Upload
others
View
17
Download
0
Embed Size (px)
Citation preview
####
####
####
Altivar 31
CANopen
!
2
________________________________________________________________________________________________________ 3 ____________________________________________________________________________________________________ 4 _______________________________________________________________________________________________________ 10 ___________________________________________________________________________________________________ 11 ___________________________________________________________________________________________________ 12 PL7 SyCon _______________________________________________________________________________ 15 ___________________________________________________________________________________________________ 24 ___________________________________________________________________________________________________ 37
SA !"#$%&'()*+,-./01231!456789:$%)*;<=>?$%@$A
BCDE:FG(HI6JKL:MNOPQ6JRSTUOP$%VWXY;Z[67\]^_EA
3
:
• 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
K ¡¢£¤e¥¦§¨©)ª«
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<ÂÃlı ATV1!ÅÆ2O¿À 2 ATV 31< PowerSuite lÇU:;sKN`'123È@§'12 Modbus ?@ÉʱËÌÍ
Î,gh (VW3 A31101) ÏKN¶ PowerSuite!2O<Ðl¨ÑÒs<Á#´ ATV 31 '12¶ CANopen ¬2 (ı 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]^¸<^èROű 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 ) ߶RQRO
• j«·]^¸ 20 & 21<¿sþËY
• ´?] 22 ßl^¸OqB
• ß? 23
• ´·]^¸¶h³î 7 O<¿sþËY 2.5 mm h³îಠy 0.25 N.m
• à 19 & (PZ01) ös?]&
• ´êT /ëT?ì]¶]í 6 O
• ]´^¸ß
• ¿À~h<ÂôBuæéL ON¿~ÂÃL OFF
• ´ÞOÞísN^¸# ¹
• ÞRx (PZ01) ´µß¶B
20
19
22
23
21
7
6
9
!"#
"#$%&'
RJ45
()*+
(2)
Modbus X (3)
RS232 / RS485 r2Î,gh^®
Ó X ì]T 1 GND T ? 2 CAN_L T CAN_L ]]è 3 SHLD
(^¸dòó ) K¥dòó
4 CAN_H T CAN_H ]]è 5 (V+) ST K¥^® (1)
(1)¿À CANopen ^¸±á 4 Ö (ST ) ì]<Âôµ¶Ó 5 O<N V+ K¥Xe¶µ CANopen
ATV1 ATV2 PowerSuiteÓ X Ó X Ó X 1 CAN_H 1 CAN_H 1 2 CAN_L 2 CAN_L 2 3 CAN_GND 3 CAN_GND 3 4 D1 (2) 4 D1 (2) 4 D1 (2)
5 D0 (2) 5 D0 (2) 5 D0 (2)
6 6 6 7 VP (3) 7 7 VP (3)
8 (2) 8 (2) 8 (2)
8 mm 8 mm
54 mm
Shielding
S1 S2
S3
ON
S4 S5
OFF
1 2 3 4 5
GNDCAN_L
SHLD
CAN_H(V+)
8........................1
10
Altivar 31 CANopen ./"#×KN ./A e
I×Á#l^vwv!'12|"3#$%&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 \[ (200 ms ON, 200 ms OFF, 200 ms ON, and 1 second OFF)
LED N 2.5 Hz 1Û [] (200 ms ON & 200 ms OFF)
LED 4 ON
12
^
_`
ab_`
Altivar 31 ./bciL : • CAN 2.A;• CANopen def (DS301 V4.02)
Ughi; :
Çjkl¤ Can In Automation Ü : http://www.can-cia.de
c>_`
Altivar 31 "#bcWm : • '12&ouQK«bc! (DSP-402 V2.0<ÚÙ:; ) • Drivecom bc (21)
Drivecom & CANopen DSP402 Õno
Å1W (11 B ) %@ (;<ØÙ 8 0 ) COB-ID 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0
13
^
=de)fg
PDO (Process Data Objects1h<ijk ) PDO ULpº¹,8éA"%@
PLC ´5.¹ PDO qr>?stµuv&u (qr>'( )
Altivar 31 ±wTx PDO:
• áw PDO (PDO 1 yKDL˱:; ) :- `z PDO<LQK (QK CMDD! ) '12 - `| PDO<LQK (56 ETAD! ) '12
PDO 1 4~<!u PDO Jlµ%@4&'"|
• á 2 w PDO (PDO LÚÙ:; ) :- `z PDO<QK'12 (QK CMDD!&ÚÙ4 LFRD! )Iô<K/×4`©'(QK CMDD!&ÚÙ4 LFRD!ÏKNGµ#$`± '(
- `| PDO<LQ'12 (56 ETAD!&ÚÙAB4 RFRD! )Iô<K/×4`©'(56 ETAD!&ÚÙAB4 RFRD!ÏKNGµ#$`'(
