logo资料库

CiA 405 DS V2.0 CANopen interface and device profile for IEC 61131-3 programmable devices(IGCO_405_v02000003)(英文原版协议).pdf

发布时间：2022-04-11 发布人：admin 分类：互联网 资料大小：0.64M 资料格式：pdf 举报 版权申诉
第1页 / 共42页
第2页 / 共42页
第3页 / 共42页
第4页 / 共42页
第5页 / 共42页
第6页 / 共42页
第7页 / 共42页
第8页 / 共42页
资料共42页，剩余部分请下载后查看
    CiA Draft Standard 405 CANopen Interface and Device Profile for IEC 61131-3 Programmable Devices Version 2.0 Date: 21.05.2002 © CAN in Automation e. V.
    CiA DS 405 Interface and Device Profile for IEC 61131-3 Programmable Devices CiA e.V. Changes Document Version 1.0 released Document Version 2.0 released • editorial changes • adaptation to Version 4.01 of CiA DS-301 • adaptation to Version 3.0 of CiA DSP-302 • • Tool Integration redefined • Document as Draft Standard Version 2.0 released function blocks for SDO with arbitrary length clarifications HISTORY Date March 1998 December 2000 May 2002 General information on licensing and patents CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA specification may be subject of patent rights. CiA shall not be responsible for identifying any or all such patent rights. Because this specification is licensed free of charge, there is no warranty for this specifica- tion, to the extent permitted by applicable law. Except when otherwise stated in writing the copyright holder and/or other parties provide this specification “as is” without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the correctness and completeness of the specification is with you. Should this specification prove failures, you assume the cost of all necessary servicing, repair or correction. © CiA 2008 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and micro- film, without permission in writing from CiA at the address below. CAN in Automation e. V. Kontumazgarten 3 DE - 90429 Nuremberg, Germany Tel.: +49-911-928819-0 Fax: +49-911-928819-79 Url: www.can-cia.org Email: headquarters@can-cia.org © CiA 2008 - All rights reserved i
    CiA DS 405 Interface and Device Profile for IEC 61131-3 Programmable Devices CiA e.V. TABLE OF CONTENTS 1 SCOPE 2 REFERENCES 3 TERMS AND DEFINITIONS 3.1 DATA TYPES VARIABLES 3.2 3.3 PROGRAM ORGANIZATION UNITS (POU) 3.4 CONFIGURATION ELEMENTS 3.5 3.6 CANOPEN PROFILE-SPECIFIC DEFINITIONS ACCESS TO NETWORK VARIABLES DEFINITION 4 DATA TYPES 4.1 DATA TYPE CONVERSION FUNCTIONS 4.2 DATA TYPE REPRESENTATION ISSUES 5 ACCESSING CANOPEN FROM WITHIN IEC 61131-3 5.1 VARIABLE BASED ACCESS Definition of the data direction Object dictionary entries for IEC 61131-3 variables Variable names 5.2 FUNCTION BLOCK BASED ACCESS General function block design issues Data types SDO access Other function blocks 6 TOOL INTEGRATION BASIC CONCEPT 6.1 6.2 NODE LIST 6.3 ACCESS HANDLER 7 UTILITY FUNCTIONS 1 2 2 2 3 3 4 4 4 5 6 7 8 8 8 9 10 11 12 12 14 17 20 20 20 21 22 22 22 22 22 23 24 25 27 27 28 28 29 31 31 31 32 33 33 35 35 35 35 36 5.1.1 5.1.2 5.1.3 5.2.1 5.2.2 5.2.3 5.2.4 7.1.1 7.2.1 7.2.2 7.2.3 7.2.4 7.2.5 7.2.6 8.4.1 8.4.2 8.4.3 8.4.4 8.6.1 8.6.2 8.6.3 ii 7.1 REMOTE FUNCTIONS BETWEEN RESOURCES Down-/Upload 7.2 OBJECT DICTIONARY ENTRIES Project name Configuration Resources Task Start/Stop (Program/Task) Debugging/Monitoring 8 APPENDIX (INFORMATIVE) 8.1 DETAILED DESCRIPTION OF NETWORK VARIABLE SEGMENTS 8.2 8.3 8.4 IEC 61131-3 OBJECT DICTIONARY OVERVIEW EXAMPLE DCF FILE APPLICATION NOTES 8.5 8.6 IEC 61131-3 SAMPLE CODE IMPLEMENTATION MODELS FOR IEC 61131-3 DATA TYPE SUPPORT Network variables Data type representation issues EDS Tool integration Native support Padding to next best match Using arrays or struct © CiA 2008 - All rights reserved
    CiA DS 405 Interface and Device Profile for IEC 61131-3 Programmable Devices CiA e.V. FIGURES Figure 1: Interfaces ................................................................................................................................1 Figure 2: IEC 61131-3 software organisation.......................................................................................3 Figure 3: Direction of Network Variables ..............................................................................................8 Figure 4: Type CIA405_DEVICE.........................................................................................................12 Figure 5: Type CIA405_SDO_ERROR...............................................................................................12 Figure 6: Type CIA405_EMCY_ERROR ............................................................................................12 Figure 7: Type CIA405_STATE ..........................................................................................................13 Figure 8: Type CIA405_TRANSITION_STATE .................................................................................13 Figure 9: Type CIA405_CANOPEN_KERNEL_ERROR...................................................................13 Figure 10: Function block CIA405_SDO_WRITE4 ............................................................................14 Figure 11: CIA405_SDO_WRITE4 typical timing diagram................................................................14 Figure 12: Function block CIA405_SDO_WRITE ..............................................................................15 Figure 13: Function block CIA405_SDO_READ4..............................................................................16 Figure 14: CIA405_SDO_READ4 typical timing diagram .................................................................16 Figure 15: Function block CIA405_SDO_READ................................................................................17 Figure 16: Function block CIA405_ GET_LOCAL_NODE_ID ..........................................................17 Figure 17: Function block CIA405_ GET_STATE .............................................................................18 Figure 18: Function block CIA405_ GET_CANOPEN_KERNEL_STATE .......................................18 Figure 19: Function block CIA405_ NMT ...........................................................................................18 Figure 20: Function block CIA405_RECV_EMCY_DEV ...................................................................19 Figure 21: Function block CIA405_RECV_EMCY .............................................................................19 Figure 22: Correlation between programming and network configuration .......................................20 Figure 23: Project structure .................................................................................................................22 Figure 24: Data representation with PDO on CANopen non-compliant PLCs.................................32 Figure 25: Data representation with SDO on CANopen non-compliant and compliant PLCs ........32 Figure 26: Information exchange via DCF..........................................................................................33 Figure 27: Data exchange using converter module...........................................................................33 Figure 28: Compatibility for NVX format .............................................................................................34 TABLES Table 1: Data types ................................................................................................................................5 Table 2: Data types not transferable via PDO......................................................................................6 Table 3: Data type conversion functions ..............................................................................................6 Table 4: Input network variables ...........................................................................................................9 Table 5: Output network variables ......................................................................................................10 Table 6: New data types ......................................................................................................................11 Table 7: Function blocks......................................................................................................................11 Table 8: Error codes for type CIA405_CANOPEN_KERNEL_ERROR ...........................................14 Table 9: Entries in Nodelist file............................................................................................................21 Table 10: List of object dictionary entries ...........................................................................................30 © CiA 2008 - All rights reserved iii
    CiA DS 405 Interface and Device Profile for IEC 61131-3 Programmable Devices CiA e.V. 1 Scope This document represents the standardised CANopen Interface and Device Profile for IEC 61131-3 programmable devices like PLCs. All the above devices use communication techniques which conform to those described in the CiA Draft Standard DS-301 (Application Layer and Communication Profile) and Draft Standard Pro- posal DSP-302. These documents should be consulted in parallel to this profile. In general, generating an application implements the handling of up to five interfaces see the fig- ure. IEC 61131-3 PLC Application (IEC 61131-3 Program) D IEC 61131-3 Programming environment C CANopen tools (e.g. Network configuration tools) B E CANopen Network A Figure 1: Interfaces This paper covers the following interfaces A) the access to a CANopen communication system from within an IEC 61131-3 program a) based on variables, i.e. access to elementary IEC 61131-3 variable objects, b) based on calls to function block B) utility functions for debugging, monitoring and network management C) interface between CANopen tools and IEC 61131-3 programming environment All other interfaces are manufacturer specific (D) or uses CANopen services (E). Note Figure 1 describes not necessarily the use of different tool for programming and configuration. One tool may handle both functionality and hide the interfaces. © CiA 2008 - All rights reserved 1
    CiA DS 405 Interface and Device Profile for IEC 61131-3 Programmable Devices CiA e.V. 2 References /IEC 61131/ IEC 61131 First edition 1993-03 Programmable controllers - Part 1: general information - Part 3: programming languages - Part 5: messaging services Application Layer and Communication Profile CiA Draft Standard 301 Version 4.01, 2000-06 Framework for programmable CANopen devices CiA Draft Standard Proposal 302 Version 3.0, 2000-06 Layer Setting Services and Protocols CiA Draft Standard Proposal 305 Version 1.1, 2002-02 Electronic Data Sheet Specification for CANopen CiA Draft Standard Proposal 306 Version 1.1, 2001-06 /DS-301/ /DSP-302/ /DSP-305/ /DSP-306/ 3 Terms and definitions 3.1 Data types IEC 61131-3 specifies three kinds of data types: • Elementary data types Length 1 Bit 8 Bits 16 Bits 32 Bits 64 Bits Keywords BOOL SINT, USINT, BYTE INT, UINT, WORD DINT, UDINT, REAL, DWORD LINT, ULINT, LREAL, LWORD Implementation dependent TIME, DATE, TIME_OF_DAY, DATE_AND_TIME, STRING • Generic data types Generic data types group elementary data types hierarchically. They are identified by the prefix "ANY" (e.g. ANY_NUM, ANY_INT,...). • Derived data types User- or manufacturer-specified data types (Structures). Types to match CANopen data types (e.g. CIA405UINT24, ...). 2 © CiA 2008 - All rights reserved
    分享到：
    赞 收藏

    相关推荐

    最新资料