CAN 300 PRO Application Example
DeviceNet Slave
CAN Communication Module for S7-300
Application Example for DeviceNet Slave Handling Blocks
Manual
Edition 1 / 11.03.2010
Systeme Helmholz GmbH z Hannberger Weg 2 z 91091 Grossenseebach z Germany
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Copyright © 2010 by
Systeme Helmholz GmbH
Hannberger Weg 2, 91091 Grossenseebach, Germany
Note:
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the hardware and software described. Nevertheless, because
deviations cannot be ruled out, we cannot accept any liability for
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Revision history of this document:
Edition Date Revision
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1 11.03.2010 1 version
Contents
1 Overview 6
1.1 Application and function description 6
1.1.1 Get Attribute 6
1.1.2 Set Attribute 6
1.1.3 Approval 7
1.2 PLC configuration 8
2 Configuring the CAN Module 9
3 Programming in the PLC 10
3.1 Overview 10
3.2 FB 99 “DN Adapter” 10
3.3 Example OB 100 12
3.4 Example OB 1 13
3.5 Return parameter RETVAL 14
4 Diagnostics 15
4.1 Process image in the PLC 15
4.1.1 Byte 0: Module status 15
4.1.2 Byte 1: Error status (EFLG) of the CAN controller 16
4.1.3 Byte 2: FIFO status bits 16
4.1.4 Byte 3/4: CAN controller Tx/Rx error counter 16
4.2 CANParam debug screen 17
DeviceNet Slave CAN 300 PRO 5
1 Overview
1.1 Application and function description
This manual describes the application example (data handling
block) of a CAN 300 PRO as a DeviceNet Slave on a S7-300.
This is for use in conjunction with the manual for the CAN 300
PRO module. It is assumed that the reader is familiar with the
content of this manual.
The handling block FB 99 described here provides the following
DeviceNet functions:
Allocate/Release
Get/Set Attribute
Polled connection
Cyclic connection (with and without Ack)
1.1.1 Get Attribute
C/I/A
Max Instance of Class ID 0x01 1/0/2 = 1
Vendor ID 1/1/1 = 999
Device type 1/1/2 = 12
Product code 1/1/3 = 700
Release 1/1/4 = 1.0
Produced connection size (polled) 5/2/7 = length of produced
data (ANY)
Consumed connection size (polled) 5/2/8 = length of consumed
data (ANY)
Produced connection size (cyclic) 5/4/7 = length of produced
data (ANY)
Consumed connection size (cyclic) 5/4/7 = length of consumed
data (ANY)
1.1.2 Set Attribute
C/I/A
Expected packet rate 5/1/9
Expected packet rate (polled) 5/2/9
Expected packet rate (cyclic) 5/4/9
Acknowledge handler object 2B/1/1
Note:
The set attribute jobs are acknowledged positively and not used
any further.
6 CAN 300 PRO DeviceNet Slave
1.1.3 Approval
The handling blocks were tested on an Allen-Bradley (scanner)
and on an Omron scanner.
They have also been commissioned in an Adept and in a Kuka
robot.
If you operate a device other than the scanners named above, we
cannot guarantee proper functioning but will be glad to support
you with initial startup.
DeviceNet Slave CAN 300 PRO 7
1.2 PLC configuration
In the application example, an S7-300 CPU315-2DP and a CAN
300 PRO module are used.
8 CAN 300 PRO DeviceNet Slave
2 Configuring the CAN Module
To use the example program, the supplied CAN project
“DeviceNet_Slave.PAR” with the CANParam software (Version
4.1x and higher) must be transferred to the CAN 300 PRO
module.
The CAN project sets the CAN 300 PRO module to DeviceNet
mode.
The address of the DeviceNet slave and the baud rate can now be
set at the DIP switch. The address must be between 0-63. The
same address must also be set
on the data handling block.
DeviceNet 26 + 64
slave 25 + 32
address 24 + 16
23 +8
22 +4
21 +2
20 +1
Baud rate 22 +4
21 +2
20 +1
Baud rates:
0 1 2 3 4 5 6 7
10K 50K 100K 125K 250K 500K 800K 1M
DeviceNet Slave CAN 300 PRO 9
3 Programming in the PLC
3.1 Overview
The example contains a data handling block FB 99 that performs
the entire DeviceNet protocol processing.
