Description of the I/O Data and the Behavior of the Bus on Start-Up

At a Glance

The configuration screen allows you to configure the bus behavior at start-up as well as the inputs and outputs of slave devices on the bus.

Bus Start-Up

This figure illustrates the configuration zone of the bus start-up.

The bus start-up can be performed in three ways:

Automatic: the bus configuration, communication management and the updating of slave I/Os are activated at start-up, without application intervention.
Semi-Automatic (bus alone): the bus configuration and communication management are activated at start-up but management of I/Os must be confirmed by the application using the corresponding language objects.
By program: the bus start-up should be fully managed by the application using the corresponding language objects.

NOTE: in Automatic and Semi-automatic mode, if the "Stop bus when slave watchdog is triggered", is activated, then in case of a fault you must perform a cold start of the PLC application in order to restart the CANopen bus.

NOTE: whatever the startup mode configured, the option "Stop bus when slave watchdog is triggered" option stops the bus when a slave disappears. If a fault occurs on a slave before the bus starts, the startup is performed nevertheless.

Inputs

This figure illustrates the input configuration zone.

To configure the inputs of the slaves on the bus, it is necessary to indicate a memory zone to which they will be copied periodically. To define this zone, indicate:

A number of words: this is the number of input words corresponding to the size of input data configured by the Sycon software.
Address of the first %MW: this is the address of the first word in the input memory zone.

NOTE: The %MW words contain the input values of the slaves on the bus. When the Control Expert load mode is chosen, it is possible to recognize words associated with slaves by pressing the Bus configuration button on the configuration screen. In Sycon load mode, only the Sycon software allows you to recognize slaves associated with %MW words. These %MW words are used directly by the application as inputs.

NOTE: As for Fipio bus, if the %SW8 word is used (%SW8.0 bit set to 1 for the master task and %SW8.1 bit set to 1 for the fast task), the input acquisition phase of the bus devices is inhibited. The values of these inputs remain in the status prior to the setting to 1 of the bit.

Outputs

This figure illustrates the output configuration zone.

To configure the outputs, it is necessary to indicate, as for the inputs, the word table that will contain the value of the bus outputs, but also the type of fallback needed when there is a slave fault:

Maintain,
Reset.

NOTE: The %MW words contain output values of the slaves on the bus. When the Control Expert load mode is chosen, it is possible to recognize words associated with slaves by pressing the Bus configuration button on the configuration screen. In Sycon load mode, only the Sycon software allows you to recognize slaves associated with %MW words. These %MW words are used directly by the application as outputs.

NOTE: The word tables are found in the PLC internal memory. Any crossover between these two areas is prohibited.

NOTE: If the number of input or output words are different to those determined in the configuration file (file name *.CO), the Control Expert software signals this when the configuration is confirmed.

NOTE: The maximum authorized size of the memory zone reserved for I/Os depends on the processor type and associated task.

NOTE: As for Fipio bus, if the %SW9 word is used (%SW9.0 bit set to 1 for the master task and %SW9.1 bit set to 1 for the fast task), the outputs of the devices on the bus are maintained in the state they were in before the bit was set to 1.