Home

sysWORXX CANopen I/O modules User Manual

1. Common Typical Maximum Power supply Vopu 24V DC 20 Current consumption lepu 0 05A I Os inactive Storage 20 90 C Temperature range Operation 20 70 C Protection class Enclosure IP20 Module weight 130g L 1070e_09 120 Digital I O modules Typical Maximum Width 71 mm Dimensions High 58 mm Length 95 mm Connection scheme Removable spring type clamp connectors Table 70 CANopen IO X2 technical data part common Communication Minimum Maximum bit rate 10kBit s 1MBit s number of nodes supported on same CAN bus 110 CAN 2 0B passive compliant to segment CiA 120 and Isolation voltage 1kV ISO 11898 2 CAN_H and CAN_L short circuit proof towards 24V DC High speed CAN bus transceiver compliant to ISO 11898 Table 71 CANopen IO X2 technical data part communication 1 0 Minimum Maximum Digital inputs DIO 23 Union 15V 30V Utntow 3V 5V 24V DC inputs lin Uin 5 6 2700 3 5mA 9mA Isolation voltage for galvanic isolation Table 72 CANopen IO X2 technical data part I O 1kV Manufacturer specific functions The CANopen IO X2 supports the following device specific manufacturer extension e Disable digital input 8 Bit Object 2010H The generic manufacturer specific extensions are described in Section 8 4 Error behavior The CANopen IO X2 has no device specific
2. Condition LED states EMCY trigger PV gt Upper Yellow gt MAX state LED AG Limit PV upper on Short Circuit Yellow gt MAX state LED 5s PV lt Sensor upper blinking y Range Limit Channel enabled Green Temp Input LED on no PV lt Lower Yellow lt MIN state LED Limit PV lower on o Sensor Fraction Yellow lt MIN state LED PV gt Sensor yes Range Limit lower blinking Table 94 Device specific LED states for CANopen IO X5 L 1070e 09 Analog I O modules Block diagram LED Display CANL CANGND Embedded Processor 24VDC Reset Powersupply Watchdog 24VDC b Channel 0 7 CAN Bus CANH CANL CANGND Embedded Processor 24VDC Reset Powersupply Watchdog 24VDC b Figure 39 CANopen IO X5 block diagram 2 wire connection Channel 0 7 Technical data Common Typical Maximum Power supply Voru 24V DC 20 Current consumption lepu 0 05A I Os inactive Temperature range Storage 20 90 C L 1070e_09 151 Analog I O modules Typical Maximum Operation 20 70 C Protection class Enclosure IP20 Module weight 130g Width 71 mm Dimensions High 58 mm Length 95 mm Connection scheme Removable spring
3. DOO DO7 FilterConstant Unsigned8 Table 65 CANopen IO X1 Object Dictionary Device specific part Parameter description Parameter Disable digital input 8 Bit Description Specifies a manufacturer specific filter for the digital inputs The filter disables or enables specific input lines 0 disable 1 enable Default value OOH Filter constant of digital inputs 8 Bit Specifies whether the manufacturer specific filter is used for an input 0 Filter for input disable 1 Filter for input enable Default value OOH Global interrupt enable 8 Bit This parameter enables disables the interrupt of the inputs generating of events globally without changing the interrupt masks in Object 6006H 6007H and 6008H 1 enable 0 disable Default value OOH Interrupt mask any change 8 Bit Specifies the input lines that generate an event upon positive and or negative edge detection 0 interrupt disable 1 interrupt enable Default value FFH L 1070e_09 113 Digital I O modules Parameter Description Interrupt mask low to high 8 Bit Specifies the input lines that generate an event upon positive edge detection 0 interrupt disable 1 interrupt enable Default value OOH Interrupt mask high to low 8 Bit Specifies the input lines that generate an event upon negative edge detection 0 interrupt disable 1 interrupt enable
4. 11 3 CANopen IO X3 digital output module 24DO DC 24V Order No and options 3001002 CANopen IO X3 galvanic isolated CAN Properties e 24 digital outputs 24VDC 500mA transistor high side switch short circuit protected e CANopen device according to CiA 401 V2 1 e 24 LEDs for I O state indication e Galvanic isolated CAN bus interface e Non volatile storage of configuration data e Watchdog e CAN bus termination 1200 resistor via Jumper e Separated power supply pin for supply of digital output groups see Section 2 3 Module pinout Digtd Outpt O40 0 O Digta Output 128 0 O Diti Output 69 Gnd O O Sys TEC CANopen IO X3 24v DC 24 Mode Baud CAMterm 120R RST t 66 High Low rte CAN ss ooooo i Figure 33 CANopen IO X3 device schema L 1070e_09 127 Digital I O modules 128 Pin Name Description Power supply connector 1 L 24VDC 20 2 0G Ground 0 for device power supply CAN bus interface connector 1 CAN_GND 2 CAN_L 3 n c 4 CAN _H 5 CAN _V connected to L on modules without galvanic isolation not used on modules with galvanic isolated CAN I O connector 1 il 24VDC for digital output 00 to 07 connected to L 2 1G Ground 1 for digital output 00 07 3 0 digital output 0 4 4 digital output 4 5 1 dig
5. Number of Entries Unsigned8 NMT Boot enable Unsigned8 NMT Start Time Unsigned16 Device Features Integer16 Power Fail Unsigned8 Configuration from firmware version 1 30 Number of Entries Unsigned8 PowerFail Interrupt Unsigned8 enable Disable digital input Unsigned8 8 Bit Number of Entries Unsigned8 DIO _DI7 Disable Unsigned8 Dig _DI15 Disable Unsigned8 Dl16_DI23 Disable Unsigned8 Table 24 Object Dictionary entries for manufacturer specific extensions The light grey shaded objects are only available on module type IO X1 and IO X2 Parameter description Parameter Description NMT Boot enable Enable or disable the NMT boot function 0 disable 1 Value is stored to non volatile memory immediately after write access to the Object Object 2001H is described in Section 8 4 Table 23 on page 70 72 L 1070e_09 Functions Parameter Description 1 enable Default value 0 This index contains the delay time for the boot NMT Start Time function The time base is milliseconds Default value 500ms Power Fail Enable or disable Power Fail monitoring Interrupt Enable 0 disable from firmware version 1 30 1 enable default Byte value which is applied bit by bit to a digital input block on the device Dix Dix Disable 0 disable 1 enable Default value OOH all disabled Table 25 Parameter description for m
6. Parameter Al Interrupt delta input PV Description Specifies a delta value for triggering PDO transmission for an analog input channel If the process value has changed for delta or more since the last transmission of the PDO then the PDO is transmitted again To disable this function set delta to 0 Default value 104ec corresponds to 1 0 C under default settings Note The entered value must have the same physical unit and number of digits as configured for the respective channel Al interrupt lower limit input PV This parameter sets the lower limit for triggering PDO transmission of an analog input channel If the PV goes below this value the corresponding LED on the LED display lt MIN is switched on Is the process value between the minimal and maximal value no PDO is transmitted The Temperature range is defined as followed Minimum Maximum 200 0 C 600 0 C 73 2 K 873 2 K 328 0 F 1112 0 F Example A value of 50 5 C will be coded as 505 in Integer16 format if the number of decimal digits is set to 1 Default value 200 C Al interrupt upper limit input PV This parameter sets the upper limit for triggering PDO transmission of an analog input channel If the PV exceeds this value the corresponding LED on the LED display gt MAX is switched on Is the process value between the minimal and maximal value no PDO is transmitte
7. CAN Bus CANH CANL CANGND Embedded Processor Config switches 24VDC Reset Powersupply b Watchdog 24VDC b GND Figure 36 CANopen IO X4 block diagram Technical data Common Typical Maximum Power supply Voru 24V DC 20 Current consumption lopu 0 05A I Os inactive Storage 20 90 C Temperature range Operation 20 70 C Protection class Enclosure IP20 Module weight 130g Width 71mm Dimensions High 58 mm Length 95 mm L 1070e_09 139 Analog I O modules Common Typical Maximum Connection scheme Removable spring type clamp connectors Table 86 CANopen IO X4 technical data part common Communication Minimum Maximum bit rate 10kBit s 1MBit s number of nodes supported on 110 CAN 2 0B passive et compliant to 9 CiA 120 and Isolation voltage 1kV ISO 11898 2 CAN_H and CAN_L short circuit proof towards 24V DC High speed CAN bus transceiver compliant to ISO 11898 Table 87 CANopen IO X4 technical data part communication VO Minimum Maximum Analog inputs Al0 7 U Mode Input range 10V 10V voltage Input Resistance 22kQ input Offset error 3 l Mode Input range OmA 20mA current Input resistance 1950 input Offset error 2 Accurac SEE y at 12 bit Gommoni ADC solution 12bit 14 bit optional Sampling rate 12 5Hz
8. Number Of Entries Unsigned8 Alo_Physical_Unit_P Unsigned32 V Al7_Physical_Unit_P Unsigned32 V L 1070e_09 155 Analog I O modules Al Decimal Digits Unsigned PV Number Of Entries Unsigned8 AlO Decimal_Digit Unsigned8 s PV Al7_Decimal_Digit Unsigned8 s PV Al Status Unsigned8 Number Of Entries Unsigned8 AlO_Status Unsigned8 Al7_Status Unsigned8 Al Input FV Integer16 Number Of Entries Unsigned8 AlO_Input_FV Integer16 Al7_ Input FV Integer16 Al Input PV Integer16 Number Of Entries Unsigned8 AlO_ Input PV Integer16 Al7_ Input PV Integer16 156 L 1070e 09 Analog I O modules Al Interrupt delta Integer16 Input PV Number Of Entries Unsigned8 AlO_Interrupt_Delt Integer16 a_Input_PV Al7_Interrupt_Delt Integer16 a_Input_PV Al Interrupt lower Integer16 limit Input PV Number Of Entries Unsigned8 AlO_Interrupt_Low Integer16 er_Limit_Input_PV Al7_Interrupt_Low Integer16 er_Limit_Input_PV Al Interrupt upper Integer16 limit Input PV Number Of Entries Unsigned8 AlO_Interrupt_Upp Integer16 er_Limit_Input_PV Al7_Interrupt_Upp Integer16 er_Limit_Input_PV Table 98 CANopen IO X5 Object Dictionary Parameter description Parameter Description This parameter specifies the type
9. 5 Configure the upper and lower limit of each channel Object 7134H and 7135H 6 Enable the channels in use Object 6112H Accessory Order number Part 171024 2 pole plug for the power supply 171023 5 pole plug with adapter cable to 9 pin D Sub connector for CAN bus 171038 24 pin I O connector plug 180134 Jumper for the CAN bus termination Table 101 Accessory for CANopen IO X5 L 1070e_09 161 Analog I O modules References 162 CiA 303 1 V1 3 CiA 303 3 V1 2 CiA 301 V4 02 CiA 404 V1 2 L 1070e_09 Analog I O modules 12 3 CANopen IO X6 analog output module 8AO V I Order No and options 3001006 CANopen IO X6 galvanic isolated CAN 10 bit DAC Properties e 8 analog output each configurable as current or voltage output e CANopen device according to CiA 404 V1 2 e LED for I O state indication e Galvanic isolated CAN bus interface e Non volatile storage of configuration data e Watchdog e CAN bus termination 1200 resistor via Jumper Module pinout sys Wo Automaton Hide 0000 000 mog Olpt 60 16 OH 0 Uode O000 0000 SYS TEC CANopen IO X6 eae Maie D Bad CAMterm 2R L 86 Hgh Law nte CAN Te eo Figure 40 CANopen IO X6 device schema Pin Name Description Power supply connector 1 L 24VDC 20 2 0G Ground 0 for device power supply L 1070e_09 163 Analog I O modules 164 Pin Name Descri
10. Pin Name Description Power supply connector T L 24VDC 20 2 0G Ground 0 for device power supply L 1070e_09 137 Analog I O modules 138 Pin Name Description CAN bus interface connector 1 CAN_GND 2 CAN_L 3 n c 4 CAN_H 5 CAN_V connected to L on modules without galvanic isolation not used on modules with galvanic isolated CAN I O connector 1 10 Current input 0 2 UO Voltage input 0 3 GND GND channel 0 4 GND GND channel 1 5 l1 Current input 1 6 U1 Voltage input 1 7 12 Current input 2 8 U2 Voltage input 2 9 GND GND channel 2 10 GND GND channel 3 11 13 Current input 3 12 U3 Voltage input 3 13 14 Current input 4 14 U4 Voltage input 4 15 GND GND channel 4 16 GND GND channel 5 17 15 Current input 5 18 U5 Voltage input 5 19 l6 Current input 6 20 U6 Voltage input 6 21 GND GND channel 6 22 GND GND channel 7 23 7 Current input 7 24 U7 Voltage input 7 Table 85 CANopen IO X4 device pinout L 1070e_09 Analog I O modules LED display Channel state LED field On if channel is enabled Channel input type LED field On if channel configured is for current measurement Mode 00e Analog Input o0 ee 06e Eo 0 00e Channel input type LED field On if channel configured is for voltage measurement Block diagram LED Display
11. The data type entries stored in the object directory which do not themselves have data are used as placeholders If such entries are contained in the mapping table the corresponding data from the device is not evaluated In this way for instance a number of devices could be supplied with new set values L 1070e_09 67 Functions using a single CAN telegram or outputs on a number of nodes can be set simultaneously even in event driven mode Service Data Objects SDO The Service Data Object implements a direct communication channel for accessing the Object Dictionary Service Data Objects SDO implement a basic client server communication method as point to point communication mode that allows for the issuing of read or write requests to the node s Object Dictionary SDO messages contain requests or answers to from the Object Dictionary Because of its protocol overhead and master driven communication principle it is not well suited for process data communication A SDO connection is usually initiated by the application master which acts as SDO client and owns all SDO communication channels The sysWORXX I O devices provide SDO servers which means that at the request of a client e g of the IPC or the PLC they make data available upload or they receive data from the client download References 68 CiA 301 V4 02 L 1070e_09 Functions 8 3 Internal diagnostics and monitoring functions Introduction Th
12. nnen ene venneneenenenn eeen 120 CANopen IO X3 device schema nnen ennen eneen 127 CANopen IO X3 block diagram nennen vennen 129 CANopen IO X4 device schema naven ennen nennen 137 CANopen IO X4 block diagram nnen eneen 139 CANopen IO X5 device schema nnen eenen eeen 148 CANopen IO X5 block diagram 3 wire connection 151 CANopen IO X5 block diagram 2 wire connection 151 CANopen IO X6 device schema nnn ennen evenaren nennen 163 CANopen IO X6 block diagram nennen nennen eene eenen 165 CANopen IO X7 device schema nanasan nennen 174 CANopen IO X7 block diagram nennen nennen 176 General description 1 General description 1 1 What are distributed I O systems Process I Os are often installed as a central integral in the automation system configuration Greater distances between the process I O and the automation system may require extensive and complex wiring which could make the system susceptible to electromagnetic interference and thus impair its reliability Distributed I O forms the ideal solution for such systems While the master CPU is located centrally the distributed I O systems inputs and outputs intelligent preprocessing using intelligent CANopen slaves operate locally at a remote location the highly efficient CANopen protocol and high data transmission rates of the CAN bus provide a smooth flow of communication between the CPU and the distributed I O systems 1 2 Main characte
13. Default value OOH 8 Bit Error mode output Specifies whether an output is set to its pre defined error value see Object 6207H in case of an error event see Section 9 4 0 output value not changed 1 output value switch to the state specified in Object 6207H Default value OOH 8 Bit Error value output This parameter specifies the error value for a digital output 0 output shall be set to 0 1 output shall be set to 1 Default value OOH Filter Constant output 8 Bit This parameter specifies an output filter mask for a group of 8 outputs 0 Updating of outputs disabled The current value is kept even on reception of a new output value 1 Updating of outputs enabled upon reception of new output data Default value FFH Enable pulsed digital output This parameter specifies the possibility to configure a digital output as a pulsed output 0 pulsed output disable 1 pulsed output enable Default value OOH output Enable retrigger pulsed digital This parameter specifies the possibility to retrigger a digital pulsed output before the digital output is switch off automaticaly The time of the pulse is new started 0 retrigger disable 1 retrigger possible Default value OOH 114 L 1070e_09 Digital I O modules Parameter Enable active off pulsed digital output Description This parameter specifies the possibility to switch o
14. e g 01112007H means 1t November 2007 calibration date This object contains the date of the last calibration The object is read only e g 12112007H means 12 November 2007 Channel Calibration Output Value Uout Or lout is the result of the following The Value Gain is multiply with the Processvalue The Value Offset is add to the Processvalue see below Table 107 CANopen IO X6 parameter description Default mapping of I O PDO RPDO1 RPDO1 COB ID 200H node ID 300H node ID Mapped objects 4 4 Mapped object 1 AOO_PV AO4 PV data byte 0 1 7300H 01H 10H 7300H 05H 10H Mapped object 2 AO1_PV AO5_PV data byte 2 3 7300H 02H 10H 7300H 06H 10H Mapped object 3 AO2 PV AO6_ PV data byte 4 5 7300H 03H 10H 7300H 07H 10H Mapped object 4 AO3_PV AO7_PV data byte 6 7 7300H 04H 10H 7300H 08H 10H Table 108 CANopen IO X6 default mapping Relation between Fieldvalue FV Processvalue PV and Calibration U mode FVu PV 3048 09 Uout PV PAO x U _Gain pAO x U Offset AOx Gain AOx Offset I mode FV PV 1310 68 L 1070e_09 Analog I O modules lout PV pPAO x Gain pAO x Offset AOx_Gain AOx_Offset x means number of AO channel 172 L 1070e 09 Analog I O modules Device specific commissioning The following steps list the device specific configuration which are necessary to put the device into operation Communication specific c
15. Communication Services 61 Compact system ann 15 Components of the sysWORXX CANopen I O modules Configuring naer neneen Basic device configuration 39 bit rate wnt ba wenden saad CANopen networks Defining the system General rul S nennen 33 USS epi ayia 39 40 node lD nnnn neee ennen 39 Resetting to factory settings 50 Store Restore device configuration 48 Using Device Configuration Files 46 Using Layer Setting Services LSS RE EE 42 Connecting nana eennennenenn 23 CAN cable 27 GAN GND neee 28 GANUR nenten 28 CAN D S ar inenten nets 27 CAN bus Signals 28 grounded reference potential 25 Physical layout ees 29 Power supply a 25 Wiring and cabling 27 Contact information nanne enne I DCF 9 See Device Configuration File Device Configuration File5 20 46 56 Device identification data 74 Device monitoring nanne 69 Diagnostic data Diagnostics Diagnostic data 86 Diagnostic messages 88 Evaluation of agnostic messages 88 Status LEDS iinr 81 Digital input and output module 105 Digital input module 118 Digital output module 126 Disclaimer Distributed CANopen I O modules 11 Distributed I O systems 1 Drop lines nnnsnn erneer venenenenenn 29 EDS 9 See Electronic Data Shee
16. Power supply connector 1 L 24VDC 20 2 0G Ground 0 for device power supply 148 L 1070e_09 Analog I O modules Pin Name Description CAN bus interface connector 1 CAN_GND 2 CAN_L 3 n c 4 CAN_H CAN_V connected to L on modules without galvanic 5 isolation not used on modules with galvanic isolated CAN I O connector 1 a0 RTD input a0 2 bO RTD input b0 3 GND GND RTD input 0 4 GND GND RTD input 1 5 al RTD input a1 6 b1 RTD input b1 7 a2 RTD input a2 8 b2 RTD input b2 9 GND GND RTD input 2 10 GND GND RTD input 3 11 a3 RTD input a3 12 b3 RTD input b3 13 a4 RTD input a4 14 b4 RTD input b4 15 GND GND RTD input 4 16 GND GND RTD input 5 17 a5 RTD input a5 18 b5 RTD input b5 19 a6 RTD input a6 20 b6 RTD input b6 21 GND GND RTD input 6 22 GND GND RTD input 7 23 a7 RTD input a7 24 b7 RTD input b7 Table 93 CANopen IO X5 device pinout L 1070e_09 149 Analog I O modules LED display 150 Channel state LEDfield On ifchannel isenabled AND lower limit lt PV lt upper limit Channel PVstate LEDfield On ifprocess valueexceeds upper limit configured in Object 7135H gt Max 10000 0000 Temp Input 0000 0000 o0 000 0 0e lt Min Channel PVstate LEDfield On ifprocess valueexceeds lower limit configured in Object7134H
17. blade Procedure 1 Set the hardware switches for node ID to value FFH 2 Perform a hardware reset or power cycle 3 The blinking RUN and ERROR LED indicate the end of the restore process see Section 9 1 for LED blinking cycles 4 Set the original node ID and perform a hardware reset or power cycle see Section 5 2 for basic device configuration Reference CiA 303 3 50 L 1070e_09 Commissioning 6 Commissioning 6 1 Commissioning of the sysWORXX I O modules Introduction The procedures for commissioning your automation system are determined by the relevant plant configuration The procedure outlined below only describes the commissioning of sysWORXX I O modules Requirements We assume that the following steps have been completed successfully Actions Reference The module is installed and wired Section 3 Mounting Section 4 Connecting The device is configured node ID bit rate Table 17 Commissioning requirements Section 5 Configuring Commissioning 1 Switch on the device voltage supply L 2 Switch on the load voltage supply supplies 1L 2L if applicable See also Section 3 Mounting Section 4 Connecting Section 5 Configuring L 1070e 09 51 Commissioning 6 2 Startup of the sysWORXX I O modules Principle of operation The diagram below illustrates the startup routine of a sysWORXX I O module from application level The module start up and state f
18. for example simply represents the inputs and outputs in their physical sequence in the RPDO and TPDO respectively L 1070e_09 Functions The PDO mapping is located in the Object Directory at index 1600H and following for the RPDOs and at 1A00H and following for TPDOs Figure 21 shows a example for mapping of three objects to the first TPDO of a node Object Content 71300110H 61500108H 71300210H TPDO Total length of TPDO 40bit 7 AlO_Input PV Alf_input PV AlO_Input PV Alf_ Input PV Al2_ Input PV Al3_ Input PV AlO_ Status Ali_Status Al2_Status Al3_Status Figure 21 PDO mapping example Usually CANopen configuration tools or configuration managers are used for changing the PDO mapping However under some circumstances it might become necessary to change the PDO mapping manually Therefore the following procedure is necessary 1 Disable the PDO by setting its COB ID to 80000xxxH xxx gt node ID of the device to be changed 2 In the Mapping Parameter Set of the PDO set the number of mapped objects to 0 e g Object 1800H Subindex OOH for the first RPDO 3 Change the mapping entries of the PDO 4 Set the number of mapped back to a valid value according to the new PDO mapping 5 Set the COB ID of the PDO back to its original value Dummy Mapping A further feature of CANopen is the mapping of placeholders or so called dummy entries
19. lt Min 0800 Channel PV state LED field On if process value exceeds lower limit configured in Object 7134H 175 Analog I O modules Condition LED states EMCY trigger PV gt Upper Yellow gt MAX state LED n Limit PV upper on 9 PV gt Sensor Yellow gt MAX state LED Range Limit upper blinking yes Channel F enabled Green Temp Input LED on no PV lt Lower Yellow lt MIN state LED o Limit PV lower on Sensor Fraction Yellow lt MIN state LED Be PV lt own lower blinking y temperature Table 111 Device specific LED states for CANopen IO X7 Block diagram LED Display CAN Bus CANH CANL CANGND Cold Junction Compensation MUX Embedded Processor 24VDC Reset Powersupply Watchdog 24VDC GND Channel 0 7 Figure 43 CANopen IO X7 block diagram 176 L 1070e_09 Analog I O modules Technical data Common Typical Maximum Power supply Voru 24V DC 20 Current consumption lcpu 0 07A I Os inactive Storage 20 90 C Temperature range Operation 0 70 C Protection class Enclosure IP20 Module weight 130g Width 71 mm Dimensions High 58 mm Length 95 mm Connection scheme Removable spring type clamp connectors Table 112 CANopen IO X7 technical data part common C
20. 24V DC inputs Un 3V 5V lig Uin 5 6 2700 3 5mA 9mA Table 64 CANopen IO X1 technical data part I O L 1070e_09 109 Digital I O modules Manufacturer specific functions The CANopen IO X1 supports the following device specific manufacturer extension Disable digital input 8 Bit Object 2010H Enable pulsed digital output Object 2011H Enable retrigger pulsed digital output Object 2012H Enable active off pulsed digital output Object 2013H Pulslength pulsed digital output Object 2014H The generic manufacturer specific extensions are described in Section 8 4 Error behavior 110 In addition to the error behavior described with Section 9 4 the CANopen IO X1 features a device specific error behavior for its digital outputs with the following parameters Error Mode Output 8 Bit Error Value Output 8 Bit Filter Constant Output 8 Bit L 1070e_09 Digital I O modules Object dictionary Object restored Disable digital input 8 Bit see Section 8 4 on Unsigned8 page 71 Enable pulsed digital output Unsigned8 Number of Output 8 Bit Unsigned8 DOO DO7 Unsigned8 Enable retrigger pulsed digital output Unsigned8 Number of Output 8 Bit Unsigned8 DOO DO7 Unsigned8 Enable active off pulsed digital output Unsigned8 Number of Output 8 Bit Unsigned8 DOO DO7 Unsigned8 Pulslength pulsed digital output Unsigned8 Number of Input 8 Bit Unsigned16 DOO Puls
21. 53 95 97 STOPPED senses soreness 96 NMT STATE PRE OPERATIONAL 94 STOPPED meteen Node Guarding Node Life Time annnnnen nennen node ID annen eenen Object Object Dictionary Index Parameter Al Decimal Digits PV 143 155 167 179 Al Interrupt delta input PV 143 156 179 Al interrupt lower limit input PV 156 180 Al interrupt upper limit input PV 156 180 Al Operation mode 142 155 179 Al Physical Unit PV 142 155 167 179 Al Sensor Typ 142 154 178 Al Status 143 155 179 AO Fault FV s or vaarovaerenssvenduen 167 AO Fault mode 167 AO Output type ee eeeeeeeeeeeee 167 COB ID Emergency message 92 COB ID SYNC eee 78 COB ID used by PDO 59 Communication Errors 94 Communication parameter 59 Consumer Heartbeat Time 100 Device main voltage 70 Device temperature 70 Disable digital input 8 Bit 113 123 DIx_DIx_Disable sets Error Count 87 Error mode output 8 Bit 114 131 Error Register 86 Error value output 8 Bit 114 115 131 Event timer nne 59 Filter constant of digital inputs 8 Bits tonts 113 123 Filter Constant output 8 Bit 114 131 Global interrupt enable 8 Bit 113 123 Guard Time 00 00a000neneaaae0ne 99 Inhibit Tim annen 59 Interrupt mask any change 8 Bit ENE EEEN 11
22. 67 43 99 63 4 4 36 24 68 44 100 64 5 5 37 25 69 45 101 65 6 6 38 26 70 46 102 66 7 7 39 27 71 47 103 67 8 8 40 28 72 48 104 68 9 9 41 29 73 49 105 69 10 A 42 2A 74 4A 106 6A 11 B 43 2B 75 4B 107 6B 12 C 44 2C 76 4C 108 6C 13 D 45 2D 77 4D 109 6D 14 E 46 2E 78 4E 110 6E 15 F 47 2F 79 4F 111 6F L 1070e_09 187 Appendix 32 20 64 40 60 Table 119 Conversion table from decimal to hexadecimal Node ID O 13 2 Troubleshooting Warning limit Bus off indicated on one or more modules 188 Error Frames One sign of errors in the CAN wiring the address assignment or the setting of the bit rate is an increased number of error frames the diagnostic LED on the module then indicates Warning Limit exceeded or Bus off state entered see Section 9 1 Note Warning limit exceeded or bus off state are indicated first of all at those nodes that have detected the most errors These nodes however are not necessarily the cause for the occurrence of error frames If for instance one node causes unusual heavy bus traffic e g analog inputs which trigger event driven PDOs at a high rate then the probability of its telegrams being damaged increases Its error counter witch be the first one reaching a critical level node ID and bit rate settings Make sure that node IDs were not assigned twice to make sure there is only one producer for e
23. 69 Manufacturer specific extensions nennen vennen eenn 71 Device identification data nennen enn nen vennen 74 Synchronized operations nnn ennen enenneeeennereneeeenveneneerenn 76 ERROR BEHAVIOR AND SYSTEM MESSAGES 81 Device status LEDS 25 svenensrineneerrnesinserenten sneer dacahdenn teha hdnnakde 81 Reading diagnostic data nnen venneneneenenenvennneerennn 86 Evaluation of diagnostic messages CANopen Emergency messages nnen enennenennenennenenven 88 ErforbehaVior itsmurnenertevrnitittere ec ei ae 92 Module Network status and device guarding 95 GENERAL TECHNICAL DATA 101 Standards and certifications nennen eeen nennen neneeenn 101 Electromagnetic compatibility annen eeen 102 Shipping and storage conditions nennen ennen nennen 102 Mechanical and climatic ambient Conditions essen 102 Table of Contents 11 12 13 11 2 11 3 12 1 12 2 12 3 12 4 13 1 13 2 13 3 13 4 DIGITAL I O MODULES 105 CANopen IO X1 digital input and output module 16DI BDO DC 24V neee neneenneenneenenenenenen sneren 105 CANopen IO X2 digital input module 24DI DC 24V osssasssesnansa 118 CANopen IO X3 digital output module 24DO DC 24V 127 ANALOG I O MODULES annen 137 CANopen IO X4 analog input module 8AI U I 137 CANopen IO X5 analog input module BRTD 148 CANopen IO X6 analog output module 8AO U l 163 CANopen IO X7 analog input module 8TC n
