×94 PL7 Ã¼ç¬/s¶£Å PLC¿ÀlÄÃ,¬eE±Â¿½LI×

<Â PL7 567I:;ï SyCon

: CANopen ]×/34Ív¶ PCMCIA e<òÏü34 SyCon ´µs PL7 PRO Jýþ3×º

Ë¥ .co!ÕË8< !×åôXYÐÕ]%#$%&îÉÊl SyCon s3

22

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CANopen )¾¿w¾Â

PL7 PRO Ë¥ .co!ejlê` CANopen 0U%@&ºµ8 %MW uv&u½«ÀÃé

: C¬×Jl Altivar 31 4 CANopen ]O" !AN23ôõ PDO 6 PDO "±.¿Àl[½]O×±µ <ü%& Altivar 31 PDO ×<ÂOÆuv&u¬×´±Ëä¿ÀÕòã<ÂK SyCon mn`»¼þ#uv&uË±$m<Á%3 View!Ae Address Table...! (?@7 ...) »¼

Altivar 31 Í× PDO º PLC uv&u½Ãé¿s7e :

~ýþ Altivar 31 I/O<KA³ Bus Configuration! (]× ) µò´[ CANopen bus configuration! (CANopen ]× ) <¿IRcY

¥¦ ATV31! CANopen (?@ 0002) ´5cY×LIA`0Uuv&u

lOÙç¬<Í^ì4 %MW0 ¶ %MW3¬×c;'(<òüKNÌ²CÕ¿$º SyCon sôõ PDO «ÀÔ

käå SyCon 5cY0?@&0< ( IB!uv& QB!u ) Ã´µõ4N?@&j©I 1 0ôõv 1 `Í× PDO eAB´' 1 `)* : 1 0´5¬×¶Ê MSB 0<µ LSB 0´54¿!0

PDO ËÌ SyCon I/O PL7 PRO I/O £¤jk

u PDO 6 uv IB0 - IB1 %MW0 56 ETA! IB2 - IB3 %MW1 ÚÙAB4 RFRD!

z PDO 6 u QB0 - QB1 %MW2 QK CMD! QB2 - QB3 %MW3 ÚÙU LFRD!

23

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sQb( PL7 PRO ,¬fá 15 þ PL7 & SyCon 3¼!¥eË¦§× :

~£Õ :• ´)'12567tu Altivar 31• lk"2 TM0 "½b 1500 rpm spÚÙq*

´NsÂ :

(* Masks the DRIVECOM Status Word *)%MW5:=%MW0 AND 16#00FF;

(* Status word "ETAD" = 16#xx40 = Switch on disabled *)IF(%MW5=16#0040)THEN

%MW2:=16#0006;(* Control word "CMDD" = 16#0006 = Shutdown *)END_IF;

(* Status word "ETAD" = 16#xx21/23 = Ready to switch on/Switched on *)IF(%MW5=16#0021)OR(%MW5=16#0023)THEN

%MW2:=16#000F;(* Control word "CMDD" = 16#000F = Enable operation *)%MW3:=1500;(* Velocity reference "LFRD" = 1,500 rotations per minute *)START %TM0;(* Starts the forward/reverse timer *)

END_IF;

(* Status word "ETAD" = 16#xx27 = Operation enabled *)IF(%MW5=16#0027)THEN

(* Forward/reverse timer elapsed *)IF %TM0.Q THEN

(* Control word "CMDD": Forward <--> Reverse *)IF %MW2:X11 THEN RESET %MW2:X11;ELSE SET %MW2:X11;END_IF;(* Makes sure the DRIVECOM status does not change *)%MW2:=%MW2 OR 16#000F;(* Maintains Velocity reference "LFRD" at 1,500 rpm *)%MW3:=1500;(* Re-starts the forward/reverse timer *)DOWN %TM0;START %TM0;

END_IF;END_IF;

