Configuration Using Control Expert with CPUs 20102/ 20302

At a Glance

The devices which can be configured using Control Expert are shown in the Hardware Catalog:

Procedure

To configure a slave, perform the following actions:

Step	Action
1	Access the CANopen bus configuration screen.
2	Double-click on the slave to be configured.
3	Configure the Bootup Procedure using the Bootup tab.
4	Integrate a third pary product using the Object Dictionary tab.
5	Configure the usage function using the Config tab.
6	Configure the PDOs using the PDO tab.
7	Select the error control using the Error control tab.

Configuration Tab

The following figure shows an example of the configuration screen of a slave:

The next table shows the various elements of the configuration screen and their functions:

Number	Element	Function
1	Tabs	The tab in the foreground indicates the type of screen displayed. In this case, it is the configuration screen.
2	Module area	Gives a reminder of the device’s shortened name.
3	Channel area	This zone allows you to select the communication channel to be configured. By clicking on the device, you display the following tabs: Description : gives the characteristics of the device, CANopen: allows you to access SDO (in online mode), I/O Objects: allows pre-symbolizing of the input/output objects, Fault: accessible in online mode only. By clicking on the channel, you display the following tabs: PDO (input/output objects), Error control, Bootup, Object DIctionary, Configuration, Debug which can be accessed only in online mode, Diagnostics, accessible only in Online mode.
4	General parameters area	This field allows you to select the slave function.
5	Configuration area	This area is used to set up the channels of the devices. 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: Refer to the documentation of each device for information on general, configuration, adjustment and debugging parameters.

NOTE: All parameters are not sent when the device takes its configuration. The CPU send only parameters which are different from the default values.

PDO Tab

PDOs make it possible to manage the communication flow between the CANopen Master and the slaves. The PDO tab allows to configure a PDO.

This screen is divided into 3 parts:

Transmit PDOs: information transmitted by the Slave to the Master,
Receive PDOs: information received by the Slave from the Master,
Variables: variables that can be mapped to the PDOs. To assign a variable to a PDO, drag and drop the variable into the desired PDO. No variable can be assigned with a static PDO.

NOTE: To configure the STB NCO 1010, it’s 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, please refer to the STB user manual.

For more information about the use of the PDOs, see [...].

Error Control Tab

The Error control tab for CANopen slave modules allows you to configure monitoring.

Two choices are possible:

Heartbeat: The Heartbeat mechanism consists of sending cyclical presence messages generated by a Heartbeat Producer. A Heartbeat transmitter (producer) sends messages recurringly. The sending time is configured with the Node Heartbeat Procucer Time Value. One or several elements connected to the network receive this message. The Heartbeat consumer surveys the Heartbeat message reception. The default value of consumer time is set to (1.5 * Producer Heartbeat Time). If its duration exceeds the Heartbeat Consumer Time (1.5 * Producer Heartbeat Time), an Hearbeat event is created and the device is in default.

If a M340 Master PLC is used on the CANopen bus, all the nodes using the Heartbeat control mode are producers. The master surveys the transmission and the reception of the messages and it is the only receiver of the Heartbeat messages sent by the nodes.

Control Expert supports devices that are only heartbeat producer (no consumer) and does not support the node guarding. In this case, the value of node heartbeat consumer time is set to 0. This value is displayed on the error control tab of the device.

The Master can send Heartbeat messages to the slaves. The Master Heartbeat producer time is set at 200 ms and is not modifiable.
Node guarding: Node Guarding is the monitoring of network nodes. The NMT (Network Management) master sends an RTR (Remote Transmission Request) at regular intervals (this period is called Guard Time) and the concerned node must answer in a given time lapse (the Node Life Time equals the Guard Time multiplied by the Life Time Factor).

The Life Time value is set at 2 and is not modifiable.

NOTE: Some devices only support Heartbeat or Node Guarding. For devices which support Heartbeat and Node Guarding, the only choice in Control Expert is the Heartbeat mechanism.

