Helmholz CAN 300 PRO User guide

CAN 300 PRO
CAN Communication Module for S7-300
Start-Up Guide for CANopen®
Edition 3 / 22.12.2011
Systeme Helmholz GmbH | Hannberger Weg 2 | D-91091 Großenseebach
Phone [phone] | Fax [phone] | [email protected] | www.helmholz.com

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without the express written permission of Systeme Helmholz
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registration of a utility model or design.
Copyright ©2011 by
Systeme Helmholz GmbH
Hannberger Weg 2, 91091 Grossenseebach, Germany
Note:
We have checked the content of this manual for conformity with
the hardware and software described. Nevertheless, because
deviations cannot be ruled out, we cannot accept any liability for
complete conformity. The information in this manual is regularly
updated. When using purchased products, please heed the latest
version of the manual, which can be viewed in the Internet at
www.helmholz.com, from where it can also be downloaded.
Our customers are important to us. We are always glad to receive
suggestions for improvement and ideas.
S7-300, Step and SIMATIC are registered trademarks of SIEMENS.

Revision history of this document:
Edition Date Revision
1 29.9.2009 1st version
2 30.04.2010 Corrections for CANParam V4.20 and Firmware V1.20
3 22.12.2011
Correction of the “SF” LED behavior and further small
corrections

Contents
1Introduction 7
1.1 Structure of this document 7
1.2 What you require 7
1.3 What is not included 7
2Setting Up the Hardware 8
2.1 Set-up and wiring 8
2.2 Configuration in the PLC 9
2.3 Connecting to the PC 10
3Configuring the CAN Module 11
3.1 Creating a new project 11
3.2 Setting the master 13
3.3 Setting the slave 14
3.4 Importing a project into the CAN 300 PRO 14
3.5 First diagnosis 15
3.6 Scan for slaves 16
4Preparations in the PLC 17
4.1 Loading data handling blocks 17
4.2 PLC in the RUN state 18
4.3 LEDs of the CAN 300 PRO 19
5Assignment of the Process Data 20
5.1 Setting the PDO mapping 21
5.2 Defining the PDO mapping in the slave 22
5.3 Testing the PDO mapping 23
5.4 SDO abort codes 23
5.5 Emergency messages 24
6Programming in the PLC 25
6.1 How PDOs are assigned to the PLC 26
Start-up Guide CAN 300 PRO 55

6 Start-up Guide CAN 300 PRO
7What Else Is Required … 27
7.1 I/O area in the PLC 27
7.2 Monitoring slave devices 27
7.3 Writing SDOs in the slave device 29
7.4 Operating conditions for CANopen®slave devices 30
8Troubleshooting 31
8.1 Looking for errors 31
8.2 Training 32
8.3 Start-up support 32

1Introduction
This document is intended as a start-up guide for initial start-up
of a CAN 300 PRO with any CANopen®device. This is for use in
conjunction with the manual for the CAN 300 PRO module.
1.1 Structure of this document
This start-up guide provides step-by-step instructions for
installation and initial start-up of the CAN 300 PRO for
CANopen®master applications.
Each section deals with a separate step and the steps are to be
performed one after the other.
The left-hand margin of the document shows important notes
and references to sections of the CAN 300 PRO manual, which
you should have close by.
1.2 What you require
CAN 300 PRO module with the latest firmware
USB cable
Latest version of CAN-CD with the CANParam software,
CANopen®data handling blocks for CAN 300 PRO, and
manuals
Two CAN connectors with terminating resistors
CAN cable
Manual of your CANopen®device with documentation of the
CANopen®functionality (SDO list) and the terminals
PC with Windows 2000,XP or 7, installed Simatic Manager
and USB interface
S7-300 CPU
Voltage supply for CPU and CANopen®device
Tool
1.3 What is not included
This Start-Up Guide does not explain how a CANopen®network
works. The basic terms of CANopen®communication are
explained in Section 7.3 of the CAN 300 PRO Manual.
Systeme Helmholz GmbH offers regular 1-day training courses on
the entire topic of CAN and CANopen®protocol, start-up and
programming of the CAN 300 PRO and an error analysis.
It does not either explain how to start up CAN devices with
protocols other than CANopen®, e.g. with SAE J1939 or with
Layer 2. Use the CAN 300 PRO manual for this purpose.
Start-up Guide CAN 300 PRO 7

