CANopen Configuration
 
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Bus Configuration
Follow the below steps to access the CANopen field bus:
Step
Action
1
From the project navigator, expand the Configuration directory.
Result: The following screen appears:
2
To open the CANopen bus screen, select one of the following methods:
  • double-click the CANopen directory
  • select the CANopen sub-directory and select Open in the contextual menu.
Result: The CANopen window appears.
Follow the steps below to add a device connected to the CANopen bus:
Step
Action
1
Access the CANopen configuration screen.
2
Double-click the place where the module should be connected.
Result: The New Device screen appears.
3
Enter the number of the connection point corresponding to the address.
By default, the Unity Pro software offers the first free consecutive address.
4
In the Communicator field, select the element type enabling communication on the CANopen bus.
For modules with built-in communicators, this window does not appear.
5
Validate with Ok.
Result: The module is declared.
Follow the steps below to delete a device connected to the CANopen bus:
Step
Action
1
Access the CANopen configuration screen.
2
Right-click the connection point of the device to be deleted, then click Delete the drop.
Follow the steps below to move a device connected to the CANopen bus:
Step
Action
1
Access the CANopen configuration screen.
2
Select the connection point to be moved (a frame surrounds the selected connection point).
3
Drag and drop the connection point to be moved to an empty connection point.
Result: The Move Device screen appears.
4
Enter the number of the destination connection point.
5
Confirm the new connection point by pressing OK.
Result: The Move Device screen appears.
6
Confirm the modification by selecting Yes to modify the addresses of the inputs/outputs objects in the program and move the variables associated with these objects.
Follow the steps below to duplicate a device connected to the CANopen bus:
Step
Action
1
Access the CANopen configuration screen.
2
Right-click the device to be copied, then click Copy.
3
Right-click the connection point desired, then click Paste.
Result: The New Device screen appears.
4
Enter the number of the destination connection point.
5
Confirm the new connection point by selecting OK.
Master Configuration
The Master configuration and the devices configuration are stored in the PLC application in order to be used by the CANopen stack of the MC80 firmware.
The following table describes how to Access the CANopen Master Configuration screen:
Step
Action
1
Open the CANopen directory under BUS MC80 directory
Result: The following screen appears:
Double-click the processor's CANopen port.
2
The master configuration screen appears:
The following table describes the different areas which make up the master configuration screen:
Address
Element
Function
1
Tab
The tab in the foreground indicates the type of screen displayed. In this case, it is the configuration screen.
2
Module area
This area is made up of the abbreviated heading of the processor equipped with a CANopen port.
3
Channel area
This zone allows you to select the communication channel to be configured.
By clicking the device, you display the tabs:
Overview: Gives the characteristics of the built-in CANopen port,
By clicking a channel, you display the tabs:
Configuration: Enables you to declare and configure the CANopen master
4
General parameters area
This field enables you to:
  • Associate the CANopen bus to an application task
    • MAST which is the master task
The tasks are asynchronous in relation to exchanges on the bus.
5
Configuration area
This field enables you to:
  • Configure the parameters of the CANopen bus.
The following table describes the configuration parameters for CANopen Master Configuration screen:
Parameter
Description
Outputs- Fallback
The fallback information area contains two options, which defines the behavior of the device when the CPU is in STOP or in HALT:
  • Maintain: Maintains outputs (values are kept),
  • Reset: Resets outputs (values are set to 0).
NOTE: The Bus Stop when PLC stop check box in the fallback area configuration is only available in CANopen expert mode.
  • If it is not checked: the CANopen bus remains in RUN after a PLC stop and the global strategy of fallback is applied to the outputs according to Maintain or Reset radio button.
  • If it is checked: the CANopen bus is stopped when a PLC stop; in this case, Maintain and Reset radio buttons are greyed out.
Bus Parameters
To configure the bus, it is necessary to indicate the following parameters:
  • Transmission speed – 250 kBauds default
  • SYNC Message COB-ID - 128 default
  • SYNC Message Period - 100 ms default
  • NMT inhibit time - 5 ms default. During Bootup, the CANopen Master implements a delay between each NMT messages to avoid slave overload. The value must be given in multiple of 100 µs. The value 0 disables the inhibit time.
  • Device Bootup Time Out - 50 ms default. The global SDO timeout for the master is related to the scanning of the network. During this time, the master reads the object 1000 of each slave to analyze the CANopen bus configuration.
  • Specific SDO timeout: 15,000 ms default. The slaves SDO timeout is necessary for devices with long response times i.e. for accesses to the objects 1010,1011,1F50. A grid displays all present devices with the NodeId, the name and the timeout value.
NOTE: Only 16 devices are supported in 16 possible addresses from 1…16.
Device Configuration
To configure a slave, perform the following actions:
Step
Action
1
Access the CANopen bus configuration screen.
2
Double-click 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 Configuration tab.
6
Configure the PDOs using the PDO tab.
7
Select the error control using the Error control tab.
The following figure shows an example of the configuration screen of a slave:
The following table shows the various elements of the configuration screen and their functions:
Address
Element
Function
1
Tab
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 the device, you display the following tabs:
  • Description: Gives the characteristics of the device
  • CANopen: Allows you to access SDO (in online mode)
  • Device DDT: Pre-symbolizing of the input/output objects
By clicking the channel, you display the following tabs:
  • PDO (input/output objects)
  • Error control
  • Bootup
  • Object DIctionary
  • Configuration
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.
