AN0029-UR20-CAN Integration of UR20-CAN With Eaton XSoft Codesys XC202

Commissioning u-remote CANopen on EATON SPS XC202
u-remote CANopen on SPS EATON

Table of content
 Chapter 1: Web server of u-remote CANopen

 Chapter 2: Create a PLC project with software XSoft CoDeSys
 Chapter 3: Import EDS file of u-remote
 Chapter 4: Create a project
 Chapter 5: Parameterization of u- remote modules
 Chapter 6: Create a program for u-remote
03.06.2015 Commissioning UR20-FBC-CAN with EATON SPS TIRM, F.-H. Schöls Page 2
Chapter 1
Web server of u-remote CANopen

Web server u-remote CANopen
Here all important information is currently

displayed. Furthermore, settings can be made
here when this is not to be performed with the
controller.
Chapter 2
Create a PLC project with software XSoft CoDeSys

Create a PLC project with software XSoft CoDeSys
1) Start/Open XSOFT CoDeSys (Click on the symbol like this)
2) Wait until XSOFT CoDeSys is open
Chapter 3
Import EDS file of u-remote

1) Click in the main menu on “Tools”

2) Double click on menu point “Device-Repository”
3) Device-Repository will open
1) Click on "Install" button and select in the

subsequent menu the file type "EDS and DCF
files (* .eds, * .dcf) and the ESD - file (in the
selected directory).
2) Then click on "Open". The selected EDS - file will
be imported.
1) The successful import is displayed here.

2) Takeover by clicking "Close“.
Chapter 4
Create a project
Create a new project
1) Click on „File“  „New Project“.
2) Choose from templates "Standard Project".
3) Assign a project name
4) Specify a location
5) Takeover with "OK"
Select a PLC
1) Select a PLC.
2) Choice of programming language
3) Takeover with "OK"
Insert the field bus CANopen
1) Mark Device (XC CPU202)
2) Select add device and click the right mouse
button
3) Choose CANbus
4) Click on „Add Device“
Insert a CANopen Manager
1) Mark CANbus and click the right mouse button
2) Select CAN Manager
Insert a CANopen Device (UR20-FBC-CAN)
1) Mark CANopen Manager and click the right
mouse button
2) Select CANopen Device
Insert a u-remote module
1) Mark UR20_FBC_CAN and click the right mouse
button
2) Select a UR20 module according to the
connected modules on the UR20 coupler
4) Repeat the procedure until the module list is
completed.
Bus parameter: Adjust the baudrate
1) Mark CANbus and double click on it
2) Adjust the baudrate.
Bus parameter: CANopen Manager
1) Mark CANopen Manager and double click on it
2) Adjust the Node address of the ANopen Manager
3) Make additional settings for Node Guarding,
Sync, Heartbeat etc.
Bus parameter: CANopen Device UR20-FBC-CAN
1) Mark UR20-FBC-CAN and double click on it
2) Click on the folder CANopen Remote Device
3) Adjust the Node address
4) Switch on „Enable Expert Settings“
5) Make additional settings Node Guarding, Sync,
Heartbeat etc.
Chapter 5
Parameterization of u- remote modules

Parameterization: UR20-4AI-UI-16
2) Open folder „Service Data Object“
3) It can be changed parameters of the modules.
For analog modules, it is necessary to set the
measurement of the used channels, otherwise
no process data are exchanged. Table
Parameter
Parameterization: UR20-4AO-UI-16
2) Open folder „Service Data Object“
3) It can be changed parameters of the modules.
For analog modules, it is necessary to set the
measurement of the used channels, otherwise
no process data are exchanged. Table
Parameter
Takeover of the parameterization
1) The changed parameters are only taken over by
u-remote when the object 0x31FF is set to "1".
Download the configuration into the PLC
1) The project must be first translated (eg F11).
2) Then the compiled project is loaded into the
PLC. For details on the procedure “Compilation”
and load it into the PLC please use the ONLINE
help or the manual.
3) In the ONLINE - mode of the PLC can be
checked whether the configuration is correct.
Chapter 6
Create a program for u-remote

