Configuration Using Control Expert
Original instructions
About us
Overview
Devices that can be configured using Control Expert are shown in the Hardware Catalog:
Procedure
To configure a slave, follow these steps:
Step
Action
1
Access the CANopen bus configuration screen.
2
Double-click the slave to be configured.
3
Configure the usage function using the Configuration tab.
4
Configure the PDOs using the PDO tab.
5
Select the control of error detected using the Error control tab.
6
Configure the bootup procedure using the Bootup tab.
7
Integrate a third-party product using the Object Dictionary tab.
Configuration Tab
This figure shows an example of the configuration window of a slave:
This table shows the elements of the configuration window and their functions:
Number
Element
Function
1
Tabs
Indicates the type of window displayed. In this case, it is the configuration window.
2
Module
Indicates the device shortened name.
3
CANopen communication
Allows you to select the device and display the Overview tab. It gives the characteristics of the device.
Allows you to select the channel and display these tabs:
  • Configuration
  • PDO (input/output objects)
  • Error control
  • Bootup
  • Object dictionary
4
General parameters
Allows you to select the slave functions.
5
Configuration
Allows you to set up the channels of the devices.
NOTE: Some devices can be configured with an external tool. In this case, the configuration is stored in the device and you cannot enter configuration parameters because this field is empty.
NOTE: All parameters are not sent when the device takes its configuration. The CPU sends only parameters that are different from the default values.
For more information on general, configuration, adjustment, and debugging parameters, refer to the documentation of each device.
PDO Tab
PDOs make it possible to manage the communication flow between the CANopen master and the slaves. A PDO can be enabled or disabled. The PDO tab allows you to configure a PDO.
This figure shows an example of the PDO tab:
This table shows the elements of the PDO tab and their functions:
Number
Element
Function
1
Receive (%Q)
Information received by the slave from the master.
2
Transmit (%I)
Information transmitted by the slave to the master.
3
PDO
According to the EDS file, some PDOs are already mapped. Otherwise, variables can be mapped to the PDOs.
4
Tr.Type
The transmission type can be:
  • Synchronous acyclic (0): the message is transmitted synchronously with the SYNC message but not periodically according to the value.
  • Synchronous cyclic (1-240): the PDO is transmitted synchronously and cyclically. This value indicates the number of SYNC messages between 2 PDO transmissions.
  • Asynchronous (Manuf. Event) (254): the PDO is transmitted asynchronously. It depends on the implementation in the device. Used for digital I/O.
  • Asynchronous (Profile Event) (255): the PDO is transmitted asynchronously when the value changes.
NOTE: Verify that the configured transmission type is supported by the selected device.
5
InhibitTime
Mask the communication during this time.
6
Event Timer
Time to manage an event in order to start a PDO.
7
Variables
Variables can be mapped to the PDOs.
To assign a variable to a PDO, drag and drop the variable into the desired PDO. A variable cannot be assigned with a static PDO.
NOTE: Double-click the element to edit the value of parameters.
To configure the STB NCO 1010, it is necessary to determine all the objects that are valid for this device and to configure them manually in the PDOs. For more information about the list of the associated objects, refer to the STB user manual.
PDO Multi-Mapping
The BMECXM master allows the PDO multi-mapping. It is possible to configure the same CANopen object in two different PDOs:
If an object is mapped...
Then ...
In more than one RPDO of a node
It is not supported.
In an RPDO and in a TPDO of a node
It is represented by two network variables in both process images.
In more than one TPDO of a node
Each instance is linked to the same network variable.
The PDO configuration is checked at build time. If there is an error detected:
Error Control Tab
Some CANopen slave devices only support either Heartbeat or Node Guarding. But for devices that support both Heartbeat and Node Guarding protocols, the only choice in Control Expert is the Heartbeat mechanism.
The Error control tab for CANopen slave modules allows you to configure monitoring:
If the Node Heartbeat Producer time value or Guard Time value is set to 0 (zero), then according to the CANopen expected behavior, a CANopen slave device disconnected or not present in the configuration will not be diagnosed.
WARNING
UNEXPECTED DIAGNOSTIC BEHAVIOR
  • Do not set the Guard Time value to 0 (zero), when using the Node Guarding protocol.
  • Do not set the Node Heartbeat Producer time value to 0 (zero), when using the Heartbeat protocol.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
This table shows the elements of the Error control tab and their functions:
Protocol Used
Function
Node Guarding
Monitoring of network nodes:
  • Guard Time: period when the NMT (Network Management) master sends an RTR (Remote Transmission Request) at regular intervals
    NOTE: A value set to 0 deactivates the monitoring of the node.
  • Life Time Factor (read-only): 2.
