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S6-PVEA-CI-CANopen
Operating guide
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Danfoss S6-PVEA-CI-CANopen Operating guide

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User Manual
PLUS+1® GUIDE Compliant
S6_PVEA_CI_CANopen Function Block
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User Manual
Revision history Table of revisions
Date Changed Rev
January 2020 First edition 0101
2 | © Danfoss | January 2020 AQ295074341098en-000101
User Manual

Contents

S6_PVEA_CI_CANopen Function Block
Inputs....................................................................................................................................................................................................4
Function Block Parameters........................................................................................................................................................... 4
Outputs................................................................................................................................................................................................ 5
Enabling Checkpoints.....................................................................................................................................................................6
Identical Function Blocks Need Different Namespace Values to Successfully Compile....................................6
Change Namespace Value.......................................................................................................................................................7
Customizable Service Screens..................................................................................................................................................... 7
S6 PVEA-CI CANopen Detailed Service Tool Screen.......................................................................................................8
S6 PVEA-CI CANopen Reusable Service Tool Screen......................................................................................................9
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User Manual

S6_PVEA_CI_CANopen Function Block

Use the S6_PVEA_CI_CANopen function block to control the S6_PVEA_CI actuator for Danfoss PVC valves.
The function block contains CAN Rx symbols that receive emergency messages. The filters are set to receive the messages from the specified NodeId.
Functional and safety interlocks are not handled in this function block. Input data types must exactly match the indicated type for a successful compile. Hand operation mode is not available on all S6_PVEA-CIs.

Inputs

Inputs to the S6_PVEA_CI_CANopen function block are described.
Item Type Range Description [Unit] Para BUS —— BUS that you can optionally use to input function block parameters from an external source. By default, constants
on this function block’s inside page set these parameters.
CAN Port —— Enable
Setpoint S16 -10000-
Float
BOOL T/F Enable CAN transmissions to the valve.
10000
BOOL T/F Enable the Float function of the valve.
CAN port that receives messages from the valve and transmits commands to the valve.
T: Enables CAN transmissions to the valve. F: Disables CAN transmissions to the valve. Changes to Float, Setpoint, and Mode inputs are not transmitted. This does not block any feedback received from the valve.
Sets the port flow. The value is scaled between -16384 and 16384 before sending the value. Positive values: Extend. Negative values: Retract. 0: Blocked. [0.01%]
T: Valve set to Float. Setpoint ignored. F: Setpoint controls the valve.

Function Block Parameters

The parameters that can be used to configure the S6_PVEA_CI_CANopen function block are described.
Item Type Range Description [Unit] Heartbeat_Timeout_ms U16 0-1000 The time to wait for a response before timing out.
A value less than twenty for this parameter disables timeout checking. [ms]
PDO1_Timeout U16 0-1000 The time to wait for a response before timing out. A value less than
twenty for this parameter disables timeout checking. [ms]
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Item Type Range Description [Unit] NodeId U8 1-127 CAN bus address of the valve.
NMT_Strt BOOL T/F Sends command for the valve to become operational.
T: When the valve sends a bootup message, the function block sends the command for the valve to enter operational mode. F: The function block does not send command messages.
Ext BOOL T/F Specifies if the message uses a 29-bit identifier or an 11-bit
identifier. T: Message uses 29-bit identifier. F: Message uses 11-bit identifier.

Outputs

Outputs of the S6_PVEA_CI_CANopen function block are described.
Item Type Range Description [Unit] Diag BUS —— BUS that provides diagnostic values for troubleshooting.
Status
Fault BUS —— BUS that contains information for the input that is transmitted in the message.
NoMsgReceived_X BOOL T/F No message received from the device, where X can be either:
Timeout_X BOOL T/F Indicates if a message is received within the timeout, where X can be either:
EMCY BUS —— BUS that contains information for the valve when it receives an EMCY message.
ErrorCode U16 0-0xFFFF CANopen failure code.
ErrorRegister U8 0-255
OccurrenceCount U8 0-127 An occurrence count for the current failure.
Rx_EMCY BOOL T/F True when an EMCY message is received.
U16 —— Bitwise code where multiple items can be reported at a time.
0x0000: Status OK. 0x8008: A parameter is out of range.
Fault U16 —— Bitwise code where multiple items can be reported at a time. If a value is out of range, all
CAN messages being sent keep the most recent valid data. 0x0000: Status OK. 0x8001: Input value too low. 0x8002: Input value too high.
NoMsgReceived_Heartbeat: Indicates if a heartbeat message is received from the device. NoMsgReceived_PDO1: Indicates if a PDO1 message is received from the device. T: No messaged received since power on. F: A message has been received since power on.
Timeout_Heartbeat: Indicates if a heartbeat message is received from the device within the timeout. Timeout_PDO1: Indicates if a PDO1 message is received from the device within the timeout. T: Message is timed out. F: Message is ok.
The CANopen device maps internal errors into this object, which is a part of an emergency object.
T: EMCY message received this cycle. F: EMCY message not received this cycle.
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S6_PVEA_CI_CANopen Function Block
Item Type Range Description [Unit] SM_State
State
Feedback S16 -10000-10000,
Out BUS —— BUS that contains command signals that report NMT state and heartbeat information.
Curr_NMT_State U8 0-0xFF The current NMT state of the valve.
Rx_Heartbeat BOOL T/F True for the first cycle that new data is received.
Rx_PDO1 BOOL T/F True for the first cycle that new data is received.
U8 1-15 The state of the valve in the state machine.
1-2: Reserved. 3: Fault hold. 4-7: Reserved. 8: INIT state. 9: Disabled. 10: Reserved. 11: Hold. 12-14: Reserved. 15: Active.
U8 0-3 The state of the valve.
0: Blocked. 1: Extend. 2: Retract. 3: Float.
The estimated setpoint received from the valve. This value is scaled from -16384 and
32767
16384 after receiving the value. Positive values: Extend. Negative values: Retract. 32767: Float. 0: Blocked. [0.01%]
0x00: Boot up. 0x04: Stopped. 0x05: Operational. 0x7F: Pre-operational.
T: Heartbeat message received this cycle. F: Heartbeat message not received this cycle.
T: PDO1 message received this cycle. F: PDO1 message not received this cycle.