The animation of the CANopen bus editor is based on:
The following screen shows the CANopen Device PDO screen:
The following table lists the behavior of configuring CANopen devices in Unity:
Zone
Description
PDO
PDOs make it possible to manage the communication flow between the CANopen Master and the slaves. The PDO tab allows you to configure a PDO.
  • 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.
Error Control
The Error control tab for CANopen slave modules allows you to configure monitoring.
Bootup
The goal of bootup procedure tab is to bypass the standard bootup procedure for devices which do not comply with CANopen standards.
Object Dictionary
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 selecting the associated checkbox of each parameter.
  • Block parameters that do not need to be sent to the device, by unselecting 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 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.
NOTE: The I/O vision of CANopen devices is based on Device DDT.
Hardware Catalog Manager
The Catalog Manager is a software tool that allows management of CANopen devices in the Unity Pro catalog database.
The Catalog Manager is a separate software that can be used to:
The Unity user interface works on a catalog database which is installed with Unity Pro, and uses some basic services from the Unity Pro installation. Therefore Unity Pro software must be installed on your workstation, for the Catalog Manager to work.
NOTE: An overview of the Catalog Manager in read only mode is available in Unity Pro through the Hardware Catalog.
The Catalog Manager is composed of three levels of data:
The table below shows the procedure to launch the Catalog Manager:
Step
Action
1
Verify that Unity Pro software is not running
  • if Unity Pro Software is running, close it
  • if Unity Pro Software is not running, go to the next step
2
Select:
Start ->Programs->Schneider Electric->Unity Pro->Hardware Catalog Manager
The following screen shows the Hardware Catalog Manager screen:
The following table describes the Hardware Catalog Manager screen:
Zone
Description
Overview
In this screen, you can enter a text description of the device and the related functions. It will be displayed in the Unity Module Editor.
PDO Mapping
The PDO mapping tab opens a CANopen expert screen for PDO configuration.
The PDO mapping configuration is composed of 3 parts:
  • Transmit PDOs
  • Receive PDOs
  • Variables
Parameters
The parameters tab is used to modify the properties of parameters.
The properties of parameters are:
  • Index: Indicates the index and the sub-index of the parameter (not editable).
  • Parameter name: Indicates the name of the parameter (not editable).
  • Minimum/Maximum: Indicates the range of authorized value (not editable).
  • Value: Indicates the parameter value (editable) and is initialized with the default value find in the EDS.
  • Attribute:
    • Editable: The parameter is editable in Unity Pro CANopen screen (default value).
    • Read only: The parameter is visible in Unity Pro but not editable.
    • Hide: The parameter is not visible in Unity Pro but the value is sent to the device.
Bootup Procedure
The goal of bootup procedure tab is to bypass the standard bootup procedure for devices which do not comply with CANopen standards
Object Dictionary
The object dictionary screen is a CANopen Expert editor, and allows to:
  • Force parameters to be transmitted even if they are unchanged.
  • Suppress parameters that do not need to be sent to the device.
  • Set objects to a specific value just before (prologue), or just after (epilogue) the standard bootup procedure.
  • Modify the current value of an object (except read only objects).
EDS
The EDS tab displays in read-only mode the content of the EDS used to build the device.
The following table describes the procedure to add a device to the Catalog Manager.
Step
Action
1
Open the Catalog Manager.
2
  • Select Edit → Add Device
    Or
  • Right-click a device family.
  • Select ‘Add Device’
3
A windows dialog box appears to select the EDS or DCF file to import:
4
  • Select the EDS or DCF file name corresponding to the device that is to be added
  • Enter a unique name for the device (optional).
Only one EDS or DCF file can be selected at a time - multiple selections are not permitted.
By default, the name of the EDS or DCF file is used as device name although it can be modified.
The device name cannot be changed after this step.
5
A screen appears showing the new device parameters. In this tab, you can sort the objects in different ways: either clicking the column head or selecting the checkboxes then clicking the column head again.
6
Some parameters on the device profile screen can be changed by the user:
  • Family: Select the device family from the list.
  • Image File: Select the image file (BMP or JPG format) associated to the device which will be displayed in the graphical Catalog Manager Configurator Editor. There is no limit to the size of the image. In the boxes included in the label zone, you define the device name position compared to the bitmap position.
  • Expert Mode: Expert Mode Configuration Parameters.
When all configuration parameters are set as required, click OK.
7
Return to the Catalog Manager main screen and click the button ‘Build Catalog’ in order to save any changes, and to load the new device into the Catalog Manager database.
A window appears showing the progress of the catalog build.
When the build is complete, the device is indicated with a icon.
The table below shows the procedure to add a function and access the configuration screen:
Step
Action
1
Open the Catalog Manager.
2
There are different ways to access the configuration screen:
  • Right-click a device.
    Select ‘Add Function"
    OR
  • Select a device in the Catalog Manager.
    Select Edit → Add Function
3
A windows dialog box appears showing the basic configuration parameters.
4
When configuration is complete, click OK.
Return to the Catalog Manager main screen and click the button ‘Build Catalog’ in order to save any changes and to load the new function into the Catalog Manager database.
The table below shows the procedure to close the Catalog Manager:
Step
Action
1
Verify that your changes have been saved:
  • If there are changes, click Build Catalog.
    A window appears showing the progress of the catalog build.
    When the build is complete, go to the next step
  • If there are not any changes, go to the next step.
2
Select File → Exit
OR
Select Close on the main windows.
Motion Function Block (MFB)
The MFB is a library which provides EFBs to easily control the axis of drive and motion devices connected to CANopen master. For more details, refer the MFB block in Unity Pro Help > EF/EFB/DFB Libraries > Motion Function Blocks.