24. 8ch 100Hz 1ch Table 88 CANopen IO X4 technical data part I O 1 The sampling rate decreases with the number of inputs enabled 140 L 1070e_09 Analog I O modules Manufacturer specific functions The CANopen IO X4 supports the following device specific manufacturer extension e for Production only Object 2500H The generic manufacturer specific extensions are described in Section 8 4 Error behavior The CANopen IO X4 has no device specific error behavior Please refer to Section 9 4 for configuration of error behavior on communication errors Object dictionary 2500H Array for Production only 00H Number Of Entries Unsigned8 01H reserved Unsigned32 02H manufacture date Unsigned32 03H calibration data Unsigned32 04H pAl_O_U_Gain Real32 05H pAl_O U Offset Real32 06H pAl_1_U_Gain Real32 07H pAl_1_U_Offset Real32 12H pAI_7 U Gain Real32 13H pAl_7_U Offset Real32 14H pAl_ 0 Gain Real32 15H pAl_O Offset Real32 22H pAl 7_ Gain Real32 23H pAl_7_ Offset Real32 L 1070e_09 141 Analog I O modules reserved Unsigned8 reserved Unsigned8 reserved Al Sensor Type Unsigned8 Unsigned16 Number Of Entries Unsigned8 AlO_Sensor_Type Unsigned16 Al7_Sensor_Type Al Operation mode Unsigned16 Unsigned8 Number Of Entries Unsig
25. Al4 Al6 Mapped object 1 data byte 0 1 7130H 7130H 7130H 7130H O1H 10H 03H 10H 05H 10H 07H 10H Ald State Al2 State Al4 State Al6 State Mapped object 2 data byte 2 6150H 6150H 6150H 6150H 01H 08H 03H 08H 05H 08H 07H 08H j All Al3 Al5 Al7 Mapped object 3 data byte 3 4 7130H 7130H 7130H 7130H 02H 10H 04H 10H 06H 10H 08H 10H Al1 State Al3 State Al5 State Al7 State Mapped object 4 data byte 5 6150H 6150H 6150H 6150H 02H 08H 04H 08H 06H 08H 08H 08H Table 91 CANopen IO X4 default mapping Relation between Fieldvalue FV Processvalue PV and Calibration U mode PVbc FV 6 947 10 PV PVbc pAl_x_U_Gain pAl_x_U_Offset Al Scaling Factor_x Al Scaling Offset_x l mode PVbc FV 7 825 107 PV PVbc pAI_x_l_Gain pAl_x_l_Offset Al Scaling Factor_x Al Scaling Offset_x 1 A mapping entry consists of Object Subindex Datasize of mapped data 146 L 1070e_09 Analog I O modules x means number of Al channel Device specific commissioning The following steps list the device specific configuration which are necessary to put the device into operation Communication specific configuration e g PDO Mapping and Linking device guarding etc is not considered here Furthermore it is assumed that the basic commissioning see Section 6 1 of the device has been finished 1 Configure the input type of each cannel Object 6110H 2 Configure the n
26. European standard EN 50325 4 1 3 What is CANopen What is CANopen CANopen is a standardized CAN based protocol for industrial distributed automation systems In Europe CANopen can be regarded as the de facto standard for implementation of industrial CAN based systems In 1995 the CANopen specification was handed over to the CAN in Automation CiA international users and manufacturers group and is now standardized as CENELEC EN 50325 4 CANopen offers the following performance features L 1070e_09 Transmission of time critical process data see Section 8 2 according to the producer consumer principle Standardized device description data parameters functions programs in the form of the so called object dictionary Access to all objects of a device with standardized transmission protocol SDO protocol according to the client server principle See Section 8 2 Standardized services for device monitoring node guarding heartbeat network management NMT messages boot up messages and error control Emergency messages see Section 8 2 9 5 Standardized system services for synchronous operations SYNC messages central time stamp message see Section 8 2 8 6 Standardized functions for remote configuring of bit rate and device identification number via the bus see Section 5 3 General description e Standardized CAN identifier assignments based on the node ID simplify the system configurat
27. IO X7 has no device specific error behavior Please refer to Section 9 4 for configuration of error behavior on communication errors If an input channel is switched on without a sensor connected or sensor break the module will indicate this by setting the corresponding Subindex of Object 6150H to value 01H L 1070e_09 Analog I O modules Object dictionary Array a Eeen pi 00H Number Of Entries Unsigned8 aki 01H password Unsigned32 02H manufacture date Unsigned32 03H calibration date Unsigned32 04H Al 0 EJKLT Gain Real32 05H Al 0 EJKLT Offset Real32 O6H Al 1_EJKLT Gain Real32 07H Al 1_EJKLT Offset Real32 12H Al 7 EJKLT Gain Real32 13H AL 7 _EJKLT Offset Real32 14H Al O RS Gain Real32 15H Al_O RS Offset Real32 22H Al 7_RS Gain Real32 23H Al 7_RS_Offset Real32 24H reserved Unsigned8 25H reserved Unsigned8 26H reserved Unsigned8 Array Al Sensor Type Unsigned16 Xx X 00H Number Of Entries Unsigned8 6110H 01H Al0_Sensor_Type Unsigned16 07H Al7_Sensor_Type Unsigned16 L 1070e_09 179 Analog I O modules Al Operation z Array mode Unsigned8 X 00H Number Of Entries Unsigned8 6112H f 01H Al0_Operation_ Mode Unsigned8 07H Al7_Operation_Mode Unsigned8 Array Al Scaling Factor Unsigned8 X
28. Order No and options 3001001 CANopen IO X2 galvanic isolated CAN Properties e 24 digital inputs 24VDC galvanic isolated in groups of 4 inputs e CANopen device according to CiA 401 V2 1 e 24 LEDs for I O state indication e Galvanic isolated CAN bus interface e Non volatile storage of configuration data e Watchdog e CAN bus termination 1200 resistor via Jumper Module pinout 99099099099000090000900 aocacadoo0o000000 p 1415 a 7 ac 12 13 14 15 H6 20 21 z2 z3 4e o 1 2 3 c a 9 40 1156 10 17 ta 19 susWS Automation Didapat 00 0000000 Diap 0 OO On O00 Digtaiinput BO O O O20 O00 SYS TEC CANopen I0 X2 MVDC 24 Modem Baud CANterm 1208 RST L 86 High Low Can eS FO _ Figure 31 CANopen IO X2 device schema Pin Name Description Power supply connector 1 L 24VDC 20 2 0G Ground 0 for device power supply 118 L 1070e_09 Digital I O modules Pin Name Description CAN bus interface connector 1 CAN_GND 2 CAN_L 3 n c 4 CAN_H 5 CAN_V connected to L on modules without galvanic isolation not used on modules with galvanic isolated CAN I O connector 1 1G Ground 1 for digital inputs 0 to 3 2 2G Ground 2 for digital inputs 4 to 7 3 0 digital input 0 24V to 1G 4 4 digital input 4 24V to 2G 5 1 digital input 1 24V to 1G 6 5
29. PV is according to IEC 584 1 1995 Device specific commissioning The following steps list the device specific configuration which are necessary to put the device into operation Communication specific configuration e g PDO Mapping and Linking device guarding ect is not considered here Furthermore it is assumed that the basic commissioning see Section 6 1 of the device has been finished 1 Configure the sensor type of each cannel Object 6110H 2 Configure the number of digits used for the process value Object 6132H 3 Set the physical unit of each channel Object 6131H 4 If required configure the delta value of each channel Object 7133 5 If required configure the upper and lower limit of each channel Object 7134H and 7135H 6 Enable the channels in use Object 6112H Accessory Order number Part 171024 2 pole plug for the power supply 171023 5 pole plug with adapter cable to 9 pin D Sub connector for CAN bus 171036 16 pin I O connector plug 180134 Jumper for the CAN bus termination Table 118 Accessory for CANopen IO X7 References CiA 303 1 V1 3 CiA 303 3 V1 2 CiA 301 V4 02 CiA 404 V1 2 186 L 1070e_09 Appendix 13 Appendix 13 1 Conversation table of node IDs The following table shows a conversion of decimal node IDs into hexadecimal format as a 1 1 33 21 65 41 97 61 2 2 34 22 66 42 98 62 3 3 35 23
30. RPDO identifier of the consumer CANopen Slave X CANopen Slave Z Figure 19 PDO linking for peer to peer communication structure 62 L 1070e_09 Functions PDO Transmission Types Producer Consumer s Internal event or event timer has elapsed Event driven Timer driven l Remote frame Individual Polled YNC message Synchronized cyclic acyclic Figure 20 PDO transmission types Transmit Trigger Options Description The event driven or change of state transmission method simply transmits a PDO if the process data mapped to it changes The exact meaning of event thereby is specified in the corresponding device profile and is partly configurable by the user It could be any change to the data as well as a specific change e g positive edge or reaching a minimum difference Event driven transmission does not depend on a master that polls for the data The so called Inhibit Time is a configurable timeout in Event driven multiplies of 100 microseconds to limit the frequency of a TPDO transmission After starting the transmission of a TPDO the Inhibit Timer must expire before the TPDO may be transmitted again Note One problem of event driven communication is the lack of determinism It is very hard to predict the worst case scenarios of how often messages will get transmitted By using the Inhibit Time the worst case becomes predictable as it can be directly determined by the I
31. When LSS was used for configuration the set bit rate on the hardware switch is ignored The LSS settings are deleted with resetting the module to manufacturer settings Table 14 shows the assignment of the CAN bus bit rate to the position of the switch A configuration error wrong position is displayed with a special LED blinking cycle see Section 9 1 on page 81 for details The assignment of the bit rates to the positions corresponds to the assignment used with LSS as defined in CiA 305 L 1070e_09 Configuring Note Position FH is reserved Switch position Bit rate kBit s 1000 800 500 250 125 100 50 20 10 1000 reserved for production Table 14 Supported bit rates of the CANopen IO devices of ODA AW MH OEH L 1070e 09 41 Configuring 5 3 Configuring using CANopen Layer Setting Services LSS Introduction LSS offers the possibility to inquire and change certain parameters of a sysWORXX CANopen I O node via the CAN bus The following device parameters can be inquired and or changed using LSS e node ID e CAN bus bit rate e LSS address Identity Object 1018H The sysWORXX I O modules feature LSS slave functionality compliant to CiA 305 V1 1 By using LSS a sysWORXX I O device can be configured for a CANopen network without using the configuration switches The configured parameters are stored to a non volatile memory after the configuration p
32. as well as number and type of communication nodes Defining the system This section focuses on how to setup the communication between devices Thus any needed control algorithms for PLCs are assumed to be implemented already At stage of system design with sysWORXX I O modules involved the following points should be considered A participating devices must support the same physical layer and need to be at least conformant to CiA 301 V4 02 Some devices have multiple input output options e g voltage or current output These device features should be defined in advance and be configured before connecting the sensors and actors ee 3 party devices e g sensors with CANopen Gen interface can be integrated seamlessly if they fulfill the above requirements Note Some devices esp some small CANopen sensors only support configuration via LSS and therefore must be considered as being unconfigured at first power on ALSS Master is required for configuration All sysWORXxX I O devices support remote configuration via LSS according to CiA 305 V1 1 1 Layer Setting Services according to CiA 305 L 1070e_09 33 Configuring 34 Distribution and selection of node IDs Each node gets an unique node ID between 1 and 127 The node ID directly represents the message priority of this node Assign a lower node ID to nodes with high priority I O connected e g position sensors or drives A
33. checking whether the configured range exceeds the selected sensor type or not Example A value of 50 5 C will be coded as 505 ec in Integer16 format if the number of decimal digits is set to 1 Al interrupt upper limit input PV This parameter sets the upper limit for triggering PDO transmission of an analog input channel If the PV exceeds this value the corresponding LED on the LED display gt MAX is switched on Is the process value between the minimal and maximal value no PDO is transmitted Note The temperature range depends on the sensor type There is no internal checking whether the configured range exceeds the selected sensor type or not Example A value of 528 5 C will be coded as 5285gec in Integer16 format if the number of decimal digits is set to 1 Al Input FV This object contains the field value before scaling manufacture date This object contains the manufacture date The object is read only e g 01112007H means 1 t November 2007 calibration date This object contains the date of the last calibration The object is read only e g 12112007H means 12 November 2007 Channel Calibration Output Value PV is the result of the following The Value Gain is multiply with the Fieldvalue The Value Offset is add to the Fieldvalue L 1070e_09 Analog I O modules Parameter Description see below Al Sca
34. data byte 0 6000H 01H 08H Mapped obj 2 DI8 15 data byte 1 6000H 02H 08H Mapped obj 3 DI16_23 data byte 2 6000H 03H 08H Table 75 CANopen IO X2 default mapping Device specific commissioning The following steps list the device specific configuration which are necessary to put the device into operation Communication specific configuration e g PDO Mapping and Linking device guarding ect is not considered here Furthermore it is assumed that the basic commissioning see Section 6 1 of the device has been finished 1 Configure the digital input PDO transmission triggers Object 6006H to 6008H Note Only one trigger type per channel is permitted 2 Enable Global interrupt for digital inputs Object 6005H If the manufacturer specific filters are required 3 Set the manufacturer specific filtering Object 2010H 4 Enable these filters for the corresponding channels Object 6003H Accessory Order number Part 171024 2 pin plug for the power supply 171023 5 pin plug with adapter cable to 9 pin D Sub connector for CAN bus 171034 30 pin I O connector plug 180134 1 jumper for the CAN bus termination Table 76 Accessory for CANopen IO X2 References CiA 303 1 V1 3 1 A mapping entry consists of Object Subindex Datasize of mapped data L 1070e_09 125 Digital I O modules CiA 303 3 V1 2 CiA 301 V4 02 CiA 401 V2 1 126 L 1070e_09 Digital I O modules
35. digital input 5 24V to 2G 7 2 digital input 2 24V to 1G 8 6 digital input 7 24V to 2G 9 3 digital input 3 24V to 1G 10 7 digital input 8 24V to 2G 11 3G Ground 3 for digital inputs 8 to 11 13 4G Ground 4 for digital inputs 12 to 15 15 8 digital input 8 24V to 3G 17 12 digital input 12 24V to 4G 19 9 digital input 9 24V to 3G 12 13 digital input 13 24V to 4G 14 10 digital input 10 24V to 3G 16 14 digital input 14 24V to 4G 18 11 digital input 11 24V to 3G 20 15 digital input 15 24V to 4G 21 5G Ground 5 for digital inputs 16 to 19 23 6G Ground 6 for digital inputs 20 to 23 25 16 digital input 16 24V to 5G 27 20 digital input 20 24V to 6G 29 17 digital input 17 24V to 5G 22 21 digital input 21 24V to 6G L 1070e_09 119 Digital I O modules Pin Name Description 24 18 digital input 18 24V to 5G 26 22 digital input 22 24V to 6G 28 19 digital input 19 24V to 5G 30 23 digital input 23 24V to 6G Table 69 CANopen IO X2 device pinout LED display Digital input status LED field LED Off 0 Low LED On 1 High Digital Input 00 OOO 40000 Digital Input 80 O O O 120 000 Digital Input 130 O O 20 O O Block diagram 24VDC LED Display Embedded Processor Figure 32 CANopen IO X2 block diagram Technical data Reset Powersupply Watchdog 24VDC 24VDC
36. e Selective Triggers and message filters e External power supply 9 30VDC CAN Ethernet Gateway e Supports all higher layer CAN protocols e Up to 4 connections per device e High speed transmission of CAN messages bulk e High precision timestamps for CAN frames e ASCII based device configuration Telnet or RS232 e Configurable message filters 1 5 CANopen I O modules Definition of the sysWORXX CANopen I O modules The sysWORXX CANopen I O modules are compact distributed I O devices with degree of protection IP20 Fields of application Its compact design and its high I O density make the sysWORXX CANopen I O devices suitable for use in machine automation With IP20 the sysWORXX CANopen IO X devices are protected against the ingress of foreign particles greater diameter 12 5mm The sysWORXX CANopen I O modules support communication with other CANopen devices which are compatible to CiA 301 and or CiA 302 standard CANopen I O modules overview The following sysWORXX I O devices are offered Name Description Order number CANopen IO X1 8 DO and 16 DI 24VDC 3001000 8 DO pulsed and 16 DI CANopen IO X1 24VDC 3001010 CANopen IO X2 24 DI 24VDC 3001001 L 1070e 09 11 General description Name Description Order number CANopen IO X3 24 DO 24VDC 500mA 3001002 CANopen IO X4 8 Al 12 bit ADC 3001003 CANopen IO X5 8 RTD 12 bit ADC 3001004 CANopen IO X6 8 AO 10 bit DAC 300100
37. functionality for use with programmable devices CiA 302 or safety relevant communication CiA 304 In addition to the communication profiles there are so called device profiles for important types of industrial devices such as generic digital and analog I O devices CiA 401 drives CiA 402 IEC 61131 3 programmable devices CiA 405 or encoders CiA 406 The device profiles are add on specifications that describe all the communication parameters device specific features and Object Dictionary entries that are supported by a certain type of CANopen module A master or configuration tool can read access the identity object see Section 8 5 of any slave node to receive the information about which device profile a module conforms to Sometimes an application requires the implementation of not standardized manufacturer specific Object Dictionary entries This is possible due to the open structure of CANopen Additional entries that disable or enable a certain functionality that is not covered by one of the existing device profiles can be implemented in any device as long 4 L 1070e_09 General description as they conform to the structural layout of the Object Dictionary see Section 8 4 Electronic Data Sheets In addition the functionalities and characteristics of each CANopen device are described in a so called Electronic Data Sheet EDS stored in ASCII or XML format CiA 306 The EDS offers a standardized way o
38. higher node ID lower priority can be assigned to nodes with I Os connected to slow processes e g temperature sensors Bit rate bus speed All devices on the network must support the same bit rate The highest possible bit rate depends on the bus length and length of drop lines See CiA 305 1 for detailed information Page Fehler Textmarke nicht definiert shows some standard values for DC parameters for CANopen networks with less than 64 nodes In general it is recommended not to run the network with a higher bit rate than required Keeping the bus speed low reduces EMI and increases overall system stability and tolerance Synchronized operations If an accurate timing is required by the application or parts of it e g in motion control the SYNC mechanism of CANopen is used Note Depending on the amount of synchronized PDO used SYNC might produce a considerable transmission peak as synchronized PDOs are transmitted upon reception of the SYNC message See Section 8 6 for detailed information on how to use SYNC with the sysWORXxX I O modules Communication structure and device guarding Define the communication and connections PDO for all participating devices e Master Slave connections e Slave Slave connections e Device guarding and network management issues e g heartbeat who guards who L 1070e_09 Configuring Estimating the bandwidth usage Calculating
39. in this state After the device configuration has been completed typically done by the application or the NMT master the NMT command Start_Remote_Node 6 can be used to switch the node from state L 1070e_09 95 Error behavior and system messages PRE OPERATIONAL into state OPERATIONAL This state change results in the initial transmission of all active TPDOs to make the current process I O state known to the network NMT command Reset Node 10 is used to reset node remotely The power on values or values stored in non volatile memory if previously stored are used for reset values In state STOPPED any communication except NMT Heartbeat and Nodeguarding is disabled All sysWORXxX I O devices also support the NMT commands Stop_Remote_Node 7 Enter_PRE OPERATIONAL_State 8 Reset_Node 10 Reset_Communication 11 to control state transitions see Figure 28 and Table 46 PRE OPERATIONAL INITIALIZING OPERATIONAL STOPPED Boot up x SDO X X EMCY x xX SYNC x Xx Heartbeat Node x X X guarding PDO xX Table 45 NMT state dependent communication NMT command messages The first data byte of a NMT command message always contains the NMT command The second byte contains the node ID of the device to be started The value 00H for node ID addresses all nodes in the network Broadcast The COB ID is always set to OOOH Command Description This command is used
40. network and therefore has to be assigned uniquely It also determines the offset of the communication objects COBs and the priority of the node The node ID 0 is reserved Possible values 1 to 127 OSI Open Systems Interconnection PE upper range value PDO Process Data Object PV Process Value The field value is converted to the real physical dimension of the measured quality and the result is called process value RPDO Receive PDO L 1070e_09 195 Glossary Pre The pre defined connection set is a default assignment of CAN defined message identifiers COB IDs to CANopen objects This default Connection assignment guarantees that the CAN message identifiers are Set uniquely assigned in the network if the node ID has been assigned uniquely SDO Service Data Object SI International system of units SSDO SDO Server SYNC Synchronization Object TPDO Transmit PDO Von Output voltage high Vor Output voltage low U Input voltage high U Input voltage low lon Output current high lor Output current low In Input current high torF Output turn off time ton Output turn on time 196 L 1070e_09 Index Index Analog input module 135 146 170 Analog output module 160 Application planning 15 Dit Pate ss eren rannipun kinina 42 CAN interfaces CAN Ethernet Gateway 11 USB CANlog aa 11 CAN interf
41. of sensor which is connected to the analog input Al Sensor Type 30dec PT100 33 dec PT1000 Default value 30dec L 1070e_09 157 Analog I O modules 158 Parameter Al Operation mode Description Enables disables an input channel 0 Channel disabled 1 Channel enabled operating Default value OH Note Each active channel the order is not important will reduce the maximum sampling rate by apx 1 8 Al Physical Unit PV This parameter assigns Sl units and prefixes for the process values of each channel The coding of the physical unit and prefixes is done according to the CiA 303 2 This value just provides additional information and has no influence on process value calculation Possible values 00050000H K 002D0000H C OOACOOO0H F Default value 002D0000H C Al Decimal Digits PV This parameter specifies the number of decimal digits following the decimal point for interpretation of data type Integer16 Example A process value of 98 2 C will be coded as 982uec in Interger16 format if the number of decimal digits is set to 1 and 98gec if number of decimal digits is set to 0 0 no decimal digits 1 one decimal digits Default value 1 Al Status This read only parameter holds the status of the analog input channel 0 no error 1 input not valid e g sensor break short circuit underflow L 1070e_09 Analog I O modules
42. outputs Error value output 0 output shall be set to 0 in case of error event 8 Bit 1 output shall be set to 1 in case of error event Default value OOH Specifies an output filter mask for a group of 8 outputs 0 Updating of outputs disabled The current Filter Constant value is not updated on reception of new output 8 Bit output data 1 Updating of outputs enabled upon reception of new output data Default value FFH Table 82 CANopen IO X3 parameter description 132 L 1070e_09 Digital I O modules Default mapping of I O PDO RPDO1 COB ID 200H node ID Mapped objects 3 Mapped obj 1 DO0_7 data byte 0 6200H 01H 08H Mapped obj 2 DO8_15 data byte 1 6200H 02H 08H Mapped obj 3 DO16_23 data byte 2 6200H 03H 08H Table 83 CANopen IO X3 default mapping Device specific commissioning The following steps list the device specific configuration which are necessary to put the device into operation Communication specific configuration e g PDO Mapping and Linking device guarding ect is not considered here Furthermore it is assumed that the basic commissioning see Section 6 1 of the device has been finished 1 Enable updating of used channels Object 6208H If the application requires pre defined error values for the outputs 2 Configure the error value of the outputs Object 6207H 3 Enable the error mode of the channels Object 6206H Accessory
43. over all nodes to see if they are operating within their parameters Upon failure of a node or reception of a certain alarm emergency message it can initiate the appropriate recovery or shutdown procedures Therefore a so called NMT state machine is implemented on the device and several options for device guarding are supported Module state machine The NMT state machine implemented sysWORXxX I O modules allows the device to be in different operating states A NMT master can initiate state transitions by sending so called node control messages to either a single node or all nodes on the network The NMT state machine of the sysWORXX I O devices is shown below Power on Initialisation Boot up message NMT commands 6 Start Remote Node 7 Stop Remote Node 8 Enter PREOPERATIONAL State 10 Reset Node 11 Reset Communication gt Lee Operational 12 Boot up message Figure 28 The NMT state machine In state INITIALIZATION the CANopen data structures e g Object Dictionary of a node is initialized by the application This startup procedure is described in Section 6 2 on page 52 After INITIALIZATION has been completed the node automatically switches into state PRE OPERATIONAL 12 and transmits the Boot up message to inform the NMT master about this state change In this state PDO communication is disabled However device access via SDO NMT services and device guarding are available
44. process data of the corresponding PDO are acquired continuously RTR only and transmitted upon reception of the RTR frame Note This type of transmission is not generally recommended because fetching input data from some CAN controllers is only partially supported Furthermore some CAN controllers sometimes replies to remote frames automatically without requesting up to date input data from the application Thus under some circumstances the polled data might not be up to date PDOs with transmission types 254 and 255 are asynchronous but may also be event driven For transmission type 254 the event is manufacturer specific whereas for type 255 the Asynchronous events are defined in the device profile In the simplest way the event is the change of an input value that is transmitted with every change in the value or state These transmission types can be coupled with the Event Timer and Inhibit Time in order to control the transmission behavior Table 21 Transmission type description PDO mapping PDO mapping describes the mapping of the application objects process data from the Object Directory to the PDO All sysWORXX I O modules support dynamic PDO mapping which allows for changes on the mapping even if the node is in state OPERATIONAL The CANopen device profile provides a default mapping for every device type which is applicable for most applications The default mapping for digital I O
45. the bandwidth of a CANopen network without a simulation tool network is quite a difficult thing However a rough estimate bandwidth usage can be calculated as follows 1 Calculate the number of data bytes transmitted e g at each SYNC cycle Example 32 Digital inputs BYTE 4 bytes 4 Analog inputs INT gt 8 bytes 8 Digital outputs BYTE 1 byte Total 13 bytes 2 Calculate the data bandwidth required Either based on the communication cycle or based on a worst case scenario Example With an estimated SYNC cycle time of 13 ms and 13 data bytes about 1000 bytes are transmitted within a second Multiplying by 8 to achieve bits per second results in 8kbps 3 Calculate the total bandwidth CAN messages not only contain data bytes but also message ID control bits a checksum and other overhead information Unfortunately there is no easy rule describing the relationship between data and overhead The overhead factor may vary from 2 to 6 depending on the message length If many short messages are used a factor 6 could be reasonable Example Assuming an overhead factor of 4 result in a bandwidth of 4 8kbps 32 kbps With a chosen bitrate of 125kbps the average bandwidth usage is 32kbps 125kbps gt 25 6 About 25 is an acceptable margin for a rough estimation In case the chosen bit rate would be 50kbps a more detailed calculation becomes necessary Advanced development tools are capable of performing