Enabling Checkpoints

Chkpt enables the checkpoints for each Diag Bus Signal.
It is pre-connected to a constant True. Set Chkpt to False if you do not want to use the checkpoints or if you need to free up some memory. Be
aware that Fault and Status signals disappear from the service screen by setting to False.
Warning
The programmer must implement sufficient fault management and is responsible to reach the safe state according to the safety concept for the application.

Identical Function Blocks Need Different Namespace Values to Successfully Compile

If you use the same function block more than once in an application, you must change each function block’s namespace value to avoid compiler errors.
All function blocks contain Advanced Checkpoint with Namespace components that enable the PLUS+1 Service Tool to read block input and output values.
Some function blocks contain non-volatile memory components that store function block operating parameters.
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S6_PVEA_CI_CANopen Function Block
Both these components use memory names (“aliases”) to allocate memory. Identical memory names cause compiler errors.
The namespace value adds a unique prefix to each component name to avoid errors. Keep each namespace value short to save controller memory.

Change Namespace Value

To successfully compile your application, change the namespace value for function blocks that are used more than once in an application.

Customizable Service Screens

1. In the PLUS+1® GUIDE menu bar, click the Query/Change button.
2. Click on the function block whose namespace you want to set to a unique value. The Edit Page window opens.
3. In the Edit Page window, enter a meaningful Namespace value.
Namespace values are case-sensitive.
•
To save controller memory, use a short namespace value.
•
4. Press Enter.
5. Repeat these steps to enter unique namespace values for other identical function blocks.
This function block comes with pre-made service screens that you can customize when building your Service Tool application.
The pre-made screens simplify the task of creating Service Tool applications. You can use the screens as is. Or, you can choose screen components to place in your application.
Refer to the PLUS+1® GUIDE Service Tool Design Manual (Danfoss document number L1320837) for more information on how to create Service Tool screens.
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S6_PVEA_CI_CANopen Function Block

S6 PVEA-CI CANopen Detailed Service Tool Screen

Use the S6 PVEA-CI CANopen service tool screen to determine how the function block and valve are operating.
Item Description Inputs ——
Enable Indicates if commands are transmitted.
Float Indicates if the Float function of the valve is enabled.
Setpoint Sets the port flow.
Parameters ——
Node ID CAN bus address of the valve.
Heartbeat Timeout How long to wait for a response before timing out.
PDO1 Timeout How long to wait for a response before timing out.
NMT_Strt Sends the command for the valve to operate.
Ext Indicates if the messages use 11-bit or extended 29-bit
identifiers.
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S6_PVEA_CI_CANopen Function Block
Item Description Outputs ——
NMT ——
Current_NMT_State The current NMT state of the valve.
PDO1 ——
NoMsgReceived Indicates if a PDO1 message has been received since
Heartbeat ——
NoMsgReceived Indicates if a Heartbeat message has been received since
EMCY ——
ErrorRegister The CANopen device maps internal errors into this
OccurrenceCounter An occurrence count for the current failure.
Status Bitwise code where multiple items can be reported at a
time. If a value is out of range, all CAN messages being sent keep the most recent valid data.
SM_State The state of the valve in the state machine.
State The state of the valve.
Feedback The estimated setpoint received from the valve.
Timed Out Indicates if a PDO1 message is received within the
associated timeout.
power on.
Timed Out Indicates if a Heartbeat message is received within the
associated timeout.
power on.
ErrorCode CANopen failure code.
object. It is a part of an emergency object.

S6 PVEA-CI CANopen Reusable Service Tool Screen

Use the reusable S6 PVEA-CI CANopen service tool screen to determine how the function block and valve are operating.
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S6_PVEA_CI_CANopen Function Block
Item Description Enable Indicates if commands are transmitted.
Float Indicates if the Float function of the valve is enabled. Setpoint Sets the port flow. NodeID CAN bus address of the valve. Heartbeat_Timeout How long to wait for a response before timing out. PDO1_Timeout How long to wait for a response before timing out. NMT_Strt Sends the command for the valve to operate. Status Bitwise code where multiple items can be reported at a
SM_State The state of the valve in the state machine. State The state of the valve. Feedback The estimated setpoint received from the valve. Current_NMT_State The current NMT state of the valve.
time. If a value is out of range, all CAN messages being sent keep the most recent valid data.
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