Data Bulletin 8000DB1008 09/2010 Raleigh, NC, USA Configuring PCAN-Explorer to Monitor Data Traffic on a CANopen Network Retain for future use. Overview Presumption Requirements This data bulletin details the configuration of PCAN-Explorer and the use of the software to monitor data traffic between the master and slave unit on a CANopen network. This bulletin is written for individuals familiar with network configuration software and networked drives. If you are not familiar with this software or network operation, please consult your system administrator. The following hardware and software is required: Hardware Lexium Motor Controller 20 (CANopen master) (Baud rate 500Kbits/s) Integrated Lexium drive with an AC synchronous servo motor (CANopen slave) NOTE: For this example: node ID2, baud rate 500Kbits/s PCAN-USB adapter (Peaksystems, part number: IPEH-002022) CANopen cables (master to slave and one to the PCAN-USB adapter) Software PCAN-Explorer 3 CoDeSys, V2.3.9.4 (used with a LMC to control the ILA through CANopen)
Configuring PCAN-Explorer to Monitor Data Traffic on a CANopen Network 8000DB1008 Product Related Information 09/2010 Product Related Information WARNING HAZARD OF LOSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop. Separate or redundant control paths must be provided for critical control functions. System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or link failures. 1 Failure to follow these instructions can result in death, serious injury, or equipment damage. 1. For additional information about anticipated transmissions delays or failures of the link, refer to NEMA ICS 1.1 (latest edition), Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control or its equivalent in your specific country, language, and/or location. Related Documentaton User Comments You can download technical publications for Schneider Electic products and other technical information from our website at www.us.schneider-electric.com. All other documentation is available from the respective manufacturer. We welcome your comments about this bulletin. You can reach us by e-mail at oem.solutions@schneider-electric.com. 2
8000DB1008 Configuring PCAN-Explorer to Monitor Data Traffic on a CANopen Network 09/2010 Definitions Definitions COB-ID Table The following terminology is used throughout this data bulletin. These terminology distinctions are made to minimize confusion when discussing configuration and connection practices. CAN Controller Area Network CoDeSys Controller Development System COB-ID Communication object identifier ILA Integrated Lexium drive with AC synchronous servo motor LMC Lexium Motion Controller Net(s) Network(s) SDO Service Data Objects Table 1 includes the communication object identifier for communication objects in the factory setting. The Index of Object Parameters column shows the index of special objects with which the communications object settings can be read or modified through the SDO. NOTE: Every CANopen device may or may not support all of the services, please check the specific CANopen manual for the CANopen slave used. Table 1: COB-ID Table Communication Object 1. Not supported by the compact drive. Function Code Node Address (Node ID) [1 127] COB-ID Decimal (Hexadecimal) Index of Object Parameters NMT Start/Stop Service 0000 0000000 0 Object SYNC 0001 0000000 128 (80) 1005 h 1007 h Object EMCY 0001 xxxxxxx 128 (80) + node-id 1014 h 1015 h T_PDO1 1 0011 xxxxxxx 384 (180) + node-id 1800 h R_PDO1 1 0100 xxxxxxx 512 (200) + node-id 1400 h T_PD02 1 0101 xxxxxxx 640 (280)+ node-id 1801 h R-PDO2 1 0110 xxxxxxx 768 (300) + node-id 1401 h T_PDO3 1 0111 xxxxxxx 896 (380) + node-id 1802 h R-PDO3 1 1000 xxxxxxx 1024 (400) + node-id 1402 h T_PDO4 1001 xxxxxxx 1152 (480) + node-id 1803 h R-PDO4 1010 xxxxxxx 1280 (500) + node-id 1403 h T_SDO 1011 xxxxxxx 1408 (580) + node-id R_SDO 1100 xxxxxxx 1536 (600) + node-id NMT Error Control 1110 xxxxxxx 1792 (700)+ node-id 100E h LMT Services 1 1111 110010x 2020 (7E4), 2021 (7E5) NMT Identify Service 1 1111 1100110 2022 (7E6) DBT Services 1 1111 1100xxx 2023 (7E7), 2024 (7F8) NMT Services 1 1111 110100x 2025 (7E9), 2026 (7EA) 3