46. these calculation automatically Please contact our support team if you need more information Determine the Communication Type Once the bit rate has been chosen it is necessary to specify the PDO communication type s These have different advantages and disadvantages e Cyclic synchronous communication provides an accurately predictable bus loading and therefore a defined timing behavior L 1070e_09 35 Configuring The main idea behind the synchronized communication mode is to provide motion oriented systems such as robots with parallelized inputs and outputs The process values are updated synchronously To avoid jitter effects and ensure smooth movements all inputs are read at the same time and output data is applied simultaneously The SYNC rate parameter determines the bus load globally Under normal conditions the guaranteed reaction time of the system is at least as long as the cycle time One drawback is that the CAN bus bandwidth is not used optimally since old data e g data that has not changed is also transmitted continuously To optimize the network and reduce the bandwidth usage the synchronization of a PDO can be scaled SYNC multiples transmission types 1 240 can be assigned to PDOs to transmit slowly changing data less often than for instance time critical inputs Note Furthermore it is important to consider that input states shorter than the SYNC cycle time will not necessarily be tran
47. those of translation reprint broadcast photomechanical or similar reproduction and storage or processing in computer systems in whole or in part are reserved No reproduction may occur without the express written consent from SYS TEC electronic GmbH Disclaimer This page was left empty intentionally Preface Preface Purpose of this manual The information provided in this manual enables you to operate the distributed I O modules of the sysWORXX Automation Series Basic knowledge required To understand the manual you require general experience in the field of automation engineering and a general understanding about CANopen Scope of this Manual This manual is applicable to the devices of the CANopen I O modules of the sysWORXX Automation Series This manual contains a description of the devices which were valid at the time the manual was published We reserve the right to issue a Product Information which contains up to date information about new components and new versions of components Guide The manual s navigation features outlined below support quick access to specific information e The manual begins with a table of contents and a list of tables e Important terms are explained in the glossary e Navigate to the most important topics in our documents using the index Special notes In addition to this manual you also might need the manual of the CANopen Master in general a PLC device and t
48. trigger on error frames using a oscilloscope this type of diagnosis however is only recommended for experts L 1070e_09 Appendix 13 3 Module Dimensions sysWORXX Automation Series L 0G High Low With DIN Rail 1 With DIN Rail 2 191 L 1070e_09 Appendix 13 4 Bus cable and termination resistors 192 The cables connectors and termination resistors used in CANopen networks shall meet the requirements defined in ISO 11898 In addition this section gives some guidelines for selecting cables and connectors The table below shows some standard values for DC parameters for CANopen networks with less than 64 nodes Bus cable Length Termination Bus length m resistance gth m related Diameter mm Q resistance mQ m 0 40 70 0 25 0 34 124 40 300 lt 60 0 34 0 6 150 300 300 600 lt 40 0 5 0 6 150 300 600 1000 lt 26 0 75 0 8 150 300 10000kbps 1000kbps lt 1m 1000kbps lt 20m 1000kbps N lt 100m 500kbps T lt 250m 250kbps Q lt 500m 125kbps 100kbps 2 lt 1000m 50kbps lt 2500m 20kbps 10kbps lt 5000m 10kbps E 5 CAN bus length 5 Table 120 CAN bus length versus bit rate L 1070e_09 Appendix A figure of 40m at 1 Mbit s is often found in the CAN lit
49. 00H Number Of Entries Unsigned8 6126H 01H Al_Scaling_Factor_0 Real32 07H Al_Scaling_Factor_7 Real32 Array Al Scaling Offset Unsigned8 X 00H Number Of Entries Unsigned8 6127H 01H Al Scaling_Offset_0 Real32 07H Al Scaling_Offset_7 Real32 Array Bu an pant Unsigned32 X 00H Number Of Entries Unsigned8 6131H 01H CS E Unsigned32 07H ed week Unsigned32 180 L 1070e_09 Analog I O modules Array ails Digits Unsigned8 Xx X 00H Number Of Entries Unsigned8 6132H otH Al0_Decimal_Digit Unsigned s_PV Al7_Decimal_Digit 07H s PV Unsigned8 Array Al Status Unsigned8 00H Number Of Entries Unsigned8 6150H 01H AlO Status Unsigned8 07H Al7_Status Unsigned8 Array Al Input FV Integer16 00H Number Of Entries Unsigned8 7100H 01H Al0_Input_FV Integer16 07H Al7_Input FV Integer16 Array Al Input PV Integer16 00H Number Of Entries Unsigned8 7130H 01H Al0_Input_PV Integer16 07H Al7_Input_PV Integer16 L 1070e_09 181 Analog I O modules Al Interrupt delta Input PV Array Integer16 X X 00H Number Of Entries Unsigned8 Al0_Interrupt_Delt 7133H 01H a Input PV Integer16 Al7_Interrupt_Delt 07H a_Input_PV Integer16 Array Al Interrupt lower Integer16 2 x X limit Input PV 00H Number Of Entries Unsigned8 AlO_Interrupt Low 7134H 01H er_Limit_Input_PV Integer
50. 070e_01 Collrepp Finalizing Pre release 2006 Jun 17 L 1070e 01 A Yen Release version Collrepp F Jun Completion pulsed DO for X1 2007 Nov 22 L 1070e_02 ies Completion Calibartion Entries for X4 X5 X6 RE 7 F Jung Completion Calibartion Entries for 2008 Mar 25 L 1070e_03 andreas X7 EJ ng Correction Status 0x6150 for X5 2008 Aug 07 L 1070e_04 9 and physical unit 0x6131 for X5 andreas and X7 2009 May 18 L 1070e_05 M Berthel Correction sampling rate for X7 new OD entries 1F51H and 2002H States of RUN and ERROR LED at 2010 Mar 24 L 1070e_06 M Berthel P 09ram Control Emergency Error Codes at Program Control all changes from firmware version 1 30 Chanche of LED display on modules X5 and X7 2010 Apr 26 L 1070e_07 M Berthel all changes from firmware version 1 31 2016 Jun 26 L 1070e_09 F Jung change factor for calculation X5 andreas PV with FV Revision history This page was left empty intentionally Suggestion for improvements Suggestion for improvements Document sysWORXX CANopen I O modules Document number L 1070e_09 How would you improve this manual Did you find any mistakes in this manual page Submitted by Customer number Name Company Address Please return your SYS TEC electronic GmbH suggests to Am Windrad 2 D 08468 Heinsdorfergrund GERMANY Fax 49 3765 38600 4100 Email info systec electroni
51. 070e_09 55 Maintenance and service PC CAN interface Slotted screwdriver with 4 mm blade Replacing the module We assume that all tools are already installed on the Service PC and the PC CAN interface is connected and ready for operation 1 Power off the device and remove all plugs 2 Unmount the device and replace it with a new one Because the sysWORXX I O modules have removable terminal blocks the wiring does not need to be touched 3 Configure bit rate and node ID of the new device according to your network configuration 4 Connect the device to the bus 5 Connect the device to the plant I O 6 Connect the device to power supply 7 When the device is powered on it starts internal diagnostic tests that take about 2 3 seconds to finish 8 Check the bus for the appearance of the boot up message 9 Configure the device e g PDO connections I O type ect using a CANopen configuration tool and DCF if the application master does not provide automatic device configuration 10 Set the device to state OPERATIONAL to start PDO communication if the application master does not manage this device See also Section 9 Error behavior and system messages Section 5 Configuring Section 3 Mounting 56 L 1070e_09 Functions 8 Functions 8 1 The Object Dictionary of the sysWORXX I O modules Introduction This section describes the communication specific part of the Object Dictionary
52. 09 81 Error behavior and system messages Description of LED states 82 Flickering Blinking Single Flash lt 50 mij EN nn Nn en en en 1000 200 200 1000 Double Flash 200 200 200 200 1000 Triple Flash time ms Figure 26 LED blinking cycles of the sysWORXX I O modules NMT state Description The device is in NMT state Always On OPERATIONAL OPERATIONAL ae The device is in NMT state Blinking PRE OPERATIONAL PRE OPERATIONAL The device is in NMT state Single Flash STOPPED STOPPED LSS service in progress F s OPERATIONAL or Flickering PRE OPERATIONAL ES flickering with Error Configuration error Synchronous blinking with INITIALIZING A wrong configuration Error LED selected at hardware switches Ss ronous Hardware error riple Flas a Error INITIALIZING Hardware error detected LED during internal diagnostics Table 28 Description of Run LED states Error LED states Off NMT state No error Description The device is operating under normal conditions Flickering OPERATIONAL or PRE OPERATIONAL LSS service in progress alternate flickering with Run L 1070e_09 Error behavior and system messages Error LED NMT state Description states LED Warning limit reached OPERATIONAL or At least one of the error PRE OPERATIONAL Counters of the CAN controller has rea
53. 16 Al7_Interrupt_Low One er_Limit_Input_PV ntegeriG Array Al Interrupt upper Integer16 X X limit Input PV 00H Number Of Entries Unsigned8 Al0_Interrupt_Upp 7135H 3 gia er_Limit_Input_PV Int geriG 07H Al7_Interrupt_Upp Integer16 er_Limit_Input_PV Table 115 CANopen IO X7 Object Dictionary Parameter description Parameter Description Specifies the type of sensor which is connected to the input channel Ogec NO sensor is connected disabled Al Sensor Type 1dec thermocouple sensor type J 2dec thermocouple sensor type K 3dec thermocouple sensor type L Saec thermocouple sensor type R 6dec thermocouple sensor type S 182 L 1070e_09 Analog I O modules Parameter Description 7dec thermocouple sensor type T 8dec thermocouple sensor type E Default value Odec Enables disables an input channel 0 Channel disabled 1 Channel enabled operating Default value OOH This parameter assigns SI units and prefixes for the process values of each channel The coding of the physical unit and prefixes is done according to the CiA 303 2 This value just provides additional information and has no influence on process value calculation Al Operation mode Al Physical Unit PV Possible values 00050000H K 002D0000H C 00AC0000H F Default value 002D0000H C Specifies the number of decimal digits following the decimal poin
54. 162 LED display eee 162 Manufacturer specific functions 163 Module pinout eee 160 Properti S nnn 160 Technical data ee 162 CANopen IO X6 Object dictionary 164 CANopen IO X6 Parameter description 167 CANopen IO X6 Default Mapping eee 168 CANopen IO X6 Commissioning 169 CANopen IO X6 ACCESSOSY sassreovenaevensnerevensveevenn 169 CANopen IO X7 Error behaviour eee CANopen IO X7 naaa eenen Block diagram LED display eee Manufacturer specific functions 174 Module pinout eee 170 Properti S sisisi 170 Technical data ee 173 CANopen IO X7 Object dictionary eee 175 CANopen IO X7 Parameter description 178 Index CANopen IO X7 Default Mapping 181 CANopen IO X7 Commissioning 182 CANopen IO X7 ACCESSOLY nnen 182 CANopen PLC C14eco 8 CDM See CANopen Device Monitor GIA 301 Zenete tee ed nnent neee CIA 3025 sanar senen snoin CIA JOA ene nen eden CiA 305 k CIA 306 asitoe ii eeens rnain CIA 4O Tinaasan aiaee 4 eyo 17 ee E E naden 4 CIA 4O05 n on 4 10 CiA 406 wd Commissioning nnen aanne 51 Startup of the sysWORXX I O Modul8S reerde seerd daneen 52 Communication method Event driven Individual polling Synchronized Timer driven Communication Parameter Set 61
55. 3 123 Interrupt mask high to low 8 Bit sab ceucoscecdVencehadssecsdasaeaebetens 114 124 Interrupt mask low to high 8 Bit1 14 123 Life Time Factor 99 Mapping parameter ee 59 NMT Boot enable 72 NMT Start Time Producer Heartbeat Time 100 Product Code Revision Number Serial Number Standard Error Field Synchronous Window Length 78 Transmission Type 59 Vendor ID ee eeceeeeeeeeeneees 74 PDO ER 3 61 PDO linking annen nnnnr enen enneen 61 PDO Linking nanne anenn ennen ennen 10 PDO mapping annaannnn ennen eneen PDO Mapping PDO Transmission Type 63 PLCmodule C14 nna anneer 8 Pre defined Connection Set 61 Preface aen Process Data Objects Reading diagnostic data 86 Recycling and disposal 3 Remote Request aaneen 66 Removing and inserting I O modules AAEE edenis 55 Resetting to factory settings 50 RPDO zstnzineten sentent dee nnen 61 RTR frame 52e neergaande 66 Safety Guidelines nn nnner enne I Selection guide nnn vennen 16 VO moduleS een 15 Maximum configuration 16 Serial number nnnnsn annen 75 Service Data Objects 68 Shipping and storage conditions 102 Standards and certifications 101 Startup diagnostics 69 Startup of the sysWORXX I O modules nnen sdenennendend 52 Status
56. 5 Accessory for CANopen IO X2 nennen nennerenenenenenven 125 Table 76 CANopen IO X3 device pinout n ennen eenn nennerennenennerenven 129 Table 77 CANopen IO X3 technical data part common eneen 130 Table 78 CANopen IO X3 technical data part communication 130 Table 79 CANopen IO X3 technical data part I O nennen 131 Table 80 CANopen IO X3 Object Dictionary Device specific part 132 Table 81 CANopen IO X3 parameter description nanne ennn 132 Table 82 CANopen IO X3 default mapping annen enen nennenenven 133 Table 83 Accessory for CANopen IO X3 nnee nennenennenennerenven 133 Table 84 CANopen IO X4 device pinout nnn nennen nennenennenennerenven 138 Table 85 CANopen IO X4 technical data part common enen 140 Table 86 CANopen IO X4 technical data part communication 140 Table 87 CANopen IO X4 technical data part I O nennen 140 Table 88 CANopen IO X4 Object Dictionary nennen enne nennenenven 144 Table 89 CANopen IO X4 parameter description anneer ennn 146 Table 90 CANopen IO X4 default mapping anneer nennerenen 146 Table 91 Accessory for CANopen IO X4 nnen eenen nennenenerenerenven 147 Table 92 CANopen IO X5 device pinout nennen nennenennerennenenven 149 Table 93 Device specific LED states for CANopen IO XB ne 150 Table 94 CANopen IO X5 technical data part common annen 152 Table 95 CANopen IO X5 tech
57. 5 CANopen IO X7 8 TC 12 bit 3001006 Table 1 CANopen I O module overview Installation The sysWORXxX I O modules were designed for DIN rail mounting and always include the complete set of terminal plugs You can thus set the focus of your configuration on local requirements The comfortable handling features of the sysWORXX I O modules ensure quick commissioning and easy maintenance 1 6 Components of the sysWORXX CANopen I O modules The list below introduces the vital parts and components delivered with the sysWORXX I O modules Component Function I O device The I O devices incorporates the device electronics LED interface and socket connectors The following subsystems are included Embedded microcontroller Reset amp watchdog circuit CAN bus interface Configuration units Non volatile memory for storage of configuration data Device specific I O circuitry Voltage regulator for 24VDC power supply LED interface I O plug Removable spring type plug 12 L 1070e_09 General description Component Function connector connector used to connect the sensors and actuators The connector block can be fixed on the socked by screw There are 3 types used 30 pin for IO X1 to IO X3 24 pin for IO X4 to IO X6 16 pin for IO X7 CAN bus connector Removable 5 pin screw type plug connector used to connect the CAN bus lines The connector pinout c
58. 7 Connectors sns ansrsrersn vensewenneeeen 18 VO modules nee 17 Setting the node ID and termination PEE daden Bedel een E 20 Internal diagnostics and monitoring funchOns zrrmusnacsde nen aae 69 ISO 11898 1 nanne ensernennenecninneren 1 ISO 11898 2 nanna 1 6 Layer Setting Services See LSS LED Blinking cycles cee 82 EOF sonnet sneren ende kens rens vindend 81 Error LED double flashing 83 84 Error LED flickering 82 84 Error LED single flashing 83 84 Error LED tripple flashing 83 RUN idle sii ide eae 81 Run LED blinking ee Run LED flickering Run LED single flashing 82 Run LED tripple flashing 82 84 Life Guard Time nanne 97 Life Guarding Life Time FactOr annen 97 ESS 33 37 39 40 42 74 LSS master nanne 42 43 Manufacturer specific extensions 71 Mapping Parameter Set 61 Mechanical and climatic ambient CONGITIONS niisiis 102 Minimal NMT bootup master 71 Module Network status and device guarding nana venenenennnern 95 Mounting Enter_PREOPERATIONAL_State 97 Reset_Communication 53 69 97 Reset Node 53 69 97 Start Remote Node 53 95 96 Stop _Remote_ Node 96 NMT messages nanne ennen enner 3 NMT slave NMT state INITIALIZATION 52 53 95 OPERATIONAL cceceees 53 96 PRE OPERATIONAL
59. Al7 Mapped object 3 data byte 3 4 7130H 7130H 7130H 7130H 02H 10H 04H 10H 06H 10H 08H 10H Al1 State Al3 State Al5 State Al7 State Mapped object 4 data byte 5 6150H 6150H 6150H 6150H 02H 08H 04H 08H 06H 08H 08H 08H Table 100 CANopen IO X5 default mapping 1 A mapping entry consists of Object Subindex Datasize of mapped data 160 L 1070e_09 Analog I O modules Relation between Fieldvalue FV Processvalue PV and Calibration PT100 Rroc FV 1 4532 10 R Rtbe pGain_PT1000_x pOffset_PT1000_x Al Scaling Factor_x Al Scaling Offset_x PT1000 Rtbe FV 1 3796 10 R Rtbc pGain_PT100_x pOffset_PT100_x Al Scaling Factor_x Al Scaling Offset_x x means number of Al channel The calculation of PV is according to DIN IEC 60751 Device specific commissioning The following steps list the device specific configuration which are necessary to put the device into operation Communication specific configuration e g PDO Mapping and Linking device guarding ect is not considered here Furthermore it is assumed that the basic commissioning see Section 6 1 of the device has been finished 1 Configure the input sensor type of each cannel Object 6110H 2 Configure the number of digits used for the process value Object 6132H 3 Set the physical unit of each channel Object 6131H 4 Configure the delta value of each channel Object 7133
60. Device Monitor PC CAN interface Procedure The storing restoring of parameters is controlled by writing the signatures save load into the corresponding object index subindex Saving the configuration Write save as hexadecimal value 65766173H to Object 1010H Subindex 1 via SDO Signature MSB LSB S08859 character e v a s hex 65 76 61 73 If storing failed the device responds with a SDO abort code according to Table 16 Restoring factory default settings Write load as hexadecimal value 64616F6CH to Object 1011H Subindex 1 via SDO 48 L 1070e_09 Configuring Signature MSB LSB NSO8859 character d a o hex 64 61 er 6c If restoring failed the device responds with a SDO abort code according to Table 16 The restored default values become valid after the device was reset or power cycle see Figure 16 restore default y reset power cycle E default values valid Figure 16 Restore procedure SDO abort code Description 0606000H Store Restore failed 0800002xH Wrong signature Table 16 SDO abort codes for store restore configuration Reference CiA 301 V4 02 L 1070e_09 49 Configuring 5 6 Resetting to factory settings Introduction These section describes how to restore the default factory settings locally on the device using the hardware switches Required tools Slotted screwdriver with 3 0 mm 0 118
61. H manufacturer specific error 86 L 1070e_09 Error behavior and system messages Parameter Description 85H manufacturer specific error voltage Error Count Contains the number of errors stored in Object 1003H Writing the value OOH to this entry results in resetting the stored values in the Standard Error Fields i e the error history see below Standard Error Field This Object provides an error history containing the 10 most recent errors that occurred on the node and result in the transmission of the Emergency message Subindex 01H always contains the most recent error If a new error occurs it will be stored to Subindex 01H and the older values are shuffled down Subindex 00H contains the number of errors stored in the error history Note The complete error history Object 1003H is stored to non volatile memory and restored after power cycle The error history can be erased by writing the value 0 to Subindex 0 of Object 1003H This entry has the following structure MSB LSB 31 16 15 0 Manufacturer specific Error code additional information A list of error codes is given in Section 9 3 In the area of the additional information are stored for example the channel number of an input were the error occurred Table 34 Parameter description for error data Reference CiA 301 V4 02 See also Section 11 Digital I O modules Section 12 Analog I
62. L 1070e_09 Error behavior and system messages 90 snot ene Description 5003H CRC error on RAM A Device not ready for operation and must be replaced Please contact our support for further instructions 5004H CRC error on EEPROM WN Device not ready for operation and must be replaced Please contact our support for further instructions 6101H Unexpected software reset ARR Device not ready for operation and must be replaced Please contact our support for further instructions 6102H Stack overflow Am Please contact our support for further instructions 6103H Unused software interrupt Am Please contact our support for further instructions 6110H from reason for starting bootloader is application signature is not firmware SEL version This information is not saved in Predefined Errorfield V1 30 6111H from reason for starting bootloader is application CRC is wrong hee This information is not saved in Predefined Errorfield V1 30 8110H CAN overrun error CAN message could not be transmitted 8120H CAN controller in error passive mode 8130H Lifeguarding or heartbeat error 8140H CAN controller recovered from bus off L 1070e 09 Error behavior and system messages Emergency en akon dede Description 8210H PDO not processed due to length error Device specific error codes Scope FFO3H Sensor fraction on input FFO4H Sensor
63. LEDS nanne 81 Store Restore device configuration48 SYNC anderde eee den 3 SYNC message nnn annees 76 Synchronized nnen oneens Synchronized operations k sysWORXX Automation Series 8 Technical data nanne CANopen IO X1 CANopen IO X2 CANopen IO X3 CANopen IO X4 CANopen IO X5 CANopen IO X6 CANopen IO X7 Electromagnetic compatibility 102 General technical data 101 Mechanical and climatic ambient conditions cece eeeeeeeeeeee 102 Shipping and storage conditions 102 Standards and certifications 101 Technical Support aaneen 4 Timer driven nnnnnnnnnennnnnnnnnnen 64 TN S power SUpply aen 25 TPDO sscccivscccceistescdotesecsazscicsgunresevcense 61 Transmission type 0 65 PE EE 65 252 253 aanrenden reeet rde 66 254 255 nennen 66 Acyclic synchronous 65 Asynchronous ne 66 Cyclic synchronous 65 RTR only son sveversrenrensendensrnnesnaerdn 66 Transmission type parameter 65 Trunk line Sisri 29 VDE 0100A sioiias innreise traap aniren 25 YDE OTIS ieee tien ade Wiring schema Index Revision history Revision history Date Version Editor Comments Beschreibung der Module und 2005 Dez 14 L 1070e O1 C Thomas von CANopen Funktionalit t eingepflegt Mar 3 A von Complete revision Missing 2006 Malet Eh nee Collrepp sections added Reformatting A von wai 2006 Apr 03 L 1
64. O modules L 1070e_09 87 Error behavior and system messages 9 3 Evaluation of diagnostic messages CANopen Emergency messages Introduction Each sysWORXX CANopen I O module features an Emergency Object aka EMCY to report errors via CAN Emergency messages This enables a remote device with Emergency Consumer Service typically the application master e g a PLC to listen to this messages and thus react on specific errors Any malfunctions of the following components of a device are covered by Emergency messages e Digital outputs e _ Analog input and outputs e Integrated power supply and diagnostics In general Emergency messages are only reported once as the reported error is considered to be existing still be there until the node uses another Emergency message to clear reset that specific error Error conditions for digital outputs Refers to modules CANopen IO X1 and CANopen IO X3 Error condition Scope short circuit Channel Table 35 Error conditions for digital outputs Error conditions for analog inputs Refers to modules CANopen IO X4 CANopen IO X5 and CANopen IO X7 Error condition Scope Line break short circuit Channel Process value exceeded lower limit of measurement range Channel Process value exceeded upper limit of measurement range Channel Configuration error invalid value range Channel Table 36 Error conditions for analog inputs Error conditions for
65. OB ID used by PDO Unsigned32 02H Transmission Type Unsigned 03H Inhibit Time Unsigned16 05H Record Record Event timer RPDO2 Communication parameter RPDO1 Mapping parameter Unsigned16 PDOComPar PDOMapPar 00H Number of Mapped Objects Unsigned 01H PDO Mapping 1 App Object Unsigned32 PDO Mapping 8 Unsigned32 1 Object only available on IO X1 IO X3 IO X6 2 Up to 4 RPDOs are available on the sysWORXX I O modules depending on module type 58 L 1070e 09 Functions Object type Subindex Data type Object mapable Object stored via 1010H Object restored via 1011H App Object RPDO2 Mapping i 1601H Record parameter PDOMapPar X X TPDO1 Record Communication PDOComPar parameter Largest Subindex supported COB ID used by PDO 00H Unsigned 01H Unsigned32 02H Transmission Type Unsigned8 03H Inhibit Time Unsigned16 05H Event timer Unsigned16 TPDO2 Communication PDOComPar parameter TPDO1 Mapping parameter PDOMapPar Number of Mapped Objects PDO Mapping 1 App Object Unsigned8 Unsigned32 PDO Mapping 8 App Object Unsigned32 TPDO2 Mapping Record parameter PDOMapPar ProgramControl VAR from firmware Unsigned8 version 1 30 Table 18 Object Dictionary Communication Profile 1 Up to 4 TPDOs are avai
66. OD The device specific part of the OD 6000H 9FFFh is described with the modules The manufacturer specific part of the OD 2000H 5FFFH is described in Section 8 4 Object Dictionary overview a x nd ke lt gt L Sr Zt se S FERE 25 OS O8s of a i 3 1000H Var ER a Unsigned32 3 1001H Var Error Register Unsigned 5 1003H Array eee Error Unsigned32 i AUTO AUTO 1005H Var oar Unsigned32 x x 1007H Var Belk window Unsigned32 x X Manufacturer 1008H Var Davies name String Manufacturer cata es Hardware Version String i i j Manufacturer TOR ak Software Version String i 3 z 100CH Var Guard Time Unsigned16 100DH Var Life Time Factor Unsigned8 1010H Array Store Parameter Unsigned32 5 1011H Array Restore Default Unsignea32 COB ID 1014H Var Emergency Unsigned32 X X Message L 1070e_09 57 Functions 2 x Ss I 58 g s38 sez str oc gt vs ove 25 os bal re 2e s ser 33 8 Cf Og O8s Oo ra eo z 1016H Array Aieri eae Unsigneag2 s X X Producer F 1017H Var Heartbeat Time Unsigned16 X X 1018H Record Identity Object Identity 1029H Array Error Behavior Unsigned8 z X X 1st Server SDO SDO 1200H Record Parameter Parameter 7 r Record RPDO1 Communication parameter PDOComPar 00H Largest Subindex supported Unsigned 01H C
67. Order number 171024 Part 2 pole plug for the power supply 5 pole plug with adapter cable to 9 pin D Sub 171023 connector for CAN bus 171034 30 pin I O connector plug 180134 1 jumper for the CAN bus termination Table 84 Accessory for CANopen IO X3 1 A mapping entry consists of Object Subindex Datasize of mapped data L 1070e_09 133 Digital I O modules References 134 CiA 303 1 V1 3 CiA 303 3 V1 2 CiA 301 V4 02 CiA 401 V2 1 L 1070e_09 Digital I O modules This side was left empty intentionally L 1070e_09 135 Analog I O modules 12 Analog I O modules 12 1 CANopen IO X4 analog input module 8Al U I Order No and options 3001003 CANopen IO X4 Properties galvanic isolated CAN 12 bit ADC 8 analog input separately configurable for voltage or current measurement differential measurement CANopen device according to CiA 404 V1 2 LED for I O state indication Galvanic isolated CAN bus interface Non volatile storage of configuration data Watchdog CAN bus termination 1200 resistor via Jumper Module pinout al o ooo WO UU L U3 UA LUS UG U7 w Tle Sel ole oe Ps ze OPower rum SUSE enor Automation Series Hilde 0e anonut 10 OO 6 606 86 U Mbde eO00040000 Sys TEC CANopen IO X4 240 RST HOO DC24 Node Baud CANterm 128R 06 High Low rate CAN ss ooooae Figure 35 CANopen IO X4 device schema
68. PLC is called application master CANopen devices without management functions are generally supposed to be CANopen slave devices e g I O modules However it is possible to operate the sysWORXX I O modules without having a master on the network Therefore the sysWORXxX I O modules feature a so called simple boot up NMT master implemented as manufacturer specific extension See Section 8 4 for more information 1 The device can switch to NMT state OPERATIONAL autonomously and sends out the corresponding NMT message to start other devices as well see Section 9 5 L 1070e_09 5 General description The term CANopen Manager is used to specify more clearly the network functionality of a network controlling device in a CANopen network e Definition of the Boot Up process for each device that is to be managed e Configuration of unconfigured nodes during system boot up e The dynamic establishment of SDO connections between devices The SDO Manager handles dynamic SDO connections e The definition of dynamically allocated entries Network Variables in an object dictionary which can be used for the representation of I O data e g on programmable nodes like PLCs e Provides services for downloading program data and functions for the control of programs on a device The PLC devices of the sysWORXX Automation Series provide CANopen Manager functionality and therefore can be used as Application Master for your CANop