24

fg

¥¦§'12§¨ CANopen GH<´ COB-ID +,-¬

#$ØÙ.¹ 1 0%@l CANopen ZeîÕ LSB l MSB l*

NMT

IJÍ©ª (COB-ID = 16#000)Î

ÏÐ@ C

(1)¿À Node-ID = 0<Â Command Specifier! (»¼ W ) /Ë± CANopen ( Altivar 31 l ) ê ÉÊ%3I NMT »¼<ò5¹8Ãr (s )

: ´BL CANopen ?@ 4 (16#04) O Altivar 31 r Pre-Operational (To3 ) 56 (Enter_Pre-Operational_State = 16#80)

COB-ID 0 Ñ 1 Ñ 0

(16#000)»¼ W

(CS)0U ID

(1)

ÒÓu (CS) Ô 001 (16#01) æ/ _Î, _0U 002 (16#02) w7 _Î, _0U 128 (16#80) 3 _To3 _56 129 (16#81) yB _0U 130 (16#82) yB _./

16#000 16#80 16#04

25

fg

IJÕ (NMT State Machine, NMT IJÍ ).^yB

?@'12./56<KmnNsGH :

Ö× (1) l.^"< uv0/h56 (2) 1)ª0/h<Â uuv Pre-Operational (To3 ) 56 (3), (6) æ/ _Î, _0U (4), (7) 3 _To3 _56 (5), (8) w7 _Î, _0U (9), (10), (11) yB _0U (12), (13), (14) yB _./

ØÙW ÚOP OP ÛÍ PDO X

SDO X X~ (SYNC) X X

LÑÒ X Xtuì X X

ÜÝ X X X

a"¹ÃÄ

ÚOP

OP

ØÙW

Û

(1)

(2)

(3)

(4)(5)

(7)

(6)

(8)

(14)

(13)

(12)

(11)

(10)

(9)

26

fg

HÜjk - SYNC (COD-ID = 16#080)ÏÐ@ C

SYNC G CANopen ()ä#$%@<©I´ZJJLA2 COB-ID

I~3Õ CANopen ~./:;òl Altivar 31, PDO 6 (¿À ) ÑÒs<Kl¨K#~~./:;O3

ÝÞjk - EMCY (COB-ID = 16#080 + Node-ID)ÏÐ@ B

Ò$"Á~çz[ (0 2 = 1) 4 (0 2 = 0) < Altivar 31 ÁN56ì7µ CANopen «|` EMCY

Emergency Error Code (LXYCD ) º'( Fault Code! (603F) (zCD ) 8<-./'(0

COB-ID

128(16#080)

COB-ID 0 Ñ 1 Ñ 2 Ñ 3 Ñ 4 Ñ 5 Ñ 6Ñ 7 Ñ

128(16#080)+Node-ID

LùXCD XY8Â2 0 0 0 0 0

LSB MSB =0 (z )=1 (z )

27

fg

PDO 1 ß (COB-ID = 16#180 + Node-ID / 16#200 + Node-ID)Iw PDO Wm DSP-402 f drive and motion profile! ('12&oubc )lI4 PDO 1!

PDO 1 ./:;23>ä#&'<µ4 (255) ÃL'12bc23./:; : ~<!#$"Á~µ%@4'h'12Á|ý9 PDO

Iô<µZôõä#&'<ÏüÕÁ±QK CMDD!&56 ETAD!KNl Altivar 31 &`h½3pá 1 ý9 PDO &á 1 `QK PDO îÁ 2 `0%@

;*< PDO 1 & PDO 6 `wKN"<ÐJJL,Ù&b):s (¦§Cá 2 PDO ¥0 )

à PDO 1 (COB-ID = 16#180 + Node-ID)ÏÐ@ B

: BL CANopen ?@ 4 (COB-ID = 16#180 + 4) O Altivar 31 RL Operation Enabled! (o3· ) 56!E±z (56 ETAD! = 16#xxx7) le<56 ETAD!L 16#0607

©ª PDO 1 (COB-ID = 16#200 + Node-ID)ÏÐ@ C

: BL CANopen ?@ 4 (COB-ID = 16#200 + 4) O Altivar 31 z¶F4 Enable operation! (·o3 ) »¼ (QK CMDD! =16#xxxF) le<QK CMDD!L 16#000F

COB-ID 0 Ñ 1 Ñ 384

(16#180)+Node-ID

56 ETAD!

LSB MSB

16#184 16#07 16#06

COB-ID 0 Ñ 1 Ñ 512

16#200+Node-ID

QK CMDD!

