IFM Electronic Ecomot300 AC2630 Application guide

Supplementary device manual
Interface CANopen
in the AS-i controllerE
A
AC1331
AC1332
Firmware version RTS 2.x
Target from 15
for CoDeSys®from version 2.3
English
7390710 / 00 01 / 2011

ifmSupplementary device manual Interface CANopen in the AS-i controllerE
Contents
2
As on: 28 January 2011
© All rights reserved by ifm electronic gmbh.
No part of this manual may be reproduced and used without the
consent of ifm electronic gmbh.

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
Contents
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Contents
1On this manual .............................................................................................................................7
1.1 What do the symbols and formats mean?.........................................................................7
1.2 What devices are described in this manual?.....................................................................8
1.3 How is this manual structured? .........................................................................................8
1.4 Overview: where is what? .................................................................................................9
2Safety instructions.....................................................................................................................10
2.1 General............................................................................................................................10
2.2 What previous knowledge is required? ...........................................................................10
2.3 Functions and features....................................................................................................10
3System requirements.................................................................................................................11
3.1 Information about the device...........................................................................................11
3.2 Information concerning the software...............................................................................11
3.3 Required accessories......................................................................................................11
4Getting started............................................................................................................................12
4.1 Overview..........................................................................................................................12
4.2 General set-up procedure ...............................................................................................13
4.2.1 Troubleshooting (1)..........................................................................................14
4.2.2 Troubleshooting (2)..........................................................................................15
4.3 Fieldbus setup (overview) ...............................................................................................16
4.4 Connect a Schneider Premium controller via CANopen.................................................17
4.4.1 Step 1 –Start software PL7 Junior and create a new project .........................17
4.4.2 Step 2 –Configure the hardware.....................................................................18
4.4.3 Step 3 –SyCon CANopen configuration ........................................................20
4.4.4 Step 4 –Integrate the SyCon configuration file by means of PL7 Junior........23
4.4.5 Step 5 –Download of the created configuration to the Premium PLC............24
4.4.6 Step 6 –Check the data exchange between Premium PLC and controllerE..25
5Function ......................................................................................................................................26
5.1 Data management...........................................................................................................26
5.2 The CANopen fieldbus interface .....................................................................................26
5.2.1 Connection of the hardware.............................................................................27
5.2.2 The dual-ported RAM.......................................................................................28
5.3 The fieldbus modules ......................................................................................................29
5.3.1 Module 1 –digital input master 1(A)................................................................30
Examples for module 1.................................................................................................30
5.3.2 Module 2 –digital output master 1(A)..............................................................31
Examples for module 2.................................................................................................31
5.3.3 Module 3 –digital input master 2(A)...............................................................32

ifmSupplementary device manual Interface CANopen in the AS-i controllerE
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5.3.4 Module 4 –digital output master 2(A)..............................................................32
5.3.5 Module 5 –digital input master 1(B)...............................................................33
5.3.6 Module 6 –digital output master 1(B)..............................................................34
5.3.7 Module 7 –digital input master 2(B)................................................................35
5.3.8 Module 8 –digital output master 2(B)..............................................................35
5.3.9 Additional notes on the modules 1...8..............................................................35
5.3.10 Module 9 –analogue multiplexed input ...........................................................36
Example for module 9 ..................................................................................................37
5.3.11 Module 10 –analogue multiplexed output.......................................................38
Example for module 10 ................................................................................................39
5.3.12 Module 11 –fieldbus data command channel .................................................40
5.3.13 Module 12 –fieldbus data PLC input...............................................................41
Example for module 12 ................................................................................................41
5.3.14 Module 13 –fieldbus data PLC output.............................................................42
Example for module 13 ................................................................................................42
5.3.15 Module 14 –analogue input master 1 .............................................................43
Example for module 14 ................................................................................................43
Module 14 - table for input data for 4 channels per slave.............................................44
Module 14 - table for input data for 1 channel per slave...............................................47
5.3.16 Module 15 –analogue output master 1 ...........................................................49
Example for module 15 ................................................................................................49
Module 15 –table for output data for 4 channels per slave..........................................50
Module 15 –table for output data for 1 channel per slave............................................53
5.3.17 Module 16 –analogue input master 2 .............................................................55
5.3.18 Module 17 –analogue output master 2 ...........................................................56
5.3.19 Module 18 –fieldbus diagnostic data ..............................................................57
5.3.20 Module 19 –host command channel...............................................................58
5.3.21 The host command channel.............................................................................59
Syntax of the host command channel ..........................................................................59
5.3.22 Host commands...............................................................................................61
Examples for the host command channel ....................................................................62
6Special settings..........................................................................................................................93
6.1 Setting [Number of channels per analogue slave] ..........................................................93
7Operating and display elements...............................................................................................94
7.1 Status LEDs on the network connection .........................................................................94
7.1.1 LED [Run].........................................................................................................94
7.1.2 LED [Error].......................................................................................................94
7.1.3 LED [Status].....................................................................................................94
7.1.4 LED [Power].....................................................................................................95
7.2 Display.............................................................................................................................95