FB 99 must be called in the cycle. Each time the FB is called,
frames are fetched from the CAN 300 PRO module, processed
and, if applicable, a response sent.
Depending on the length of the PLC cycle and frame frequency
on the CAN bus, the FB can process several frames in succession.
The maximum number of frames to be processed can be set with
the parameter MaxComRequests.
3.2 FB 99 “DN Adapter”
Parameter Direction Type Example
Init IN BOOL FALSE
EnableFB IN BOOL TRUE
Base IN INT 256
MacID IN INT 10
ProducedData IN ANY P#A 50.0 BYTE 32
ConsumedData IN ANY P#E 50.0 BYTE 32
Cyclic IN BOOL FALSE
CycAck IN BOOL FALSE
ExpectedPacketRate IN TIME T#1s
MaxComRequests IN INT 20
MasterRun OUT BOOL M 50.0
DataExchange OUT BOOL M 50.1
Allocate OUT BOOL M 50.2
SendBusy OUT BOOL M 50.3
Done OUT BOOL M 50.4
RcvBusy OUT BOOL M 50.5
NewData OUT BOOL M 50.6
Error OUT BOOL M 50.7
RetVal OUT INT MW 52
Init Call with TRUE during startup (OB 100) to
perform basic initialization; always call with
FALSE during the cycle
EnableFB Enable flag for activating the block
Base Address of the CAN 300 PRO module
MacID DeviceNet address of slave, must always
correspond to the DIP switch setting.
ProducedData Any pointer to the receive data
ConsumedData Any pointer to the transmit data
Cyclic FALSE: Polled operation / TRUE: Cyclic operation
CycAck Cyclic connection acknowledged
ExpectedPacketRate for cyclic operation and Timeout monitoring
MaxComRequests Number of processed CAN frames for each FB
99 call
10 CAN 300 PRO DeviceNet Slave
MasterRun Master is running and transmitting data
DataExchange Communication active
Allocate Connection established (for one cycle only)
SendBusy Transmit active
Done Transmit completed
RcvBusy Receive active
NewData Receive completed
Error One error has occurred (pending for one cycle
only)
RetVal Error number, see Section 3.5
Note:
Data handling block FB 99 calls FCs 65, 66, 67 unconditionally.
The FC numbers can therefore only be modified if FB 99 is
adapted.
DeviceNet Slave CAN 300 PRO 11
3.3 Example OB 100
In start-up OB 100, FB 99 must be called once with parameter Init
= TRUE to perform basic initialization.
Example of call:
CALL FB 99 , DB99
Init :=TRUE
EnableFB :=TRUE
Base :=256
MacID :=10
ProducedData :=
ConsumedData :=
Cyclic :=
CycAck :=
ExpectedPacketRate:=
MaxComRequests :=
MasterRun :=
DataExchange :=
Allocate :=
SendBusy :=
Done :=
RcvBusy :=
NewData :=
Error :=
RetVal :=
12 CAN 300 PRO DeviceNet Slave
3.4 Example OB 1
Example of call:
CALL FB 99 , DB99
Init :=FALSE
EnableFB :=TRUE
Base :=256
MacID :=10
ProducedData :=P#I 50.0 BYTE 32
ConsumedData :=P#Q 50.0 BYTE 32
Cyclic :=FALSE
CycAck :=FALSE
ExpectedPacketRate:=T#1S
MaxComRequests :=20
MasterRun :=M50.0
DataExchange :=M50.1
Allocate :=M50.2
SendBusy :=M50.3
Done :=M50.4
RcvBusy :=M50.5
NewData :=M50.6
Error :=M50.7
RetVal :=MW52
//save allocate
A M 50.2
S M 51.2
//save error
A M 50.7
S M 51.7
//save retval
L MW 52
L 0
==I
JC M000
L MW 52
T MW 54
M000: NOP 0
DeviceNet Slave CAN 300 PRO 13
3.5 Return parameter RETVAL
The return parameter RETVAL of the function block can contain
both function-specific errors or error numbers of the Siemens
system function blocks SFC 58, SFC 59, and SFC 20.
