Config CM CANopen Manager Slave DOC V1 0 en

Configuration of the CM CAN
for CANopen Manager and

CANopen Slave
Siemens
ET 200SP Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/109779316 Support
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Configuration of the CM CAN for CANopen Manager and CANopen

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Table of contents
Table of contents
Legal information ......................................................................................................... 2
1 Introduction ........................................................................................................ 4
1.1 Overview............................................................................................... 4
1.2 Principle of operation............................................................................ 5
1.3 Components used ................................................................................ 7
2 Hardware configuration and wiring ................................................................. 8
2.1 Hardware setup .................................................................................... 8
2.2 Wiring of the CANopen modules .......................................................... 8
3 Configuration and engineering of the CAN modules .................................... 9
3.1 Configuration and engineering as CANopen Slave ............................. 9
3.2 Configuration and engineering as CANopen Manager ...................... 12
4 Using the library for CAN communications module .................................... 18
4.1 Interface description ........................................................................... 18
4.2 Integration into the user project .......................................................... 19
5 Diagnostic blocks ............................................................................................ 21
5.1 FC "CMCANManagerStatus" ............................................................. 21
5.2 FC "CMCANSlaveStatus" ................................................................... 22
5.3 Integration into the user project .......................................................... 23
© Siemens AG 2020 All rights reserved
6 Operation .......................................................................................................... 24
7 Appendix .......................................................................................................... 25
7.1 Service and support ........................................................................... 25
7.2 Links and Literature ............................................................................ 26
7.3 Change documentation ...................................................................... 26

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1 Introduction
1 Introduction
1.1 Overview
This application example shows the configuration of two CAN communications
modules within the ET 200SP distributed I/O system. These modules are:
• CM CANopen Manager
• CM CANopen Slave
The CAN modules are transferred to the CM CANopen Manager or CM CANopen

Slave operating mode through configuration. An S7-1500 controller loads the
configuration data into the two CAN modules. This is done using a function block
from the library for the CAN communications module.
The ET 200SP is connected to the S7-1500 controller via a PROFINET line. The
CAN modules are plugged into the ET 200SP (IO device) and exchange data with
the S7-1500 CPU (IO controller) via PROFINET.
Figure 1-1 Hardware configuration of the application example

CAN modules
S7-1500 CPU ET 200SP (CMs)
IO-Controller IO-Device
PROFINET / IE
CAN Bus
The application example describes in detail:

• Configuration of a CAN module as CANopen Slave and
exporting the EDS file.
• Configuration of the other CAN module as CANopen Manager and
integration of CAN nodes via import of an EDS file.
• Control and parameter assignment of CAN modules via the function block of
the library for the CAN communications module.
Note The term "CAN module" in this documentation always refers to a

communications module (CM).

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1 Introduction
1.2 Principle of operation

The S7-1500 CPU and the ET 200SP exchange configuration and user data via
PROFINET. The CAN module converts this data for the CAN protocol and
transmits it to the CAN nodes via the CAN bus. Feedback messages to the S7-
1500 CPU are sent in the reverse direction:
The CAN module converts the data from the CAN protocol and sends it to the S7-
1500 CPU via PROFINET.
The next two figures illustrate this:
• The sequence of the configuration of the CAN modules (Figure 1-2)
• The process data exchange via PROFINET and the communication between
the CAN modules (Figure 1-3)
Figure 1-2 Steps for configuring CAN modules

CM CANopen
Sequence of the configuration Manager Slave
S7-1500 CPU 1 Startup ET 200SP
IO controller CM CAN Slave IO device
2
Status byte: 0010 1000 "Not configured"
CM CAN Manager
3
Status byte: 0010 1000 "Not configured"
4 Call FB "ET200SPCM_CANConfig"
Send configuration with

5 FB "ET200SPCM_CANConfig"
CM CAN Slave
6
Status byte: 0000 1011 "Pre-Operational"
CM CAN Slave
7
Control byte: 0000 0001 "Set Operational"
CM CAN Manager
8 Control byte: 0000 0101 "Set Operational"
CM CAN Manager
9
Status byte: 1001 0011 "Operational"
CM CAN Slave
10
Status byte: 0001 0011 "Operational"
PROFINET / IE
CAN bus

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1 Introduction
Figure 1-3 Process data between IO controller and IO device via PROFINET and communication between
CM CANopen Manager and CM CANopen Slave
CM CANopen
Manager Slave
S7-1500 CPU Process data exchange over PROFINET ET 200SP
IO-Controller IO-Device
Output CM CAN Manager
1
QX.0 -> True
Input CM CAN Slave