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
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8Menu............................................................................................................................................96
8.1 Main menu [Quick Setup]................................................................................................96
8.2 Main menu [Fieldbus Setup]............................................................................................97
9Set-up ..........................................................................................................................................98
9.1 Basic settings of the fieldbus interface............................................................................98
9.2 Parameter setting of the controllerE................................................................................99
9.2.1 Parameter setting of slaves in the controllerE.................................................99
9.2.2 Parameter setting of the fieldbus interface in the controllerE..........................99
9.3 Setting and reading of the fieldbus parameters ............................................................101
9.4 Store system parameters..............................................................................................105
10 Terms, abbreviations ...............................................................................................................106
11 Index..........................................................................................................................................111

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ifm Supplementary device manual Interface CANopen in the AS-i controllerE
On this manual What do the symbols and formats mean?
7
1 On this manual
In this chapter we will give you an overview of the following points:
What do the symbols and formats mean?
What devices are described in this manual?
How is this manual structured?
1.1 What do the symbols and formats mean?
The following symbols or pictograms depict our notes in this manual:
DANGER
Death or serious irreversible injuries are to be expected.
WARNING
Death or serious irreversible injuries may result.
CAUTION
Slight reversible injuries may result.
NOTICE
Property damage is to be expected or may result.
NOTE
Important notes concerning malfunctions or disturbances.
Info
More notes
►...
Request for action
> ...
Reaction, result
...
"see"
abc
Cross-reference
[...]
Designation of keys, buttons or indications

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
On this manual What devices are described in this manual?
8
1.2 What devices are described in this manual?
This manual describes the AS-i device family controllerE of ifm electronic gmbh.
according to AS-i master specification 3.0 (M4)
with a firmware from version RTS 2.3 onwards
with the target from 15 onwards
with the option CANopen fieldbus interface
In this supplementary manual only the above-mentioned CANopen fieldbus interface is described.
Higher-level or general information Basic device manual.
1.3 How is this manual structured?
This manual is a combination of different instruction types. It is for beginners and also a reference for
advanced users.
How to use this manual:
To find a certain subject straight away, please use the table of contents at the beginning of this
manual.
You can also find a requested term quickly with the index at the end of the manual.
At the beginning of a chapter we will give you a brief overview of its contents.
Headers
You can find the title of the current chapter in bold in the header of each page.
Next to it you find the current title of the second order.
Footers
You can find the number of the page in the footer of each page.
Abbreviations and technical terms →chapter Terms, abbreviations (→ page 106).
We reserve the right to make alterations which can result in a change of contents of the instructions.
You can find the current version on ifm's website at:
http://www.ifm-electronic.com/ifmde/web/asi_down.htm
Nobody is perfect. Send us your suggestions for improvements to this manual and you will receive a
little gift from us to thank you.
© All rights reserved by ifm electronic gmbh. No part of this manual may be reproduced and used
without the consent of ifm electronic gmbh.

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
On this manual Overview: where is what?
9
1.4 Overview: where is what?
metal housing IP 20
unlocking key for detaching the unit from a
DIN rail
status LEDs of the
fieldbus interface
(→ page 94)
text/graphics display
CANopen fieldbus interface
4 operating keys
status LEDs
(here: 1 AS-i master)
terminals for the voltage supply 24 V, AS-i
interface(s) and protective wire
6-pin RJ11 socket of RS-232C
as programming interface
figure: overview controllerE

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
Safety instructions General
10
2 Safety instructions
In this chapter you will find general safety instructions such as:
General rules
Required previous knowledge
Safety instructions for mounting and installation
When are you allowed to use this device and when not?
2.1 General
→separate basic instructions of the device manual
No characteristics are warranted with the information, notes and examples provided in this manual.
The drawings, representations and examples imply no responsibility for the system and no application-
specific particularities.
The manufacturer of the machine/equipment is responsible for ensuring the safety of the
machine/equipment.
WARNING
Property damage or bodily injury when the notes in this manual are not adhered to!
ifm electronic assumes no liability for this.
►The acting person must have read and understood the safety instructions and the corresponding
chapters in this manual before working on and with this device.
►The acting person must be authorised to work on the machine/equipment.
2.2 What previous knowledge is required?
This manual is intended for persons with knowledge of control technology and PLC programming with
IEC 61131-3 as well as the CoDeSys® software.
The manual is intended for persons authorised to mount, connect and set up the controllerE according
to the EMC and low voltage directives. The controllers must be installed and put into operation by a
qualified electrician.
In case of malfunctions or uncertainties please contact the manufacturer.
2.3 Functions and features
→separate basic instructions of the device manual