LSB MSB

16#204 16#0F 16#00

28

fg

PDO 6 ß (COB-ID = 16#280 + Node-ID / 16#300 + Node-ID)Iw PDO Wm DSP-402 f drive and motion profile! ('12&oubc )lI4 PDO 6!

PDO 6 ./:;KN%& :• µ234 (255) ÃL'12bc23./:; : ~ • ~() (1-240): '12êz¶ 1 240 SYNC Á| PDO ' • ~() (0) : '12 SYNC ~| PDO<ÐI|JGµ%@4&'

Iô< PDO 6 wZôõKN%&µ23ôõQK CMDD!$ÚÙ4 LFRD!$56 ETAD!&ÚÙAB4 RFRD!<!Co´ëìÃ*´ PDO 6 ôõ³<NI PDO ôõ§¨K#>

;*< PDO1 w& PDO6 wKN"´l¥*Qç¬ÑÒ

à PDO 6 (COB-ID = 16#280 + Node-ID) - CD£¤ÏÐ@ B

: BL CANopen ?@ 4 (COB-ID = 16#280 + 4) O Altivar 31 RL Operation Enabled! (o3· ) 56!E±z (56 ETAD! = 16#xxx7) le<56 ETAD!L 16#0607Iô<^vÚÙL 1500 rpm (16#05DC)

©ª PDO 6 (COB-ID = 16#200 + Node-ID) - CD£¤ÏÐ@ C

: BL CANopen ?@ 4 (COB-ID = 16#300 + 4) O Altivar 31 z¶F4 Enable operation! (·o3 ) »¼ (QK CMDD! =16#xxxF)le<QK CMDD!L 16#000FIô<^vÚÙ4 1200 rpm (16#04B0)

¿Àl SyCon e~ Configured PDOs! (Í× PDO) PDO 6 |& /z<ÂÉÊëì;: Automatic COB-IDs allocation in accordance with Profile 301! (´)] 301 u¬× COB-ID) A¥¶¥¦¿À\èI¶¥¦<C COB-ID 5XY<I"ÉÊµ3u%&

COB-ID 0 Ñ 1 Ñ 2 Ñ 3 Ñ 640

(16#280)+Node-ID

56 ETAD! ÚÙAB4 RFRD!

LSB MSB LSB MSB

16#284 16#07 16#06 16#DC 16#05

COB-ID 0 v 1 Ñ 2 Ñ 3 Ñ 768

16#300+Node-ID

QK EMDD! ÚÙ4 LFRD!

LSB MSB LSB MSB

16#304 16#0F 16#00 16#B0 16#04

29

fg

à PDO 6 (COB-ID = 16#280 + Node-ID) - /ÐáÔ£¤ÏÐ@ B

l SyCon s4%&á 2 `ý9 PDO ôõ<l´µ¯¶ Configured PDOs!ç¬*<ÉÊß³ Transmit PDO 6 parameter!à´÷æ PDO Contents Mapping Object Index 1A05! (PDO oôõ 1A05)

I"ÉÊ O Mapable Objects from EDS file! ( EDS Kôõ ) ç¬¯ /Ú:à£¶s Mapable Object dictionary! (Kôõ< ) ç¬Õ.¹` Append Object! ( ) & Delete mapped Object! (:ôõ ) ´µ)ª

)ª Transmit PDO 6 parameter!ôõ%&*< OK! Cancel!´µ%&33=

: lI PDO =>¿#$0?ä5/ Altivar 31 l]O|<ÏüÕ¿ÀE±%/¶0 6 & 7< PDO %@ØÙ´5Õ 6 0`äÕ 8 0

: `23\è (6041:0 & 6044:0) <Ð0 4 & 5 /ôõ4 Motor current: LCR! (^v^[< LCR) (2002:4) <0 6 & 7/ôõ¶ Motor torque: OTR! (2002:9) <ò´¡-Nsôõ :