3
IX.0 -> True
CM CAN Slave 4
Status Byte: 0001 0111 “OD Updated“
Output CM CAN Slave

5
QWX -> 123
Input CM CAN Manager

7
IWX -> 123
CM CAN Manager 8
Status Byte: 1001 0111 “OD Updated“
Manager Slave
CAN PDO
Manager to Slave
2
Communication between
the CAN modules
CAN PDO
Slave to Manager
PROFINET / IE
CAN Bus

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1 Introduction
1.3 Components used

The following hardware and software components were used to create this
application example:
Table 1-1 Hardware components
Component Quantity Article number
S7-1500 CPU 1511C-1 PN 1 6ES7511-1CK01-4YB5
ET 200SP, IM 155-6PN Standard 1 6ES7155-6AU01-0BN0
ET 200SP, CM CAN 2 6ES7137-6EA00-0BA0
Table 1-2 Software components

Component Quantity Article number
TIA Portal V15.1 1 6ES7822-1AA05-0YA5
Table 1-3 Components of this application example

Component File name Note
TIA Portal 109779316_Config_CM_CANopen_Manager_Slave_
project V15.1 PROJ_V15_1_V1_0_en.zip
Documentation 109779316_Config_CM_CANopen_Manager_Slave_ This
DOC_V1_0_en.pdf document
What you need in addition

1. Function block from the library for
CAN communications module
For control and parameter assignment of the CAN modules, you require the
corresponding function block from the library for the
CAN communications module (for TIA Portal V15.1 or higher).
You can find the library at the following link:

https://support.industry.siemens.com/cs/ww/en/view/109775840
Note The required function block from the library is already integrated in the STEP 7
program of this application example.
2. HSP 0310
You can find HSP_V15_1_0310_ET200SP_CM_CAN_1.0 for download on the
following HMTL page:

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2 Hardware configuration and wiring
2 Hardware configuration and wiring

The following figure shows the hardware configuration with the IP addresses used
in the TIA Portal project. These can be adapted accordingly.
2.1 Hardware setup

Figure 2-1 Hardware configuration in TIA Portal V15.1
2.2 Wiring of the CANopen modules

Figure 2-2 Wiring of the CAN bus signal to the BaseUnits of the CAN modules
CAN High
CAN Low
Ground
Note The bridge from terminal 2 to terminal 4 ensures the switching of a terminating
resistor (120 Ω). This must be activated in the CAN bus for the first and last
node.

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3 Configuration and engineering
of the CAN modules

of the CAN modules
The configuration and engineering of CM CANopen is already included in the TIA
Portal project. The tasks in this section therefore do not have to be performed.
However, they can serve to help you better understand the process.
3.1 Configuration and engineering as CANopen Slave

Instructions
1. Drag-and-drop the CM into the ET 200SP in the STEP 7 hardware
configuration.
Figure 3-1 Inserting the CM into the ET 200SP

2. Set the "CANopen Slave" operating mode.
Figure 3-2 Setting "CANopen Slave" operating mode

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of the CAN modules
3. Configure the communication
Figure 3-3 Configuring communication
4. Under "Object dictionary (OD)", specify the data that the

CM CANopen Slave sends to the CM CANopen Manager.
Figure 3-4 Setting send data of the CM CANopen Slave under "Object dictionary
(OD)"

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of the CAN modules
5. Under "Object dictionary (OD)", specify the data that the

CM CANopen Slave receives from the CM CANopen Manager.
Figure 3-5 Setting the Receive data of the CM CANopen Slave under the
"Object dictionary (OD)"
6. Export the configuration of the CM CANopen Slave as EDS file.

