HMS Anybus CANopen Slave User manual

How to configure an Anybus CANopen slave module with TwidoSoft
SCM-7032-042
Rev 1.01
How to configure an Anybus CANopen
slave module with TwidoSoft
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How to configure an Anybus CANopen slave module with TwidoSoft
SCM-7032-042
Rev 1.01
www.anybus.com HMS Industrial Networks AB Page 2 (29)
Document history
Revision Date Description Author
1.00 2007-08-31 Created Thorbjörn Palm
1.01 2008-03-14 Minor revision Thorbjörn Palm
More information about the network and products
For further information about the Anybus products, please consult the HMS webpage, www.anybus.com.
The latest manuals, etcetera can be downloaded from that location.
The CANopen user organisation has a webpage on the Internet, www.can-cia.org. Several technical guides
about CANopen are available in or via this page.

How to configure an Anybus CANopen slave module with TwidoSoft
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Rev 1.01
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Contents
1Applicable Anybus products ...................................................................................................................4
2Requirements............................................................................................................................................4
3Solution overview .....................................................................................................................................5
4Anybus configuration...............................................................................................................................6
4.1 Anybus Slave configuration..............................................................................................................6
4.2 Anybus CompactCom configuration ................................................................................................6
4.3 Communicator configuration ............................................................................................................7
4.4 Anybus X-gateway configuration ...................................................................................................12
5CANopen configuration .........................................................................................................................14
6Testing .....................................................................................................................................................22
6.1 Monitoring in TwidoSoft ................................................................................................................22
6.2 Monitoring using the Communicator..............................................................................................26
6.3 Monitoring using the X-gateway ....................................................................................................27

How to configure an Anybus CANopen slave module with TwidoSoft
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Rev 1.01
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1Applicable Anybus products
The following table specifies the relevant Anybus products for this document.
Description Name / Type
Anybus X-gateway CANopen
Anybus Communicator CANopen
Anybus-Slave CANopen
Anybus-S Drive Profile CANopen
Anybus CompactCom CANopen
2Requirements
The following equipment is needed to setup a successful configuration.
Description Name / Type Version
Telemecanique Twido PLC TWDLMDA20DRT -
PLC software Twidosoft 3.5
Communicator configuration software ABC Config Tool 2.34
X-gateway terminal software HyperTerminal or TeraTermPro 5.1, 2.3
X-gateway Network Interface Addendum Anybus X-gateway CANopen Slave,
Network Interface Addendum
1.02
X-gateway User Manual X-gateway Generic User Manual 1.11
Communicator User Manual Anybus Communicator for CANopen,
User Manual
2.51
Slave Drive Profile Fieldbus Appendix Anybus-S CANopen Drive Profile,
Fieldbus Appendix
1.00
Slave Fieldbus Appendix Anybus-S CANopen, Fieldbus
Appendix
2.04
CompactCom Network Interface Appendix Anybus-CompactCom CANopen,
Network Interface Appendix
2.01
Power supply 24VDC n.a. n.a
Configuration cables n.a. n.a.

How to configure an Anybus CANopen slave module with TwidoSoft
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3Solution overview
This application note describes how to configure an Anybus CANopen Slave product with a Schneider
Twido PLC. Below you can find an overview of the system described in this document. Other nodes may be
attached to the network, but are not necessary. Also make sure the network is terminated in a correct way.
The configuration is described in two steps.
1The configuration of the communication parameters and the I/O data of the Anybus module are
described.
2The PLC configuration is explained.
Note: This document is valid for all Anybus CANopen products, however sections written in italics describe
the configuration of a specific product.
The contents describe step by step how a configuration is done. This document assumes the reader is familiar
with industrial communication, CANopen networks and HMS Communicator and X-gateway.
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Figure 1 Hardware connection overview.
PLC
Ma
s
t
er
CANopen
Example of
Serial Network
An
y
bus Communicator
CANopen Slave
PLC
Maste
r
PC
Clien
t
CANopen
Ethernet
Other network
i.e. Ethernet
CANopen
Slave
Anybus X-gateway

