Kuhnke Electronics Instruction Manual

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CANopen Master & Slave: One unit in the network must provide the CANopen master functionality. CANopen masters can monitor CANopen slaves and manipulate their status. With regard to data exchange, master and slaves have equal rights. Ventura Remote PLC can act as a CANopen master. Bus communication: As opposed to "station-based" data transfer, which defines as the exchange of messages between two specified stations, the transfer of CAN messages is based upon the so-called "producer/consumer principle", i.e. a message sent by one of the stations (producer) can be received and read by all of the other stations (consumers). To sustain this approach, messages are not labelled with a target address but with a unique "message identifier". CANopen distinguishes between two types of basic communication objects. SDO Service data objects (SDO) are used for configuring and setting the parameters of CANopen slaves, for example. SDOs are exchanged as acknowledged data transfer operations with two CAN objects being sent through a point-to-point connection between two network nodes every time. The appropriate object dictionary item is addressed by its index and subindex. PDO Process data objects (PDO) speed up the exchange of process data. PDOs are configured with reference to object dictionary items. There are various ways of transferring process data objects, i.e. in response to an event, cyclically or after request as broadcast objects without extra protocol overhead. Every PDO can carry a maximum of 8 byte user data. 170 E 700 GB
7.1.1 CANopen Example CANopen A Ventura Remote PLC CAN 32DI/32DO is to act as the CAN master that exchanges data with Ventura Remote I/O CAN 32DI/32DO. • Step1: Add CAN library. � Open a project for target system "KUHNKE Remote PLC CAN". � Go to tab "Resources" and choose "Library Manager". Select "Insert, Additional Library". Choose library 3S_CANopenMaster.lib located in library folder C:\Programs\Common Files\CAA-Targets\<strong>Kuhnke</strong> \Libs_C690. This will also load 3S_Can_Drv.lib and 3S_CANopenManager.lib into the project. • Step2: Configure CAN master. � Go to tab "Resources" and choose "PLC Configuration". � Select Ventura Remote PLC CAN and choose "Add, Append Subelement, CanMaster". 171
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Kuhnke Electronics Instruction Manu
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Table of Contents Introduction 1 In
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Introduction 4.3.4 PLC Configuratio
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Introduction 6.1.4 Station Address
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1 Introduction Introduction Ventura
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1.2 Variants Introduction Compact c
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Advantages of Decentralisation Intr
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1.5 Network Examples 1.5.1 PROFIBUS
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2 Reliability, Safety 2.1 Intended
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2.4.3 Note Reliability, Safety This
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2.5.1 Project Planning and Installa
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2.6 Electromagnetic Compatibility 2
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2.6.6.2 Contamination Reliability,
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3 Hardware 3.1 System Description H
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Hardware Extensions Ventura Remote
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3.3 Power Supply 3.3.1 Earth left s
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3.3.3 Power Supply Hardware Voltage
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3.4 Inputs and Outputs 3.4.1 Digita
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3.4.2 Digital Combi I/Os Hardware V
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3.4.3 Analogue Inputs Hardware Vent
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3.5 A, B, Ref Counter Hardware Vent
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3.6.2 PROFIBUS Hardware Ventura Rem
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3.7 Expansion Modules Ventura Remot
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3.8.2 Mode Selector mode selector H
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3.8.3.1 RUN 3.8.3.2 Stop 3.8.3.3 Ex
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3.9 Status and Failure Indication "
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Installation 4 PLC Functions of Ven
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4.2 Writing CoDeSys Programs Online
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4.2.2 CAN: Online CAN Function Libr
