Nexto Xpress I/O Expansion via CANopen

Article translated with the assistance of AI tools. Images and parts of the content will still be reviewed.

This tutorial aims to guide the settings to enable expansion via CANopen with the Xpress series. For the following tutorial, the AL 2301 cable was used, and all devices involved were XP’s 325 with firmware 1.7.49 and Bootloader version 1.0.0.11. 

Note: To establish the physical connection between the devices, simply connect H to H and L to L. 

It is necessary that all CPs involved in the expansion have their firmware properly updated.

1 –  On the main CP, you should follow the steps below:

        • Add to your device tree under CAN, the CANopen_Manager.

To do this, just right-click on CAN and go to the option add device, below are images illustrating the requested action.

        • Then add the number of slaves (number of expansions) desired.

To do this, just right-click on CANopen_Manager and go to the option add device, there you will see the Xpress models you can use; in my case, I used another XP325.

2 – Configuration 

        • After configuring the CAN tree, you must configure the communication parameters.

To do this, double-click on CAN and adjust the communication Baudrate.

        • In CANopen_Manager we will configure the node to which the slaves are linked.

To do this, double-click on CANopen_Manager, and fill in the settings as below.

IMPORTANT: For the producer times (Heartbeat) of the CANopen_Manager and the slaves, use the same time defined for the Maintask cycle.

        • As a final configuration on the PLC managing the communication, we will configure the slave parameters.

To do this, double-click on CANopenSlave_XP325, and fill in the settings as below.

Note that in Node ID we have the slave address and that the options Enable Expert Settings and Optional Device are checked.

Since the CANopen network operates by default with startup consistency, when any of the slaves configured in the project is not on the network when the Xpress CPU is initialized, the CANopen network is interrupted. To avoid this network interruption, there is an advanced setting inside the slaves that can be enabled to make the slave optional on the network. This setting is enabled by checking the options Enable Expert Settings and Optional Device.

Note: This setting must be applied on all slaves for the behavior to be modified.

3 – Now let's configure the adjacent CPs.

        • To do this, open the browser and enter the IP of the adjacent CP.

NOTE: Each adjacent CP must have its own IP.

With the CP in STOP mode, click on CP Management and then on Operation Mode.

        • Next, we will configure the CP parameters so that it behaves as an expansion.

In configuration select the option CANopen Slave.

Now, change the network settings of your CP as desired. In CANopen Slave Configuration, assign the slave number to your CP in Node ID and select the previously configured CAN setting for Baudrate; for termination, leave the option "Enabled". 

        • In I/O configuration, you enable the features you want on the adjacent CP, but remember that the XP325 managing the communication will only recognize the features you enable. If you want to change anything, you need to access the adjacent CP settings again and enable them. 

Note: If the USB drive used to put the CP in stop mode is in use, remove it at this time.

        • After all parameters are changed, click Apply Configuration. The CP will restart now maintaining the new settings.

4 – Viewing the changes.

        • Then, return to MasterTool and log in to the XP325 managing the communication.  Double-click on CANopenSlave_XP325, and go to the option CANopen: I/O Mapping, here you will find all the features enabled on the CANopen slave CP.

VIDEO

In these videos, you can watch the same procedure.