[lºÓþBL CANopen ?@ 4 (COB-ID = 16#280 + 4) O Altivar 31 s56 :• 56L Operation Enabled!!E±#$z (56 ETAD! = 16#xxx7)le<56 ETAD!L 16#0607 • ÚÙAB4 RFRD!L 1500 rpm (16#05DC) • ^v^[ LCR!L 4.0 A (16#0028) • ^v OCR!L 83 % (16#0053)

Iý9 PDO 8Ã|ZÃ¿sËY (8 %@0 ):

COB-ID 0Ñ 1Ñ 2Ñ 3Ñ 4Ñ 5Ñ 6Ñ 7 Ñ

640(16#280)+Node-ID

Altivar '(

(23 : 56 ETAD! )Altivar '(

(23 : ÚÙAB4 RFRD! )Altivar '(

(23 : )Altivar '(

(23 : ) LSB MSB LSB MSB LSB MSB LSB MSB

COB-ID 0Ñ 1Ñ 2Ñ 3Ñ 4Ñ 5Ñ 6Ñ 7Ñ 640

(16#280)+Node-ID

56 ETAD! ÚÙAB4 RFRD! ^v^[ LCR! ^vr OT!

LSB MSB LSB MSB LSB MSB LSB MSB

16#284 16#07 16#06 16#DC 16#05 16#28 16#00 16#53 16#00

30

fg

©ª PDO 6 (COB-ID = 16#280 + Node-ID) - /ÐáÔ£¤ÏÐ@ C

l SyCon s4%&á 2 `QK PDO ôõ<l´µ¯¶ Configured PDOs!ç¬*<ÉÊß³ Receive PDO 6 parameter!à´÷æ PDO Contents Mapping Object Index 1605! (PDO oôõ 1605)

I"ÉÊ O Mapable Objects from EDS file! ( EDS Kôõ ) ç¬¯ /Ú:à£¶s Mapable Object dictionary! (Kôõ< ) ç¬Õ.¹` Append Object! ( ) & Delete mapped Object! (:ôõ ) ´µ)ª

)ª Receive PDO 6 parameter!ôõ%&*< OK! Cancel!´µ%&33=

: lI PDO =>¿#$0?ä5/hl]O|<ÏüÕ¿ÀE±%/¶0 6 & 7< PDO %@ØÙ´5Õ 6 0`äÕ 8 0

: á 1 `23\è (6040:0) <Ðá 2 `23 (6044:0) GÚ"½ ACC! (203C:2) =C<0 4 & 5 ôõl@Ú"½ DEC! (203C:3) O<ò´¡-Nsôõ :

[lºÓþBL CANopen ?@ 4 (COB-ID = 16#300 + 4) Ox¶¿sQK Altivar 31: • Enable operation!»¼ (QK CMDD! = 16#xxxF) le<QK CMDD!L 16#000F • Ú"½ ACC!4 1s (10 = 16#000A)• @Ú"½ DEC!4 2s (20 = 16#0014)

IQK PDO 8ÃzZÃ¿sËY (6 %@0 ):

COB-ID 0 Ñ 1 Ñ 2 Ñ 3 Ñ 4 Ñ 5 Ñ 6 Ñ 7 0

76816#300

+Node-ID

Altivar '(

(23 : QK CMDD! )Altivar '(

(23 : ÚÙ4 LFRD! )Altivar '(

(23 : )Altivar '(

(23 : ) LSB MSB LSB MSB LSB MSB LSB MSB

COB-ID 0 Ñ 1 Ñ 2 Ñ 3 Ñ 4 Ñ 5 Ñ 768

(16#300)+Node-ID

QK CMDD! Ú"½ ACC! @Ú"½ DEC!