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 will bypass standard system checks.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

The Bootup tab allows you to configure the Bootup procedure:

The goal of bootup procedure tab is to bypass the standard bootup procedure for devices which do not comply with CANopen standards.

The following paragraph defines the different functionalities of the Bootup procedure:

The type of restore:
- No Restore: option enabled by default.
- Restore communication parameters: enabled option according to the object 0x1011sub02. If the option is checked, all parameters between 0x1000 to 0x1FFF are restored.
- Restore application parameters: enabled option according to the object 0x1011sub03. If the option is checked and if the device correctly implements the service, all application parameters are restored.
- Restore all: enabled option according to the object 0x1011sub01. If the option is checked, all parameters are restored (default value).
The type of reset:
- Reset communication parameters: option always enabled. If the option is checked, all communication parameters are reset.
- Reset node (default value): option always enabled. If the option is checked, all parameters are reset.
The check device type and identity (checked by default):
- 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.
- 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 with ProductCode, RevisionNumber and SerialNumber with the according objects 0x1F86-0x1F88.

NOTE: Unchecked option DeviceType forces the object dictionary 0x1F84 to 0x0000.

NOTE: Unchecked option identity forces the object dictionary 0x1F86-0x1F88 (sub device nodeID) to 0x0000.

Forces the download of communication or configuration parameters (unchecked by default). If option is checked, it forces all the corresponding objects to be downloaded.

If the option is unchecked, you must follow these standard rules:
- Parameters are downloaded if they are different from the default value.
- Parameters are downloaded if they are forced in the object dictionary.
- Parameters are not downloaded in the other cases.
The start Node:

If option is checked (default value), the CANopen master starts automatically the device after the bootup procedure.

If option is unchecked, the device stays in pre-operational state after bootup procedure. In this case, the device must be started by the application program.

Object Dictionary Tab

WARNING

UNEXPECTED EQUIPMENT OPERATION

Manually verify all Object Dictionary values.

Changing the default values of the Object Dictionary table will generate non-standard behaviour 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, by:

Force parameters to be transmitted even if they are unchanged, by ticking the associated checkbox of each parameter.
Block parameters that do not need to be sent to the device, by removing tick of the associated checkbox of each parameter.
Set objects to a specific value just before (prologue), or just after (epilogue) the standard boot up procedure.
Modify the current value of an object (except read only objects), if the value box is not greyed out, by typing value you wish in the box. By default, if the current value is modified, the object is sent. Nevertheless, after filling the box, you still have the choice to modify this behaviour, by removing the mark of the checkbox in order to block the object sending. To prevent programming redundancies or conflicts, parameters which can be modified in other tabs, Configuration, PDO or Error Control, are greyed out in the Object Dictionary tab.

The following illustration describes th Object Dictionary tab:

You can drag&drop available object, except many of them, from the index folder to the prolog or epilog section. In the event of the insertion of some forbidden ones, like PDOs or read-only for instance, a pop-up appears.

NOTE: An object which have been put in the prolog or epilog section will always be sent.

You can select 2 filters to reduce the number of displayed objects on the grid: :

Area Filter
All	show all area.
Prologue/ Epilogue	show only prologue and epilogue 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 boot up
Not Configured	show only not transmitted objects to the device
Modified	show only objects from which values are different from default values

You can right click on an object to execute function:

Right click on an object in the prologue and epilogue sections
Cut	Cut the row and copy the object in the clipboard
Copy	Copy the object in the clipboard
Paste	Paste the object in the selected row
Delete	Delete the selected object
Move up	Used to manage the order fo the list
Move down	Used to manage the order fo the list
Configured	If checked, the object is transmitted to the device
Expand all	Expand all nodes of the tree
Collapse all	Collapse all nodes of the tree
Right click on an object in the standard sections
Copy	Copy the object on the clipboard
Configured	If checked, the object is transmitted to the device
Expand all	Expand all nodes of the tree
Collapse all	Collapse all nodes of the tree

NOTE: some functions are only available in prolog-epilog section.