69. Processor Config switches 24VDC Reset Powersupply Watchdog 24VDC Figure 30 CANopen IO X1 block diagram GND GND Technical data Common Typical Maximum Vepu 24V DC 20 Power supply Vio 24V DC 20 Current lepu 0 05A consumption I Os inactive lio 0 01A Storage 20 90 C Temperature range z Operation 20 70 C Protection class Enclosure IP20 Module weight 130g Width 71 mm Dimensions High 58 mm Length 95 mm Connection scheme Removable spring type clamp connectors Table 62 CANopen IO X1 technical data part common 108 L 1070e_09 Digital I O modules Communication Minimum Maximum bit rate 10kBit s 1MBit s number of nodes supported on 110 CAN 2 0B passive Se compliant to 9 CiA 120 and Isolation voltage 1kV ISO 11898 2 CAN_H and CAN_L short circuit proof towards 24V DC High speed CAN bus transceiver compliant to ISO 11898 Table 63 CANopen IO X1 technical data part communication 1 0 Minimum Maximum Digital outputs DOO 8 Uon at lon 500mA Vio 0 16V lt UoH lt Vio Vor at lop OMA 0 5V Current limitation 2 8A lon max Maximum 24V DC output high current side switch transistor Polyswitch 4A at 20 C protected lor off 104A to at lou 500 mA 115us 190us ton at lou 500 mA 75us 125us Digital inputs DIO 15 Un 15V 30V
70. SYNC Unsigned32 1007H Var Synchronous Unsigned32 E X x Window Length Synchronous 00H Window Length Unsigned32 Figure 24 Object dictionary entries for SYNC L 1070e_09 77 Functions Parameter description Parameter Description COB ID SYNC Contains the COB ID used by the SYNC Object along with a flag to indicate if the node generates the SYNC Object or not For 11 bit CAN identifier COB ID the value is constructed as follows Bit Description 0 10 COB ID for SYNC Object 11 28 Set to 0 reserved for 29 bit COB ID 29 Set to 0 to select 11 bit COB ID 30 Set to 0 as the sysWORXX I O devices do not support generation of SYNC messages 31 Do not care set to 0 Note The sysWORXX I O modules only support 11 bit COB ID and cannot operate as SYNC producer Default value 80H 128 Synchronous This entry defines the period of time in microseconds Window Length after a SYNC Object has been transmitted on the bus in which synchronous PDOs must be transmitted This period must be smaller than the Communication Cycle Period see Figure 23 Each node using the same SYNC COB ID must have the same Synchronous Window Length If the node fails to transmit the PDO within the Synchronous Window Length e g because higher prior messages were transmitted on the bus this PDO is not transmitted again for this cycle Note Synchronous PDO are never transmitte
71. SYS TEC sysWORXX Automation Series sysWORXX CANopen I O modules User Manual Document number L 1070e 09 Preface General description 1 Application planning 15 Mounting 17 Connecting 23 Configuring 33 Commissioning 51 Maintenance and service 55 Functions 57 Error behavior and system messages 81 General technical data_ 101 Digital I O modules 105 Analog I O modules 137 Appendix 187 A The following supplement is part of this documentation none Release 06 2014 L 1070e 09 This page was left empty intentionally Safety Guidelines Safety Guidelines This manual contains notices you have to observe in order to ensure your personal safety as well as to prevent damage to property The notices referring to your personal safety are highlighted in the manual by a safety alert symbol notices referring to property damage only have no safety alert symbol These notices shown below are graded according to the degree of danger A Danger indicates that death or severe personal injury will result if proper precautions are not taken A Warning indicates that death or severe personal injury may result if proper precautions are not taken A Caution with a safety alert symbol indicates that minor personal injury can result if proper precautions are not taken Caution without a safety alert symbol indicates that property damage can result if proper precautions are not tak
72. Slide it into the working position L 1070e_09 17 Mounting Caution Do not twist the screwdriver while it is placed in the lug It will lead to the destruction of the lug Do not use the enclosure as a support point for the screwdriver Otherwise the hardware switches or the enclosure might be damaged Figure 4 Installation of the sysWORXX I O modules See also Section 6 Commissioning the sysWORXX I O modules at page 51 3 3 Installing the wiring to the connectors Introduction The module has two kinds of removable terminal blocks 1 Spring clamp type for I O and CAN bus 2 Screw type for power supply Requirements Before you wire any of the modules either switch off power or remove the relevant connector terminal blocks Required tools Slotted screwdriver with 2 5 mm blade Procedure for placing the connector 1 Place the connector on the socket then push it on until it engages with an audible click 2 If necessary fix the I O connector by the two screws located on both sides 18 L 1070e_09 Mounting Procedure for placing the wires Spring clamp type see Figure 5 1 Push the screwdriver into the rectangular hole of the I O point you intend to wire Make sure not to exceed the physical dimensions of the connection point 2 Insert the cable end and remove the screwdriver OOS JOE GEA Figure 5 Handling of spring type connectors S
73. aces USB CANmodul 1 USB CANmodul2 CAN_GND nennen CAN Hisis iiaeia anaaga 28 CAN Leere aa aai 28 GAN SHLD noen sereerserervensererneszen 28 GAN VE nseeenvardenerstneneevandsdens den ik 28 CANopen Configuration Suite 46 CANopen configuration tools 9 CANopen Device Monitot 46 CANopen introduction CANopen IO X1 Error behaviour eee 110 CANopen IO X1 neen 105 Block diagram eee 108 LED display res nrrenernerners deren 107 Manufacturer specific functions 110 Module pinout ee Properti S nsrscennensnnnenenense Technical data CANopen IO X1 Object dictionary 111 CANopen IO X1 Parameter description 113 CANopen IO X1 L 1070e_09 Default Mapping eee 115 CANopen IO X1 Commissioning 116 CANopen IO X1 AccessOry nnee 117 CANopen IO X2 Error behaviour en 121 CANopen IO X2 nnee 118 Block diagram 120 Manufacturer specific functions 121 Module pinout eee 118 Properties ciicciesctiseviicetetiecceteess 118 Technical data ee 120 CANopen IO X2 Object dictionary eee 122 CANopen IO X2 Parameter description 123 CANopen IO X2 Default mapping eee 124 CANopen IO X2 Commissioning 124 CANopen IO X2 ACCESSOLY nossen 125 CANopen IO X3 Error behaviour 130 CANopen IO X3 annae eneen 126 Block diagram 128 Manufacturer specific fu
74. ach CAN data telegram when Pre Defined Connection Set is used Check node IDs If the CAN communication works partially and all the devices support the boot up message then the node ID assignment can also be checked by recording the boot up messages after resetting the modules However this will not work on node IDs that have been swapped Check that the same bit rate has been set on each node Testing the CAN wiring Warning Proceed with the following test steps while the network is active communication should not take place during the tests The following tests should be carried out in the stated sequence because some of the tests assume that the previous test has been completed successfully Not all the tests are generally necessary L 1070e_09 Appendix Network terminator and signal lines Test 2 For this test the nodes must be switched off or the CAN cable unplugged Otherwise the measured results may be distorted by an active CAN transceiver Proceed with measuring the resistance between CAN_High and CAN_Low at each device if necessary If the measured value is higher than 65Q it indicates the absence of a terminating resistor or a break in a signal lead If the measured value is less than 5Q look for a short circuit between the CAN lines more than the correct number of terminating resistors or faulty transceivers Check for a short circuit between the CAN ground and the signal li
75. al input 8 Bit This parameter specifies a manufacturer specific filter for the digital inputs The filter disables or enables specific input lines 0 disable 1 enable Default value OOH Filter constant of digital inputs 8 Bit Specifies whether the manufacturer specific filter is used for an input block 0 Filter for input disable 1 Filter for input enable Default value OOH Global interrupt enable 8 Bit This parameter enables disables the interrupt of the inputs generating of events globally without changing the interrupt masks in Object 6006H 6007H and 6008H 1 enable 0 disable Default value OOH Interrupt mask any change 8 Bit Specifies the input lines that generate an event upon positive and or negative edge detection 0 interrupt disable 1 interrupt enable Default value FFH Interrupt mask low to high 8 Bit Specifies the input lines that generate an event upon positive edge detection 0 interrupt disable 1 interrupt enable Default value OOH Interrupt mask high to low 8 Bit Specifies the input lines that generate an event upon negative edge detection 0 interrupt disable 1 interrupt enable Default value OOH Table 74 CANopen IO X2 parameter description Default mapping of I O PDO TPDO1 COB ID 180H node ID Mapped objects 3 L 1070e_09 Digital I O modules PDO TPDO1 Mapped obj 1 DIO_7
76. al valves 0 10 V servo drives 4 20 mA CANopen IO X6 proportional actuators 0 20 mA 8 Al Voltage measurement 10 V CANopen IO X4 0 10 V 4Al Current measurement 4 20 mA CANopen IO X4 0 20 mA 5 8 RTD Measuring low to PT100 CANopen IO X5 medium temperatures PT1000 Measuring medium to en high temperatures up p CANopen IO X7 of type J K L to 1870 C RSTE Table 3 Selection Guide for I O modules L 1070e_09 15 Application planning 2 3 Maximum configuration Maximum number of nodes on the CAN bus The CAN bus drivers used on the sysWORXxX I O modules support up to 110 nodes simultaneously connected to the same CAN bus segment Electrical maximum configuration Electronic supply L Supplies power to the internal electronic circuit of the modules Supplies the digital outputs on CANopen IO X1 and CANopen IO X3 There are additional connection points 1L 2L 3L ect to supply power to the outputs A Warning If the digital outputs are connected to the process the additional supply points for power 1L 3L must be connected Otherwise a shortcut might lead to damages on the PCB or power supply connector On sysWORXX I O modules without isolated CAN bus L is connected to the supply lines of the CAN bus CAN_V Properties Limitations 1A if additional supply points for Electronics supply L outputs 1L 3L are not used Digital supply 1L 3L 4 A each
77. analog outputs Refers to module CANopen IO X6 88 L 1070e_09 Error behavior and system messages Error condition Scope Line break short circuit Channel Table 37 Error conditions for analog outputs Error conditions for integrated power supply and diagnostics Refers to all modules Error condition Scope Power fail Device Overheat Device Configuration error Device Hardware error Device Table 38 Error conditions for power supply and diagnostics Emergency message structure An Emergency message always contains 8 data bytes The first two bytes hold the CANopen Error Code see Table 40 The third byte contains a copy of the error register see Object 1001H in Section 9 2 and the remaining 5 bytes contain the manufacturer specific error code byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 Error Code Error Register Manufacturer specific error code Table 39 Structure of an Emergency message Emergency error codes eee Description 0000H No error error reset 2310H Current at the digital output to high overload 3120H Mains voltage too low power fail 4201H Internal device temperature above 60 C overheat 5001H Hardware reset caused by watchdog or reset button 5002H CRC error on FLASH memory A Device not ready for operation and must be replaced Please contact our support for further instructions
78. and Transmit PDOs TPDOs A RPDO contains output data received from the network TPDO contain input data that are to be sent out to the network There are two parameter sets to configure PDOs 1 Communication Parameter Set contains communication specific configuration COB ID assignment transmission type ect 2 Mapping Parameter Set contains the assignment of application objects process data within the PDO The process of configuring PDOs includes the so called PDO linking communication parameterization and PDO mapping process data assignment placement If a CANopen network consists of more than two nodes the use of a CANopen configuration tool makes sense to avoid configuration errors and having the PDO linking and mapping done automatically by the tool PDO linking In its default configuration Pre defined Connection Set the PDO identifiers of a sysWORXxX I O device here slaves are setup for communication with one central station the master For this kind of L 1070e_09 61 Functions communication structure the PDO communication parameters do not need to be changed CANopen Slave X CANopen Master RPDO_1_Y RPDO_2_Y Figure 18 PDO linking for master slave communication structure If PDOs are used for direct data exchange between nodes without a master involved the identifier allocation of the devices must be adapted so that the TPDO identifier of the producer matched with the
79. and configured for operation The description given below refers to the CANopen Device Monitor Any other CANopen configuration tool featuring a LSS master might work as well but may differ in handling Configuring a node ID via LSS 1 Connect to the CAN network CANopen Device Monitor 3 1 2 Node 64 File Edit View Connection Extras Window Y Nodela e4 Set Communication Segment Ma yfacturer Segment Load the LSS plug in and go to the LSS tab sheet Action NMT Description PDO Process Chart Network Node LSS Devices Node VendonD Product Revsion Seria __ 3 There are two ways of adding nodes to the node list for L 1070e_09 configuration a Right click on the node list to add an already configured node for changing its node ID b Scan the network for unconfigured devices according to some search criteria Action NMT Description PDO Process Chart LSS Network Node LSS Devices Node VendorlD Seia Vendor ID Ox3F for SYS TEC electronic GmbH unique for all SYS TEC products Product code 0x2DCAA8 for sysWORXX IO X1 43 Configuring see note below lol Vendor ID 0x3f Product Code Ox2dceaad J Clear LSS device list IV Switch to configuration mode Scan Cancel 4 Unconfigured devices appear on the node list The node entry shows the vendor ID product code revision number and
80. ansmission and as far as possible sampling with synchronized processing given by the reception of a SYNC signal A TPDO configured with transmission types 1 240 is transmitted cyclically after every n time n 1 240 reception of the SYNC message Since transmission types for several TPDOs can be combined on a device as well as in the network it is possible for example to assign a fast cycle for digital inputs n 1 whereas analog input values are transmitted in a slower cycle e g Cyclic synchronous n 10 RPDOs do not generally distinguish between the transmission types 0 240 A received RPDO with a transmission type of 0 240 is set valid with the reception of the next SYNC message The synchronous cycle time SYNC rate is stored in Object 1006H and thereby known to the consumer If the SYNC fails the device reacts in accordance with the definition in the device profile L 1070e_09 65 Functions 66 Transmission type Description and switches for example its outputs into the fault state See Object 1029H in Section 9 TPDO with transmission types 252 or 253 are transmitted exclusively on request by reception of a Remote Request RTR frame Transmission type 252 is for synchronous transmission Upon reception of the SYNC message the process data of the corresponding TPDO are acquired and it gets transmitted Transmission type 253 is for asynchronous transmission The
81. ant The type of components and the binding character of protective measures depends on the DIN regulation which applies to your application The table refers to Figure 9 below Reference to Figure 9 DIN VDE 0100 DIN VDE 0113 Disconnecting devices for control systems signal D Part 460 main Part 1 mains disconnect generators and switch switch final control elements L 1070e_09 25 Connecting Reference For to Figure 9 DIN VDE 0100 DIN VDE 0113 Part 1 cos Part 725 grounded et ang Single pole secondary tectiot fusing of power circuit P circuits single pole fusing Part 430 Protection of Line protection cables and lines against over current Table 9 Protective measures Overall configuration of a sysWORXxX I O device The Figure 9 below shows the overall configuration of a sysWORXX I O device load voltage supply and grounding concept which is operated on TN S mains sysW ORXX I O module z ee eee jee eee Noo ooo 5 e ee amp Figure 9 Electrical configuration of the sysWORXX I O modules 26 L 1070e_09 Connecting OD To disconnect devices for the control system signal generators and final control elements For short circuit and overload protection The connection between G and PE is not applicable in a configuration with ungrounded reference potential Grounding bus
82. anufacturer specific extensions References CiA 301 V4 02 L 1070e 09 73 Functions 8 5 Device identification data Introduction The Identity Object provides identifying information about the node It stores basic information about the manufacturer the product revision and serial number and therefore is unique for each CANopen device This Object is mainly used for remote configuring via LSS Object Dictionary entries Object mapable Object stored via 1010H Object restored via 1011H o 2 gt as 2 5 0 Record Identity Object Identity Subindex 00H Number of Entries Unsigned8 01H Vendor ID Unsigned32 02H Product Code Unsigned32 03H Revision Number Unsigned32 04H Serial Number Unsigned32 Table 26 Object Dictionary entry for the Identity Object Parameter description Parameter Description Vendor ID This Subindex contains the identification code of the manufacturer of the device This value is assigned uniquely to each vendor of CANopen devices by the CiA Users and Manufacturers Association Product Code This Subindex contains the unique value assigned by the vendor specifying the device type For the sysWORXxX I O modules this Subindex contains the order number of the device 1 CAN in Automation http www can cia org 74 L 1070e 09 Functions Parameter Description Revision This Subindex
83. atus of the analog input channel Al Status 0 no error 1 measurement range underflow 2 measurement range exceeded Specifies a delta value for triggering PDO transmission for an analog input channel If the process value has changed for delta or more since the last transmission of the PDO then the PDO is transmitted again Al Interrupt delta To disable this function set delta to 0 BUCY Default value OOH disabled Note The entered value must have the same physical unit and number of digits as configured for the respective channel This object contains the field value before scaling Al Input FV and calibration This object contains the process value after Al Input PV scaling This object contains the manufacture date The manufacture date Object is read only 01112007H means 1 November 2007 This object contains the date of the last calibration calibration date The object is read only 12112007H means 12 November 2007 L 1070e_09 145 Analog I O modules Parameter Description The Value Factor is multiply with the Al Scaling Factor Processvalue Al Scaling Offset The Value Offset is add to the Processvalue see below Table 90 CANopen IO X4 parameter description Default mapping of I O PDO TPDO1 TPDO2 TPDO3 TPDO4 180H 280H 380H 480H ed node ID node ID node ID node ID Mapped objects 4 4 4 4 Alo Al2
84. bar Fuses for line protection 4 3 Connecting the CAN bus Introduction This section provides an overview on how the sysWORXxX I O modules are connected to the CAN bus and gives hints for wiring and cabling the bus Wiring and cabling Although CAN is supposed to be a 2 wire network an additional common ground is required for reliable operation especially if the network spreads over a longer distance CAN bus cable Using screened twisted pair cables 2x2x0 25mm with a characteristic impedance of between 108 and 1320 is recommended for the CAN bus wiring Figure 10 CAN bus cable cross view SYS TEC electronic has high quality CAN cables in its scope of delivery Please contact our sales for a proper quotation L 1070e_09 27 Connecting CAN bus interface connector pinout on the sysWORXX I O modules 1 2 3 O O O N 5 O Figure 11 CAN bus interface connector pinout Pin CAN bus signal Description 1 CAN_GND 2 CAN_L 3 n c 4 CAN_H CAN_V 5 connected to L on modules without galvanic isolation not used on modules with galvanic isolated CAN Table 10 CAN bus interface connector pinout CAN bus signal description Signal Description CAN_L Bus line that is driven lower during the dominant bus state CAN_H Bus line that is driven higher during the dominant bus state CAN_GND This is the common ground used by the CAN nodes This might not be neede
85. bled on the NMT slave node by setting the Guard Time Object 100CH or the Life Time Factor Object 100DH to 0 ore DLC Data byte 0 700H node ID 1 state Table 47 Response to a node life guarding remote frame State NMT state 00H BOOT UP 04H STOPPED 1 See Table 51 on page 100 L 1070e_09 97 Error behavior and system messages 98 State NMT state 05H OPERATIONAL 7FH PRE OPERATIONAL Table 48 Node state of a CANopen device Bit 7 of the status byte always starts with a 0 and changes its value after each transmission The application is responsible for actively toggling this bit This ensures that the NMT master gets the confirmation that the application on the slave is still running Note As node life guarding uses CAN remote frames it is not recommended to use these supervision methods Instead the use of Heartbeat see below is recommended as it offers more flexibility at reduced busload Heartbeat With the Heartbeat method each node by itself transmits a dedicated Heartbeat message Heartbeat Producer with 1 byte data containing the NMT state of the node No NMT master is required for using Heartbeat Heartbeat Producer The Heartbeat producer cyclically sends its Heartbeat message The Producer Heartbeat Time is configurable via Object 1017H 16 bit value in ms and specifies the time between two subsequent Heartbeat messages To disable the Heartbeat pr
86. bus nodes and at least 4 9V when driving 450 load i e 100 bus nodes For more information please refer to standard CiA 303 1 and CiA 102 L 1070e_09 193 Appendix This page was left empty intentionally 194 L 1070e_09 Glossary Glossary CAN Controller Area Network is an internationally standardized serial bus system COB Communication Object A unit of transportation ina CAN network Data must be sent across a CAN Network inside a COB There are 2048 different COBs in a CAN network A COB can contain at most 8 bytes of data COB ID Each COB is uniquely identified in a CAN network by a number called the COB Identifier COB ID The COB ID determines the priority of that COB for the MAC sub layer Remote A COB whose transmission can be requested by another device COB CRC Cyclic Redundancy Check CSDO Client SDO FV Field Value the converted analog input value raw value This value is always left adjusted LED Light Emitting Diode MAC Medium Access Conirol One of the sub layers of the Data Link Layer in the CAN Reference Model that controls who gets access to the medium to send a message NMT Network Management One of the CANopen service elements of the application layer in the CAN OSI Reference Model The NMT serves to configure initialize and handle errors in a CANopen network Node ID The node ID is the address of nodes in a CANopen
87. c com Sys TEC Published by Ordering No L 1070e_09 SYS TEC electronic GmbH 2014
88. ched or exceeded the warning limit Single Flash Error control event OPERATIONAL or A Double Flash node guarding event or PRE OPERATIONAL heartbeat event has occurred see Section 9 5 Bus off On OPERATIONAL or The CAN controller is in state PRE OPERATIONAL bus off too many error frames on the bus Configuration error Synchronous blinking with INITIALIZING A wrong configuration is RUN LED selected with the rotary switches see Table 30 Hardware error Synchronous The internal diagnostic Triple Flash with INITIALIZING functions detect an hardware RUN LED error during power on and the NMT command Reset Node see Table 30 Table 29 Description of Error LED states Digital Input output statusLED field Digital Input O oO O 40 O O O Digital Input 8 O O O120 OO O O0040000 Digital Output 9 VO stateLED field 1st line Figure 27 Signaling configuration or hardware errors example for baudrate error see Table 30 1 After the Bus off error state has disappeared the module sends out an Emergency message see Section 9 3 and continues with normal operation The NMT state see Section 9 5 remains unchanged L 1070e_09 83 Error behavior and system messages I O stateLED 1 line Description configuration error Baudrate switch out of range LEDO value gt 8 configuration error Node ID switch out of ran
89. crew type see Figure 6 1 Open the screw and insert the cable 2 Close the screw open close H Figure 6 Handling of screw type connectors See also Section 6 Commissioning the sysWORXX I O modules at page 51 L 1070e_09 19 Mounting 3 4 Setting the CANopen node ID bit rate and the terminating resistor Introduction After mounting the module you need to set the CANopen node ID and terminating resistor at the module e The CANopen node ID defines the address of the node within the CANopen network The node ID directly represents the message priority of this particular node e ACAN bus segment must be terminated at both ends i e on the first and last segment node with its characteristic impedance Enable the integrated terminating resistor if the device is the last node on the CAN bus see Section 4 3 Requirements The set node ID must correspond with the definition in the Device Configuration File of this device Configure the node ID and bit rate before you power on the module If you change while the module is powered on the changes become effective after reset or on next power on Required tools Screwdriver with 2 5 mm blade Setting the CANopen node ID and CAN bus bit rate 1 Set the node ID using the hex encoding switches see the example below 2 Set the CAN bus bit rate using the hex encoding switches see the example below node ID Baud high low ra
90. ct dictionary 2500H Array for Production only 00H Number Of Entries Unsigned8 01H reserved Unsigned32 02H manufacture date Unsigned32 03H calibration data Unsigned32 04H pGain_PT100_0 Real32 05H pOffset_PT100_0 Real32 06H pGain_PT100_1 Real32 07H pOffset_PT100_1 Real32 12H pGain_PT100_7 Real32 13H pOffset_PT100_7 Real32 14H pGain_PT1000_0 Real32 15H pOffset_PT1000_0 Real32 22H pGain_PT1000_7 Real32 23H pOffset PT1000 7 Real32 24H reserved Unsigned8 L 1070e 09 153 Analog I O modules 154 reserved Unsigned reserved Al Sensor Type Unsigned8 Unsigned16 Number Of Entries Unsigned8 AlO_Sensor_Type Unsigned16 Al7_Sensor_Type Al Sensor Type Unsigned16 Unsigned16 Number Of Entries Unsigned8 AlO_Sensor_Type Unsigned16 Al7_Sensor_Type Unsigned16 L 1070e_09 Analog I O modules Al Operation Unsigned8 mode Number Of Entries Unsigned8 Al0_Operation_Mode Unsigned8 Al7_Operation_Mode Unsigned8 Al Scaling Factor Unsigned8 Number Of Entries Unsigned8 Al Scaling Factor 0 Real32 Al Scaling Factor 1 Real32 Al Scaling Offset Unsigned8 Number Of Entries Unsigned8 Al Scaling Offset 0 Real32 Al Scaling Offset 1 Al Physical Unit Unsigned32 PV
91. ctly on the device via hardware switches see Section 5 2 Alternatively the node ID and bit rate can be configured via the so called Layer Setting Service LSS Please refer to Section 5 3 for detailed information Configuration of a CANopen network The figure below illustrates the typical configuration of a CANopen network The CANopen masters are integrated in the corresponding device CANopen slaves form the distributed I O systems which are connected to the CANopen masters via CAN bus Es eey ta een eel eenn Master Slave Slave Slave CAN bus Figure 1 Simple CANopen network configuration The PLCmodule C14 for example features two CAN bus interfaces which allows for connecting the PLC to two different CANopen networks Master Slave Slave CAN eg high speed sensor network Figure 2 Complex CANopen network configuration L 1070e 09 7 General description 1 4 The sysWORXX Automation Series The sysWORXX Automation Series combines harmonized devices and software tools needed to create sophisticated industrial distributed automation solutions The sysWORXX Automation Series includes IEC 61131 3 compliant controls CANopen I O modules CANopen Human Machine Interfaces HMI Integrated IEC 61131 3 Development System CANopen Configuration Tools CAN bus interfaces and gateways IEC 61131 3 controls PLCmodule C14 and CANopen PLC The sysWORXX PLC modules are high performance and versat
92. d The Temperature range is defined as followed Minimum Maximum 200 0 C 600 0 C 73 2 K 873 2 K 328 0 F 1112 0 F Example A value of 328 5 C will be coded as 3285 in Integer16 format if the number of decimal digits is L 1070e_09 159 Analog I O modules Parameter Description set to 1 Default value 200 C This object contains the field value before scaling Al Input FV and calibration Al Input PV This object contains the process value after scaling This object contains the manufacture date The manufacture date object is read only e g 01112007H means 1 t November 2007 This object contains the date of the last calibration date calibration The object is read only e g 12112007H means 12 November 2007 The Value Factor is multiply with the Al Scaling Factor Processvalue Al Scaling Offset The Value Offset is add to the Processvalue see below Table 99 CANopen IO X5 parameter description Default mapping of I O PDO TPDO1 TPDO2 TPDO3 TPDO4 180H 280H 380H 480H GOED node ID node ID node ID node ID Mapped objects 4 4 4 4 Alo Al2 Al4 Al6 Mapped object 1 data byte 0 1 7130H 7130H 7130H 7130H 01H 10H 03H 10H 05H 10H 07H 10H Ald State Al2 State Al4 State Al6 State Mapped object 2 data byte 2 6150H 6150H 6150H 6150H 01H 08H 03H 08H 05H 08H 07H 08H Alt Al3 Al5
