First, system overview
Schneider Electric Group is a world-renowned manufacturer of electronic control products. Its product LXM23A servo controller has a wide range of applications in the field of motion control with its superior performance. The servo controller itself is equipped with CANOPEN communication. When encountering the main control system is PROFIBUS communication (such as Siemens 300, 400 PLC), it needs to solve the problem of fast conversion from PROFIBUS to CANOPEN protocol. The PB-B-CANOPEN bus bridge of Beijing D&S Innovation & Technology Co., Ltd. has played the role of protocol conversion from PROFIBUS to CANOPEN. Its characteristic is high communication speed and convenient and flexible use. As shown in Figure 1-1 below, Siemens PLC (CPU 315-2DP) controls the start and stop of Schneider servo controller Lexium 23A, speed reference, etc., as well as related parameters such as servo controller status word. Let's take a servo controller as an example.
Picture 1-1
Second, wiring and parameter settings
1. Wiring: CN4 of Schneider's servo is CANOPEN. The definition of CN4's pins is shown in Figure 2-1. Pin 1 is connected to the bus bridge CAN five-pin terminal H, and pin 2 is connected to bus bridge CAN five-pin terminal L. .
Figure 2-1
2. Parameter setting: In this test, the parameters related to CANOPEN communication on the servo controller are mainly: P3-01 (communication baud rate), P3-02 (communication protocol), P3-05 (CANOPEN address setting) . Here the baud rate is set to 500K, the communication protocol selects CANOPEN, and the CANOPEN address is set to 1.
Third, the hardware configuration
1. Create a new project, load the GSD file DSCOM_11, add the master station CPU315-2DP, add the slave station PB-B-CANopen_Master/v11, set the station address to 19, as shown in Figure 3-1
Figure 3-1
2, set the CAN communication parameters, baud rate 500K, send cycle 2ms, as shown in Figure 3-2
Figure 3-2
3. Use SDO to read the current value of the status word and the encoder position here. Add two RSDOs. The data length is 2 bytes and 4 bytes respectively. As shown in Figure 3-2
Figure 3-2
4, set SDO communication parameters
According to Schneider's product description, the corresponding object dictionary word for this status word is: 6041H, and the sub-index is: 00H. The object dictionary of the current value of the encoder position is: 6063H, and the sub-index is: 00H. As shown in Figure 3-3, 3-4
Picture 3-3
Fourth, start communication
Set Q0 of the control word as 0 to set Q0.0 to start transmission and observe the data of PIW256 and PID258. The content of PIW256 is the status word, and the content of PIW258 is the current position value of the encoder.
V. Concluding remarks
Each PB-B-CANOPEN can configure up to 24 CANOPEN commands, which can realize the connection of multiple servos to a Siemens PLC via a bus bridge, which saves a lot of costs. PLC sends commands to the servo controller in two ways: event triggering (that is, sending when the output data changes) and time triggering (transmitting one at the fastest 1 ms), which enables fast communication between the PLC and the servo. All communication parameters of PB-B-CANOPEN are set in STEP7. There is no need to download software separately, which provides great convenience for customers. This product has been widely used in many industries such as wind power, shipbuilding, metallurgy, machining, rubber and plastics machinery, material processing, and so on.
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