PDO 6 ./:;KNG?@µ~3 : ~ (L PDO 1) ();<iL~ (SYNC) Iô±á 3 ¨:;<()~;<lI¨;e#$"Á~µ%@4-&'ÂËu PDO /|<ÐJl SYNC ~!r½KN3l~:;s Inhibit time! (67"½ ) & Event timer! (^k"2 ) KN3%&
SDO (Service Data Objects1fg<ijk ) SDO UL×& PLC K.¹ SDO A[()j|
Altivar 31 1 ` SDO<± 2 COB-ID Å1 :• 1 `Lk (G PLC |<L Altivar 31) • 1 `LÃ (UG Altivar 31 | PLC)Altivar 31 ùbu
lmfg
• 23Å1Wx (COB - ID)<?@?@ • NMT GH : Start_Remote_Node (16#01), Start_Remote_Node (16#02), Enter_Pre_Operational (16#80), Reset_Node (16#81),
Reset_Communication (16#82) • l COB-ID 0 z • Heartbeat (u ) (JDL Altivar 31 V1.2 MNOP ) • 0U\] • 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
v/ PL7 w SyCon xP^
yzw CANopen |~Ns¥¦§l PL7 PRO ( V4.3 0 ) & SyCon ( V2.8 0 ) e4 Altivar 31 #/ CANopen PLC q1ÍË~¨IR˼P4 : 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
v/ PL7 w SyCon xP^
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
v/ PL7 w SyCon xP^
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<à 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<´[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
v/ PL7 w SyCon xP^
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
v/ PL7 w SyCon xP^
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#$`<Ã\èé¥I¶
2 K× PDO ¯ PDO: Lê`®¯¶ Configured PDOs! (K× PDO) ç¬ PDO<Ãl Predefined Process Data Objects (PDOs) from EDS file! ( EDS Tx¹,%@ ) 笥¦Ê PDO<Ã*A³ Add to configured PDOs! (¯¶K× PDO) ´µ<üß³ PDO Ö£l Configured PDOs!笯 PDO < SyCon ´5ëìcY`í#×I PDO u:;L` PDO 1 e#$`<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
v/ PL7 w SyCon xP^
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 µ8à Node-ID!3qr>ýþlIÑÒs<8à Consumer Time (msec.)! (ü"½ ( )) ÉÊ<L Producer Timer (msec.)!
PL7 PRO ¯²w³´ CANopen n \ 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\ (¿ C:\Program Files\Schneider\SyCon\Project\ATV31 - Software Setup Example.co! )3¥¦*< Configuration LoadingMode! (×v:; ) 笴/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<ÉʱÃ,¬ PL7 )ª
¿À®67 PDO 1 u PDO & /z PDO<ÉÊl PL7 Ã,¬e3< SDO GH8à 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
v/ PL7 w SyCon xP^
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 ` ) <Шuv<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 ) á`uv\4 %MW0ò< CANopen uv4 %MW0 & %MW1
¾Â %MW32 ! %MW63 (%MW <À ) + (Á6 %MW)
éL Inputs! (uv ) lIRñ.<к PLC u& TSX CPP 100 CANopen PCMCIA 8é Altivar 31 ~u%@K#¶ 10 `0 (5 ` ) <Шu<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* : á`u4 %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"<˱ CANopen u´5/yB4 0
È¿ÉÊ PL7 PL7 ¹ SyCon PL7:
CANopen ]×94 PL7 üç¬/s¶£Å PLC¿ÀlÄÃ,¬eE±Â¿½LI×
<Â PL7 567I:;ï SyCon
: CANopen ]×/34Ív¶ PCMCIA e<òÏü34 SyCon ´µs PL7 PRO Jýþ3׺
Ë¥ .co!ÕË8< !×åôXYÐÕ]%#$%&îÉÊl SyCon s3
22
v/ PL7 w SyCon xP^
CANopen )¾¿w¾Â
PL7 PRO Ë¥ .co!ejlê` CANopen 0U%@&ºµ8 %MW uv&u½«ÀÃé
: C¬×Jl Altivar 31 4 CANopen ]O" !AN23ôõ PDO 6 PDO "±.¿Àl[½]O×±µ <ü%& Altivar 31 PDO ×<ÂOÆuv&u¬×´±Ëä¿ÀÕòã<ÂK SyCon mn`»¼þ#uv&u˱$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;'(<òüKN̲CÕ¿$º SyCon sôõ PDO «ÀÔ
käå SyCon 5cY0?@&0< ( IB!uv& QB!u ) ôµõ4N?@&j©I 1 0ôõv 1 `Í× PDO eAB´' 1 `)* : 1 0´5¬×¶Ê MSB 0<µ LSB 0´54¿!0
PDO ËÌ SyCon I/O PL7 PRO I/O £¤jk
u PDO 6 uv IB0 - IB1 %MW0 56 ETA! IB2 - IB3 %MW1 ÚÙAB4 RFRD!