Figure 3-6

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of the CAN modules
3.2 Configuration and engineering as CANopen Manager

Instructions
7. In the STEP 7 hardware configuration, drag-and-drop the CM CANopen into
the ET 200SP (see Figure 3-1).
8. Set the "CANopen Manager" operating mode as shown in (Figure 3-2).
9. Create the CANopen node in Figure 3-7 for the CANopen Manager (1-4) and
import the configuration of the CM CANopen Slave as an EDS file (5).
Figure 3-7 Creating a CANopen node and importing a configuration of the CM

CANopen Slave
as an EDS file

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of the CAN modules
10. Set the node ID of the CM CANopen Slave.
Figure 3-8 Setting the node ID of the CM CANopen Slave
11. Define the data to be sent from the CM CANopen Slave to the CM CANopen
Manager via the CAN bus.
Figure 3-9 Configuration of the Send data from the CM CANopen Slave to the
CM CANopen Manager

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of the CAN modules
12. Define (via the Receive Process Data Objects) the data that should be
received from the CM CANopen Slave via the CAN bus from the CM CANopen
Manager.
Figure 3-10 Configuration of the Receive data of the CM CANopen from the
CM CANopen Manager
13. Create the Send data OD in the CM CANopen Manager so that they match the
Receive data of the CM CANopen Slave.

Figure 3-11 Adapting the Send data in the CM CANopen Manager

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of the CAN modules
14. Configure the Send process data (PDOs) in the CM CANopen Manager.
The COB ID of the Receive PDO of the CM CANopen Slave must be set as the
COB ID (2).
Figure 3-12 Configuring Send process data (PDOs) in the CM CANopen Manager
The following figure shows the correct setting of the PDOs.

Figure 3-13 Correct setting of the PDOs

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of the CAN modules
15. In the CM CANopen Manager, define the Receive data ODs that must
correspond to the Send process data objects of the CM CANopen Slave.
Figure 3-14 Specifying the Receive data ODs
16. Configure the Send process data objects (PDOs) in the CM CANopen
Manager.
The COB ID of the Send PDO of the CM CANopen Slave must be set as the
COB ID (2).
Figure 3-15 Configuring Send process data objects (PDOs)

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of the CAN modules
The following figure shows the correct setting of the PDOs.
Figure 3-16 Correct setting of the PDOs


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4 Using the library for CAN communications module
4 Using the library for CAN communications

module
This application example uses the "ET200SPCM_CANConfig" function block from
the library for CAN communications modules. You can find the library at the
following link:
This section describes the "ET200SPCM_CANConfig" FB.
4.1 Interface description

Figure
Figure 4-1 FB "ET200SPCM_CANConfig"
Parameters
Table 4-1 Parameters of FB "ET200SPCM_CANConfig"
Parameter Interface Data Description
type
DB_NO Input Variant Data block with data records to be written.
(symbolic name or "%DBxy")
CAN_STATE Input Byte Status byte of the CAN module (CM)
REQ InOut Bool Positive edge: Start data transfer
ABORT InOut Bool Positive edge: Cancel data transmission
BUSY Output Bool True: Data transmission active
DONE Output Bool True: Data transmission completed
ERROR Output Bool True: Data transmission failed
STATUS Output DWORD Status code of the error (see Table 4-2)

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Table 4-2 "STATUS" parameter

Status code Description
0000 8001 The instruction is already running.
0000 8002 The block in parameter DB_NO is not a global data block.
You enter a global data block with a symbolic name or
"%DBxy".
0000 8003 Configure a data block number in the parameter "DB_NO".
0000 8004 The data block is too short.
0000 8005 There are too few data records in the data block. At least
one data record must be present.
0000 8006 The data record is too large. The maximum size of a data
record is 4096 bytes.
DF80 B500 Extended configuration was ignored because the module
was not in the "not configured" state.
DF80 B600 The data record was not accepted.
DF80 B800 Incorrect parameter data was received.
4.2 Integration into the user project

Call in the S7 program
The "ET200SPCM_CANConfig" FB is called cyclically (here in OB1) twice within a

program cycle in the user program:
1. For the configuration of the CM CANopen Manager
2. For the configuration of the CM CANopen Slave
Create configuration data on the FB

The "ET200SPCM_CANConfig" FB transfers the configuration to both CAN
modules
during runtime of the S7 CPU. The configuration data for the operating states of the
CAN modules in each case is located in a global data block. The data blocks are
generated automatically when the hardware configuration is compiled.
Figure 4-2 Automatically generated data blocks for the configuration data
of the CAN modules (CMs)
The respective data blocks are connected to the input of the formal parameter
"DB_NO" of the "ET200SPCM_CANConfig" FB:
• "IOdev1.CM_CAN_Manager" for configuration of the CM CANopen Manager.
• "IOdev1.CM_CAN_Slave" for configuration of the CM CANopen Slave.

