Nexto Xpress I/O Expansion via CANopen

This tutorial aims to guide you through the configurations 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 325s with firmware version 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, simply right-click on CAN and go to the add device option. Below are images illustrating this step.

        • Next, add the desired number of slaves (number of expansions).

To do this, simply right-click on CANopen_Manager  and go to the add device option. Here the available Xpress models you can use will be shown; in my case, I used another XP325.

2 – Configuring

        • 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 attached.

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

        • In a final configuration on the PLC that manages the communication, we will configure the slave parameters.

To do this, double-click on CANopenSlave_XP325, and fill in the settings as shown 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 by default operates with startup consistency, if 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 prevent this network interruption, there is an advanced configuration within the slaves that can be enabled to make the slave optional on the network. This configuration is enabled by checking the options Enable Expert Settings and Optional Device.

Note: This configuration must be performed on all slaves for the behavior to be changed.

3 – Now let's configure the adjacent CPs.

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

NOTE: Each adjacent CP must have its own IP.

With the CP in STOP, 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 your CP's network settings as desired. In CANopen Slave Configuration, assign the slave number to your CP in Node ID and in Baudrate select the configuration previously set in CAN, for termination leave the option "Enabled". 

        • In I/O configuration, you enable the desired features 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's settings again and enable them. 

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

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

4 – Viewing the changes.

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

VIDEO

In these videos you can watch the same procedure.