How to configure an Anybus CANopen slave module with TwidoSoft
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Rev 1.01
4Anybus configuration
The first step is to configure the baudrate and the node address. The Anybus Slave, Anybus Communicator
and Anybus X-gateway are configured by switches. Set the baud rate and node address switches in the
desired positions as seen below.
Note: The Anybus CompactCom is configured by messages send by the application.
The switches will be found next to the fieldbus connector, please see the respective manual or appendix for
details. The selected baud rate of the PLC and the Anybus module is to be set to the same rate. The baud rate
of the PLC is configured by the TwidoSoft software, please see Figure 21 Adding the Anybus module to the
CANopen network.
The switches are located as follows:
Pos Baudrate
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•The switch closest to the fieldbus connector sets
the baudrate. Please see the table to the right.
•The next switch sets the 10x address.
•The third switch sets the 1x address.
In this case the baud rate switch is set to 6, thus the baud
rate used is 500kbit/s. The address switches are set to 0
and 1 respectively, thus the Node address is 1.
Note: Using the Anybus Slave the node address and baud rate can also be set by mailbox command.
In the following chapters the I/O configuration of the Anybus module is explained.
4.1 Anybus Slave configuration
The Anybus-S is initiated and configured via the host application interface using the mailbox interface. Refer
to the Anybus-S Fieldbus Appendix for details.
4.2 Anybus CompactCom configuration
The Anybus CompactCom is configured by messages send by the application. Refer to the CompactCom
Network Interface Appendix for details.
Pos Baudrate
0 (reserved) 5 250 Kbit/s
1 10 Kbit/s 6 500 Kbit/s
2 20 Kbit/s 7 800 Kbit/s
3 50 Kbit/s 8 1 Mbit/s
4 125 Kbit/s 9 (reserved)

How to configure an Anybus CANopen slave module with TwidoSoft
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4.3 Communicator configuration
Start the Anybus Communicator and create a new configuration. Choose the CANopen fieldbus and the
desired size of the I/O data. The configuration differs depending on what type of data is used. Using PDOs
only, please see section Using PDOs only below. Using SDOs please see section Using SDOs.
Using PDOs only
In this case Automatic I/O Sizes is used. This implies the I/O size is depending on the sub-network
configuration, please see the note below.
Figure 2 Configuring the Fieldbus.
Note: Using the Automatic setting for the IO size, the amount of data configured for the fieldbus is
depending on the sub-network configuration. The PDO data will in that case be of the same size as
configured for the sub-network.
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How to configure an Anybus CANopen slave module with TwidoSoft
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Rev 1.01
Using SDOs
When using SDOs the I/O sizes has to be set to user defined as shown below. In this case 10 bytes of I/O data
(PDO) is used.
Figure 3 Configuring the Fieldbus using PCP data.
Note: The IO size IN and Out, in this case 10 bytes, set the size of the PDOs. The number of bytes of SDOs
will depend on the data configured for the sub-network. The data configured for the sub-network indicates
the total I/O size. The number of bytes of SDOs is the difference between the data size configured for the sub-
network and the IO Size In and IO Size Out. In this case the total I/O size is 20 bytes (configured for the sub-
network) and the size of PDOs is 10 bytes. The size of the SDOs is then 20-10=10 bytes.
IO Size In and Out
PDOs
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(10 bytes, byte 1-10)
Sub-network data size - IO Size In and Out
Sub-network data size
(20 bytes)
Figure 4 Configuring the size of the PDOs and SDOs in ABC Config Tool.
SDOs (10 bytes, byte 11-20)