93. d click on button Reset Appl for resetting the node Process Chart LSS Description PDO Aron ENM Network EN e Resets Node 69 Note It is also possible to read back the device configuration from a device by using the menu entries Extras gt Scan Obj Dict Comm to scan the communication profile Extras gt Scan Obj Dict Device to scan the device profile See also L 1056e CANopen Device Monitor Software Manual L 1055e CANopen Configuration Manager Software Manual Section 5 5 Store Restore device configuration L 1070e_09 47 Configuring 5 5 Store Restore device configuration Introduction This section describes how to store a configuration to the non volatile memory and remotely restore the factory settings The store restore of configuration data is controlled by two object entries Index 1010H is used for storing the configuration For restoring the factory default settings index 1011H is used Object Object Read Write Object name Data type Index Subindex value value 1010H 1 Save all Unsigned32 1 evas parameters Restore all 1011H 1 default Unsigned32 1 daol parameters Table 15 Object Dictionary entries for store restore parameter 1010H 1011H Note The sysWORXX I O modules only support the Save all parameters feature Required tools CANopen configuration tool providing SDO access to the Object Dictionary e g CANopen
94. d if the nodes have a common ground anyway CAN_SHLD Optional shield around CAN_L and CAN_H not used on sysWORXX I O modules CAN_V If a CAN node is supplied with its operating power via the CAN cable this line is connected to the positive line of the power supply The voltage levels are not specified and depend on the application For sysWORXX I O modules the used voltage should be 24V DC Note The maximum current should not exceed the specified limit of the cable used Figure 12 CAN bus signal description 28 L 1070e_09 Connecting The wiring schema of a sysWORXX I O device is shown in Figure 13 Note For reliable operation CAN_L CAN_H and CAN_GND must be wired CAN controller CAN controller f A Opto Opto Opto coupler coupler coupler coupler A A y Transceiver Transceiver SE CANL ne Termination o Rr Resistance Termination Ry Resistance CAN_GND Figure 13 Wiring schema of galvanic isolated sysWORXX I O devices Physical layout Typically the layout of a CANopen network is that of a linear bus The main trunk consisting of the CAN_L and CAN_H signals must have termination resistors typically 1200 at each end of the line Please refer to Section Fehler Verweisquelle konnte nicht gefunden werden for more detailed information about cable leng
95. d outside the Synchronous Window Length This requires a careful assignment of message priorities during application planning in order to make sure all data can be transmitted in time Default value OOH SYNC not used Figure 25 Parameter description for synchronous operation 78 L 1070e_09 Functions References CiA 301 V4 02 L 1070e_09 79 Functions This side was left empty intentionally 80 L 1070e_09 Error behavior and system messages 9 Error behavior and system messages 9 1 Device status LEDs Introduction This section describes the meaning and blinking cycles of the Run and Error LED on the sysWORXxX I O devices The I O status LEDs are described with the devices In addition to the module state some hardware errors are displayed too The reason of the hardware error is displayed in the I O state LED field 1 t line These error states are manufacturer specific and highlighted with a light grey background in Table 28 and Table 29 Status LEDs The Run LED green indicates the current NMT state of the sysWORXX I O module The Error LED red indicates errors that occurred e g CAN bus configuration error An overview about the LED display is given below Bw Pere Rn sus RIOC Error Butomation Series Puit 00 00040000 Power LED Poa 80 0 0020000 wipt 60 OO OMO OOO Error LE Run LED SYS TEC CANopen 10 X2 VO state LED field L 1070e
96. d32 Number Of Entries Unsigned8 AOO_Physical_ Unit_PV Unsigned32 AOQ7_Physical_ Unit_PV AO Decimal digits PV Unsigned32 Unsigned8 Number Of Entries Unsigned8 AOO_Decimal __ Digits PV Unsigned8 AOQ7_Decimal_ Digits_PV Unsigned8 L 1070e 09 Analog I O modules AO Output Type Unsigned16 Number Of Entries Unsigned8 AOO_Output_Type Unsigned16 AO7_Output Type Unsigned16 AO Fault mode Unsigned8 Number Of Entries Unsigned8 AOO_ Fault Mode Unsigned8 AO7_Fault Mode Unsigned8 AO Output PV Integer16 Number Of Entries Unsigned8 AOO_ Output PV Integer16 AO7_Output PV Integer16 AO Fault FV Integer16 Number Of Entries Unsigned8 AOO Fault Value Integer16 AO7_Fault Value Integer16 Table 106 CANopen IO X6 Object Dictionary L 1070e 09 169 Analog I O modules Parameter description 170 Parameter AO Physical Unit PV Description This parameter assigns SI units and prefixes for the process values of each channel The coding of the physical unit and prefixes is done according to the CiA 303 2 This value just provides additional information and has no influence on process value calculation Possible values 00260000H V FDO040000H mA Default value 00260000H Specifies the number of decimal digits following the decimal point
97. dule I O circuitry several error conditions are monitored e g cable break short circuit measurement value out of range This function monitors the temperature in the enclosure The device temperature can be read from the Object Dictionary Object 2001H Subindex Device 01H and is given with a resolution of 0 1 degrees temperature centigrade OD value Te C emp C 10 This monitors the main voltage supplied to the device The main voltage can be read from the Object Dictionary Object 2001H Subindex 02H and is given with a resolution of 0 1 Volts ODvalue 10 Device main voltage U nain V The sysWORXX I O modules feature an internal watchdog to prevent undiscovered dead locks Runtime behavior If a watchdog reset occurred an Emergency message is sent out via CAN see Section 9 3 on page 88 Table 22 Internal runtime diagnostics and monitoring functions o 5 o S 3 se 8 ee se D En os oy 39 5 805 39 2 T os 0 of one oe 2001H Array Device Features Integer16 z 00H Number of Entries Unsigned8 01H Device temperature Integer16 02H Device main voltage Integer16 Table 23 Object Dictionary entries for diagnostic and monitoring functions 70 L 1070e_09 Functions References CiA 301 V4 02 8 4 Manufacturer specific extensions Introduction This section describes the manufacturer specific functions implemented in the sysWORX
98. e configuration dialog appears Switch your CAN interface hardware to the new bit rate and reconnect to the network You are done So Note Changing the bit rate of a single node does not make sense if the network consists of more than one node Bus errors might occur Switch the bit rate of the CANopen network globally instead Reference CiA 305 V1 1 L 1070e_09 45 Configuring 5 4 Configuring with using Device Configuration Files DCF Introduction This section provides an overview about how to configure a sysWORXxX I O device using a Device Configuration Files DCF Requirements You need to have the DCF in hand before you start Use a CANopen configuration tool to create the DCF see Section 2 2 or derive it from an EDS manually not recommended Note Some parameter modifications require a special sequence of actions e g PDO mapping The CANopen configuration tool or manager used for configuration should be able to handle this points automatically Required tools CANopen configuration tool providing SDO access to the Object Dictionary e g CANopen Device Monitor PC CAN interface Procedure This example shows how to configure a device by using the CANopen Device Monitor tool CDM which is part of the CANopen Configuration Suite We assume the hardware components and network CAN bus interface and sysWORXxX I O modules to be ready for operation 1 Open the CDM and connect to the netwo
99. e sysWORXxX I O modules feature two types of internal diagnostics and monitoring functionality 1 Device self testing at startup Startup diagnostics 2 Device monitoring during runtime Device diagnostics at startup After power on or hardware reset the device will perform the following tests e Flash e RAM e EEPROM e LED s e Device configuration On NMT command Reset_Node or Reset_Communication the following components are tested e Flash e RAM e EEPROM If one of the above mentioned tests fails for any reason the device will go to error state and indicate this by a special blinking cycle of the Run and Error LED see Figure 22 unterhalb If this happens please contact our support team for further instructions 200 200 200 200 200 1000 l 200 200 200 200 200 1000 l Run LED Error LED Figure 22 Error state blinking cycle Device monitoring during runtime Table 22 shows the monitoring functions that are performed during runtime These functions are accessible through the manufacturer specific section Object 2001H If any abnormal condition is detected the device will send out an Emergency message to report the error that occurred Please refer to L 1070e 09 69 Functions Section 9 3 for further information on how to read evaluate Emergency messages Function Description This function monitors the I O lines for abnormal conditions Depending on the type of mo
100. electromagnetic interference power supply signal cables and bus cables that the cables are properly routed and the installation is free of faults signal and bus cables that cable or wire break does not lead to undefined states of the system Table 8 Protection from external electrical interference L 1070e_09 Connecting 4 2 Operation of sysWORXX I O modules on grounded reference potential Introduction This section provides information on the overall configuration of a sysWORXX I O module on a grounded TN S power supply The following topics are covered e Disconnecting devices short circuit and overload protection according to VDE 0100 and VDE 0113 e Load power supplies and load circuits Grounded mains The neutral of grounded mains is always bonded to ground A short circuit of a live conductor or grounded part of the system to ground trips the protective devices Safe electrical isolation SELV PELV to IEC 60364 4 41 The sysWORXX I O modules require power supplies or power supply modules with safe electrical isolation Installation with grounded reference potential in an system with grounded reference potential any interference current is discharged to protective earth The terminals need to be interconnected externally G PE Components and protective measures Regulations stipulate the implementation of diverse components and protective measures when installing the pl
101. elength Unsigned16 DO1_Pulselength Unsigned16 DO7_Pulselength Unsigned16 Read Digital Input 8 Bit Unsigned8 Number of Input 8 Bit Unsigned8 DIO_DI7 Unsigned8 DI8_DI15 Unsigned8 L 1070e_09 111 Digital I O modules restored Filter Constant Input 8 Bit Unsigned8 Number of Input 8 Bit Unsigned8 DIO_DI7_FilterConstant Unsigned8 DI8_DI15_FilterConstant Unsigned8 Global Interrupt Enable 8 Boolean Bit Interrupt Mask Any Change 8 Bit Unsigned8 Number of Input 8 Bit Unsigned8 DIO_DI7_InterruptAny Change DI8_DI15_InterruptAny Change Unsigned8 Unsigned8 Interrupt Mask Low to High 8 Bit Unsigned8 Number of Input 8 Bit Unsigned8 DIO_DI7_InterruptLowToHigh Unsigned8 DI8_DI15_InterruptLowToHigh Unsigned8 Interrupt Mask High to Low 8 Bit Unsigned8 Number of Input 8 Bit Unsigned8 DIO_DI7_InterruptHighToLow Unsigned8 DI8_DI15_InterruptHighToLow Unsigned8 Write Output 8 Bit Unsigned8 Number of Output 8 Bit Unsigned8 DOO _DO7 Unsigned8 Error Mode Output 8 Bit Unsigned8 Number of Output 8 Bit Unsigned8 DOO DO7 ErrorMode Unsigned8 112 L 1070e 09 Digital I O modules Error Value Output 8 Bit Unsigned8 restored Number of Output 8 Bit Unsigned8 Bit DOO DO7 ErrorValue Unsigned8 Filter Constant Output 8 Unsigned8 Number of Output 8 Bit Unsigned8
102. en A Note indicates that an unintended result or situation can occur if the corresponding information is not taken into account If more than one degree of danger is present the warning notice representing the highest degree of danger will be used A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage Safety Guidelines Qualified Personnel The device system may only be set up and used in conjunction with this documentation Commissioning and operation of a device system may only be performed by qualified personnel Within the context of the safety notes in this documentation qualified persons are defined as persons who are authorized to commission ground and label devices systems and circuits in accordance with established safety practices and standards Prescribed Usage Note the following A Warning This device may only be used for the applications described in the catalog or the technical description and only in connection with devices or components from other manufacturers which have been approved or recommended by SYS TEC Correct reliable operation of the product requires proper transport storage positioning and assembly as well as careful operation and maintenance Trademarks In this manual are descriptions for copyrighted products which are not explicitly indicated as such The absence of the trademark symbol does not in
103. en 174 APPENDIX sesotsistssevscciavetaiaiaverscstarets mnnane naaa dn annen 187 Conversation table of node IDS nnee nennen 187 Tro bleshooting 5 verseerseseters stegen arsmensnnegenverdenn ine erase einen dte 188 Module Dimensions nennen nen eenennnneneeeneenennnnennenreen ennen 191 Bus cable and termination resistors ccccceeeeseseceeeeeteneeeseeens 192 Table of Contents This page was left empty intentionally Index of Tables Index of Tables Table 1 CANopen I O module overview cccceeceeeeesneeeeeeeeeeeseeaeeeesenseeseeees 12 Table 2 Component overview nnn ennenennereenenenereeneeennereenenenneeeenenenenen 13 Table 3 Selection Guide for I O modules nnee 15 Table 4 Electrical maximum Configuration anneer nen vennen 16 Table 5 Mounting dimensions nnn ennnnneneenerenennennneeenvenennnnnenen seen ennnen 17 Table 6 System startup after certain events nnn ennen enneeneenneeenennen 23 Table 7 Considerations for 24VDC power SUpply neee een 24 Table 8 Protection from external electrical interference ennen 24 Table 9 Protective measures nnn eennnnenneeenenennnennneereneenennnnnenen neee enennn 26 Table 10 CAN bus interface Connector pinout nennen neemen 28 Table 11 Drop cable length single drop line nennen vennen 30 Table 12 Drop cable length multiple drop lines nnee nennen 31 Table 13 CANopen tools overview nnee enneeen eenn eeerennene
104. en network Please refer to Section 1 4 for more information about the sysWORXX Automation Series Which devices can be connected to a CANopen network CANopen devices that at least comply with the CANopen specification CiA 301 can be connected to a CANopen network Furthermore all devices connected to the same CAN bus segment have to support the same physical layer and an identical bit rate All sysWORXX I O modules support high speed CAN according to ISO 11898 2 Coupler devices and gateways may be used to extend the network size or to connect CAN bus segments with different physical layer and or bit rate Within a CANopen network each device has a so called node ID which is used to identify a specific node The valid range for node IDs is from 1 to 127 By this schema a CANopen network can have 127 nodes theoretically Practically this number is limited by the CAN transceivers used which typically support up to 100 nodes on the same bus The CAN transceivers used on the sysWORXxX I O modules support up to 110 nodes To put a CANopen network into operation two basic conditions must be fulfilled e All nodes must be configured to the same bit rate and e The assigned node lDs are unique 6 L 1070e_09 General description The system integrator needs to ensure these conditions are fulfilled as there are no off shelf mechanisms that can ensure this conditions automatically Usually the node ID is configured dire
105. eneen 84 Index of Tables Table 32 Object Dictionary entries for error data on the sysWORXX I O devices seeden E A Os oa Bota En 86 Table 33 Parameter description for error data anneer eenen 87 Table 34 Error conditions for digital OUtpUtS nnee eenen 88 Table 35 Error conditions for analog inputs nnen eeen eenen nennen 88 Table 36 Error conditions for analog Outputs ennen nennen 89 Table 37 Error conditions for power supply and diagnostics 89 Table 38 Structure of an Emergency message nnn nennen nennen eeen 89 Table 39 Supported emergency error COd S annen enneeneenneeenennen 91 Table 40 Object Dictionary entries for the Emergency COB ID 91 Table 41 Parameter description for the Emergency COB ID 92 Table 42 Object Dictionary entries for configuring the error behavior 93 Table 43 Parameter description for configuring the error behavior 94 Table 44 NMT state dependent communication annen nennen eeen 96 Table 45 NMT commands nnee enen eenenerreneneereennvereenenerrenenn 97 Table 46 Response to a node life guarding remote frame nnn 97 Table 47 Node state of a CANopen device nnn ennen eenen nennen 98 Table 48 Heartbeat message nnnnnnnneenenenvenenenreneneeneennveneenenerrenenn 98 Table 49 Object Dictionary entries for device guarding nnen 99 Table 50 Parameter description
106. er Time must be greater than the Heartbeat Consumer time as there might are delays in transmission of the Heartbeat message Producer Specifies the time between transmission of two Heartbeat Time Heartbeat messages in milliseconds Default value OOH disabled Table 51 Parameter description for device guarding configuration Reference CiA 301 V4 02 100 L 1070e_09 General technical data 10 General technical data 10 1 Standards and certifications Introduction This section specifies the standards test values and test criteria applicable to the sysWORXX CANopen I O devices CE label C The sysWORXX I O devices meet the requirements and protective objectives of the following EC directives which were published in the official pamphlets of the European Community 73 23 EEC Electrical Equipment Designed for Use within Certain Voltage Limits low voltage directive 89 336 EEC Electromagnetic Compatibility EMC Directive The EC Declaration of Conformity is available to the relevant authorities at SYS TEC electronic GmbH Quality Management Dept Am Windrad 2 D 08468 Heinsdorfergrund GERMANY CAN and CANopen standards The sysWORXX CANopen I O devices comply with the following standards and specifications CiA DR 303 1 V1 11 Cabling and Connector Pin Assignment CiA DR 303 2 V1 1 Representation of SI Units and Prefixes CiA DR 303 3 V1 0 Indicator Specificat
107. eral description Simple and intuitive interface for all configuration tasks in your network Quick access to the device parameters and network structure Automatic PDO mapping and PDO linking Optional PDO linking based on Pre Defined Connection Set thus it is not necessary to configure every CANopen slave device Strip chart visualization of PDO data Selective readout of the object directory from connected CANopen nodes Automatic scanning for CANopen nodes in the network Support of network variables in accordance with the CiA 302 and CiA 405 specification Export of all assigned network variables as IEC 61131 3 conformant variable declaration Script functionality with comprehensive high level CANopen API for easy realization of automated processes and extension of functionality Expert console window for quick command line access to the CANopen functionality CAN bus interfaces and gateways USB CANmodul1 Low cost USB2 0 CAN interface in table case PC driver supports up to 64 devices simultaneously Power via USB 10 USB CANmodul2 USB2 0 CAN interface in table case 2 CAN interfaces optional one LIN possible PC driver supports up to 64 devices simultaneously High precision transmission timer 8 bit I O port TTL level Power via USB L 1070e_09 General description USB CANIog e CAN bus data logger with USB CAN interface e Stand alone operation e 2CAN interfaces e Supports SD cards up to 1GB size
108. erature This does not however apply for networks with optically isolated CAN controllers The worst case calculation for opto couplers results in a calculated bus length of 5 m at 1 Mbit s in practice however 20 m can be reached without difficulty It may be necessary to use repeaters for bus lengths longer than 1000 m For drop cables a wire cross section of 0 25 to 0 34 mm is recommended When calculating the voltage drop the real connector resistance should be considered too The contact resistance of one connector can be assumed in a range of 2 5 to 10 mQ With the assumed values for Minimum dominant value Vaitt out min 1 5 V Minimum differential input resistance Raitt min 20 KO Requested differential input voltage Vin max 1 0 V Minimum termination resistance RT min 118 Q The following table shows the maximum length for different bus cables and different number of connected bus nodes Maximum length m Maximum length m Wire diameter safety margin 0 2 safety margin 0 1 mm z mm n 32 n 64 PT ny 100 0 32 n 64 400 200 170 150 230 200 170 360 310 270 420 360 320 550 470 410 640 550 480 Note If driving more than 64 nodes and or more than 250m bus length the accuracy of the Vcc supply voltage for the ISO 11898 transceiver is recommended to be 5 or lower You also have to consider the minimum supply voltage of at least 4 75V when driving 500 load i e 64
109. ernal diagnostic covering Flash RAM EEPROM This checks will take about 2 seconds to complete Autonomous siartup of CANopen network devices The sysWORXX I O devices support the CANopen Minimum Boot Up Following reset and internal initialization the board is in state PRE OPERATIONAL refer to Section 9 5 Upon receipt of the NMT command message Start_Remote_Node the device switches to state OPERATIONAL refer to Section 9 5 In some applications the use of a full NMT master may not be necessary However CANopen nodes need the Start_Remote_Node message to enter the OPERATIONAL state Therefore all sysWORXX I O modules feature a manufacturer specific extension which enables them to act as a simple NMT boot up master Please refer to Section 8 4 for detailed information L 1070e_09 53 Commissioning This side was left empty intentionally 54 L 1070e_09 Maintenance and service 7 Maintenance and service 7 1 Removing and inserting I O modules Introduction This section describes how to insert and remove I O modules of a distributed system which was already configured and put into operation This might become necessary in case of defect or if the system configuration changes partly The sysWORXX I O modules support insertion and removal of devices without effecting other devices e g power off Furthermore the sysWORXX I O modules support mechanisms for device monitoring see Section 9 5 that enable the app
110. ernet There you will find e Our Newsletter which constantly provides you with the latest information about your products e The right documentation and latest drivers for use with our products e A list of our distributors and partners for our products your inquiries Table of Contents Table of Contents 1 1 1 2 1 3 1 4 1 5 1 6 1 7 2 1 2 2 2 3 3 1 3 2 3 3 3 4 4 1 4 2 4 3 5 1 5 2 GENERAL DESCRIPTION eenen 1 What are distributed I O systems nnen nennen nennen 1 Main characteristics Of CAN aanne nennenenvenneeenrennvervenneeenennen 1 What iS GANOPEN 2e eeaeee cata Arae arere SEERE EE ERIR R iiss 3 The sysWORXX Automation Series nnen eenen ennen 8 CANopen I O modules nnen eene venneneeneeenneeenneeeeneneenn 11 Components of the sysWORXX CANopen I O modules 12 HMI elements on the sysWORXX I O modules nen 14 APPLICATION PLANNING cccccceeeeeeeeeeeeeeeeeeeeeeees 15 Compact system design nnen enneeeneer ennen 15 Selection guide for I O modules nnen eeen 15 Maximum configuration nennen een neereenenereeneneerennverennn 16 MOUNTING pacts on sereneennerenenraensnandnentnannnensnaednantnensnenenen 17 Requirements aa rtersocnn stenen e avd deine een teed 17 Installing the I O modules nennen eeenneeneeeeneeenneeenn 17 Installing the wiring to the connectors neee eenen 18 Setting the CANopen node ID bit rate and the terminating r
111. error behavior Please refer to Section 9 4 for configuration of error behavior on communication errors L 1070e_09 121 Digital I O modules 122 L 1070e_09 Digital I O modules Object dictionary Disable digital input 8 Bit 2010H Array see Section 8 4 on Unsigned8 xX x page 71 Array Read Digital Input 8 Bit Unsigned8 X 5 OOH Number of Input 8 Bit Unsigned8 6000H 01H DIO DI7 Unsigned8 02H DI8_DI15 Unsigned8 Array Filter Constant Input 8 Bit Unsigned8 x X OOH Number of Input 8 Bit Unsigned8 6003H 01H DIO DI7 FilterConstant Unsigned8 02H DI8 DI15 FilterConstant Unsigned8 6005H Var oe Interrupt Enable 8 Boolean Interrupt Mask Any 7 Array Change 8 Bit Unsigned8 x x 00H Number of Input 8 Bit Unsigned8 6006H 01H nt Unsigned8 02H DI8_DI15 InterruptAnyCha Unsigned8 nge Interrupt Mask Low to E Array High 8 Bit Unsigned8 x x 6007H 00H Number of Input 8 Bit Unsigned8 01H DIO_DI7_InterruptLowToHigh Unsigned8 02H DI8_DI15_InterruptLowToHigh Unsigned8 Interrupt Mask High to E Array Low 8 Bit Unsigned8 x x 6008H 00H Number of Input 8 Bit Unsigned8 01H DIO_DI7_InterruptHighToLow Unsigned8 02H DI8_DI15_InterruptHighToLow Unsigned8 Table 73 CANopen IO X2 Object Dictionary Device specific part L 1070e 09 123 Digital I O modules Parameter description Parameter Description Disable digit
112. es 40 Figure 16 Restore procedure nnanenenserneeennerenenenren snoeren ennerenenaneenenne 49 Figure 17 Startup cycle of a sysWORXX I O device nnee 52 Figure 18 PDO linking for master slave communication structure 62 Figure 19 PDO linking for peer to peer communication structure 62 Figure 20 PDO transmission tyP S cccceeeseeseeeeeeneeeeneeeeeeeseeeeeeeseeeeeneeeeaes 63 Figure 21 PDO mapping example nnn nnnneeennenennenenerenvenenerenerenvenn 67 Figure 22 Error state blinking cycle nnee eeneneneennneeeeenneerennn 69 Figure 23 Synchronized communication principle in GANopen 77 Figure 24 Object dictionary entries for SYNC nennen nennerennen 77 Figure 25 Parameter description for synchronous operation 78 Figure 26 LED blinking cycles of the sysWORXX I O modules 82 Figure 27 Signaling configuration or hardware errors example for baudrate eror see Table SOM sss esin sve regeren amende Ee aaneen de Ewald 83 Figure 28 The NMT state machine nnen neer eenenereeneneneeenneerennn 95 Figure 29 CANopen IO X1 device schema nnen ennen 106 Figure 30 CANopen IO X1 block diagram nnen neren 108 Figure 31 CANopen IO X2 device schema nnen eneen 118 Index of Figures Figure 32 Figure 33 Figure 34 Figure 35 Figure 36 Figure 37 Figure 38 Figure 39 Figure 40 Figure 41 Figure 42 Figure 43 CANopen IO X2 block diagram
113. esistor nanne arenden dennen dennen enne E 20 CONNECTING 5 zzezsserrbesrnarrtaarnennteshensndannndenbeannaardaat 23 General rules and regulations for operating the sysWORXX I O aloe BEESTEN 23 Operation of sysWORXX I O modules on grounded reference potential ih ornsrsetren ai ante RUTH nay an bednet ata 25 Connecting the GAN Dus nnen neeeneeeenneeeneerennereneenenn 27 CONFIGURING neee eeeeeeeeeeeeeeeeeeeeeeee 33 General rules for configuring CANopen networks 33 Basic device configuration ennen neereeneneneennnenveneneerennn 39 Table of Contents 10 5 3 5 4 5 5 5 6 6 1 6 2 7 1 8 1 8 2 8 3 8 4 8 5 8 6 9 1 9 2 9 3 9 4 9 5 10 1 10 2 10 3 10 4 Configuring using CANopen Layer Setting Services LSS 42 Configuring with using Device Configuration Files DCF 46 Store Restore device configuration nnen eneen 48 Resetting to factory settings unne vennen ene nee vennen 50 COMMISSIONING eneen neen eenennnen 51 Commissioning of the sysWORXX I O modules 51 Startup of the sysWORXX I O modules nnen nnee 52 MAINTENANCE AND SERVICE aen 55 Removing and inserting I O modules nennen eenen 55 FUNCTIONS astrid ddenseneddenensnddenshanddnnennedaensken 57 The Object Dictionary of the sysWORXX I O modules 57 CANopen Communication Services nnee nennen 61 Internal diagnostics and monitoring functions en
114. f specifying supported Object Dictionary entries and can be seen as a template for describing the device configuration The actual device configuration is stored in a so called Device Configuration File DCF and for example contains the resolved communication and mapping parameters for process data communication see Section 5 4 A CANopen master or configuration tool can directly load the EDS into its set of recognized devices Once the device was found on the network all supported Object Dictionary entries are known by the master or configuration tool The Device Profile specifies the minimum entries that need to be supported by a device conforming to the profile However the EDS might only specify objects that are specific to a certain manufacturer or sub type of module Device Profiles and Electronic Data Sheets are the basic functionality needed to meet the requirement for off the shelf availability of network devices From the communication point of view any two nodes that conform to the same EDS are interchangeable their Object Dictionaries are identical and they have the same communication behavior What are CANopen Slaves CANopen Masters and CANopen Managers Within a distributed system the application process is divided into several parts running on different nodes From the applications point of view usually one node is responsible for the control and management of the distributed control system This node e g a