2Setting Up the Hardware
2.1 Set-up and wiring
M
anual: Section 2
The CAN 300 PRO is connected to the S7-CPU on the S7-300
mounting rail with the backplane bus connector supplied.
The DIP switch of the CAN 300 PRO has no function in this start-
up application because all settings are made in the project.
The CAN 300 PRO and the CANopen®device now have to be
connected on the CAN bus. Please pay attention to the
terminating resistors (120 ohms) between CAN High and CAN
Low at both ends of the cable and ensure that the three cables
CAN High, CAN Low, CAN-GND are not confused.
M
anual: Section 3.2
The following table shows the pin assignment of the CAN 300
PRO module:
Pin SUBD connector CAN
1 -
2 CAN Low
3 CAN GND
4 -
5 -
6 -
7 CAN High
8 -
9 -
No terminating resistor
is integrated into the
CAN 300 PRO module.
Please note that the CAN 300 PRO module does not have a ready
installed terminating resistor. The terminating resistor must be
installed or activated in the connector.
8 Start-up Guide CAN 300 PRO

2.2 Configuration in the PLC
The CAN 300 PRO module is configured as the CP 340
communication module in the programming software of the PLC.
M
anual: Section 4
The module can be used wherever a CP module is allowed, i.e.
also in the expansion unit after an interface module.
You should change the name of the module to “CAN 300 PRO”
for easier identification in the Hardware Configurator.
Start-up Guide CAN 300 PRO 9

The next step is to set the addresses of the inputs and outputs of
the CAN 300 PRO in the PLC.
The I/O addresses
should not be in the
cyclic process image!
The “Basic parameters” tab card has not function with the CAN
300 PRO.
2.3 Connecting to the PC
Connect a USB cable to the CAN 300 PRO and connect it to your
PC.
M
anual: Section 6.2 If you are connecting the CAN 300 PRO to your PC for the first
time, the USB driver will be installed. This is located on the CAN-
CD.
10 Start-up Guide CAN 300 PRO

3Configuring the CAN Module
Install and start the CANParam V4 software (at least V4.1x or
later). Set the COM port of the USB connection to the CAN 300
PRO in the upper right field.
3.1 Creating a new project
Activate the “wizard” with “Set project” in the “Project” menu.
You will now be guided through some dialog boxes in which
basic settings about your project are queried.
M
anual: Section 6.4 Make the settings as shown in the following dialog boxes.
Start-up Guide CAN 300 PRO 11

In this dialog box, select the CAN baud rate, which is preset for
your CANopen®device.
We recommend setting lower baud rates, such as 500 kpbs for
initial start-ups.
12 Start-up Guide CAN 300 PRO

3.2 Setting the master
Select the “Master” line in the left-hand field.
M
anual: Section 6.4.1
Set the node ID of the master to address 127
Set the baud rate to the preset baud rate of your CANopen®
device
The synchronous signal and master heartbeat should be
activated and initially set to the suggested times
The options in the Start-up behavior group box can be retained
Set the PLC I/O buffer as described above; matching parameters
will be set for the Step 7 data handling modules later
Leave the remaining parameters as they are already set.
Start-up Guide CAN 300 PRO 13

3.3 Setting the slave
Open the entries below the master in the left-hand field and
select “Slave 1.”
M
anual: Section 6.4.2
In this dialog box, your connected CANopen®device is made
known to the master.
You must set the node ID of the CANopen®device here and
should assign a name to the device.
It should be possible to set node ID (device address, device ID) on
your device either by DIP switch or rotary switch, or you can at
least find out standard setting from the manual for your device.
I
f the node ID of the
device is not known, the
“Scan to slaves”
function will help!
If you do not know the node ID of your device, you can use the
“Scan for slaves” function after importing the project created so
far into the CAN 300 PRO (see below) in the “Online / CANopen®
Tools” menu.
3.4 Importing a project into the CAN 300 PRO
Activate the “Upload” function in the “online” menu, to import
the project into the CAN 300 PRO. The PLC should be in the
STOP state.
I
f no connection can be
established with the
CAN 300 PRO, check
the USB connection and
installation of the driver.
Importing the project automatically sets the CAN 300 PRO to the
set baud rate and the following diagnostic functions can now be
used.
14 Start-up Guide CAN 300 PRO

3.5 First diagnosis
Now call the “Debug” function in the “Online” menu and
activate the “CANopen®” tab card. Press the “Connect” button
below right.
M
anual: Section 6.7.2
The status of the CAN controller in the CAN 300 PRO is displayed
in the controller status on the right-hand side of the dialog box.
This should show 0x00 in the error register and the error
counters. The node status should be OK. For further information
on this, see Section 6.7.2 in the CAN 300 PRO Manual.
The Tx and Rx error
counters must be 0x00!
Node Status muss auf
‚OK’ stehen!
If this is not the case, check the cabling and the baud rate!
Start-up Guide CAN 300 PRO 15