Configuring PCAN-Explorer to Monitor Data Traffic on a CANopen Network 8000DB1008 CAN Hardware Configuration 09/2010 CAN Hardware Configuration With PCAN-Explorer installed, the CAN hardware can be configured. 1. Click the CAN-Hardware icon from the windows control panel. Figure 1: CAN-Hardware Icon 2. The Properties of CAN-Hardware dialog box, General tab of the PCAN control panel displays a list of the currently installed hardware. Figure 2: List of Currently Installed Peakcan Hardware Example use USB. 3. Click the USB radio button, then click Apply. The currently installed USB hardware displays in the General tab. Figure 3: List of Currently Installed USB Hardware NOTE: If a PCAN-USB adapter is used, the USB radio button must be selected. 4
8000DB1008 Configuring PCAN-Explorer to Monitor Data Traffic on a CANopen Network 09/2010 Network Configuration Network Configuration PCAN Networks permit the connection of a PCAN program (Client) to the CAN hardware. NOTE: Miscellaneous Nets may be defined to allow the operation of the installed hardware with different baud rates. The definition and configuration of these Nets is achieved using PCAN NetConfig (located in the Program Group of PCAN-Explorer). To create a new net: 1. Select the hardware from the list on the PCAN NetConfig window. Example select PEAK USB-CAN at address OFFh. Figure 4: PCAN NetConfig Window 2. From the Net dropdown menu, select New Net. See Figure 4. The Net properties dialog box displays. NOTE: After starting the program the set up hardware and the dedicated Nets are shown. With the installation of the PCAN System, the Net TestNet is defined with a baud rate of 500 Kbit/s. Figure 5: Net Properties Dialog Box 3 4 3. Enter the name of the new Net in the Name field. 5
Configuring PCAN-Explorer to Monitor Data Traffic on a CANopen Network 8000DB1008 Network Configuration 09/2010 4. From the Baudrate drop down menu, choose the desired baud rate. Example 250 Kbit/sec. Figure 6: Net Properties Dialog Box Completed 5. Click OK. The new Net appears as a branch of the selected hardware. Figure 7: PCAN NetConfig Window with LMC_Net 6. From the File drop down menu, select Exit; then confirm the message to save the changes. NOTE: The new Net is now configured. The CAN messages can be viewed through PCAN-Explorer Figure 8: PCAN-Explorer 6
8000DB1008 Configuring PCAN-Explorer to Monitor Data Traffic on a CANopen Network 09/2010 Network Connection Network Connection A connection with PCAN net must be made before CAN messages can be sent or received with PCAN-Explorer. To make a connection with a PCAN net: 1. From the PCAN-Explorer window (Figure 8 on page 6), select Connect to net from the CAN drop down menu. Figure 9: Connect to Net Dialog Box 2. From the USB tab, highlight the net to connect from the list of Available nets. Example LMC_Net net. See Figure 9. 3. Click OK. The connection is made; the net name and the baud rate of the connected net displays in the status bar. Figure 10: Status Bar Net Name and Baud Rate 7
Configuring PCAN-Explorer to Monitor Data Traffic on a CANopen Network 8000DB1008 Data Bulletin 09/2010 If the ILA is connected to the PeakCan adapter, the program displays boot up messages similar to those in Figure 11. Figure 11: Transmit / Receive Message Window Network Tracing Click the Trace icon, located in the menu bar, to start a trace. Figure 12: Menu Bar Trace Icon The results of the trace appear in the Trace 1 window. Example LMC is running Motion Pro. Figure 13: Trace Results Schneider Electric USA, Inc. 8001 Knightdale Blvd Knightdale, NC 27545 USA oem.solutions@us.schneider-electric.com www.schneider-electric.us Lexium is a registered trademark of Schneider Electric. Other trademarks used herein are the property of their respective owners. Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material. 8