115. fect only after power on or a reset of the device A alternative way to configure the device node ID and bit rate is using the CANopen Layer Setting Services LSS Please refer to Section 5 3 on page 42 for detailed information on how to use LSS for node ID configuration When LSS was used for configuration the settings on the hardware switches are ignored The LSS settings are deleted with resetting the module to manufacturer settings The node ID is configured in hexadecimal notation One configures the high nibble and the other the low nibble of the note ID Figure 15 shows an example with node ID 62H respectively 92D configured L 1070e_09 39 Configuring 40 Note Table 119 on page 188 contains a table for node ID conversation from decimal to hexadecimal notation Position FFh is reserved for resetting the device to factory settings see Section 5 6 MSB LSB EEE EEE eC ua e oo Jj Oo IIS Gg i Figure 15 Example for a node ID setup on hardware switches Configuring the CAN bus bit rate The third hardware switch is used to select the CAN bus bit rate Note Changes at the hardware switches take effect only after power on or a reset of the device Alternatively it is possible to use the CANopen Layer Setting Services for switching the bit rate of a sysWORXX IO device or the CANopen network globally Please refer to Section 5 3 on page 42 for detailed information on how to use LSS
116. fer that a product is not protected Additionally registered patents and trademarks are similarly not expressly indicated in this manual Disclaimer Disclaimer The information in this document has been carefully checked and is believed to be entirely reliable However SYS TEC electronic GmbH assumes no responsibility for any inaccuracies SYS TEC electronic GmbH neither gives any guarantee nor accepts any liability whatsoever for consequential damages resulting from the use of this manual or its associated product SYS TEC electronic GmbH reserves the right to alter the information contained herein without prior notification and accepts no responsibility for any damages that might result Additionally SYS TEC electronic GmbH offers no guarantee nor accepts any liability for damages arising from the improper usage or improper installation of the hardware or software SYS TEC electronic GmbH further reserves the right to alter the layout and or design of the hardware without prior notification and accepts no liability for doing so Contact information SYS TEC electronic GmbH Address Am Windrad 2 i D 08468 Heinsdorfergrund GERMANY Ordering 49 3765 38600 0 Information sales systec electronic com Technical 49 3765 38600 0 Support support systec electronic com Fax 49 3765 38600 4100 Web Site http www systec electronic com Copyright 2014 SYS TEC electronic GmbH All rights including
117. ff a digital pulsed output before the time specified in 2014H is over 0 active switch off disable 1 switch off possible Default value OOH Pulslength pulsed digital output This parameter specifies the pulslength of a digital pulsed output The unit ist millisecond ms e g 100 means 100ms switch on time Default value OOH Table 66 CANopen IO X1 parameter description Default mapping of I O PDO TPDO1 RPDO1 COB ID 180H node ID 200H node ID Mapped objects 2 1 Mapped obj 1 DIO_7 DOO_7 data byte 0 6000H 01H O8H 6200H 01H 08H Mapped obj 2 DI8_15 data byte 1 6000H 02H 08H Table 67 CANopen IO X1 default mapping L 1070e_09 1 A mapping entry consists of Object Subindex Datasize of mapped data 115 Digital I O modules Device specific commissioning The following steps list the device specific configuration which are necessary to put the device into operation Communication specific configuration e g PDO Mapping and Linking device guarding ect is not considered here Furthermore it is assumed that the basic commissioning see Section 6 1 of the device has been finished When using digital inputs 1 Configure the digital input PDO transmission triggers Object 6006H to 6008H Note Only one trigger type per channel is permitted 2 Enable global interrupt generation for digital inputs Object 6005H 3 If required by the application set the
118. ffer Upon reception of the SYNC message all sensors stop updating the message transmit buffer and start transmitting the data Although all messages are transmitted serially via CAN the data received by the main controller are from the same moment of time i e the moment the SYNC signal was received by the sensors Synchronized communication for outputs actuators Once the processing unit has new values for the outputs it transmits the data serially via CAN The actuators receiving the messages keep the received data in their receive buffers without applying the data to their outputs Upon the reception of the next SYNC signal the data are applied to the outputs in parallel Note The complete communication cycle including transmission of input data processing and transmission of output data should be finished within the communication cycle period Refer to Figure 23 unterhalb 76 L 1070e_09 Functions le Communication cycle period sl Synchronous window l length SYNC SYNC message message Output data Output data command messages command messages Input data Input data Samples time taken at oe Output data are applied upon z reception of next SYNC message Figure 23 Synchronized communication principle in CANopen Object Dictionary entries ax s x 58 S gt xrser 35 EEE 23 os 0 e fe kl N gt 1005H Var COB ID SYNC Unsigned32 X X 00H COB ID
119. for device guarding configuration 100 Table 54 Shipping and storage conditions nnen ennen eneen enenneerenn 102 Table 55 Climatic ambient conditions nnn eeens nennenennenennerenvenn 103 Table 56 Modules suitable for commercial temperature range eee 103 Table 57 Modules suitable for extended temperature range 103 Table 60 CANopen IO X1 device pinout nnen nennenennenennerenvenn 107 Table 61 CANopen IO X1 technical data part common nennen 108 Table 62 CANopen IO X1 technical data part communication 109 Table 63 CANopen IO X1 technical data part I O nennen 109 Table 64 CANopen IO X1 Object Dictionary Device specific part 113 Table 65 CANopen IO X1 parameter description nnen 115 Table 66 CANopen IO X1 default mapping nnen nennen enne nennenenven 115 Table 67 Accessory for CANopen IO X1 nnn eenneeennenennerennenennerenvenn 117 Table 68 CANopen IO X2 device pinout nennen nennenennenennerenvenn 120 Table 69 CANopen IO X2 technical data part common nennen 121 Table 70 CANopen IO X2 technical data part communication 121 Index of Tables Table 71 CANopen IO X2 technical data part I O nnee 121 Table 72 CANopen IO X2 Object Dictionary Device specific part 123 Table 73 CANopen IO X2 parameter description anneer 124 Table 74 CANopen IO X2 default mapping nennen enne nennenennenennenenven 125 Table 7
120. for interpretation of data type Integer16 0 no decimal digits 1 one decimal digits 2 two decimal digits AO Decimal 3 three decimal digits 12 bit resolution only Digits PV Default value 02H Example A process value of 1 234 V will be coded as 123 in Interger16 format if the number of decimal digits is set to 2 Specifies the analog output type O0dec disabled AO Output type Tego D OV 21dec 4 20MA 23dec 0 20MA Default value OOgec AO Fault mode Specifies whether an output is set to its pre defined error value see Object 6207H in case of an error event see Section 9 4 0 output value reset 1 output value shall take the pre defined error value specified in Object 7341H Specifies the value that an output channel shall be set to in case of an error event see Section 9 4 You have to set as Fieldvalue e g AO Fault FV U Mode Faultvalue should set to 2VDC FV 2V 3048 09 6096 l Mode Faultvalue should set to 4mA FV 4mA 1310 68 5243 AO Output PV This object holds the current process values Values below or above limits according to the AO output L 1070e 09 Analog I O modules Parameter Description type are clipped to the limit value e g AO output mode 4 20mA two decimal digits an AO output PV of 200 results in an output value of 400 manufacture date This object contains the manufacture date The object is read only
121. g Operation L 1070e_09 37 Configuring Tool device Tasks Scope of use when running in master manager mode Handling of CANopen network variables Performing CANopen management tasks during operation Performing OPC access to PLC variables CANopen Mapping of CANopen network OPC Server variables to OPC items Table 13 CANopen tools overview Operation 38 L 1070e_09 Configuring 5 2 Basic device configuration Introduction This section describes the steps for setting up the device to enable instant operation in a CANopen network e g after deployment or replacement The basic device configuration covers e _ Setting of the node ID e Setting of the bit rate Each sysWORXX IO device features three rotary HEX encoding switches Two are there for setting the node ID and one for setting the CAN bus bit rate After setup of bitrate and node ID the device is ready for operation e g accessible for further configuration via CAN bus Required tools Slotted screwdriver with 3 0 mm 0 118 blade Procedure Configuring the node ID Each CANopen device in a CANopen network must have an own unique node ID from range 1 to 127 After power on the device checks the node ID on the rotary switches A configuration error e g invalid node ID is displayed with a special LED blinking cycle see Section 9 1 on page 81 for details Note Changes at the hardware switches take ef
122. ge 0 LED1 or gt 7FH LED2 hardware error serial number invalid LED3 hardware error CRC error nonvolatile memory LED4 hardware error product code invalid LED5 hardware error calibration data invalid Table 30 Description of configuration and hardware error signaling Please refer to Section 13 2 for a detailed Warning limit reached test procedure Please refer to Section 13 2 for a detailed pason test procedure Check for correct settings on the hardware switches and reset If this doesn t help reset Configuration error to factory defaults see Section 5 6 If the error still persists contact the support for further assistance Please contact the support for further Hardware error assistance Table 31 User action required for error events If Program Control CANopen Bootloader is active the RUN and ERROR LED gets a special function for monitoring program download from firmware version V1 30 ERROR LED state Description Off program download is running reason for bootloader is Always Triple SingleFlash application signature is not set Flash reason for bootloader is Double Flash application CRC is wrong Table 32 Description of Run and Error LED at Program Control 84 L 1070e_09 Error behavior and system messages Reference CiA 303 3 V1 0 L 1070e_09 85 Error behavior and system messages 9 2 Reading diagnost
123. ges with a low latency time regardless of the actual busload even in exceptional situations transmission peaks or disturbances the transmission is ensured Multi master capability On CAN bus access does not depend on a supervisory control unit Each node can start transmitting a message as soon as the bus becomes idle In case of simultaneously access of several nodes the node that wants to transmit the message with highest priority obtains access to the bus Transmissions are initiated by the message source Thus the bus is occupied only if new messages are to be sent event controlled transmission This results in a significant lower average busload in comparison to a system with deterministic bus access Loss free bus arbitration The CAN protocol uses the CSMA CA access method to guarantee the transmission of the highest prior message in case of simultaneous access attempt without destruction Short frame length The maximum data length of a CAN message is limited to 8 bytes to guarantee a short latency time for bus access Short messages are important to increase reliability of transmission in a distorded environment as the probability of a coincidence with a disturbance increases proportionally with the frame length Transmission of data with size higher than 8 bytes is handled by services provided with the higher layer protocol such as the SDO in CANopen High data integrity and very short recovery time The CAN pro
124. he manual of the CANopen configuration software you are using Recycling and disposal The modules of the sysWORXX Automation Series can be recycled due to its ecologically compatible equipment For environmentally compliant recycling and disposal of your electronic waste please contact a company certified for the disposal of electronic waste The sysWORXX I O devices shipped out after July 15t 2006 comply with RoHS regulations Category 9 of the Germany law Gesetz Uber das Inverkehrbringen die R cknahme und die umweltvertr gliche Entsorgung von Elektro und Elektronikgeraten Elektro und Elektronikgerategesetz ElektroG Vom 16 Marz 2005 Einordnung in die Kategorie 9 issued by the European Union Preface Further information If you have any questions relating to the products described in this manual and do not find the answers in this documentation please contact your technical support The portal to our technical documentation and support for all SYS TEC products and systems is available at http www systec electronic com support Technical Support You can reach technical support for all SYS TEC products Using the Support Request form on the web http www systec electronic com support Phone 49 3765 38600 0 Fax 49 3765 38600 4100 For further information about our products and services please refer to our Homepage at http www systec electronic com Service amp Support on the Int
125. ic data Introduction In addition to the state LEDs the sysWORXxX I O devices feature several standardized Object Dictionary entries providing detailed information about the device state and an error history On some device types extended status information for I Os are provided in the device profile section of the Object dictionary These Objects are described with the respective device This section describes the diagnostic data readable via OD access during runtime Internal diagnostics at startup and monitoring features are described in Section 8 3 on page 69 Emergency messages are described in Section 9 3 on page 88 Object Dictionary entries o Q x S I Be SB ver BBE S 2 9 ve oo 5 ae FLS Die TP E or Oos fe N gt Var Error Register Unsigned8 1001H OOH Error Register Unsigned8 Array ee Error Unsigned32 Number of Entries A 1003H 003 oon Error Counter Unsigned8 01H to OAH Standard Error Field Unsigned32 Table 33 Object Dictionary entries for error data on the sysWORXX I O devices Parameter description Parameter Description Error Register The error register value indicates if various types of errors have occurred It is a part of the Emergency object which is transmitted with the Emergency message The following error values are implemented OOH no error respectively error reset 01H generic error 11H CAN communication error 81
126. ical data part I O Manufacturer specific functions The CANopen IO X6 supports the following device specific manufacturer extension 166 L 1070e 09 Analog I O modules e Channel Calibration Object 2400H e for Production only Object 2500H The generic manufacturer specific extensions are described in Section 8 4 Error behavior In addition to the error behavior described with Section 9 4 the CANopen IO X6 features a device specific error behavior for its analog outputs with the following parameters e AO Fault mode e AO Fault FV Object dictionary Channel Calibration Number Of Entries Unsigned8 AOO_Gain Real32 AOO Offset Real32 AO1_Gain Real32 AO1_ Offset Real32 AO7_Gain Real32 AO7_ Offset Real32 2500H Array for Production only 00H Number Of Entries Unsigned8 01H reserved Unsigned32 02H manufacture date Unsigned32 03H calibration data Unsigned32 04H pAO O0 U Gain Real32 05H pAO O0 U Offset Real32 06H pAO_1_U Gain Real32 L 1070e_09 167 Analog I O modules 168 2 0 U pAO_1 Offset Real32 pAO_7_U_ Gain Real32 pAO 7_U Offset Real32 pAO 0 Gain Real32 pAO 0 Offset Real32 pAO_7_ Gain Real32 pAO 7 Offset Real32 reserved Unsigned8 reserved Unsigned8 reserved AO Physical unit PV Unsigned8 Unsigne
127. igital input and output module 16DI 8DO DC 24V Order No and options 3001000 CANopen IO X1 Galvanic isolated CAN 3001010 CANopen IO X1 Properties e L 1070e_09 Galvanic isolated CAN with pulsed output 16 digital inputs 24VDC galvanic isolated in groups of 4 inputs 8 digital outputs 24VDC 500mA transistor high side switch short circuit protected 8 digital pulsed output version 3001010 only CANopen device according to CiA 401 V2 1 24 LEDs for I O state indication Galvanic isolated CAN bus interface Non volatile storage of configuration data Watchdog CAN bus termination 1200 resistor via Jumper Separated power supply pin for supply of digital outputs 105 Digital I O modules Module pinout 12134415 nj s 94041 guslWC Automation Diit BO 0000000 Diap 20 OO Or O00 Diti Output O0 100868 Sys TEC CANopen IO X1 Figure 29 CANopen IO X1 device schema Pin Label Description Power supply connector 1 L 24VDC 20 2 0G Ground 0 for device power supply CAN bus interface connector 1 CAN_GND 2 CAN_L 3 n c 4 CAN_H 5 CAN_V connected to L on modules without galvanic isolation not used on modules with galvanic isolated CAN I O connector 1 1L 24VDC connected to L 2 0G Ground 0 for digital outputs 0 to 7 digital output 0 24V 500mA digital output 4 24V 500mA digital output 1 24V 500mA digital ou
128. ile compact PLCs They have a number of communications interfaces and a large selection of industry proven inputs and outputs Feature Order No PLCmodule C14 phyPS 412 Z5 CANopen PLC 3000001 CAN bus interface according to 2 galvanic isolated each can be operating in CANopen 1 galvanic isolated can be operating in CANopen Master ISO 11898 2 Master or Slave mode or Slave mode RS232 3 2 Ethernet 10baseT Ethernet interface for uplink to management PC for program download monitoring Digital Inputs 24 isolated 24VDC 24 24VDC Digital Outputs 16 isolated 24VDC 500mA high side switches 16 24VDC 500mA low side switches PWM PTO Outputs 2 isolated 24VDC 500mA 15kHz 2 24VDC 500mA 70kHz Analog Inputs 4 channels 0 10V 10 bit 4 channels 0 10V and 4 20mA 12 bit or 14 bit Counter Encoder Inputs 3 counter pulse dir isolated 24VDC 70kHz 2 encoder a b and pulse dir 24VDC 70kHz 1 counter 24VDC 70kHz Relay outputs 4 channels 230VAC 3A NO 4 channels 230VAC 3A NO Power supply 24VDC L 1070e_09 General description Integrated IEC 61131 3 development environment OpenPCS is an comprehensive IEC 61131 3 workbench certified by PLCopen e PLCopen certified IEC 61131 3 compiler e Sequential Function Charts SFC e Continuous Function Charts CFC e Ladder Diagrams LD e Structured Text ST and Inst
129. ion CiA DS 301 V4 02 Application Layer and Communication Profile CiA DSP 305 V1 1 Layer Setting Services and Protocol CiA DS 401 V2 1 Device Profile for Generic I O Modules CiA DS 404 V1 2 Device Profile Measuring Devices and Closed Loop Controllers ISO 11898 2 Road vehicles Controller area network CAN Part 2 High speed medium access unit L 1070e_09 101 General technical data 10 2 Electromagnetic compatibility Definition Electromagnetic compatibility refers to the capability of electrical equipment in reliably performing its dedicated function in an electromagnetic environment without causing interference in the same environment The sysWORXX CANopen I O devices meet all requirements of EMC legislation for the European market under the condition that the electrical configuration of the devices has been carried out in compliance with the specifications and directives respectively 10 3 Shipping and storage conditions Shipping and storage conditions The specifications below apply to modules which are shipped and stored in their original packaging Type of condition Permissible range Free fall lt 1m Temperature from 20 C to 90 C Temperature fluctuation lt 20 K h 1080 hPa to 660 hPa corresponds Barometric pressure with altitudes from 1000m to 3500m Relative humidity lt 95 without condensation Table 55 Shipping and storage conditions 10 4 Mechanical and cli
130. ion for detailed information 1 Objects 6206H and 6207H are only available on modules with digital outputs lO X1 IO X3 2 Objects 6340H and 7341H are only available on modules with analog outputs IO X6 L 1070e_09 93 Error behavior and system messages Parameter description Parameter Communication Error Description Defines the behavior of the node when a communication error is encountered Valid values are Value Description 00h Switch to NMT state PRE OPERATIONAL Oth No change of NMT state 02h Switch to NMT state STOPPED Default value OOH Error Mode Output 8 bit Device specific parameter Described in Section 11 1 Error Value Output 8 bit Device specific parameter Described in Section 11 1 AO Fault Mode Device specific parameter Described in Section 12 3 AO _Fault Value Device specific parameter Described in Section 12 3 Table 44 Parameter description for configuring the error behavior Reference CiA 301 V4 02 CiA 401 V2 1 CiA 404 V1 2 94 L 1070e_09 Error behavior and system messages 9 5 Module Network status and device guarding Introduction This section provides information about the network management capabilities of the sysWORXX I O modules when deployed in a CANopen network Each sysWORXxX I O module implements a CANopen NMT slave device This enables a Network Management Master e g a PLC to watch
131. ions in the form of the so called predefined connection set The Object Dictionary concept The central element of the CANopen standard is the description of all device specific functionality parameters and data types by an Object Dictionary OD Thereby the Object Dictionary can be seen as a lookup table with a 16 bit Index and an 8 bit Subindex This allows for up to 256 Subentries per Index Each entry can hold one variable of any type including a complex structure and length In the following sections the terms Object and Subindex will be used when describing such Object Dictionary entries All process and communication related information is stored as entries in predefined locations of the Object Dictionary Therefore the Object Dictionary is divided in several sections containing general specifications about the device such as identification data and manufacturer a section containing communication parameters and a section with device specific functionality All entries of the Object Dictionary are accessible from the outside via CAN using SDO communication see Section 8 2 Therefore a CANopen device is completely remote configurable which provides the basis for the manufacturer independence targeted by CANopen CANopen profiles CANopen is based on a so called communication profile that specifies basic communication mechanisms and services CiA 301 Further profiles and frameworks exist specifying extended
132. ital output 1 6 5 digital output 5 7 2 digital output 2 8 6 digital output 6 9 3 digital output 3 10 7 digital output 7 11 PL4 24VDC for digital output 8 to 15 connected to L 12 2G Ground 2 for digital output 8 to 15 13 8 digital output 8 14 12 digital output 12 15 9 digital output 9 16 13 digital output 13 17 10 digital output 10 18 14 digital output 14 19 11 digital output 11 20 15 digital output 15 21 3L 24VDC for digital output 16 to 23 L 1070e 09 Digital I O modules Pin Name Description connected to L 22 3G Ground 3 for digital output 16 to 23 23 16 digital output 16 24 20 digital output 20 25 17 digital output 17 26 21 digital output 21 27 18 digital output 18 28 22 digital output 22 28 19 digital output 19 30 23 digital output 23 Table 77 CANopen IO X3 device pinout LED display Digital output status LED field LED Off 0 Low LED On 1 High Digital Output 0 Digital Output 89 128 Digital Output 139 20 Block diagram LED Display CAN Bus CANH CANL CANGND M Embedded Processor 24VDC Reset Powersupply Watchdog 24VDC b GND Figure 34 CANopen IO X3 block diagram GND L 1070e_09 129 Digital I O modules Technical da
133. lable on the sysWORXX I O modules depending on module type L 1070e_09 59 Functions Light grey shaded objects are not available on all modules The device specific PDO mapping is given with the device description References CiA 301 V4 02 See also Section 11 Digital I O modules Section 12 Analog I O modules 60 L 1070e_09 Functions 8 2 CANopen Communication Services Introduction This section provides generic information about the CANopen communication services implemented on the sysWORXxX I O devices Two services are available for data communication 1 Process Data Objects for fast transmission of process data without protocol overhead 2 Service Data Objects for accessing the OD and transmission of service data e g configuration download Process Data Objects PDO The Process Data Object PDO implements an optimized method for placing multiple process data variables from the Object Dictionary into a single CAN message of up to 8 bytes Because CAN supports the multi master communication concept any node can send a message at any time and collisions are resolved by message priority this direct communication method allows for more efficient higher priority access to process data The process data transferred via PDOs are divided into segments with maximum of 8 bytes maximum data length of a CAN message The PDOs each correspond to a CAN message PDOs are distinguished into Receive PDOs RPDOs
134. lication master e g a PLC to detect missing devices by loss of communication e g when powered off If this happens the application master is responsible to perform appropriate actions e g securing the machine stop movement ect After inserting a new device the correct bit rate and node ID must be configured see Section 5 2 before it is connected to the bus A Warning An incorrect bit rate or node ID might lead to severe communication problems and malfunction of the attached application After power on of the device will perform some self diagnostics see Section 8 3 which might take several seconds to complete When the device is ready for operation it will send out an boot up message to notify the application master about its appearance The application master is responsible to perform appropriate actions e g configure the device In case an internal error was detected during the self diagnostics process the device will not appear on the bus Measures must be taken locally After successfully commissioning see Section 6 the device it needs to get configured using a CANopen configuration tool Some application masters provide the functionality of automatic device configuration e g if a device was replaced Required tools CAN bus monitoring tool with CANopen protocol analyzer e g CAN Report with CANopen extension CANopen configuration tool providing SDO access e g CANopen Device Monitor L 1
135. ling Factor The Value Factor is multiply with the Fieldvalue Al Scaling Offset a Me Offset is add to the Fieldvalue Al Input PV a ae contains the process value after Table 116 CANopen IO X7 parameter description Default mapping of I O PDO TPDO1 TPDO2 TPDO3 TPDO4 180H 280H 380H 480H GOE node ID node ID node ID node ID Mapped objects 4 4 4 4 Alo Al2 Al4 Al6 Mapped object 1 data byte 0 1 7130H 7130H 7130H 7130H 01H 10H 03H 10H 05H 10H 07H 10H AlO State Al2 State Al4 State Al6 State Mapped object 2 data byte 2 6150H 6150H 6150H 6150H 01H 08H 03H 08H 05H 08H 07H 08H Alt Al3 Al5 Al7 Mapped object 3 data byte 3 4 7130H 7130H 7130H 7130H 02H 10H 04H 10H 06H 10H 08H 10H Al1 State Al3 State Al5 State Al7 State Mapped object 4 data byte 5 6150H 6150H 6150H 6150H 02H 08H 04H 08H 06H 08H 08H 08H Table 117 CANopen IO X7 default mapping Relation between Fieldvalue FV Processvalue PV and Calibration Thermocouple sensor type E J K L and T FV1 ADCvatue Al EJKLT_Gain_x Al_EJKLT_Offset_x Al Scaling Factor_x Al Scaling Offset_x FV FV1 2 222154 uV Digit thermocouple sensor type R and S FV1 ADCvaiue AL_RS_Gain_x Al_RS_Offset_x Al Scaling Factor_x Al Scaling Offset_x FV FV1 0 755386 uV Digit L 1070e_09 185 Analog I O modules x means number of Al channel The calculation of
136. ls Once the requirements are set you probably need to select the devices and tools used to configure and test the devices and the network The following table provides an overview about the tools and services available for integration of the sysWORXX I O devices Tool device CANopen Device Monitor REEL Device configuration via direct access to Object Dictionary SDO access Performing network management tasks NMT Master Reading diagnostic data from the device Remote configuration via LSS Access and visualization of I O data e g process values and PDOs Scope of use Configuration Test amp Commissioning Maintenance CANopen Configuration Manager Overall CANopen network configuration DCF generation and configuration download via CAN bus Changing PDO linking mapping and configuration of communication parameters Configuration of SYNC and heartbeat producers Generation of network documentation Configuration CAN REport Logging CAN bus messages to screen or to file Transmission of CAN messages CANopen protocol plug in for direct interpretation of CANopen messages to plain text Plug ins for data visualization Test amp Commissioning Operation Maintenance OpenPCS CANopen PLC Implementation and integration of distributed automation applications CANopen Configuration Manager functions integrated on the PLC Test amp Commissionin
