APPLICATION NOTE

#37578, 10/2014

easYgen-3100/3200-P2 or easYgen-3400/3500-P1

‘Distributing a binary information over CAN1 bus

using the CANopen PDO system’
Optional Supplementary Information

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General Information
The following alert boxes can be used in this publication:

“DANGER” indicates a hazardous situation which, if not avoided,

will result in death or serious injury.

“WARNING” indicates a hazardous situation which, if not avoided,

could result in death or serious injury.

“CAUTION”, used with the safety alert symbol, indicates a hazardous

situation which, if not avoided, could result in minor or moderate injury.

“NOTICE” is used to address practices not related to personal injury.

“IMPORTANT” is used to address practices not related to personal

injury.

Personnel
WARNING!
Hazards due to insufficiently qualified personnel!

If unqualified personnel perform work on or with the control unit

hazards may arise which can cause serious injury and substantial
damage to property.
 Therefore, all work must only be carried out by appropriately qualified
personnel.

For further Product Support Options, Product Service Options, Returning Equipment for Repair, and/or
Engineering Services please download application note #37573.

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Requirements
Up to four easYgen-3100/3200-P2 and/or easYgen-3400/3500-P1, no IKD expansion boards.

Documentation
Read this entire application note and all other publications pertaining to the
work to be performed before installing, operating, or servicing this equipment.
Practice all plant and safety instructions and precautions.
Failure to follow instructions can cause personal injury and/or property
damage!

Any unauthorized modifications to or use of this equipment outside its

specified mechanical, electrical, or other operating limits may cause
personal injury and/or property damage, including damage to the
equipment.
Any such unauthorized modifications: constitute "misuse" and/or
"negligence" within the meaning of the product warranty thereby excluding
warranty coverage for any resulting damage, and invalidate product
certifications or listings.

This publication may have been revised or updated since this copy was
produced. If the cover of the publication states "Translation of the Original
Instructions", the original source may have been updated since this
translation was made.
Be sure to check manual 26311, Revision Status & Distribution Restrictions of
Woodward Technical Publications, to verify whether this translation is up to
date. Always compare with the original for technical specifications and for
proper and safe installation and operation procedures. To verify that you have
the latest revision, check manual 26311, Revision Status & Distribution
Restrictions of Woodward Technical Publications, on the publications page of
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The latest version of most publications is available on the publications page.

If your publication is not there, please contact your customer service
representative to get the latest copy.

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Introduction
This application note describes the communication between easYgen-3100/3200-P2 and/or 3400/3500-P1
using up to 4 IKD expansion boards virtually instead of real hardware.

Table of Contents
easYgen-3100/3200-P2 or easYgen-3400/3500-P1 ............................................................................... 1
‘Distributing a binary information over CAN1 bus using the CANopen PDO system’ ................... 1
Optional Supplementary Information ....................................................................................................... 1
General Information ................................................................................................................................. 2
Personnel ................................................................................................................................................. 2
Requirements ........................................................................................................................................... 3
Documentation ......................................................................................................................................... 3
Introduction............................................................................................................................................... 4
Distributing a binary information over CAN1 bus using the CANopen PDO system ................................. 5
Description ............................................................................................................................................... 5
The Procedure ......................................................................................................................................... 6

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Distributing a binary information over CAN1 bus
using the CANopen PDO system
Description
The easYgen-3100/3200-P2 and 3400/3500-P1 can be equipped with 4 IKDs. As long these expansion boards
are not used in all easYgens they can be taken virtually. The idea is that each easYgen is sending one TPDO
message with the contents of the Data protocol 65000, this relates to IKD1 (external discrete outputs 1..8).
Important here is that each easYgen sends its TPDO message with an own COB-ID. On the other side all
easYgens receiving these three TPDOs and loading the contents on its three virtual IKDs (external inputs).
TPDO

TPDO

TPDO
TPDO

CAN 1 CAN 1 CAN 1 CAN 1

Example: Distribute binary information over CAN1 bus

Definition of external discrete outputs

External Digital Output simulating using
Ext. DO 1..8 IKD1 Data protocol 65000
Ext. DO 9..16 IKD2 Data protocol 65001
Ext. DO 17..24 IKD3 Data protocol 65002
Ext. DO 25..32 IKD4 Data protocol 65003

Definition of external discrete inputs

External Digital Output simulating using
Ext. DI 1..8 IKD1 Data protocol 65000
Ext. DI 9..16 IKD2 Data protocol 65001
Ext. DI 17..24 IKD3 Data protocol 65002
Ext. DI 25..32 IKD4 Data protocol 65003

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The Procedure
1. All easYgen using the external DO1 to distribute the information. LogicsManager equation 12330
Device LogicsManager 12330 Node-ID CAN 1 (CANopen Master = default)
easYgen 1 Ext. DO 1 1
easYgen 2 Ext. DO 1 2
easYgen 3 Ext. DO 1 3
easYgen 4 Ext. DO 1 4
2. Configure the TPDO1 at all easYgens:
Transmission Selected Data
Device Transmit PDO COB-ID Event timer
type Protocol
easYgen 1 Transmit PDO 1 201hex 255 20ms 65000
easYgen 2 Transmit PDO 1 202hex 255 20ms 65000
easYgen 3 Transmit PDO 1 203hex 255 20ms 65000
easYgen 4 Transmit PDO 1 204hex 255 20ms 65000
3. Configure the RPDOs at all easYgens:
Device Receive PDO COB-ID Event timer Selected Data Protocol
Receive PDO 1 - - -
Receive PDO 2 202hex 2000ms 65001
easYgen 1
Receive PDO 3 203hex 2000ms 65002
Receive PDO 4 204hex 2000ms 65003

Device Receive PDO COB-ID Event timer Selected Data Protocol

Receive PDO 1 201hex 2000ms 65000
Receive PDO 2 - - -
easYgen 2
Receive PDO 3 203hex 2000ms 65002
Receive PDO 4 204hex 2000ms 65003

Device Receive PDO COB-ID Event timer Selected Data Protocol

Receive PDO 1 201hex 2000ms 65000
Receive PDO 2 202hex 2000ms 65001
easYgen 3
Receive PDO 3 - - -
Receive PDO 4 204hex 2000ms 65003

Device Receive PDO COB-ID Event timer Selected Data Protocol

Receive PDO 1 201hex 2000ms 65000
Receive PDO 2 202hex 2000ms 65001
easYgen 4
Receive PDO 3 203hex 2000ms 65002
Receive PDO 4 - - -
4. Reading in the following external DIs:
Device easYgen 1 easYgen 2 easYgen 3 easYgen 4
easYgen 1 - Ext. DI 9 Ext. DI 17 Ext. DI 25
easYgen 2 Ext. DI 1 - Ext. DI 17 Ext. DI 25
easYgen 3 Ext. DI 1 Ext. DI 9 - Ext. DI 25
easYgen 4 Ext. DI 1 Ext. DI 9 Ext. DI 17 -

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Please reference publication 37578.

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