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4.3.1 Operating System Function Lib
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4.3.3 Task Configuration 4.3.3.1 PL
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4.3.3.2 The Task Configurator 4.3.3
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4.3.4 PLC Configuration Function Li
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Function Libraries DI16/DO16". Repe
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4.3.6 The Flash File System Functio
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4.4.1 Installing a Thread Function
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Thread usage Function Libraries A t
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4.4.2 Installing / Uninstalling a T
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To uninstall a timer task: Function
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4.4.3 Enabling / Disabling the Outp
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4.4.5 Direct Write of Local Outputs
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FUNCTION INSTALL_ERROR_IRQ : BOOL V
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Function Libraries INSTALL_INPUT_IR
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4.4.8 Installing a REF IRQ Module F
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4.4.10 Setting up the Watchdog Func
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4.5 Library MMC.LIB Function Librar
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4.5.2 Registering with the File Sys
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4.5.4 Copying Files Function Librar
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4.5.6 Determining the Free MMC Spac
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4.5.8 Moving a File Function Librar
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4.5.9 Opening a File Function Libra
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4.5.10 Reading from a File Function
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4.5.12 Setting the Edit Bookmark of
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4.5.14 Initialising the File System
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Function Libraries FUNCTION_BLOCK M
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� Use 'start' to repeatedly run t
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4.6.4 Online Reset (cold) 4.6.5 Res
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4.7.2 Variables with Set Addresses
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4.8 Extraremanent Data 4.8.1 Remane
Page 119 and 120: Remanent Data If an extraremanent m
Page 121 and 122: TYPE Extrarema_02: STRUCT END_STRUC
Page 123 and 124: Start_OK := CheckXREMDATA(Clear); I
Page 125 and 126: 5 Software Software Read this secti
Page 127 and 128: Internal combi I/Os %IX0.0-%IX0.3 a
Page 129 and 130: Internal I/Os AI_x and AO_x I/O Var
Page 131 and 132: Software If an "Input IRQ module" h
Page 133 and 134: 5.3.3 Functions of Internal Outputs
Page 135 and 136: Software Value Frequency Value Freq
Page 137 and 138: 5.3.4 Short-circuited Output Softwa
Page 139 and 140: 5.3.5 Internal Analogue Input Funct
Page 141 and 142: 5.3.6 Internal Analogue Output Func
Page 143 and 144: 5.3.7 Functions of Internal Counter
Page 145 and 146: 5.3.7.1.2 Event Counter Variables V
Page 147 and 148: Resolution of the rotary encoder: s
Page 149 and 150: Software 5.4 Functions of the Basic
Page 151 and 152: 5.7 Status Messages of Expansion Mo
Page 153 and 154: 6 PROFIBUS-DP 6.1 Basic Information
Page 155 and 156: 6.2 Master-Slave Communication PROF
Page 157 and 158: 6.2.2 Receive Parameter Data (Prm_D
Page 159 and 160: 6.2.2.2 Device-specific Bus Paramet
Page 161 and 162: PROFIBUS replaces the term "byte" w
Page 163 and 164: Octet 4: Diag.Master_Add PROFIBUS A
Page 165 and 166: 6.2.4 Master-Slave Data Communicati
Page 167 and 168: Example: VAR bIn_0: BYTE; bOut_0: B
Page 169: 7 CANopen CANopen At this point, we
Page 173 and 174: • Step3: Write and test CoDeSys p
Page 175 and 176: PROGRAM PLC_PRG VAR CANMaster_Ok: B
Page 177 and 178: 8 PLC Error Handling 8.1 "Failure"
Page 179 and 180: Example VAR C690_Error: BYTE; END_V
Page 181 and 182: 8.3.1 Short-circuited Output (Error
Page 183 and 184: => - STOP: The program is stopped E
Page 185 and 186: 9 Appendix 9.1 Technical Data 9.1.1
Page 187 and 188: Appendix Max. current .............
Page 189 and 190: 9.1.3 Communication Ports V.24 port
Page 191 and 192: 9.2 Order Specifications 9.2.1 Cont
Page 193 and 194: Appendix 9.3 Ventura Remote I/O Exp
Page 195 and 196: 9.5 Sales & Service Appendix Please
Page 197 and 198: 9.6 Index A, B, Ref counter 146 con
Page 199: PROFIBUS port 43 PROFIBUS-DP 153 di
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