How to configure an Anybus CANopen slave module with TwidoSoft
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Figure 5 Configuring the ABC.
In this case a loop back dongle at the serial connection of the Communicator is connected. To loop data the
generic data mode is selected, all other values are left at their defaults. The next step is to configure the sub-
network.
Figure 6 Configuring the Sub-Network.
In this case the bit rate is set to 19200 bits/s, all other parameters are left at their default values. Right click
on new node and add consume and a produce transaction as shown below.
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How to configure an Anybus CANopen slave module with TwidoSoft
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Figure 7 Configuring the consume transaction.
Leave the settings for the consume transaction at the defaults as shown above.
For the produce transaction the update time is set to 500ms as shown below.
Note: The update time for the produce transaction is to be set to less than the offline timeout time for the
consume transaction.
Figure 8 Configuring the produce transaction.
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How to configure an Anybus CANopen slave module with TwidoSoft
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Right click on the produce and consume transaction respectively and select add data. In this case 20 bytes of
data is used.
Figure 9 Configuring the consume data.
The next step is to save the configuration. Then connect to the Communicator and download the
configuration to the module.
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How to configure an Anybus CANopen slave module with TwidoSoft
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Rev 1.01
4.4 Anybus X-gateway configuration
Use the HyperTerminal or TeraTermPro on a PC to configure the X-gateway. Connect a serial cable
between the PC and the config port on the X-gateway.
Start the HyperTerminal and Open the File menu and click on new. Choose the desired COM port and then
click on OK. The following window will appear.
Figure 10 Configuring the connection in the HyperTerminal.
Make sure the settings are identical to those shown in the window above. Alternatively download a
HyperTerminal session file from the HMS website1, double click on it and select COM port.
Connect and press ESC and the following menu will appear.
Figure 11 Anybus X-gateway main menu.
Press 6 and enter the desired configuration.
1www.anybus.com
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How to configure an Anybus CANopen slave module with TwidoSoft
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Rev 1.01
The figure below shows an example; in this case a CANopen Slave to Modbus-TCP Slave X-gateway is used.
20 bytes of I/O data on the Modbus-TCP side and 20 bytes of Input and Output PDO on the CANopen side
are configured.
Figure 12 The X-gateway configuration.
Note: To use SDOs, set the Input and Output Sdo to the desired data size.
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How to configure an Anybus CANopen slave module with TwidoSoft
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5CANopen configuration
To configure the PLC and the CANopen bus the tool Twidosoft is used. Start a new project from the File
menu. The first step is to decide if to use the online or offline alternative.
1 If the PC is connected to the controller chose Online to Controller.
2 Use the Offline alternative when not connected to the Controller. When using the Offline alternative you
have to specify the type of Controller manually.
Online
Firstly start a new project and press the connect buttonn. The current PLC configuration will now be seen.
1
Figure 13 Uploading the current PLC configuration.
Then please proceed to section CANopen configuration.
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How to configure an Anybus CANopen slave module with TwidoSoft
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Offline
Start a new project and right click on the PLC in the navigation tree and select Change Base Controller.
Figure 14 Opening the Change Base Controller dialogue.
Select the desired type of Controller and click on the change buttonn. Then click on Doneo.
1
2
Figure 15 Selecting the type of Controller.
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How to configure an Anybus CANopen slave module with TwidoSoft
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Right click on the Expansion Bus in the navigation tree to the left and select Add a module.
Figure 16 Opening the Add a module dialogue.
Then select the type module and click on Addnand then on Doneo.
1
2
Figure 17 Selecting the type of CANopen module.
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How to configure an Anybus CANopen slave module with TwidoSoft
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CANopen configuration
To be able to configure the Anybus module the eds-file has to be imported. Right click on the TWDNCO1M
and select configure.
Note: The PLC must be in disconnected mode.
Figure 18 Opening the CANopen Configuration Tool.
The following window will appear.
Update button
Figure 19 Updating the CANopen network.
Click on the tile Network and then on the import/update button.
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How to configure an Anybus CANopen slave module with TwidoSoft
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Select the eds-file, for example EDS_ABS_COP_F040_8PDO_V_3_07_01.eds, and click on open as shown
below.
Figure 20 Importing the EDS-file for the Anybus module.
The next step is to configure the PDOs used by the Anybus module and the PLC. First the Anybus module
has to be set up as a node on the CANopen network. Double click on the CANopen Anybus-S as shown
below.
Figure 21 Adding the Anybus module to the CANopen network.
Make sure the selected baudrate is the same as for the Anybus module, in this case 500 Kbit/s.
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How to configure an Anybus CANopen slave module with TwidoSoft
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Next click on the tile Mapping. The default PDOs are configured as shown in the window below. It is
possible to remove PDOs or Objects if desired. Use the scroll bar to toggle betweeen Transmit and Receive
PDOs.
Figure 22 PDO configuring.
In this example only one node is attached. If several nodes are attached to the network it is possible to see
them in the list to the left under Anybus-S1.
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How to configure an Anybus CANopen slave module with TwidoSoft
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The next step is to open the Linking tile. In this window the PDOs to be transmitted and received by the
master is selected. Use the scroll bar to toggle betweeen Transmit and Receive PDOs.
Figure 23 Configuring the PDOs for the master module.
In this case the PDOs of the Anybus module are default mapped. The Transmit PDOs with COB-ID 181,
281, 381 and 481 respectively Receive PDOs with COB-ID 201, 301, 401 and 501 are mapped. It is possible
to remove PDOs if desired.
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