The concerned node answers in a given lapse time defined as below: lifetime = Guard Time * Life Time Factor
NOTE: If there is no connection monitoring during the lifetime interval, the CANopen slave device signals an error.
Heartbeat
Mechanism that consists on sending cyclical presence messages generated by a heartbeat producer (CANopen slave) and the Heartbeat consumer (BMECXM) surveys the Heartbeat message reception.
  • Node Heartbeat Producer time: value corresponding to the sending time
    NOTE: A value set to 0 deactivates monitoring by a consumer.
  • Node Heartbeat Consumer time (read-only): value corresponding to the reception time (default value set to 300 ms and cannot be modified).
NOTE:
  • The values for the consumer must not be less than the values for the producer.
    By default, Node Heartbeat Consumer time = 1.5 * Node Heartbeat Producer time.
  • If the BMECXM does not receive a signal within the time set for Node Heartbeat Consumer time, it generates a heartbeat event.
Bootup Tab
WARNING
UNEXPECTED EQUIPMENT OPERATION
Manually verify all deactivated standard checks on the device before operating the system.
Changing the default parameters of the Bootup tab bypasses standard system checks.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
The goal of bootup procedure tab is to bypass the standard bootup procedure for devices that do not comply with CANopen standards.
The Bootup tab allows you to configure the bootup procedure:
This table defines the different functionalities of the Bootup procedure configuration:
Type
Functionality
Restore
No Restore
–
Restore communication parameters
Enabled option according to the object 0x1011sub02. If checked, all parameters between 0x1000 to 0x1FFF are restored.
Restore application parameters
Enabled option according to the object 0x1011sub03. If checked and if the device correctly implements the service, all application parameters are restored.
Restore all parameters
Enabled option according to the object 0x1011sub01. If checked, all parameters are restored to default value.
Reset
Reset communication parameters
Option always enabled. If checked, all communication parameters are reset.
Reset node
Option always enabled. If checked, all parameters are reset.
Check node
Device type
If the device type identification value for the slave in object dictionary 0x1F84 is not 0x0000 ("don’t care"), compares it to the actual value.
NOTE: If unchecked, this option forces the object dictionary 0x1F84 to 0x0000.
Device identity
If the configured vendor ID in object dictionary 0x1F85 is not 0x0000 ("don’t care"), read slave index 0x1018, sub-Index 1 and compare it to the actual value.
The same comparison is done for ProductCode, RevisionNumber, and SerialNumber according to object 0x1F86-0x1F88.
NOTE: If unchecked, this option forces the object dictionary 0x1F86-0x1F88 (sub device node ID) to 0x0000.
Download Configuration
Force communication parameters
Forces the download of communication or configuration parameters (unchecked by default).
If the option is:
  • Checked, it forces all the corresponding objects to be downloaded.
  • Unchecked, you have to follow these standard rules: parameters are downloaded if they are different from the default values or if they are forced in the object dictionary. In other cases, parameters are not downloaded.
Force application parameters
Start
Start node
If the option is:
  • Checked (default value), the CANopen master starts the device automatically after the bootup procedure.
  • Unchecked, the device stays in pre-operational state after bootup procedure. In this case, the device has to be started by the application program.
Object Dictionary Tab
WARNING
UNEXPECTED EQUIPMENT OPERATION
Manually verify all Object Dictionary values and mapping.
Changing the default values and mapping of the Object Dictionary table generates non-standard behavior of the equipment.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
The Object Dictionary tab allows you to configure and integrate third-party products:
This table shows the elements of the Object Dictionary tab and their functions:
Element
Function
Parameter
If the check box associated to each parameter is:
  • Activated: force parameters to be transmitted even if they are unchanged.
  • Deactivated: block parameters that do not need to be sent to the device.
NOTE: To prevent programming redundancies or conflicts, parameters that can be modified in Configuration, PDO, or Error Control tabs are grayed out.
Current Value
Modify the current value of an object (except read-only objects) by typing a value in the box. By default, the object is sent if the current value is modified. You can block object sending by deactivating the check box.
Default Value
Set objects to a specific value just before (prolog) or just after (epilog) the standard bootup procedure.
Area Filter
  • All: Show all area.
  • Prolog / Epilog: Show only prolog and epilog projects
  • XXXX...YYYY: Show only objects between XXXX to YYYY.
Status Filter
  • All: Show all objects.
  • Configured: Show only transmitted objects to the device during bootup.
  • Not configured: Show only not transmitted objects to the device.
  • Modified: Show only objects from which values are different from default values
You can drag and drop available objects from the index folder to the prolog or epilog section. If not, for example PDOs or read-only, a pop-up appears. Some functions are only available in prolog and epilog section.
NOTE: An object that has been put in the prolog or epilog section is always sent.