137. manufacturer specific filtering Object 2010H and enable these filters for the corresponding channels Object 6003H When using digital outputs 1 Enable updating of used channels Object 6208H If the application requires pre defined error values for the outputs 2 Configure the error value of the outputs Object 6207H 3 Enable the error mode of the channels Object 6206H When using digital pulsed outputs Order number 3001010 only 4 Enable pulsed output of used channels Object 2011H e g 01H for channel AOO 5 Set the pulslength of the pulsed digital output of used channels Object 2014H e g set subindex 1 to 100dec for AOO pulslength 100ms If the application requires retrigger functionality 6 Configure the retrigger value of the outputs Object 2012H e g 01H for AOO If the application requires active switch off functionality 7 Configure the active switch off value of the outputs Object 2013H e g 01H for AOO 116 L 1070e_09 Digital I O modules Accessory Order number Part 171024 2 pole plug for the power supply 171023 5 pole plug with adapter cable to 9 pin D Sub connector for CAN bus 171034 30 pin I O connector plug 180134 Jumper for the CAN bus termination Table 68 Accessory for CANopen IO X1 References CiA 303 1 V1 3 CiA 303 3 V1 2 CiA 301 V4 02 CiA 401 V2 1 L 1070e_09 117 Digital I O modules 11 2 CANopen IO X2 digital input module 24DI DC 24V
138. matic ambient conditions Climatic ambient conditions Applicable climatic ambient conditions only indoor use Ambient conditions Fields of application Remarks Temperature Pe OHO All mounting 20 C to 50 C IO X7 only positions Temperature j fluctuation lt 10 K h i idi o without Relative humidity lt 95 Saena 102 L 1070e_09 General technical data Ambient conditions Fields of application Remarks corresponds with an altitude of 1000m to 2000m Air pressure from 1080 hPa to 795 hPa Table 56 Climatic ambient conditions Modules for operation in the range from 20 C to 50 C The table below shows all modules suitable for operation in the range from 20 C to 50 C only indoor use Designation Order no CANopen IO X7 3001006 Table 57 Modules suitable for commercial temperature range Modules for operation in the range from 20 C to 70 C The table below shows all modules suitable for operation in the range from 20 C to 70 C only indoor use Designation Order no CANopen IO X1 3001000 CANopen IO X2 3001001 CANopen IO X3 3001002 CANopen IO X4 3001003 CANopen IO X5 3001004 CANopen IO X6 3001005 Table 58 Modules suitable for extended temperature range L 1070e 09 103 General technical data This side was left empty intentionally 104 L 1070e_09 Digital I O modules 11 Digital I O modules 11 1 CANopen IO X1 d
139. nctions 130 Module pinout 126 PrOp rtieS icsse 126 Technical data ee 129 CANopen IO X3 Object dictionary eee 130 197 Index CANopen IO X3 Parameter description 131 CANopen IO X3 Default mapping cesses 132 CANopen IO X3 Commissioning 132 CANopen IO X3 ACCESSOLY eenen 132 CANopen IO X4 Error behaviour eee 139 CANopen IO X4 naer 135 Block diagram eee 137 LED dISPIAY 415 ans 137 Manufacturer specific functions 139 Module pinout eee Properti S snini Technical data CANopen IO X4 Object dictionary 139 CANopen IO X4 Parameter description 142 CANopen IO X4 Default Mapping eee 144 CANopen IO X4 Commissioning 145 CANopen IO X4 ACCe SSOry eenen 145 CANopen IO X5 Error behaviour nn 150 CANopen IO X5 Block diagram eee LED display iinun Manufacturer specific functions 150 Module pinout eee 146 Properti S assen onnsersnneneneneer 146 Technical data ee 149 CANopen IO X5 Object dictionary 151 CANopen IO X5 Parameter description 154 CANopen IO X5 Default mapping eee 157 CANopen IO X5 Commissioning 158 CANopen IO X5 ACCBSSOTY ia vanenanvensnerevensseerenn 158 CANopen IO X6 Error behaviour eee 164 CANopen IO X6 een 160 Block diagram
140. ned8 AlO_Operation_ Mode Unsigned8 Al7_Operation_Mode Al Scaling Factor Unsigned8 Unsigned8 Number Of Entries Unsigned8 Al Scaling Factor 0 Real32 Al Scaling Factor 7 Al Scaling Offset Unsigned8 Number Of Entries Unsigned8 Al Scaling Offset 0 Real32 Al Scaling Offset 7 Real32 6131H Array Al Physical Unit Unsigned32 X PV 00H Number Of Entries Unsigned8 01H Al0_Physical_Unit_P Unsigned32 V 142 L 1070e_09 Analog I O modules Al7_Physical_Unit_P Unsigned32 V Al Decimal Digits Unsigned8 PV Number Of Entries Unsigned8 Al0_Decimal_Digit Unsigned8 s PV Al7_Decimal_Digit Unsigned8 s PV Al Status Unsigned8 Number Of Entries Unsigned8 AlO_Status Unsigned8 Al7_Status Unsigned8 Al Input FV Integer16 Number Of Entries Unsigned8 AlO_Input_FV Integer16 Al7_ Input FV Integer16 Al Input PV Integer16 Number Of Entries Unsigned8 AlO_ Input PV Integer16 Al7_ Input PV Integer16 L 1070e_09 143 Analog I O modules Al Interrupt delta Integer16 Input PV Number Of Entries Unsigned8 AlO _Interrupt Delt Integer16 a_Input PV Al7_Interrupt_Delt Integer16 a_Input_PV Table 89 CANopen IO X4 Object Dictionary Parameter description Parameter Description This pa
141. nen eenen eeen 182 CANopen IO X7 parameter description nnee 185 CANopen IO X7 default mapping nnen nennen 185 Accessory for CANopen IO X7 nnn ernneeeneerennerennenennerenen 186 Conversion table from decimal to hexadecimal Node ID 188 CAN bus length versus bit rate ennen neee venneneenenen eeen 192 Index of Figures Index of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Simple CANopen network configuration annen 7 Complex CANopen network configuration nnen nennen 7 Overview of HMI elements on the sysWORXX I O modules 14 Installation of the sysWORXX I O modules nnen eeen 18 Handling of spring type connectors nnen eeeennnnnenene eenen 19 Figure 6 Handling of screw type connectors aen enenen vennen eenn 19 Figure 7 Location of configuration switches nnen enen 20 Figure 8 CAN bus termination jumper nnen ennn neennerennenenvenenenenenenvenn 21 Figure 9 Electrical configuration of the sysWORXX I O modules 26 Figure 10 CAN bus cable cross view annen ennenennerennerennenennerenven 27 Figure 11 CAN bus interface connector pinout eneen eenen 28 Figure 12 CAN bus signal description annen eennenennenennerenenenenenven 28 Figure 13 Wiring schema of galvanic isolated sysWORXX I O devices 29 Figure 14 Physical layout of a CANopen network eneen 30 Figure 15 Example for a node ID setup on hardware switch
142. nes or between the screen shield and signal lines Remove the earth connection from the CAN ground and screen Check for a short circuit between the CAN ground and screen Topology The possible cable length in CAN networks depends heavily on the selected bit rate CAN usually tolerates short drop lines The maximum permitted length of drop lines should not be exceeded see Section 4 3 The length of the cable installed on the field is often subject to estimating errors The following test is therefore recommended to be performed Measure the lengths of the drop lines and the total bus lengths do not just make rough estimates and compare them with the topology rules for the relevant bit rate Screening and grounding The power supply and the screen should be carefully earthed at the power supply unit with a single joint only star shaped and with low resistance At all connecting points branches and so forth the screen of the CAN cable and possibly the CAN_GND must also be connected as well as the signal lines L 1070e_09 189 Appendix 190 Test 7 Use a DC ampere meter to measure the current between the power supply ground and the screen at the end of the network most remote from the power supply unit An equalization current should be present If there is no current then either the screen is not connected all the way through or the power supply unit is not properly earthed If the power sup
143. nhibit Time asynchronous Further device specific communication control mechanisms are described with the modules L 1070e_09 63 Functions Transmit Description Trigger Options Timer driven eyclic asynchronous In time driven communication method a PDO is transmitted at a fixed time basis the Event Timer The Event Timer is a local timer running on each node and specified in milliseconds If the Event Timer is specified with 50ms for example the PDO is transmitted every 50ms Per default the Event Timers of multiple nodes are not synchronized Note On the one hand use of time driven transmission simplifies performance and latency calculations On the other hand it produces more overhead than pure event driven communication since data will get transmitted even if it did not change at all Individual polled remote requested Although it is possible to use individual polling in CANopen it is not recommended that this communication method is used Individual polling uses a CAN feature called Remote Request aka RTR frame to trigger the transmission of a TPDO remotely When using RTR frames the device behavior is usually not transparent to the user Furthermore there are CAN controllers still in use that do not support remote frames at all Note All sysWORXX I O devices use CAN controllers following the FullCAN principle and make sure the requested data are
144. nical data part communication 152 Table 96 CANopen IO X5 technical data part I O nnee 152 Table 97 CANopen IO X5 Object Dictionary nennen enne nennerennen 157 Table 98 CANopen IO X5 parameter description annae eeens 160 Table 99 CANopen IO X5 default mapping anneer evenaren enennerenen 160 Table 100 Accessory for CANopen IO X5 nnee nennerennerennenenven 161 Table 101 CANopen IO X6 device pinout nennen eenen nennerenven 164 Table 102 CANopen IO X6 technical data part common annen 166 Table 103 CANopen IO X6 technical data part communication 166 Table 104 CANopen IO X6 technical data part I O ennen eenen 166 Table 105 CANopen IO X6 Object Dictionary nennen ennen 169 Index of Tables Table 106 Table 107 Table 108 Table 109 Table 110 Table 111 Table 112 Table 113 Table 114 Table 115 Table 116 Table 117 Table 118 Table 119 CANopen IO X6 parameter description nnee 171 CANopen IO X6 default mapping nnee eneen nennen 171 Accessory for CANopen IO X6 ecceeeeeseeeeeeeeeeeeeseeeeeneeeeneeeeaees 173 CANopen IO X7 device pinout nennen enenennenennenenerenn 175 Device specific LED states for CANopen IO X7 annen 176 CANopen IO X7 technical data part common annen 177 CANopen IO X7 technical data part communication 177 CANopen IO X7 technical data part I O nnee nennen 178 CANopen IO X7 Object Dictionary nen
145. nn oneven eenneeerennen 38 Table 14 Supported bit rates of the CANopen IO devices nnen 41 Table 15 Object Dictionary entries for store restore parameter 1010H 1011H ESA ende dateen she shes eeelSadia evenveel A E enne dean 48 Table 16 SDO abort codes for store restore configuration nnen 49 Table 17 Commissioning requirements nnen nennenenneeennenenneeennenenverenn 51 Table 18 Object Dictionary Communication Profile nnee eeen 59 Table 19 TPDO transmit trigger options nennen evene eeeneneneeennenenerenn 64 Table 20 Transmission type parameter overview nnen neee 65 Table 21 Transmission type description eneen nen enenen vennen 66 Table 22 Internal runtime diagnostics and monitoring functions 70 Table 23 Object Dictionary entries for diagnostic and monitoring functions 70 Table 24 Object Dictionary entries for manufacturer specific extensions 72 Table 25 Parameter description for manufacturer specific extensions 73 Table 26 Object Dictionary entry for the Identity Object nnn 74 Table 27 Parameter description Identity Object nnen nennen 75 Table 28 Description of Run LED states nennen nennen ennnenneee eeen 82 Table 29 Description of Error LED stat S annen ennnnneeeeeen eneen 83 Table 30 Description of configuration and hardware error signaling 84 Table 31 User action required for error events nnee
146. oducer set Object 1017H to 0 ore DLC Data byte 0 700H node ID 1 state Table 49 Heartbeat message The content of the status byte corresponds to that of the Node Guarding message see Table 48 Contrary to the node and or life Guarding bit 7 of the status byte does not toggle with each transmission It is always set to 0 Heartbeat Consumer The Heartbeat Consumer receives the Heartbeat messages sent from the producer Therefore the supervised nodes need to get registered with its node ID and corresponding Heartbeat time This information is stored in the Object Dictionary at Object 1016H containing a Subindex for each Heartbeat Consumer Up to 5 Heartbeat Consumers are available on sysWORXX I O modules with digital or analog outputs Devices with inputs only do not need Heartbeat Consumers as there is no output to set into Fault State in case of error The Heartbeat Consumer is activated with the first L 1070e_09 Error behavior and system messages Heartbeat message that has been received and a corresponding entry is registered in the OD If the Heartbeat time configured for a producer expires without reception of the corresponding Heartbeat message the consumer reports a Heartbeat error event resulting in the error behavior described in Section 9 4 The Heartbeat consumer is disabled when the consumer Heartbeat time is set to 0 Object Dictionary entries o ax S I 58
147. ommunication Minimum Maximum bit rate 10kBit s 1MBit s number of nodes supported on 110 CAN 2 0B passive ee compliant to 9 CiA 120 and Isolation voltage 1kV ISO 11898 2 CAN_H and CAN_L short circuit proof towards 24V DC High speed CAN bus transceiver compliant to ISO 11898 Table 113 CANopen IO X7 technical data part communication 1 Only on modules with galvanic isolated CAN bus interface L 1070e_09 177 Analog I O modules I O Minimum Maximum Input ChO Ch7 Supported sensor types J K L R S T E Input range for type E J K L T oV 75mV Input range for type R S OV 25mV J 50 C 1200 C K 50 C 1372 C L 50 C 900 C p range for R 50C 1768 C S 50 C 1768 C T 50 C 400 C E 50 C 1000 C Over voltage protection 5V Sampling rate per channel and 100E 8 channels 1 channel ADC solution 12 bit optional 14 bit Gain factor for type E J K L T 34 33 Gain factor for type R S 101 Accuracy lt 0 5 at 12 bit Resolution PV 0 1K at 12 bit Table 114 CANopen IO X7 technical data part I O Manufacturer specific functions The CANopen IO X7 supports the following device specific manufacturer extension e for Production only Object 2500H The CANopen IO X7 has no device specific manufacturer extensions The generic manufacturer specific extensions are described in Section 8 4 Error behavior 178 The CANopen
148. omplies with DS 102 Power supply connector Removable 2 pin screw type connector to connect power supply Table 2 Component overview L 1070e_09 13 General description 1 7 HMI elements on the sysWORXX I O modules Introduction This section describes the HMI elements on the sysWORXxX I O modules Overview 14 Configuration switches 4G 12131415 p 36 8 91011 musk WE AE Ditt COOOOMOOO Digg BO OO 010000 EEE ELKEEN ze neam RST L 86 High Low Baul CANterm 120R CAN Figure 3 Overview of HMI elements on the sysWORXX I O modules L 1070e 09 Application planning 2 Application planning 2 1 Compact system design A compact system design in the context of the sysWORXxX I O modules means You can adapt the configuration to meet the requirements of your application by means of combining various I O modules by CAN bus 2 2 Selection guide for I O modules Help for the selection of I O modules The table below helps you to select the right I O module for different applications Application I O module Evaluating signals of 16 DI 24V DC CANopen IO X1 switches proximity switches digital 24 DI 24V DC CANopen IO X2 sensors 8 DO 24V DC Switching solenoid 0 5 A CANopen IO X1 valves DC contactors ADO signal lamps A g p 24V DC 0 5 A CANopen IO X3 Switching piloting 8 AO proportion
149. onfiguration e g PDO Mapping and Linking device guarding ect is not considered here Furthermore it is assumed that the basic commissioning see Section 6 1 of the device has been finished 1 Configure the output sensor type of each cannel Object 6310H 2 Configure the number of digits used for the process value Object 6302H 3 Set the physical unit of each channel Object 6301H If the application requires pre defined error values 4 Configure the error value for each channel Object 7341H 5 Enable the fault mode for each channel that has an error value Object 6340H Accessory Order number Part 171024 2 pole plug for the power supply 171023 5 pole plug with adapter cable to 9 pin D Sub connector for CAN bus 171038 24 pin I O connector plug 180134 Jumper for the CAN bus termination Table 109 Accessory for CANopen IO X6 References CiA 303 1 V1 3 CiA 303 3 V1 2 CiA 301 V4 02 CiA 404 V1 2 L 1070e_09 173 Analog I O modules 12 4 CANopen IO X7 analog input module 8TC Order No and options Properties 3001006 CANopen IO X7 galvanic isolated CAN 12 bit ADC 3001008 CANopen IO X7 galvanic isolated CAN 14 bit ADC 8 analog input suitable for various types of thermocouple elements CANopen device according to CiA 404 V1 2 LED for I O state indication Galvanic isolated CAN bus interface Non volatile storage of configuration data Watchdog CAN bus termination 1200
150. overload on Input Channel FFO5H Short circuit at input 10 X4 FFO6H Chosen value range too low for configured sensor 1O X5 type lO X7 FFO7H Chosen value range too high for configured sensor type FFO8H If channel configured as voltage input U mode short circuit Channel If channel configured as current input l mode 1O X6 open output no load connected cable break Table 40 Supported emergency error codes Object Dictionary entries The following table describes Object 1014H used to configure the Emergency message COB ID of an device Object stored via 1010H Object restored via 1011H 83 2s gs 83 2N O Data type Object mapable COB ID Emergency i s Var message ee an 1014H ooH COB ID Emergency Unsigned32 message Table 41 Object Dictionary entries for the Emergency COB ID L 1070e_09 91 Error behavior and system messages Parameter description Parameter Description COB ID Defines the COB ID used for the Emergency Emergency message transmitted by the node and specifies if the message Emergency Object is used or not Bit Description 0 10 COB ID for Emergency message 11 28 Set to 0 reserved for 29 bit COB ID 29 Set to 0 to select 11 bit COB ID 30 Reserved set to 0 31 Set to 0 if the node does use the Emergency Object Set to 1 if the node does not use the Emergency Object Note The sysWORXxX I O devices only
151. pecific CAN bus network Drop line length Total length of all drop Bitrate single drop line lines 1000 kbps lt 1m lt 5m 500 kbps lt 5m lt 25m 250 kbps lt 10m lt 50m 125 kbps lt 20m lt 100 m 50 kbps lt 50m lt 250 m Table 11 Drop cable length single drop line Drop line length Bit rate multiple drop lines star shaped Drop line length without drop lines 1000 kbps lt 0 3 m lt 25 m 500 kbps lt 1 2m lt 66m 250 kbps lt 2 4m lt 120m L 1070e_09 Connecting Drop line length Bit rate multiple drop lines star shaped 125 kbps lt 4 8 m lt 310 m Table 12 Drop cable length multiple drop lines Drop line length without drop lines References CiA 303 1 ISO 11898 part 1 and 2 See also Section Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden werden on page Fehler Textmarke nicht definiert L 1070e 09 31 Connecting This side was left empty intentionally 32 L 1070e_09 Configuring 5 Configuring 5 1 General rules for configuring CANopen networks At the beginning of each system design the overall requirements must be evaluated This includes of course the number and distribution of I O points and implies the selection of the modules accordingly On the communication side the evaluation should include response times bandwidth usage distances
152. ply unit is somewhere in the middle of the network the measurement should be performed at both ends If necessary this test can also be done at the ends of the drop lines Test 8 Interrupt the screen at a number of locations and measure the current to these connections If there is a current present the screen is earthed at more than one place creating a ground loop Potential differences The screen must be connected all the way through for this test and must not have any current flow see Test 8 Measure and record the voltage between the screen and the power supply ground at each node The maximum potential difference between any two devices should be less than 5V Detect and localize the faults In a first approach low tech method works best disconnect parts of the network and observe if the error disappears However this does not work well for problems such as excessive potential differences ground loops EMC or signal distortion since the reduction in the size of the network often solves the problem without the missing piece being the cause The bus load also may change as the network is reduced in size leading to a more harmonized traffic and therefore making localization of faults more difficult Diagnosis with an oscilloscope does not always work out successfully as it is hard do low level debugging on bit layer Especially on heavy traffic and or disturbances However it might be possible to
153. ption CAN bus interface connector 1 CAN_GND 2 CAN_L 3 n c 4 CAN_H CAN_V connected to L on modules without galvanic 5 isolation not used on modules with galvanic isolated CAN 1 O connector 1 10 Current output 0 2 UO Voltage output 0 3 GND GND channel 0 4 GND GND channel 1 5 l1 Current output 1 6 U1 Voltage output 1 7 12 Current output 2 8 U2 Voltage output 2 9 GND GND channel 2 10 GND GND channel 3 11 13 Current output 3 12 U3 Voltage output 3 13 14 Current output 4 14 U4 Voltage output 4 15 GND GND channel 4 16 GND GND channel 5 17 15 Current output 5 18 U5 Voltage output 5 19 l6 Current output 6 20 U6 Voltage output 6 21 GND GND channel 6 22 GND GND channel 7 23 7 Current output 7 24 U7 Voltage output 7 Table 102 CANopen IO X6 device pinout L 1070e_09 Analog I O modules LED display Channel state LED field On if channel is enabled Channel output type LED field On if channel configured is for current measurement Mode o0 000 000e Analog Output 0 10 Ee 00000 1066 Channel output type LED field On if channel configured is for voltage measurement Block diagram LED Display R Temp aha Bus sensor cann RR CANL A CANGND SS Embedded Processor Config switches 24VDC Reset Powe
154. rameter specifies the input type range of the channel Mdec input type 10V U mode 42dec input type 0 10V U mode 51dec input type 4 20mA I mode Al Sensor Type 52dec input type 0 20mA I mode Default value 41 dec Note Each channel has separated I O points for connection of voltage input and current inputs Enables disables an input channel 0 Channel disabled 1 Channel enabled operating Al Operation mode Default value OOH Note Each operating channel order not important will reduce the maximum sampling rate by apx 1 8 This parameter assigns SI units and prefixes for the process values of each channel The coding of the physical unit and prefixes is done according to the CiA 303 2 This value just provides additional information and has no influence on process value calculation Al Physical Unit PV Possible values 00260000H V 144 L 1070e_09 Analog I O modules Parameter Description FD040000H mA Default value 00260000H This parameter specifies the number of decimal digits following the decimal point for interpretation of data type Integer16 Example A process value of 1 234 V will be coded as 123 in Al Decimal Digits Interger16 format if the number of decimal digits is PV set to 2 0 no decimal digits 1 one decimal digits 2 two decimal digits 3 three decimal digits Default value 02H This read only parameter holds the st
155. resistor via Jumper Module pinout ad T Automation Series 09000470000 eee 0000 000 20 ST DC 24 Mode Baud CANterm 128R RST L 8G High Low rate CAN i Figure 42 CANopen IO X7 device schema Pin Name Description Power supply connector 1 L 24VDC 20 174 L 1070e_09 Analog I O modules Pin Name Description 2 0G Ground 0 for device power supply CAN bus interface connector 1 CAN _GND CAN _L n c CAN_H CAN_V connected to L on modules without galvanic 5 isolation not used on modules with galvanic isolated CAN I O connector ii 0 thermocouple input 0 2 0 thermocouple input 0 3 1 thermocouple input 1 4 1 thermocouple input 1 5 2 thermocouple input 2 6 2 thermocouple input 2 7 3 thermocouple input 3 8 3 thermocouple input 3 9 4 thermocouple input 4 10 4 thermocouple input 4 11 5 thermocouple input 5 12 5 thermocouple input 5 13 6 thermocouple input 6 14 6 thermocouple input 6 15 7 thermocouple input 7 16 7 thermocouple input 7 Table 110 CANopen IO X7 device pinout LED display C L 1070e_09 Channel state LED field On if channel is enabled Channel PV state LED field On if process value exceeds upper limit configured in Object 7135H gt Max ooo ooo Temp Input 00 0 6 10 60 60 0
156. ristics of CAN In the following the main features of the CAN protocol as standardized by the ISO 11898 1 and ISO 11898 2 are introduced Bus Topology message rate and number of nodes CAN is based on a linear topology usually utilizing a two wire bus media with differential signal transmission Hierarchical network structures are possible using repeaters or routers The maximum number of nodes is limited by capability of the deployed driver chips not by the protocol itself Repeater can be used to increase the number of nodes on the network The maximum network extension possible at a specific bit rate is limited by the signal propagation time along the bus medium Message oriented protocol The CAN protocol is not based on addressing the message receiver but uses the CAN identifier for identification of transmitted messages Based on the CAN identifier each node checks whether the received message is relevant for itself Therefore a message can be received and accepted by one or multiple nodes at the same time broadcasting Priority of messages Short latency time for high priority messages The CAN identifier of a CAN message directly represents its priority with regards to bus access This allows for preferential transmission of 1 also known as Bus Topology 2 At 1MBit s a network length of 40m is possible At 80 kBit s up to 1000m bus length is possible L 1070e_09 1 General description important messa
157. rk 2 Select the node you want to configure from the NMT tab sheet 3 Load the configuration file DCF File Edit View Connection Extras Windows Help Load EDS CTRL L Load default EDS Load previous EDS 4 Process ag n Load device configuration Save device configuration Project gt Exit CTRL Q 3 6340 AO Fault Mode 4 Edit the configuration if needed 46 L 1070e_09 Configuring 5 Download the configuration to the device Extras Windows Help Scan Obj Dict Comm Scan Obj Dict Device Edit Obj Dict Export EDS File Send ob jes Read object values from device Store Restore non volatile parameters gt l Convert to concise DCF Plug ins Options 6 Store the configuration to non volatile memory Extras Windows Help Scan Obj Dict Comm Scan Obj Dict Device Edit Obj Dict LSS Export EDS File Description PDO Send object values to device Read object values from device Store Restore non volatile parameters gt Store communication parameters Convert to concise DCF 3 Store application parameters i gt Plug iS Restore all parameters Options Ld ns Restore communication parameters Action Frame Restore application parameters Send Reset Appl after restore 7 If the I O configuration has been changed the device needs to be reset in order to apply the changes Go to NMT tab sheet an
158. rocess has been finished successfully The configuration of bit rate and node ID on the switches is ignored and the configuration data is load from non volatile memory after power on Note The procedure of LSS access defined in the different versions of specification CiA 305 e g V1 0 to V1 1 are not fully compatible Thus the LSS master must provide compatibility with all versions of the LSS specification used in the devices deployed on the CANopen network Requirements The device identification data of the device to be configured must be known in advance You can derive this information from the corresponding EDS Furthermore the device serial number is needed The device serial number is printed on a sticker placed on the module If the sticker is missing please contact our support team for further assistance Required tools CANopen configuration tool with LSS master function e g CANopen Device Monitor with LSS plug in PC CAN interface 1 However before the module is accessible via LSS valid values must be configured on the hardware switches to enable a normal startup behavior of the sysWORXX module 42 L 1070e_09 Configuring Procedure In the following the procedures of configuring a sysWORXxX I O device via LSS are shown It is assumed that the module was installed properly and is at least connect to the CAN bus and power Furthermore the CANopen configuration tool and PC CAN interface was installed