LSB MSB LSB MSB LSB MSB

16#304 16#0F 16#00 16#0A 16#00 16#14 16#00

31

fg

SDO

fg (COB-ID = 16#580 + Node-ID / 16#600 + Node-ID)âz : ÏÐ@ C

ãä : ÏÐ@ B

?@kD!&AÃD!ä<k%@!&AÃ%@!K#5±'hsQ7I3âã :

(1)¿À SDO GHB`Ç0%@<¿ manufacturer device name! (KCD«EF ) (% 16#1008: 16#00) <lhº'12½´t'¬bu 16#80kD!kNw7I¾u

(2)AÃ%@ (0 4 ¶ 7) ÃL 32 B abort code! (g7D ) s7e)* Altivar 31 ùË±g7D

: ¬buJDLØÙ.¹ 4 0jJL Manufacturer device name! ( 16#1008) R

COB-ID 0 Ñ 1 Ñ 2 Ñ 3 Ñ 4 Ñ 5 Ñ 6 Ñ 7 Ñ 1536

(16#600)+Node-ID

kD

³k%@

LSB MSB Eb 7-0 Eb 15-8 Eb 23-16 Eb 31-24

COB-ID 0 Ñ 1 Ñ 2 Ñ 3Ñ 4Ñ 5 Ñ 6 Ñ 7 Ñ 1408

(16#580)+Node-ID

AÃD

³AÃ%@

LSB MSB Eb 7-0 Eb 15-8 Eb 23-16 Eb 31-24

âzå ÒÓ 4 Ñ 5 Ñ 6 Ñ 7 Ñ 16#23 ` 4 0%@ Eb 7-0 Eb 15-8 Eb 23-16 Eb 31-24

16#2B ` 20%@ Eb 7-0 Eb 15-8 16#00 16#00

16#2F ` 10%@ Eb 7-0 16#00 16#00 16#00

16#40 B%@ 16#00 16#00 16#00 16#00

16#80 g7 SDO»¼ (1) 16#00 16#00 16#00 16#00

ãäå ÒÓ 4 Ñ 5 Ñ 6 Ñ 7 Ñ 16#43 B%@ : 4 0%@ (1) Eb 7-0 Eb 15-8 Eb 23-16 Eb 31-24

16#4B B%@ : 2 0%@ (1) Eb 7-0 Eb 15-8 16#00 16#00

16#4F B%@ : 1 0%@ (1) Eb 7-0 16#00 16#00 16#00

16#60 1/2/4 0%@ : AÃ 16#00 16#00 16#00 16#00

16#80 XYAÃ : FG¹CD (2) Eb 7-0 Eb 15-8 Eb 23-16 Eb 31-24

32

fg

(1)käålI7e Abort codes!ÕN7;<ò0 4 ¶ 7 7üÉÊ3H0r (¿ 16#0609 0030 '40 4 = 16#30<0 5 = 16#00<0 6 = 16#09<0 7 = 16#06)

æ SDO fgX)çydB

?å (1) 16# 0503 0000 ¬bu : toggle bit! (ßI6Eb ) 16# 0504 0000

SDO £¤."

16# 0504 0001 request code!.Ì 16# 0601 0000 l %¹,e[` z (¿` read only! (ÁB ) %k ) 16# 0601 0001 »J± write only! (Á ) %%3Bk 16# 0601 0002 »J± read only! (ÁB ) %%3k 16# 0602 0000 ke| index! ( ) <eäÂl 16# 0604 0041

PDO ôõ : %ä#ôõ¶ PDO 16#1600, 16#1A00, 16#1605 & 16#1A05 %3vá9"5[IXY (PDO ôõ )

16# 0604 0042

PDO ôõ : ~ôõ%%£& /ØÙ.¹;< PDO ØÙ

16# 0609 0011 ke| sub-index! (³ ) äÂl 16# 0609 0030 .%4fJ (JLJ ) 16# 0609 0031 Ë%4¹< 16# 0609 0032 Ë%4¹ 16# 0609 0036 %;<4Lµ;4 16# 0800 0000 [K>XY