z PDO 6 u QB0 - QB1 %MW2 QK CMD! QB2 - QB3 %MW3 ÚÙU LFRD!
23
v/ PL7 w SyCon xP^
sQb( PL7 PRO ,¬fá 15 þ PL7 & SyCon 3¼!¥e˦§× :
~£Õ :• ´)'12567tu Altivar 31• lk"2 TM0 "½b 1500 rpm spÚÙq*
´Ns :
(* Masks the DRIVECOM Status Word *)%MW5:=%MW0 AND 16#00FF;
(* Status word "ETAD" = 16#xx40 = Switch on disabled *)IF(%MW5=16#0040)THEN
%MW2:=16#0006;(* Control word "CMDD" = 16#0006 = Shutdown *)END_IF;
(* Status word "ETAD" = 16#xx21/23 = Ready to switch on/Switched on *)IF(%MW5=16#0021)OR(%MW5=16#0023)THEN
%MW2:=16#000F;(* Control word "CMDD" = 16#000F = Enable operation *)%MW3:=1500;(* Velocity reference "LFRD" = 1,500 rotations per minute *)START %TM0;(* Starts the forward/reverse timer *)
END_IF;
(* Status word "ETAD" = 16#xx27 = Operation enabled *)IF(%MW5=16#0027)THEN
(* Forward/reverse timer elapsed *)IF %TM0.Q THEN
(* Control word "CMDD": Forward <--> Reverse *)IF %MW2:X11 THEN RESET %MW2:X11;ELSE SET %MW2:X11;END_IF;(* Makes sure the DRIVECOM status does not change *)%MW2:=%MW2 OR 16#000F;(* Maintains Velocity reference "LFRD" at 1,500 rpm *)%MW3:=1500;(* Re-starts the forward/reverse timer *)DOWN %TM0;START %TM0;
END_IF;END_IF;
24
fg
¥¦§'12§¨ CANopen GH<´ COB-ID +,-¬
#$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< Command Specifier! (»¼ W ) /˱ 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"Éʵ3u%&
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 ) 笯 /Ú:ࣶ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|ZÿsËY (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 ) 笯 /Ú:ࣶ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 8ÃzZÿsËY (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 ù˱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 ˱'(&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 ˱'(&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 Aà response code!4 16#60<©4á9ͪ")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 ) eǵ NMT 56< ¿s : í_ 7 = \îJí_ : ÊEb4l8Q' '12AýÉÊ'0U\]£¤*t.*ë'AÃßI6Eb44 0Jl Reset_Communication! (yB./ ) »¼¶'12*/yB4 0 ( 25 þÜÝ567 (NMT56v ) !¥ ) ¿Àz¶'AÃßI6Ebº'8<´tAôz¶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
ltu죤Ze|"%@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): ¿Àá9ͪ")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): ¿Àá9ͪ")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#$«|Z<Uä~| remote frames! (Î,Z )
ÏÐ@ B
ê`u-2! 5qr>?|uU (O ) <#$ (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!Ç`u-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´5`u! ^