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Start transmission of the configuration data

The transmission of the configuration data by the
"ET200SPCM_CANConfig" FB can be started in two ways:
1. Automatic transmission
When the input parameter "CAN_STATE" (status byte of the CM CAN module)
is used. In this case, you do not need to connect the additional inputs "REQ"
and "ABORT".
2. Manual transmission
If the InOut parameter "REQ" = "True" is set. Then "REQ" is set to "False"
again.
NOTICE Perform the following steps if the configuration fails:

• Compile and reload the hardware configuration.
• Then start the transfer of the configuration data by the
"ET200SPCM_CANConfig" FB.
You can recognize a failed configuration when
• The function block reports "ERROR" = "True" at output or
• The status byte of a CM CAN communications module
reports "bad parameterization".

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5 Diagnostic blocks
5 Diagnostic blocks
Other blocks are used in addition to the library block from Section 4. These are
proprietary developments. The functionality of these blocks includes diagnostics for
the CAN bus and the CM CANopen Manager and CM CANopen Slave modules.
The blocks are described below.
5.1 FC "CMCANManagerStatus"
This block displays the status of CAN bus and CM CANopen Manager.
Figure
Figure 5-1 FC "CMCANManagerStatus"
Parameters
Table 5-1 Parameters of FC "CMCANManagerStatus"
type
managerStatusByte Input Byte Status byte of the CM CAN Manager
module
busStatus Output Int 0: Module OFF
1: Bus inactive or not synchronized
2: Error passive
3: OK
modulStatus Output Int 0: Start up slaves
1: Pre-stage ready for operation
2: Ready for operation
3: Stopped
4: Waiting for startup
5: Not configured
6: Bad parameterization
7: Reserved

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5 Diagnostic blocks

type
resetActiv Output Bool True: Reset active
False: Reset completed or not started

canOK Output Bool True: OK
False: Not OK
odEntriesUpdated Output Bool True: All ODs have undergone an
update since the last reset.
False: There are OD entries whose

value has not yet been updated via a
corresponding PDO since the last
reset.
5.2 FC "CMCANSlaveStatus"
This block displays the status of CAN bus and CM CANopen Slave.
Figure
Figure 5-2 FC "CMCANSlaveStatus"
Parameters
Table 5-2 Parameters of FC "CMCANSlaveStatus"
type
slaveStatusByte Input Byte Status byte of the CM CAN Slave
busStatus Output Int 0: Module OFF
1: Bus inactive or not synchronized
2: Error passive
3: OK
modulStatus Output Int 0: Reserved
1: Pre-stage ready for operation
2: Ready for operation
3: Stopped
4: Reserved
5: Not configured
6: Bad parameterization
7: Reserved

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5 Diagnostic blocks

type
resetActiv Output Bool True: Reset active
False: Reset completed or not started

odEntriesUpdated Output Bool True: All ODs have undergone an
update since the last reset.
False: There are OD entries whose

value has not yet been updated via a
corresponding PDO since the last
reset.
5.3 Integration into the user project

"CMCANManagerStatus" FC and "CMCANSlaveStatus" FC are called before the
"ET200SPCM_CANConfig" FB in OB1.
Figure 5-3 Block calls
CMCAN
Manager
Status
CMCAN
OB1 Slave
Status
ET200SPCM
CANConfig

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6 Operation
6 Operation
Operation
The following instructions will help you operate the application example.
3. Open the watch table "Monitor_CM_CAN" in TIA Portal and go online.
Figure 6-1 Watch table (extract)

4. Set "IOdev1.CM_CAN_Slave.CANopen_slave.Control" to 16#01.

5. Set "IOdev1.CM_CAN_Manager.CANopen_manager.Control" to 16#05.
Figure 6-2 Controlling tags
6. Set outputs Q17.0 and Q18.0 to "True".

The value from the CM CANopen Manager is sent to the CM CANopen Slave.
The entry "CanStatus.slaveODentriesUpdated" = "True" shows the
transmission of the values.
7. Set QW1 and QW3 to any decimal value to send the value from the CM
CANopen Slave to the CM CANopen Manager.
The entry "CanStatus.managerODentriesUpdated" = "True" shows the
transmission of the values.