Gyèjé SyCon )M Transmit PDOsN();<v/ SDO êâz:L Transmit PDO 1!<ILMDLQK CMDD!L Transmit PDO 6!<QK CMDD!&ÚÙ4 LFRD!?423×¿À%& 1` 2`23%<üI PDO¯ 1` 2`µ%<ÂIàLMLC¹×%

ºRLNOLMs%Z8é#$%î>ä#.¹ SDOk;3%&

33

fg

ë SDO fg¿$B=BL CANopen ?@ 4 (COB-ID = 16#580 + Node-ID 16#600 + Node-ID) O Altivar 31 % Acceleration time(ACC) ! (Ú"½ )I% index:sub-index! ( : ³ ) L 16#203C/02

: Altivar 31 Ë±'(&³?l Altivar 31 -./'(0e

ëâz : ÏÐ@ C Bk request code! (kD ) 4 16#40

ëãä : ÏÐ@ B le<BAÃ response code! (AÃD ) 4 16#4B<©4Bá9l` 2 0%@Oª")ª

NOAÃZYB%4L 1000 (16#03E8) <Á4 100 s Acceleration time (ACC) !<I%AB4 0.1s!

ê SDO fg¿$4 100s BL CANopen ?@ 4 (COB-ID = 16#580 + Node-ID 16#600 + Node-ID) O Altivar 31 % Accelerationtime (ACC) ! (Ú"½ )I% index:sub-index! ( : ³ ) L 16#203C/02

: Altivar 31 Ë±'(&³?l Altivar 31 -./'(0e

êâz : ÏÐ@ C Ik request code!4 16#2B<©4ºq»%&` 2 0%@4

NOkZ 2 0%@bYºË»â© Acceleration!%4L 1000 (16#03E8) <Á4 100 s Accelerationtime (ACC) !<I%AB4 0.1s!

êãä : ÏÐ@ B AÃ response code!4 16#60<©4á9Íª")ª

16#604 16#40 16#3C 16#20 16#02 16#00 16#00 16#00 16#00

16#584 16#4B 16#3C 16#20 16#02 16#E8 16#03 16#00 16#00

16#604 16#2B 16#3C 16#20 16#02 16#E8 16#03 16#00 16#00

16#584 16#60 16#3C 16#20 16#02 16#00 16#00 16#00 16#00

34

fg

¨T©ª«¬ (COB-ID = 16#700 + Node-ID)

ì¶'«¬

ÏÐ@ B

®¯°«¬

h (NMT ) &'12½./ý9KN.¹IR¦§ Node Guarding Protocol (0U\]£¤ ) A[<üKN*¦§ Heartbeat Protocol (u£¤ ) A[l#$"¨£¤Á#±`RL±.56ï

ÏÐ@ C h5 remote transmit request!"½½F?'12&µË± NMT 3NlNeê` NMT î/¬×bb"½<ª4 life time! (-»r ) µ4K.¹`% guard time! (16#100C: 16#00) (\]"½ ) & life time factor! (16#100D:16#00) (-»r©% ) 3%&-»rG\]"½ON-»r©%P¶

23ÑÒs<0U\]£¤l Altivar 31 OÕ67 (\]"½&-»r©%`%?/4 0)

ÏÐ@ B

'12AÃl NMT information! (NMT b ) eÇµ NMT 56< ¿s : í_ 7 = \îJí_ : ÊEb4l8Q' '12AÃ½ÉÊ'0U\]£¤*t.*ë'AÃßI6Eb44 0Jl Reset_Communication! (yB./ ) »¼¶'12*/yB4 0 ( 25 þÜÝ567 (NMT56v ) !¥ ) ¿Àz¶'AÃßI6Ebº'8<Â´tAÃ´z¶3R í_ 6-0 = NMT IJ : Altivar 31 NMT 56 : Stopped (wv< 16#04)< Operational (o3< 16#05) To3 (16#7F)