Ó׶üu"½&-2u"½%ÕG SyCon v2.8 (MµP ) ù<u£¤ÁÕǨK 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./%IR˱à£L˱ 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
jkÑò
µ¶ ·µ¶ ÷øùú ËÌ CD9
16#1200
16#00 RO WX 8 B 16#02 fg SDO - ¸À<
16#01 RO WX 32 B 16#00000600+ Node-ID
fg SDO - COB-ID ÏÐ@ ( )
16#02 RO WX 32 B 16#00000580+ Node-ID
fg SDO - COB-ID ÏÐ@ (ð )
16#1400
16#00 RO WX 8 B 16#02 PDO1 - À<
16#01 RW WX 32 B 16#00000200+ Node-ID PDO1 - COB-ID
16#02 RO WX 8 B 16#FF PDO1 - ¾ËÌ : PDO 5=/)ÉÊ,MÜN (<i9Wð PDO)
16#1405
16#00 RO WX 8 B 16#02 PDO6 - À<
16#01 RW WX 32 B 16#00000300+ Node-ID
PDO6 - COB-ID
16#02 RW WX 8 B 16#FF PDO6 - ¾ËÌ : I PDO KN\¨:; : ~! (255)<~()! (1-240) &~()! (0)
16#160016#00 RO WX 8 B 16#01 PDO1 £¤ - £¤jk<
16#01 RO WX 32 B 16#60400010 PDO1 £¤ - 1 £¤jk : QK CMDD! (16#6040)
16#1605
16#00 RW WX 8 B 16#02 PDO6 £¤ - £¤jk< : I PDO KNôõ 0¶ 4 `
16#01 RW WX 32 B 16#60400010 PDO6 £¤ - 1 £¤jk : QK CMDD! (16#6040)
16#02 RW WX 32 B 16#60420010 PDO6 £¤ - 2 £¤jk : á9M LFRDN (16#6042)
16#03 RW WX 32 B 16#00000000 PDO6 £¤ : E±á 3 ôõ 16#04 RW WX 32 B 16#00000000 PDO6 £¤ : E±á 4 ôõ
16#1800
16#00 RO WX 8 B 16#05 ¾ PDO1 - À<
16#01 RW WX 32 B 16#00000180+ Node-ID ¾ PDO1 - COB-ID
16#02 RO WX 8 B 16#FF ¾ PDO1 - ¾ËÌ : PDO 5=/)ÉÊ,MÜN (<i9Wð PDO)
16#03 RW WX 16 B 30 ¾ PDO1 - : ¾)ZÄ, 1 ms
16#04 RW WX 8 B __ u PDO1 - \è
16#05 RW WX 16 B 100 ¾ PDO1 - : MÜNÉÊ(1jk4, PDO ¾!ZÄ, 1 ms
16#1805
16#00 RO WX 8 B 16#05 ¾ PDO6 - À<
16#01 RW WX 32 B 16#00000280+ Node-ID u PDO6 - COB-ID
16#02 RW WX 8 B 16#FF¾ PDO6 - ¾ËÌ : I PDO KN\¨:; : ~! (255)<~()! (1-240) &~()! (0)
16#03 RW WX 16 B 30 ¾ PDO6 - : ¾)ZÄ, 1 ms
16#04 RW WX 8 B __ ¾ PDO6 - ï
16#05 RW WX 16 B 100 ¾ PDO6 - : MÜNÉÊ(1jk4, PDO ¾!ZÄ, 1 ms
39
jkÑò
"º Altivar 31 #Æ_`ö$)jkIÌX%leä3¦§C Altivar 31 ö÷%)* k Altivar 31 -./'(0
"ºs$W%_`ö$)jk
IÌX%leä3¦§C%)* k Altivar 31 -./'(0
µ¶ ·µ¶ ÷øùú ËÌ CD9
16#1A0016#00 RO WX 8 B 16#01 PDO1 £¤ - £¤jk<
16#01 RO WX 32 B 16#60410010 PDO1 £¤ - 1 £¤jk : 56 ETAD! (16#6041)
16#1A05
16#00 RW WX 8 B 16#02 PDO6 £¤ - £¤jk< : I PDO KNôõ 0 ¶ 4 `
16#01 RW WX 32 B 16#60410010 PDO6 £¤ - 1 £¤jk : 56 ETAD! (16#6041)
16#02 RW WX 32 B 16#60440010 PDO6 £¤ - 2 £¤jk : ÚÙAB4 RFRD! (16#6044)
16#03 RW WX 32 B 16#00000000 PDO6 £¤ : E±á 3 ôõ 16#04 RW WX 32 B 16#00000000 PDO6 £¤ : E±á 4 ôõ
!"EF !"# !"#$%&' 8 !"#1 17 : 100004 : (010) 65906907 : (010) 65900104
= !" !"# 319 !"#$ A 9 : 200051 : (021) 62351333 : (021) 62351238
= !" ! "# 403 !"#$%& 31 : 510095 : (020) 87320138 : (020) 87321929
= !" !"#$%& 15 1502 : 430033 : (027) 85712588 : (027) 85712688