3.6 Scan for slaves
To check the devices connected on the CAN bus for accessibility,
you can perform a search on the CAN bus using the “Scan for
slaves” function in the “Online / CANopen®Tools” menu. This
function tries out all CAN addresses from 1 to 127 one after the
other to find devices.
M
anual: Section 6.8.1
Devices found are displayed with their node ID, device type, their
name, and further information.
If the list remains empty, the device you have connected cannot
be detected as a CANopen®slave on the CAN bus, the baud rate is
wrong, or the cabling is not correct.
I
f the CAN device does
not support the SDO
0x1000, it cannot be used
in CANopen mode with
the CAN 300 PRO.
For the CAN 300 PRO to be able to detect a CAN device as a
CANopen®slave, the device must support the SDO (service data
object) 0x1000. Please consult the manual of your device to see
whether the objects from 0x1000 exist in your device.
If this is not the case, the device cannot be used in conjunction
with the CAN 300 PRO as a CANopen®master.
16 Start-up Guide CAN 300 PRO

4Preparations in the PLC
4.1 Loading data handling blocks
The CAN CD contains the data handling blocks for the CAN 300
PRO in the form of a Step 7 example project (ZIP file or directory).
You will find the project as “C3PRO_CANopen®_V1x.ZIP” and
newer in the “STEP7\CAN 300 PRO” directory. Open this project
to use the blocks.
Copy the blocks into the project you created with your hardware
configuration and transfer all block to the PLC.
Start-up Guide CAN 300 PRO 17

4.2 PLC in the RUN state
Start the PLC to put the CAN 300 PRO into the “operational”
mode, too.
On every STOP RUN transition of the PLC, the CAN 300 PRO
tries to start the CANopen®bus and start the devices defined in
the project.
Now call the CANopen®debug screen in the CANParam again.
If everything has succeeded so far, the master status should be
“SELECT_NEXT_SLAVE (22)” and status 0x25 (operational) should
be shown for the configured slave in the list of slaves below that.
M
anual: Section 6.7.2 If the slave status is 0x00, the slave has not been found. If the
status is 0x04 (stop), 0x6A (slave detected but not yet initialized),
or 0x7F (preoperational), the slave may have been detected but
has not been started. In these cases, you should speak to the
manufacturer of the device about which device-specific settings
must be made on the device to enable it to start on the CAN bus.
Also check the “Operating conditions for CANopen®slave
devices” in Section 7.4.
18 Start-up Guide CAN 300 PRO

4.3 LEDs of the CAN 300 PRO
The LEDs of the CAN 300 PRO can also be a great help.
The “SF” LEDs should not be lighted; otherwise there is a system
error.
If the “BF” LED is lighted, a CAN error is still present. Check the
cabling and the CAN baud rate of all bus nodes. You will find
more detailed information on the debug screen in the “Controller
status” area.
The “Rx” and “Tx” LEDs show the traffic on the CAN bus. If the
PLC is in the RUN state and a valid project has been imported,
both LEDs should flash or shine steadily, depending on the CAN
traffic.
The “ON” LED flashes until the PLC is in the STOP state of the
master of the CAN 300 PRO was not yet able to enter cyclic
operation. The “ON” LED shines steadily if the master has
initialized the slave devices and has entered cyclic operation.
If the “ON” LED flashes after the PLC has started, an error has
occurred during start-up and initialization of the slave. Also check
what the cause of this could be on the debug screen.
Start-up Guide CAN 300 PRO 19

5Assignment of the Process Data
If the CAN 300 PRO has been able to detect the device on the
CAN bus, the next step is to assign the process data of the device
(PDOs) to the PLC.
There are up to 8 transmit PDOs (TPDO) and 8 receive PDOs
(RPDO). Transmit PDOs are transmitted from the device to the
CAN 300 PRO; receive PDOs are received by the device. Each PDO
has up to 8 data bytes. The assignment of the PDOs to the PLC
memory is defined on each slave in the CANParam software.
M
anual: Section 6.4.5
The content of the PDOs is usually preset in the CANopen®slave
device, but can be modified as required. You can find out which
data are located where in which PDO either from the device
manual or with the “Show the slave mapping” read-out function
in the “Online / CANopen®Tools” menu.
In this case, the device has 4 RPDOs and 4 TPDOs.
The first receive-PDO (RPDO1) is linked with the service data
object (SDO) 0x6040 and is 2 bytes (1 word) long. The RPDO2 is
also linked with the SDO 0x6040 and the SDO 0x6060 and is 3
bytes (1 word + 1 byte) long.
These assignments are called “PDO Mapping.” A preset PDO
mapping is usual for CANopen®devices. If your device does not
have a preset PDO mapping, it is up to you to fill the PDOs with
SDOs that you require.
The PDO mapping must be made known to the CAN 300 PRO in
the project for the slave.
20 Start-up Guide CAN 300 PRO