¿À'12ä|µAÃ|`äq56<h5` Node Guarding! (0U\] ) ^

¿Àlµ life time!M*'12z¶#$N<Â :• ´` Life Guarding!^ • r4 z (CANopen ./z )• x|`LU (EMCY)

COB-ID 0 Ñ I£¤L'12l560/h*Ív Pre-Operational (To3 ) 0U56X

ltuì£¤Ze|"%@0L 16#00 1792

(16#700)+Node-ID

16#00

COB-ID 0 Ñ 1792

(16#700)+Node-ID

NMTj

35

fg

®¯°«¬

¿ËÆ< Altivar 31 life time!KN SDO GH3%&<N4µ guard time!& life time factor!%vt4

le<º´× 2 -»r<\]"½4 500 ms<-»r©%L 4 (500 msR 4 = 2 s)

1) ´\]"½4 500 ms• COB-ID: Lk4 16#600 + Node-IDLAÃ4 16#580 + Node-ID• kD (0 0): v` 20%@4 16#2B• AÃD (0 0): ¿Àá9Íª")ª<Â4 16#60• (0 1 2): 16#100C• ³ (0 3): 16#00• k%@ (0 4 5): 16#01F4 (500)

âz : ÏÐ@ C

ãä : ÏÐ@ B

2) ´-»r©%4 4• COB-ID: Lk4 16#600 + Node-IDLAÃ4 16#580 + Node-ID• kD (0 0): v` 1 0%@4 16#2F• AÃD (0 0): ¿Àá9Íª")ª<Â4 16#60• (0 1 2): 16#100D• ³ (0 3): 16#00• k%@ (0 4): 16#04 (4)

âz : ÏÐ@ C

ãä : ÏÐ@ B

8Ã PL7 ¼ (N ST ST ):

% ³ i; AB

\]"½ 16# 100C 16# 00 16 BWX*¯ 1 ms-»r©% 16# 100D 16# 00 WX0¯ __

16#604 16#2B 16#0C 16#10 16#00 16#F4 16#01 16#00 16#00

16#584 16#60 16#0C 16#10 16#00 16#00 16#00 16#00 16#00

16#604 16#2F 16#0D 16#10 16#00 16#04 16#00 16#00 16#00

16#584 16#60 16#0D 16#10 16#00 16#00 16#00 16#00 16#00

%MW1000:=16#01F4;(* Data to Send = Guard Time = 500 *)%MW1001:=16#04;(* Data to Send = Life Time Factor = 4 *)%MW22:=50;(* Timeout = 50 x 10 ms = 500 ms *)%MW23:=4;(* Data length = 4 bytes *)(* SENDS the SDO WRITE commands *)WRITE_VAR(ADR#0.1.SYS,’SDO’,16#0000100C,4,%MW1000:1,%MW20:4);WRITE_VAR(ADR#0.1.SYS,’SDO’,16#0000100D,4,%MW1001:1,%MW20:4)

36

fg

±«¬

94¥eËÆ0U\]£¤£¤<u£¤ (heartbeat protocol) KLý9hº'12½./<ÖÕhùI£¤ýþ3 consumer heartbeat time! (üu"½ ) %w (4 16#1016) leÕËÜÄh¿< TSXCPP 100 CANopen PCMCIA äùI£¤<` TSX CPP 110 Âù

#$"¨£¤Á#±`RL±.56ï

º0U\]£¤8Õ<u£¤ä~h#$«|Z<Uä~| remote frames! (Î,Z )

ÏÐ@ B

êù-2! 5qr>?|uU (O ) <#$ (uü! ) zIUxýþµÕËl;<"½¶Ié×¶`% : üu"½! (16#1016: 16#01) &-2u"½! (16#1017: 16#00)

23ÑÒs<u£¤l Altivar 31 OÕ67 (üu"½&-2u"½`%?/4 0)