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7 Appendix
7 Appendix
7.1 Service and support
Industry Online Support
Do you have any questions or need assistance?
Siemens Industry Online Support offers round the clock access to our entire
service and support know-how and portfolio.
The Industry Online Support is the central address for information about our
products, solutions and services.
Product information, manuals, downloads, FAQs, application examples and videos
– all information is accessible with just a few mouse clicks:
support.industry.siemens.com
Technical Support
The Technical Support of Siemens Industry provides you fast and competent
support regarding all technical queries with numerous tailor-made offers
– ranging from basic support to individual support contracts. Please send queries
to Technical Support via Web form:
www.siemens.com/industry/supportrequest
SITRAIN – Training for Industry

We support you with our globally available training courses for industry with
practical experience, innovative learning methods and a concept that’s tailored to
the customer’s specific needs.
For more information on our offered trainings and courses, as well as their
locations and dates, refer to our web page:
www.siemens.com/sitrain
Service offer
Our range of services includes the following:
• Plant data services
• Spare parts services
• Repair services
• On-site and maintenance services
• Retrofitting and modernization services
• Service programs and contracts
You can find detailed information on our range of services in the service catalog
web page:
support.industry.siemens.com/cs/sc
Industry Online Support app

You will receive optimum support wherever you are with the "Siemens Industry
Online Support" app. The app is available for iOS and Android:
support.industry.siemens.com/cs/ww/en/sc/2067

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7 Appendix
7.2 Links and Literature

Tabelle 7-1
No. Subject
\1\ Siemens Industry Online Support
https://support.industry.siemens.com
\2\ Link auf die Beitragsseite des Anwendungsbeispiels
\3\ Gerätehandbuch SIMATIC ET 200SP CM CAN
7.3 Change documentation

Tabelle 7-2
Version Date Change
V1.0 05/2020 First release

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Configuration of the CM CAN

for CANopen Manager and

Configuration of the CM CAN for CANopen Manager and CANopen

Configuration of the CM CAN for CANopen Manager and CANopen

The CAN modules are transferred to the CM CANopen Manager or CM CANopen

Figure 1-1 Hardware configuration of the application example

The application example describes in detail:

Note The term "CAN module" in this documentation always refers to a

Configuration of the CM CAN for CANopen Manager and CANopen

1.2 Principle of operation

Figure 1-2 Steps for configuring CAN modules

Send configuration with

Configuration of the CM CAN for CANopen Manager and CANopen

Input CM CAN Slave

Output CM CAN Slave

Input CM CAN Manager

Configuration of the CM CAN for CANopen Manager and CANopen

1.3 Components used

Table 1-2 Software components

Table 1-3 Components of this application example

What you need in addition

You can find the library at the following link:

Configuration of the CM CAN for CANopen Manager and CANopen

2 Hardware configuration and wiring

2.1 Hardware setup

2.2 Wiring of the CANopen modules

Configuration of the CM CAN for CANopen Manager and CANopen

3 Configuration and engineering

3.1 Configuration and engineering as CANopen Slave

Figure 3-1 Inserting the CM into the ET 200SP

2. Set the "CANopen Slave" operating mode.

Figure 3-2 Setting "CANopen Slave" operating mode

Configuration of the CM CAN for CANopen Manager and CANopen

3. Configure the communication

Figure 3-3 Configuring communication

4. Under "Object dictionary (OD)", specify the data that the

Configuration of the CM CAN for CANopen Manager and CANopen

5. Under "Object dictionary (OD)", specify the data that the

6. Export the configuration of the CM CANopen Slave as EDS file.

Configuration of the CM CAN for CANopen Manager and CANopen

3.2 Configuration and engineering as CANopen Manager

Figure 3-7 Creating a CANopen node and importing a configuration of the CM

Configuration of the CM CAN for CANopen Manager and CANopen

10. Set the node ID of the CM CANopen Slave.

Figure 3-8 Setting the node ID of the CM CANopen Slave

Configuration of the CM CAN for CANopen Manager and CANopen

Receive data of the CM CANopen Slave.

Configuration of the CM CAN for CANopen Manager and CANopen

The following figure shows the correct setting of the PDOs.

Configuration of the CM CAN for CANopen Manager and CANopen

Figure 3-15 Configuring Send process data objects (PDOs)

Configuration of the CM CAN for CANopen Manager and CANopen

The following figure shows the correct setting of the PDOs.

Figure 3-16 Correct setting of the PDOs

Configuration of the CM CAN for CANopen Manager and CANopen

4 Using the library for CAN communications

This section describes the "ET200SPCM_CANConfig" FB.

4.1 Interface description

Configuration of the CM CAN for CANopen Manager and CANopen

Table 4-2 "STATUS" parameter

4.2 Integration into the user project

The "ET200SPCM_CANConfig" FB is called cyclically (here in OB1) twice within a

Create configuration data on the FB