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
System requirements Information about the device
11
3 System requirements
3.1 Information about the device
→separate basic instructions of the device manual
This manual describes the AS-i controllerE device family of ifm electronic gmbh with the option
CANopen fieldbus interface.
3.2 Information concerning the software
→separate basic instructions of the device manual
3.3 Required accessories
Basic functions separate basic instructions of the device manual
For configuration and programming you also need:
the software "CoDeSys for Automation Alliance™" version 2.3 or higher (CD),
for direct connection of the controllerE to a PC with serial interface:
programming cable art. no. E70320

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
Getting started Overview
12
4 Getting started
4.1 Overview
The chapter General set-up procedure (→ page 13) illustrates the general set-up procedure for the
controllerE devices AC1331 / AC1332 by means of 2 flowcharts. Possible error states and the
corresponding corrective measures are described in additional tables in this chapter.
The chapter Connect a Schneider Premium controller via CANopen (→ page 17) show a configuration
example of a connection between a host PLC Allen Bradley ControlLogix and the controllerE. These
quick instructions presuppose the following:
16 bytes digital input and output data respectively are to be exchanged between the connected
host and the controllerE. Accordingly, the fieldbus modules 1 and 2 are both set to 16 bytes
(→ pages 30 and 31).
The node address and the baud rate of the controllerE have been set as defined in the example.
The configuration PC is connected to the host controller.
The controllerEand the CANopen scanner are switched on and connected to each other via
CANopen.
The following diagram is supposed to give an overview of the system structure and the corresponding
data flow:
controllerE AC1331/32
host PLC
signal transmitter
e.g. inductive proximity
sensor
actuator
e.g. relay or
contactor
data flow of the input signals
data flow of the output signals
AS-i network with digital AS-i slaves

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
Getting started General set-up procedure
13
4.2 General set-up procedure
START
END
Address AS-i slaves automatically
during assembling?
Install Hardware:
Power supplies, AS-i network, preaddressed
slaves, optional accessories (repeater, tuner etc.)
Sw itch on pow er supplies (24 V und AS-i)
Switch ControllerE into "Easy startup" mode: [Menu] >
[Address Slaves] > [Easy Startup] > [AS-i Master x]
Connect all AS-i slaves with address 0 one after
another to the AS-i bus
Check state of things (1)
LED [24 V PWR] = green continuous light!
LED [PWR / COM] = green continuous light!
LED [PLC RUN] = yellow continuous light!
Check slave lists:
[Menu] > [Slave Lists] > [AS-i Master x] >
[Detected Slaves]
yes
no
yes
no
yes
no
Are all state of the things okay?
Are all state of the things okay?
Setup the AS-i projection:
Current state is to be saved as target state:
[Menu] > [Quick Setup] > [Config. all]
Check state of things (2)
LED [CONF / PF] = out!
LED [PROJ] = out!
Check slave lists:
[Menu] > [Slave Lists] > [AS-i Master x] >
[Projected Slaves]
Address AS-i slaves via addressing unit
(e.g. AC1144)
Install Hardware:
Power supplies, AS-i network, preaddressed
slaves, optional accessories (repeater, tuner etc.)
Sw itch on pow er supplies (24 V und AS-i)
Troubleshooting (1)
Troubleshooting (2)
→Troubleshooting (1) (→ page 14), Troubleshooting (2) (→page 15)

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
Getting started General set-up procedure
14
4.2.1 Troubleshooting (1)
Checkpoint
Status
Possible cause
Remedy
LED [24 V PWR]
out
24 V voltage supply not ok.
►Check 24 V voltage supply!
LED [PWR / COM]
out
AS-i voltage supply not ok.
►Check AS-i voltage supply AS-i!
green flashing
AS-i voltage supply ok but no AS-i
slave detected on the bus.
►Check wiring of the AS-i network!
Adhere to the maximum
admissible cable lengths!
LED [PLC RUN]
yellow flashing
ControllerE PLC is in the operating
mode STOP.
►Switch PLC to the operating
mode RUN! ([Menu] > [PLC
Setup] > [PLC Settings] > [Run])
►If switching is not possible:
Is the project "CO_M4_xxx.pro"
stored in the controllerE as a boot
project? ([Menu] > [PLC Setup] >
[PLC Info])
slave lists (detected
slaves)
The connected AS-i
slaves are not
detected correctly.
Wiring fault in the AS-i network.
►Check wiring of the AS-i network!
Adhere to the maximum
admissible cable lengths!
There is double addressing, i.e. two
or more participants have been set
to the same AS-i address.
►Check the addresses of the
connected AS-i slaves!