'12uU!Çù-2b!< ¿s :í_ 7 = ¯ï : ÊEb/4 0í_ 6-0 = ±ðñIJ : Altivar 31 56 : tuì (16#00)<wv (16#04)<o3 (16#05) To3 (16#7F)

uülüu"½qr>ýþÕËz¶uUò<u-2-2u"½ÉÊLIüu"½

¿Àlüu"½z¶uU<Âüh´5ù! ^

Ó×¶üu"½&-2u"½%ÕG SyCon v2.8 (MµP ) ù<u£¤ÁÕÇ¨K SDO GH¨<©Ieäµ3VÆ

COB-ID Byte 0

1792(16#700)+Node-ID

u-256

ÏÐ@ C

37

jkÑò

jkÑò)5óôõ

Altivar 31 <KW£¬¾ºË± CANopen «?8 :

ab_`ö)jk

IÌXÇ CANopen ÜÝeöL./%IRË±à£LË± CANopen «î8

µ¶ jk 16#0000 16#0001 - 16#001F ø6%@¾¯ 16#0020 - 16#003F yY%@¾¯ 16#0040 - 16#005F (KCDbyY%@¾¯ ) 16#0060 - 16#007F Üb«bcø6%@¾ 16#0080 - 16#009F Üb«bcyY%@¾ 16#00A0 - 16#0FFF \èL 16#1000 - 16#1FFF ./bcÌ 16#2000 - 16#5FFF

Altivar 31 bbcÌ

16#6000 - 16#9FFF Åjh«bcÌ 16#A000 - 16#FFFF \èL

µ¶ ·µ¶ ÷øùú ËÌ CD9

16#1000 16#00 RO WX 32 B 16#00010192%ËÌ : Eb 16-23: «¾¯:¯ (1)Eb 0-15: «bc+X (402)

16#1001 16#00 RO WX 8 B 16#00 TUû² : XY (1) XY (0)

16#1003

16#00 RW WX 8 B 16#00 TU< : l 16#1003 eXY (0) 1 `Ç` (>0) XYJ± 0 4KNv

16#01 RO WX 32 B 16#00000000s$¨TÑü :Eb 16-31: ©j (æ4 0) Eb 0-15 = XYD

16#1005 16#00 RW WX 32 B 16#00000080 COB-ID SYNC R : Ää#%&I4ï

16#1008 16#00 RO KWZ ATV31 ªýþ% 16#100A 16#00 RO KWZ 0301 ªýþ^ : IR4J4[ (V3.1) 16#100B 16#00 RO WX 32 B 0U ID ® ID: Iz×L Altivar 31 Node-ID 4

16#100C 16#00 RW WX 16 B 16#0000 ¯° : 23ÑÒs<0U\]£¤/67IAB4 1 ms

16#100D 16#00 RW WX 8 B 16#00 ñÒ< : ûL\]"½O%<NP¶`-»r

16#100E 16#00 RW WX 32 B 16#00000700+ Node-ID ®¯°stu : L0U\]£¤ COB-ID

16#100F 16#00 RO WX 32 B 16#00000001 qr) SDO <

16#1014 16#00 RO WX 32 B 16#00000080+ Node-ID

COB-ID ÝÞR : L EMCY GHU

16#1016

16#00 RO WX 8 B 16#01 v/± - À<

16#01 RW WX 32 B 16#00000000

v/± :Eb 16-23: -20U IDEb 0-15: u"½ (AB4 1 ms) : K> 56±ðñCD1Gj ¡ðñxPà:

16#1017 16#00 RW WX 16 B 16#0000 ðñ± : IAB4 1 ms23ÑÒs< Altivar 31 ä|uU

16#101816#00 RO WX 8 B 16#01 stjk - ¸À< 16#01 RO WX 32 B 16#0000005F stjk - þ ID: I4ê`KCDÕ"

38

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SC DOC xxx-yy 2004.02

!"#$%&'(

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Schneider Electric China

www.schneider-electric.com.cn

!"#$%&' 8

! 17

: 100004

: (010) 6590 6907

: (010) 6590 0013

17/F, Landmark Building

8 North Dongsanhuan Road

Chaoyang District Beijing 100004

Tel: (010) 6590 6907

Fax: (010) 6590 0013 !"#$%&'

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