= !" !"# 2 !" 17 A : 210016 : (025) 4814815 : (025) 4814816
= !" !"#$%& 111 !"#$ 12 : 530022 : (0771) 5519761/62 : (0771) 5519760
= !" !"#$ 59 !"#$ 24 C : 266071 : (0532) 5793001 : (0532) 5793002
= !" !"# 5047 !"#$%& 17 H : 518001 : (0755) 25841022/1488 : (0755) 82080250
= !" !"#$%& 68 !"#$% 2205 : 116001 : (0411) 2822690 : (0411) 2822692
= !" !"#$ 88 !" 12 D : 350005 : (0591) 7114853 : (0591) 7112046
= !" !"# 78 !" 4 : 310003 : (0571) 85271466 : (0571) 85271305
= !" !"#$%& 68 !"# 16 1603 : 400010 : (023) 63839700 : (023) 63839707
= !" !"# 30 !" # 306 : 710002 : (029) 87203222 : (029) 87203509/10
= !" !"#$%&125-127 ! 1710-1711 : 300074 : (022) 28408408 : (022) 28408410
= !" !"#$ 386 !" 1200 : 410007 : (0731) 5115858 : (0731) 5117878
= !" !"#$ 123 !"#$% 14 D : 650032 : (0871) 3647549/50/58/59 : (0871) 3647552
= !" ! 308 !" 27 B, C, D, E, F : 610017 : (028) 86528282 : (028) 86528383
= !"#$ !"#$%& 5 !"# 1112 : 830002 : (0991) 2825888-1112 : (0991) 2848188
= !" !"#$%& 219 !"#$ 16 G, H, I : 110015 :(024) 23964339 : (024) 23964296/97
= !" !"#$ 66 !" !"#$BB1107 : 250063 : (0531) 6065156 : (0531) 6065016
= !" !"#$ 636 ! 1 303 : 215005 : (0512) 6522 1287 : (0512) 65221287
= !" !"#$ 1 !"#$%&' 833 : 315010 : (0574) 87716067 : (0574) 87724576
= !" !"#$ 1104 !"#$ 918 : 230011 : (0551) 4291993 : (0551) 4291993
= !" !"# 115 !"#$ 2 165 : 450003 : (0371) 5939211 : (0371) 5939213
= !"# !"#$%&'93 !"#$%&' 612 : 150036 : (0451) 82343219 : (0451) 82311103
= !" !"#$ 19 !"# 0601 : 361012 : (0592) 5048393/8701 : (0592) 5048208
= !"# !"#$% 303 !"#$%&'121201 : 050011 : (0311) 6698713 : (0311) 6698723
= !" !"# 343 !" 19 D, E, F : 214001 : (0275) 2752575 : (0275) 2755950
= !" !"#$ 2677 !""# 1211-1212 : 130061 : (0431) 8400302/03 : (0431) 8400301
= !" !"#$%& 1 !" 806 : 523070 : (0769) 2413010/20 : (0769) 2413160
= !" !"# 268 !" 1003 : 030002 : (0351) 4937186/4937025 : (0351) 4937029
= EF ! ! " 30 !"# 31 3108-28 : (00852) 25650621 : (00852) 28111029
!"#$%&= !"#$%&'() !"# 1954 !"#$%&' : 200030 : (021) 62831227 : (021) 62811847
!"EF !"#
!"#800 810 1315 / (010) 6788 8904
!"#$%&= !"#$%&' !"#$%&'( 76 !"#$% 12 : 100086 : (010) 62638210/11 : (010) 62638212
SC DOC xxx-yy 2004.02
!"#$%&'(
!"#$
Schneider Electric China
www.schneider-electric.com.cn
!"#$%&' 8
! 17
: 100004
: (010) 6590 6907
: (010) 6590 0013
17/F, Landmark Building
8 North Dongsanhuan Road
Chaoyang District Beijing 100004
Tel: (010) 6590 6907
Fax: (010) 6590 0013 !"#$%&'
!"#$%&'( !"#$%&'()*+,-./0(1
!"#$% !"#$%