Error codes of DeviceNet handling:
80D1: Receive frame with length > 8
80D5: Scanner attempts to read non-implemented attribute
80D6: Scanner attempts to write non-implemented attribute
80DA: Timeout (3*ExpectedPacketRate), scanner does not
respond (poll)
14 CAN 300 PRO DeviceNet Slave
4 Diagnostics
4.1 Process image in the PLC
The CAN 300 PRO module occupies 16 bytes in the input and
output process image. The content of the output process image is
not used.
The content of the input process image can be used for
information purposes by the user in the application.
Byte Meaning
0 Module status generally, CAN group error display
1 CAN controller status (register of the CAN controller)
2 FIFO status bits (send & receive)
3 CAN controller: TX error counter
4 CAN controller: RX error counter
5 CANopen: Masterstatus
6 CANopen: Assignment of the SDO request mailboxes
7 CANopen: Number of nodes in operational
8 Node ID on use of the bit filter or of the master
9 reserved
10 reserved
11…15 used internally
The input image can only be accessed with the I/O direct access
commands: L PIB, L PIW
4.1.1 Byte 0: Module status
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
CAN Module is Module
controller CAN 300 parameterized
group error PRO and running
Bit 0: The CAN 300 PRO module has processed the configuration
and is ready for operation.
Bit 6: This bit is always 1 in order to detect the CAN 300 PRO.
Bit 7: Group error bit for errors on the CAN controller, more
precise information about the cause of error can be found in byte
1.
DeviceNet Slave CAN 300 PRO 15
4.1.2 Byte 1: Error status (EFLG) of the CAN controller
4.1.3 Byte 2: FIFO status bits
Bit 7 Bit 6 Bit 5 Bit 4
Send-FIFO (high) Send-FIFO Send-FIFO (low) Send-FIFOs
half full (high or low) half full (high & low)
overflow completely empty
Bit 3 Bit 2 Bit 1 Bit 0
Receive-FIFO Receive-FIFO Receive-FIFO (low) Receive-FIFOs
(high) half full (high or low) half full (high & low)
overflow completely empty
4.1.4 Byte 3/4: CAN controller Tx/Rx error counter
The error counter is incremented on every CAN frame transmitted
or received with an error. If a CAN frame has been correctly
transmitted, the error counter is decremented again. If the
counter is greater than 96, the CAN controller goes into
“warning” mode. If the error counter exceeds 127, the CAN
controller goes into “error passive.”
16 CAN 300 PRO DeviceNet Slave
4.2 CANParam debug screen
The "Connect" button activates monitoring mode. If you press the
button again, the link will be disconnected again.
The debug dialog box provides the following information:
Version Version number of the operating system
Protocol Configured CAN protocol (11bit/29bit)
Baud rate Active CAN baud rate
Controller status Content of the CAN status register:
!
Node status should
Error register Content of the CAN error register EFLG:
always be “OK” to Node status Content of the CAN status register (see above):
ensure fault-free CAN ”OK,” “Warning,” “Passive,” “Bus Off”
data transmission.
Rx error counter Error counter CAN reception
Tx error counter Error counter CAN transmission
!
The error counters must
Note: The transmit and receive error counters are incremented by
the can controller if transmission or receipt of a frame has failed.
be “0”; otherwise data
transmission on the As soon as a frame has been correctly sent or received, the
CAN bus is faulty. corresponding counter is decremented again. These counters
should always be 0 if the CAN bus is functioning correctly!
DeviceNet Slave CAN 300 PRO 17
Buffer Display of the number of received and
!
The information about
transmitted CAN frames in the buffers on the
CAN bus, to the PLC and internally
the buffers and FIFOs are
only relevant in layer 2. Note: The CAN 300 PRO module has receive and transmit buffers
In CANopen Master of 400 frames (low priority) and 20 frames (high priority). The
mode, the firmware counters show how many frames have been processed.
performs control of the
buffers.
There should never be a big difference between the Rx and Tx
counter pairs. However, if this does occur, the CAN frames are not
being fetched from the PLC fast enough or are being transmitted
to the PLC too fast.
If, in the case of a full FIFO, further frames are received or
transmitted, the error bit FIFO overflow is set and the oldest frame
is deleted from the FIFO.
FIFO status Display of the filling level of the FIFOs
In the PLC, the FIFO status can be evaluated via the peripheral
byte 2. aThe FIFOs can be deleted with data handling block FC 67
CANCTRL.
18 CAN 300 PRO DeviceNet Slave