Mapping of UR20-16DI-P and variable assignment
1) Double click on UR20-16DI-P
2) Open the folder „CANopen-Module I/O-Mapping“
3) Variables can be declared here
Mapping UR20-16DO-P and variable assignment
1) Double click on UR20-16DO-P
2) Open the folder „CANopen-Module-I/O-Mapping“
Mapping UR20-4AI-UI-16 and variable assignment
1) Double click on UR20-4AI-UI-16
Enabling the process data for analog inputs
According to the specification DS401 CiA the TxPDO's (transmit PDOs) are disabled for analog inputs, because with
released analog inputs due to the permanent value changes also the process data would be updated every time via
TxPDO. This could result in an increased bus load, in the worst case to a bus overload.
For the activation of the analogue inputs there are several options.
• Option 1: Updates via activated Event Timer of TxPDO (0x18xx Sub 0x5)
• Option 2: Updates via released events. These are in u-remote settings following event (interrupt) available :
Objekt 0x6424: Current value above upper limit (AnalogueInputInterruptUpperLimitInteger)
Objekt 0x6425: Current value below the lower limit (AnalogueInputInterruptLowerLimitInteger)
Objekt 0x6426: Current value changed to a delta value (AnalogueInputInterruptDeltaUnsigned)
Objekt 0x6427: Current value changed to neg. delta value (AnalogueInputInterruptNegativeDeltaUnsigned)
Objekt 0x6428: Current value changed to pos. delta value (AnalogueInputInterruptPositiveDeltaUnsigned)
Objekt 0x6421: Choice of used interrupts (AnalogueInputInterruptTriggerSelection)
Objekt 0x6423: Global enabling of interrupts (AnalogueInputGlobalInterruptEnable)
Enabling the process data for UR20-4AI-UI-16, Option 1
1) Double click on UR20-FBC-CAN
2) Open the folder „Send PDO Mapping“
3) Double click on „TransmitPdoParameter“ for
16#1801.
4) Place in the window „PDO Properties“ a value
>0, e.g. 20  every 20ms the process data of
the four analogue channels will be sent to the
PLC
1) Double click on UR20-FBC-CAN
2) Open the folder „Service Data Object“
3) As an example, the values of the analogue
inputs should be transferred each time when a
value has changed by a certain amount (Delta).
The following blue marked items (objects) have
to be changed.
1) Globale Freischaltung der Interrupts.
Double click on 16#6423:16#00.
2) Place in the window in the field „Value“ a „1“ and
confirm with „OK“.
1) Adjust the value for the delta of channel 1.
Double click on 16#6426:16#01.
2) Place in the window „PDO Properties“ a value >0
and confirm with „OK“.
3) Repeat this for the channel 2 (16#6426:16#02),
channel 3 (16#6426:16#03) and
channel 4 (16#6426:16#04) wiederholen.
Mapping UR20-4AO-UI-16 und Variablenvergabe
1) Double click on 20-4AO-UI-16
Program creation
1) Creating programs in the usual way
2) The previously declared variables for u-remote
can be used
3) After completion and error-free compilation, the
program can be loaded into the PLC
Program in ONLINE mode
1) The program can be monitored ONLINE
Thanks for your attention
Parameter values UR20-4AI-UI-16
Data format (CANopen Objekt 0x31xx)
Parameter value in Meaning
Dez. Hex Per channel 1 Bit for switching the data format
15 0F all channel are set to data format „S7 Data format“ (Default)
0 0 all channel are set to data format „S5 Data format“
Frequency suppression (CANopen Objekt 0x31xx)

Dez. Hex Per module 1 Byte for frequency suppression
0 0 off
1 1 50Hz
2 2 60Hz
3 3 Average over 16 values
Measurement range pro channel (CANopen Objekt 0x31xx)

Dez. Hex Per channel1 Byte for measurement range
255 FF Channel disabled
1 01 0..10V
2 02 2..10V
3 03 -10..10V
133 85 0..20mA
135 87 4..20mA
9 09 0..5V
10 0A -5..5V
11 0B 1..5V
Parameter value UR20-4AO-UI-16
Substitute value (CANopen Objekt 0x31xx)
Dez. Hex Per channel 2 Byte for substitute value
-32768...+32676 8000..7FFF 0 (Default)
Output range and data format per channel (CANopen Objekt 0x31xx)
Dez. Hex Per channel 1 Byte for output range and data
format, must be ORed with the value of the
S7-Format S5-Format S7-Format S5-Format measuring range
Bit 7 : 1 = S7-Format , 0 = S5-Format
255 127 FF 7F Channel disabled
144 16 90 10 0..10V
146 18 92 12 -10..10V
148 20 94 14 2..10V
176 48 B0 30 4..20mA
177 49 B1 31 0..20mA
192 64 C0 40 0..5V
194 66 C2 42 -5..5V
196 68 C4 44 1..5V

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Commissioning u-remote CANopen on EATON SPS XC202

u-remote CANopen on SPS EATON

 Chapter 1: Web server of u-remote CANopen

Web server of u-remote CANopen

Here all important information is currently

Create a PLC project with software XSoft CoDeSys

2) Wait until XSOFT CoDeSys is open

Import EDS file of u-remote

1) Click in the main menu on “Tools”

1) Click on "Install" button and select in the

1) The successful import is displayed here.

Parameterization of u- remote modules

Create a program for u-remote

Objekt 0x6421: Choice of used interrupts (AnalogueInputInterruptTriggerSelection)

Objekt 0x6423: Global enabling of interrupts (AnalogueInputGlobalInterruptEnable)

Frequency suppression (CANopen Objekt 0x31xx)

Measurement range pro channel (CANopen Objekt 0x31xx)

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