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
Getting started General set-up procedure
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4.2.2 Troubleshooting (2)
Checkpoint
Status
Possible cause
Remedy
LED [CONF / PF]
red flashing
One of the connected AS-i slaves
causes a peripheral fault.
►Read the error messages on the
display of the controllerE and
determine the concerned slave
address(es)!
►Read in the corresponding
installation instructions of the
concerned slaves what might
cause a peripheral fault in the
corresponding unit!
►Remove this cause!
red permanently lit
(configuration error)
The list of activated slaves does not
correspond to the list of projected
slaves.
►Check the wiring of the AS-i
network, in particular the wiring of
the slaves which are projected
but not activated ([Menu] >
[Slave Lists] >...)!
►Adhere to the maximum
admissible cable lengths!
The configuration of the AS-i
network was changed after
executing the function [Config. all]
(slave(s) added, slave(s) removed,
slave(s) replaced by another type)
►Check the AS-i configuration!
►If the configuration is ok and the
LED [CONF / PF] still is
permanently lit:
Repeat the function [Config. all]
([Menu] > [Quick Setup] >
[Config. all])!
LED [PROJ]
yellow flashing
The AS-i master is in the projection
mode. Switching to the protected
mode is not possible because at
least one slave with the address 0
was detected on the bus.
►Correct the AS-i configuration
according to your requests!
►Repeat the function [Config all]
([Menu] > [Quick Setup] > [Config
all])!
yellow permanently
light
The AS-i master is in the projection
mode.
►Switch the AS-i master to the
"protected mode" ([Menu] >
[Master Setup] > [AS-i Master x]
> [Operation Mode] > [Protect.
Mode]).

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
Getting started Fieldbus setup (overview)
16
4.3 Fieldbus setup (overview)
Start fieldbus setup
Hardware installation
Connect controllerE to the CANopen network.
Fieldbus setup
►Set the node ID
►Set the baud rate
►Set the fieldbus modules according to the
data to be transmitted (p. 29): [Menu] >
[Quick Setup] > [Feldbus Setup]
Troubleshooting
Are the fieldbus modules set correctly in the
controllerE?
Check the connection configured in the host.
Use also the available diagnostic functions
of the host configuration software!
Is the data exchange ok?
yes
no
end
Configure the connection to the controllerE in the
host (→ example page 17)

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
Getting started Connect a Schneider Premium controller via CANopen
17
4.4 Connect a Schneider Premium controller via CANopen
4.4.1 Step 1 –Start software PL7 Junior and create a new project
►Start the software on the PC
►Click on the symbol [New
Application] (figure)
or:
select the menu [File] > [New...]
to create a new project
►Select the controller type and
processor
►Confirm with [OK]

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
Getting started Connect a Schneider Premium controller via CANopen
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4.4.2 Step 2 –Configure the hardware
If the EDS file is already registered, skip step 2 and continue with step 3.
►Double-click on [Hardware
Configuration]
►Double-click on the symbol
[COMM]
►Select channel 1 in the pull-
down menu [Channel]

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
Getting started Connect a Schneider Premium controller via CANopen
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►In the pull-down menu for
the PCMCIA module select
the CANopen master
module [TSX CPP 100-110
CAN OPEN PCMCIA
CARD]
►Start the Hilscher
configuration software by
clicking on the symbol
[SyCon tool]
> The system configuration
program starts

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
Getting started Connect a Schneider Premium controller via CANopen
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4.4.3 Step 3 –SyCon CANopen configuration
►Click on the symbol [New]
(figure)
or:
select the menu [File] >
[New]
to create a new project.
►Select [CANopen] as
fieldbus
►Confirm with [OK]
►Install the EDS file of the
controllerE if it has not
done so already
To do so:
►Go to [File] > [Copy EDS]
and select the file
[EDS_ABS_COP_V_3_07
_01.EDS]
►Confirm with [OK]
►Click on the symbol [Insert
Master] to insert a
CANopen master in the
configuration
►Select the CANopen
master system used in
[Available devices] in the
left part of the window
►Add the selection to the
configuration with [Add>>]
►Set the node ID and the
description text
►Confirm with [OK]