159. rom network level is described with the NMT state machine in Section 9 5 The steps described below refers to the steps the module is going through during NMT state INITIALIZATION see the NMT state machine described in Section 9 5 Power on OA Power LED ON Initializing and startup diagnostics 1 Ae LED Test all LED ON Startup diagnostics 4 Diagnostic Error LED Error Blinking Cycle t t Load device configuration Hardware reset Device not ready Transmit Boot up message 2 EZ Run LED blinking Error LED off 3 NMT command Reset node or Reset communication y Device ready Pre Operational Figure 17 Startup cycle of a sysWORXX I O device 1 After power on or hardware reset the device will perform some internal diagnostic covering Flash RAM EEPROM LEDs Device configuration 52 L 1070e 09 Commissioning This checks will take 2 3 seconds depending on module type 2 The boot up message is a single CAN message with CAN identifier 700H node D with 1 byte data containing the value 0 It is used to signal that a CANopen slave device has entered the NMT state Pre operational after the NMT state INITIALIZATION see Section 9 5 3 Please refer to Section 9 1 for detailed information about the LED blinking cycles 4 After NMT command Reset_Node and Reset_Communication the device will perform some int
160. rsupply Watchdog 24VDC D GND Figure 41 CANopen IO X6 block diagram Technical data Common Typical Maximum Power supply Voru 24V DC 20 Current consumption lepu 0 09A I Os inactive Storage 20 90 C Temperature range Operation 20 70 C Protection class Enclosure IP20 Module weight 130g Width 71 mm Dimensions High 58 mm Length 95 mm L 1070e_09 165 Analog I O modules Common Typical Maximum Connection scheme Removable spring type clamp connectors Table 103 CANopen IO X6 technical data part common Communication Minimum Maximum bit rate 10kBit s 1MBit s number of nodes supported on same CAN bus 110 CAN 2 0B passive compliant to segment CiA 120 and Isolation voltage 1kV ISO 11898 2 CAN_H and CAN_L short circuit proof towards 24V DC High speed CAN bus transceiver compliant to ISO 11898 Table 104 CANopen IO X6 technical data part communication 1 0 Minimum Maximum Analog outputs AOO AO7 Output range OV 10V Load Resistance 5000 DAC solution 10 bit optional 12 bit Voltage Accuracy 0 5 at 10 bit Zero scale offset 120mV en T Output range OmA 20mA Load Resistance 00 5000 DAC solution 10 bit optional 12 bit Current Accuracy 0 5 at 10 bit Zero scale offset 0 3mA Settling time per 3us channel Table 105 CANopen IO X6 techn
161. ruction List IL for function block programming IL amp ST Base Level certified e Function block libraries for configuration of sysWORXxX I O modules e Comprehensive CANopen function block library e Extended function library e g RTC non volatile memory process control string manipulations e Supports multiple controllers in one project file e Complete support of CANopen Network variables for data exchange e Online monitoring and power flow for easy troubleshooting e Online change for fast debugging cycles e _ Offline simulator e Integrated OPC Server e Device access possible via Ethernet USB Parallel Port or RS232 e Project documentation support CANopen configuration tools The CANopen Configuration Suite is a powerful intuitive and user extendable tool chain for configuration and management of CANopen networks and devices It includes the CANopen Configuration Manager the CANopen Device Monitor as well as the SYS TEC CAN driver Various CAN bus interfaces of different manufactures are supported By using the CANopen Configuration Suite your workload will be reduced significantly Especially when the system becomes more complex The risk of configuration errors is minimized and the quality and reliability of the system is enhanced e _Project oriented management of all configuration and device data based on EDS and DCF e Supports download of the device and network configuration via CAN bus L 1070e_09 9 Gen
162. serial number of the device 5 Select the node you want to configure and click on button Set Node ID Enter the new node ID and confirm with Ok CANopen x LSS Enter CANopen Devic The device is shown with its new node ID on the node list peel VendolD___ Product Revision Seii Ox3t 0x217 01010527 0x81d38 You are done 6 Click on Store to save the changes to non volatile memory Note The product code of a sysWORXX IO device is equal to its order number This means the product codes differs for each type of module and therefore enables a selective search Configuring the bit rate of a device via LSS 44 1 Connect to the CAN network CANopen Device Monitor 3 1 2 Node 64 File Edit View Connection Extras Windows ommunication Segment G MaPwfacturer Segment L 1070e 09 Configuring 2 Load the LSS plug in and go to the LSS tab sheet Action NMT 5 PDO Process Network Node LSS Devices Node VendoriD Seil Al 3 Click on Set Bit rate and select the new bit rate from the dialog that appears ss Baud rar Selected new baud rate 1000 kBit s 800 kBit s 500 kBit s 250 kBit s 125 kBit s 100 kBit s 50 kBit s C 20kBit s 10 kBit s Cancel Click on Store to save the changes to non volatile memory EE a e e S Click on Activate to take the changes into effect The hardwar
163. smitted If this is not possible for your application associated PDOs must be configured for asynchronous communication Event driven asynchronous communication is quite the optimum in terms of reaction time and the exploitation of bus bandwidth It uses transmission methods of pure CAN However if a large number of events occur simultaneously the corresponding delays before a PDO with a relatively low priority can be sent increases Proper network planning therefore need to include a worst case analysis Certain mechanisms for example the inhibit time allow for controlling the traffic Constantly changing inputs with a high PDO priority can be prevented from blocking the bus This is why event driven communication is disabled by default in the device profile of analog inputs and must be enabled explicitly The so called Event timer enables re transmission of a PDO even without prior change of the I O state So the PDO is not sent again before the inhibit time has elapsed and not later than specified with the Even timer The communication type is parameterized by the so called Transmission Type see Section 8 2 While each PDO can be configured for a single transmission type only it is possible to combine different transmission types on devices with more than one TPDO All sysWORXX input modules feature from two to four TPDO depending on module type 36 L 1070e_09 Configuring Choosing devices and too
164. specific extensions are described in Section 8 4 Error behavior In addition to the error behavior described with Section 9 4 the CANopen IO X3 features a device specific error behavior for its digital outputs with the following parameters e Error Mode Output 8 Bit e Error Value Output 8 Bit e Filter Constant Output 8 Bit Object dictionary 3 52 22 ao of Array Write Output 8 Bit Unsigned8 x 6200H 00H Number of Output 8 Bit Unsigned8 01H DOO DO7 Unsigned8 Array Error Mode Output 8 Bit Unsigned8 xX x 6206H 00H Number of Output 8 Bit Unsigned8 01H DO0_DO7_ErrorMode Unsigned8 L 1070e_09 131 Digital I O modules 7 7 T 0 e Array Error Value Output 8 Bit Unsigned8 x x 6207H 00H Number of Output 8 Bit Unsigned8 01H DOO DO7 ErrorValue Unsigned8 Array ae Constant Output 8 Unsi gned8 x 6208fl 00H Number of Output 8 Bit Unsigned8 01H DOO DO7 FilterConstant Unsigned8 Table 81 CANopen IO X3 Object Dictionary Device specific part Parameter description Parameter Description Specifies whether an output is set to its pre defined error value see Object 6207H in case of an error event see Section 9 4 Error mode output 8 Bit 0 output value not changed 1 output value switch to the state specified in Object 6207H Default value OOH Specifies the error value for a group of 8
165. sr BBE c oo oo 2 ooo 55 TS 2285 29 Sg og OS Opg 2 7 gt Var Guard Time Unsigned16 Xx X 100CH 00H Guard Time Unsigned16 Var Life Time Factor Unsigned8 X X 100DH 00H Life Time Factor Unsigned8 Consumer 3 Array Heartbeat Time Unsigned32 X X 1016H 00H Number of Entries Unsigned32 01H Consumer Heartbeat 05H Time Unsigned32 Producer Heartbeat Var Time Unsigned16 X X Ee Prod Heartbeat roducer Heartbea 00H Tite Unsigned16 Table 50 Object Dictionary entries for device guarding Parameter description Parameter Description Guard Time Specifies the period between the node guarding requests sent to the node in milliseconds Default value OOH Life Time Specifies the number of multiplies of the Guard Time Factor to wait for a response from the supervised node The Node Life Time is the Guard Time multiplied by the Life Time Factor If the node does not respond within the Node Life Time then a node life guarding error occurs see Section 9 4 Default value OOH L 1070e_09 99 Error behavior and system messages Parameter Description Consumer Specifies the maximum time to wait for a Heartbeat Heartbeat Time message in milliseconds before generating a Heartbeat error event The value is constructed as follows Bit Value 24 31 OOH 16 23 Node ID 0 15 Consumer Heartbeat Time Default value OOH disabled Note The Heartbeat Consum
166. stores the revision number of the Number device firmware assigned by the vendor The table below shows the structure of this value MSB LSB 31 24 23 16 15 8 7 0 Firmware CANopen Stack Major Minor Major Minor revision revision revision revision e g The value 01030528H is to be read Firmware version 1 03 CANopen stack version 5 28 Serial Number This Subindex contains the serial number of the device The serial number can also be find on a sticker number barcode placed on the enclosure Table 27 Parameter description Identity Object References CiA 301 V4 02 L 1070e_09 75 Functions 8 6 Synchronized operations Introduction This section describes the configuration of SYNC settings for the sysWORXX I O modules and provides a brief overview on how synchronization works in CANopen networks In CANopen the synchronized communication method is implemented using a SYNC signal which is a specific message SYNC message without any data and high priority SYNC is based on the Producer Consumer principle Typically the SYNC producer transmits SYNC messages on a fixed time basis The number of SYNC producers in a CANopen network is not limited This enables setup of different groups of synchronized operating devices SYNC principle in CANopen Synchronized communication for inputs Sensors The sensors constantly read their input data and keep a current copy in the message transmit bu
167. supply point Table 4 Electrical maximum configuration Mechanical maximum configuration The I O connector used supports connection of cables up to a diameter of 1mm Do not connect more than one cable to a single I O point It is recommended to use flexible cable types for wiring to the terminal block 16 L 1070e_09 Mounting 3 Mounting 3 1 Requirements Pre assembly You can pre assemble the modules on a DIN rail before you install it on site Mounting position The modules can be installed in any mounting position Mounting dimensions See also Appendix Module Dimensions on page 191 Mounting dimensions Comment Dimension Mounting width 71 mm with I O terminal block 96 mm assembled Mounting height i without I O terminal block 94 8 mm assembled Mounting depth starting from DIN rail 53 58 mm Table 5 Mounting dimensions 3 2 Installing the I O modules Introduction The module features removable terminal blocks to connect to the CAN bus I O wiring and power supply The module can be installed without terminal blocks assembled Requirements If the devices are mounted on a DIN rail it must be mounted on the rack or solid surface Required tools Slotted screwdriver with 4 mm blade Procedure 1 Place the module onto the DIN rail as shown below Use a slotted screwdriver to lift the lug 1 and then push it on until it engages with an audible click 2
168. support 11 bit identifiers COB IDs Table 42 Parameter description for the Emergency COB ID Reference CiA 301 V4 02 9 4 Error behavior Introduction This section describes the behavior state change of a sysWORXX I O device in case errors This behavior is configurable by the user via Object 1029H and several device specific objects Emergency messages are covered by Section 9 3 and therefore not included in this section Supported error conditions The sysWORXX I O modules perform a state change upon the following communication errors e Bus off on the CAN controller e Life guarding event occurred e Heartbeat event occurred Supported state changes The following state changes may be performed 92 L 1070e_09 Error behavior and system messages e NMT state change e Output state change device specific Object Dictionary entries Object Index Object type Subindex Object name Object stored via 1010H restored via 1011H Error Behavior Unsigned8 Number of Error Classes Unsigned8 Communication Errors Unsigned8 1 6206H ae Mode Output 8 Unsigned8 1 3 6207H this Value Output 8 Unsigned8 6340H AO Fault Mode Unsigned8 7341H AO Fault Value Integer16 Table 43 Object Dictionary entries for configuring the error behavior The light grey shaded objects are not available on all module types Please refer to the corresponding device descript
169. t Electronic Data Sheet 5 42 46 Emergency messages 69 88 Emergency codes nn 89 Index Message Structure 89 EN 503 25 4 ss csciesccsessesesisteicassccecsessarn 3 Error behavior aanne eenen 92 Error behavior and system MESSAGES aaan annnnennennnnnnnnnnn 81 Error conditions analog inputs nn 88 analog outputs eee 88 digital outputs 88 integrated power supply and diagnostics arne vans rrervenrveek 89 Event driven Extended temperature range 103 FulIGAN E 64 F nctionS asen nen enenneeren end eenn 57 Communication Services 61 Device identification data 74 Internal diagnostics and monitoring69 Manufacturer specific extensions 71 Object Dictionary eee Synchronized operations General rules and regulations Operating the sysWORXxX I O MOTUIBS en van neared 23 Guarding Heartbeat nunmnereseenne 98 Life Guarding ne 97 Node Guarding 97 Node Life Time nnn 99 Heartbeat annen nennen 98 Heartbeat Consumer 98 Heartbeat error 99 Heartbeat Producer 98 VO filtering nnee eenn 71 Identity Object IEC 60364 4 41 IEC 61131 3 controls 8 IEC 61131 3 IDE secessseeseeeeseeseee 9 Individual polled ee 64 Inhibit Time nnanansennnennneenseernn 63 Inhibit TiM r 22ste onverseenensers 63 Installation nnnnnnennn ne nnnnnnnenenn 1
170. t for interpretation of data type Integer16 Example gt o A process value of 98 2 C will be coded as 982dec Al Decimal Digits in Interger16 format if the number of decimal digits PV is set to 1 and 98gec if number of decimal digits is set to 0 0 no decimal digits 1 one decimal digits Default value 1 This read only parameter holds the status of the analog input channel Al Status 0 no error 1 sensor break 2 measurement range exceeded Specifies a delta value for triggering PDO transmission for an analog input channel If the process value has changed for delta or more since the last transmission of the PDO then Al Interrupt delta the PDO is transmitted again input PV To disable this function set delta to 0 Default value 1Odec corresponds to 1 0 C under default settings Note L 1070e_09 183 Analog I O modules 184 Parameter Description The entered value must have the same physical unit and number of digits as configured for the respective channel Al interrupt lower limit input PV This parameter sets the lower limit for triggering PDO transmission of an analog input channel If the PV goes below this value the corresponding LED on the LED display lt MIN is switched on Is the process value between the minimal and maximal value no PDO is transmitted Note The temperature range depends on the sensor type There is no internal
171. t or system System startup after certain events The table below shows what you have to observe when restarting a plant or system as a result of specific events there was a restart following a voltage drop or power fail dangerous operating states must not develop If necessary force an EMERGENCY STOP there was a startup after interruption of bus communication the system must never perform an uncontrolled or undefined restart Table 6 System startup after certain events 24VDC power supply The table below shows essential aspects of the 24VDC power supply L 1070e_09 23 Connecting For buildings you need to observe 24VDC power supply cables and signal cables external lightning lightning protection protection precautions internal e g lightning protection lightning elements protection 24VDC power supply safe electrical isolation of the safety extra low voltage SELV Daisy chaining the power supply voltage drop when daisy chaining the power supply Table 7 Considerations for 24VDC power supply Protection from external electrical interference 24 The table below shows how to protect your system against electromagnetic interference or faults For all systems or plants that contain a sysWORXX I O device make sure that the system is properly grounded in order to allow the EMC conformant discharge of
172. ta Common Typical Maximum Vepu 24V DC 20 Power supply Vio 24V DC 20 Current lepu 0 05A consumption I Os inactive ho 0 01A Storage 20 90 C Temperature range Operation 20 70 C Protection class Enclosure IP20 Module weight 130g Width 71 mm Dimensions High 58 mm Length 95 mm Connection scheme Removable spring type clamp connectors Table 78 CANopen IO X3 technical data part common Communication Minimum Maximum bit rate 10kBit s 1MBit s number of nodes supported on same CAN bus T10 CAN 2 0B passive compliant to segment CiA 120 and Isolation voltage 1kV ISO 11898 2 CAN_H and CAN_L short circuit proof towards 24V DC High speed CAN bus transceiver compliant to ISO 11898 Table 79 CANopen IO X3 technical data part communication 130 L 1070e_09 Digital I O modules ke Digital outputs DOO 23 Minimum Maximum 24V DC output high side switch Uon at lon 500MA Vio 0 16V lt UoH lt Vio Vor at lo OMA 0 5V Current limitation 2 8A loH_max Maximum current per group 4A Polyswitch at 20 C protected lor off 10A torr at lon 500 MA 115us 190us ton at lon 500 mA 75us 125us Table 80 CANopen IO X3 technical data part I O Manufacturer specific functions The CANopen IO X3 has no device specific manufacturer extensions The generic manufacturer
173. te Figure 7 Location of configuration switches For further information on how to set the node ID and bit rate refer to Section 5 2 20 L 1070e_09 Mounting Enabling the terminating resistor If this device is the first or last node on the CAN bus enable the internal terminating resistor You need to remove the CAN bus terminal connector before you can set or remove the jumper 1 To enable the termination set the jumper 2 To disable the termination remove the jumper 10000 Figure 8 CAN bus termination jumper See also Section 4 3 Connecting the CAN bus Section 5 1 General rules for configuring CANopen networks L 1070e_09 21 Mounting This side was left empty intentionally 22 L 1070e_09 Connecting 4 Connecting 4 1 General rules and regulations for operating the sysWORXX I O modules Introduction The distributed I O modules represent a component of plants or automated systems and thus is subject to special rules and regulations based on its application This section provides an overview of the most important rules you have to observe when integrating the sysWORXX I O modules into a plant or system Specific application EMERGENCY OFF equipment components Observe the safety and accident prevention regulations for specific applications for example the machine protection directives EMERGENCY OFF equipment must remain effective in all operating states of the plan
174. th and termination resistance depending on the bit rate If Y junctions are used the drop lines aka Trunk lines must not exceed a maximum length in order to avoid reflections resulting in bus errors This length depends on the bit rate used on the bus The higher the bit rate the shorter the drop lines At 1Mbps the drop line may not exceed 30cm A rule for estimation of the maximum allowable length of a drop cable length Lac is given below Le brop_seg 50 1 The total drop line length is calculated as following z t TOp_se Ds Li lt Lt i l 10 E t L 1070e_09 29 Connecting 30 With tp Specific line propagation delay per length unit trop_seg Time of the propagation delay segment This effectively leads to a reduction of the maximum trunk cable length by the sum of the actual cumulative drop cable length at a given bit rate If the above recommendations are met then the probability of reflection problems is considered to be fairly low Drop lines must not have terminating resistors Terminator Trunk line Tap Tap Tap E __ Terminator Node Node Node 2 a gt Node A gt Node Node Figure 14 Physical layout of a CANopen network The tables below show drop line length for single drop lines and star shaped multiple drop lines for quick reference Note The tables given below do not substitute a careful dimensioning and calculation of the application s
175. to set one or all nodes to state OPERATIONAL Start_Remote_Node COB ID 2 byte data 000H 01H node ID This command is used to set one or all nodes to state STOPPED Stop_Remote_Node COB ID 2 byte data 000H 02H node ID 96 L 1070e_09 Error behavior and system messages Command Description This command is used to set one or all nodes to state PRE OPERATIONAL COB ID 2 byte data OOOH 80H node ID This command is used to reset one or all nodes on the network Reset_Node COB ID 2 byte data OOOH 81H node ID This command is used to reset the communication parameters of one or all nodes on the network COB ID 2 byte data 000H 82H node ID Enter_PREOPERATIONAL_State Reset_Communication Table 46 NMT commands Options for device guarding Node guarding Life guarding With node guarding the NMT master polls all slaves for their current NMT state information If a node does not respond within a specified time the NMT master assumes that this slave was lost and can take appropriate actions Life guarding uses the same principle as node guarding However with life guarding the NMT slave monitors the cyclical node guarding request of the NMT master If the NMT slave has not been polled during its lifetime a remote node error is indicated through the NMT service life guarding event see Section 9 4 on page 92 Life guarding can be disa
176. tocol features several complementary mechanisms for detection of corrupted messages with a very high probability including automatic re transmission of incorrectly transmitted or received messages Unlike node oriented protocols CAN provides a very short error detection signaling and correction time Network wide data consistency A system wide data consistency is fundamental for data integrity in distributed systems In process control applications the operation of several nodes need to be synchronized frequently This requires the data and synchronization messages to be received correctly and 1 Carrier Sense Multiple Access Collision Avoidance Service Data Object 2 L 1070e_09 General description simultaneously by involved nodes Thus locally disturbed messages must be known to be invalid by all nodes The error signaling mechanism defined within the CAN protocol provides this basic requirement Detection and de activation of defective nodes Within the CAN protocol a monitoring of the communication specific functions is defined If a node exceeds pre defined error rates measures are taken to prevent defective nodes from continuously disturbing the data communication International standardization The international standards ISO 11898 Part 1 2 and 3 specify CAN as OSl Layer 1 2 protocol As a higher layer protocol for general industrial application CANopen was specified by the CAN in Automation CiA and applied as
177. tput 5 24V 500mA digital output 2 24V 500mA digital output 6 24V 500mA Cr NO A Na Af O 106 L 1070e 09 Digital I O modules Pin Label Description digital output 3 24V 500mA 10 7 digital output 7 24V 500mA 11 1G Ground 1 for digital inputs 0 to 3 13 0 digital input 0 24V to 1G 15 1 digital input 1 24V to 1G 17 2 digital input 2 24V to 1G 19 3 digital input 3 24V to 1G 12 2G Ground 2 for digital inputs 4 to 7 14 4 digital input 4 24V to 2G 16 digital input 5 24V to 2G 18 digital input 6 24V to 2G 20 digital input 7 24V to 2G 21 3G Ground 3 for digital inputs 8 to 11 23 8 digital input 8 24V to 3G 25 9 digital input 9 24V to 3G 27 10 digital input 10 24V to 3G 29 11 digital input 11 24V to 3G 22 4G Ground 4 for digital inputs 12 to 15 24 12 digital input 12 24V to 4G 26 13 digital input 13 24V to 4G 28 14 digital input 14 24V to 4G 30 15 digital input 15 24V to 4G Table 61 CANopen IO X1 device pinout LED display Digital Input output status LED field LED Off 0 Low LED On 1 High Digital Input 00 OOO 40000 Digital Input 80 O O O 120 O O Digital Output 00 40 L 1070e_09 107 Digital I O modules Block diagram 24VDC LED Display Q CANL CANGND 24VDC Embedded
178. type clamp connectors Table 95 CANopen IO X5 technical data part common Communication Minimum Maximum bit rate 10kBit s 1MBit s number of nodes supported on same CAN bus 110 CAN 2 0B passive compliant to segment CiA 120 and Isolation voltage 1kV ISO 11898 2 CAN_H and CAN_L short circuit proof towards 24V DC High speed CAN bus transceiver compliant to ISO 11898 Table 96 CANopen IO X5 technical data part communication I O Minimum Maximum RTD input Ch0 Ch7 200 C 600 C BEK Wok 328 0 F 1112 0 F ADC solution 12 bit optional 14 bit Accuracy 0 5 PE at 12 bit Resolution PV 0 1K Sampling rate 12 5Hz 8ch 100Hz 1ch Table 97 CANopen IO X5 technical data part I O Manufacturer specific functions The CANopen IO X5 supports the following device specific manufacturer extension 1 The sampling rate decreases with the number of inputs enabled 152 L 1070e_09 Analog I O modules e for Production only Object 2500H The generic manufacturer specific extensions are described in Section 8 4 Error behavior The CANopen IO X5 has no device specific error behavior Please refer to Section 9 4 for configuration of error behavior on communication errors If an input channel is switched on without a sensor connected the module will indicate this by setting the channel s Al Status in Object 6150H to value 01H Obje
179. umber of digits used for calculation and presentation of the process value Object 6132H in Integer16 3 Set the physical unit of each channel Object 6131H 4 If delta triggered transmission of process values is needed configure the delta value of each channel Object 7133 5 Enable the channels in use Object 6112H Accessory Order number Part 171024 2 pole plug for the power supply 171023 5 pole plug with adapter cable to 9 pin D Sub connector for CAN bus 171038 24 pin I O connector plug 180134 Jumper for CAN bus termination Table 92 Accessory for CANopen IO X4 References CiA 303 1 V1 3 CiA 303 3 V1 2 CiA 301 V4 02 CiA 404 V1 2 L 1070e_09 147 Analog I O modules 12 2 CANopen IO X5 analog input module 8RTD Order No and options 3001004 CANopen IO X5 galvanic isolated CAN 12 bit ADC Properties e 8 analog input suitable for resistor temperature devices RTD e g PT100 or PT1000 in 2 or 3 wire connection scheme e CANopen device according to CiA 404 V1 2 e LED for I O state indication e Galvanic isolated CAN bus interface e Non volatile storage of configuration data e Watchdog e CAN bus termination 1200 resistor via Jumper Module pinout 7200040000 Tnt 10000 10000 6666 8666 MIDC 24 Mode Baud CANterm 128R RST L 8G High Low rate CAN o jale olo a Figure 37 CANopen IO X5 device schema Pin Name Description
180. up to date Synchronized The synchronized communication method uses a SYNC signal This SYNC signal is a specific message without any data only used for synchronization purpose Because the SYNC signal is typically produced on a fixed time basis this triggering mode can also be regarded as using a global timer for triggering instead of using the event timer local on each node Please refer to Section 8 6 for mode detailed information on how to use SYNC with the sysWORXX I O devices Table 19 TPDO transmit trigger options 64 L 1070e_09 Functions s o T fe c PN amp rs lt o Transmission S r type parameter 9 2 g 6 8 8 amp a lt 0 X 1 240 X X 241 251 reserved 252 X X 253 X X 254 255 X Table 20 Transmission type parameter overview Transmission type Description TPDOs with transmission type 0 will get transmitted synchronously but not cyclically A corresponding RPDO is only evaluated after the next SYNC message has been received This allows for example to give a new target position to axis groups one by one but these positions only become valid with reception of the next Acyclic synchronous SYNC signal For TPDOs with transmission type 0 its input data are acquired with the reception of the SYNC message and then transmitted if the data state in it has changed Transmission type 0 thus combines event driven and time driven tr
181. xX I O modules In addition to the corresponding device profile the following extensions are available e Minimal NMT boot up master Object 2000H e I O filtering Object 2010H e PowerFail configuration Minimal NMT boot up master The minimal NMT boot up master function enables operation of sysWORXX I O devices without NMT master present on the network This function handles the transmission of a NMT boot up message after a given delay time has expired Two object entries Object 2000H Subindex 01H exist to control this function Refer to Table 25 for detailed information Any change of settings for this function is stored to non volatile memory immediately after write access independent of the common load save mechanism provided with Object 1010H and Object 1011H To activate the new settings a reboot by reset or power on is necessary Powerfail configuration The monitoring of main voltage by power fail can be deactivated If it is deactivated no emergency message and no reset is generated if main voltage drops under power fail level see 9 VO filtering This function implements a bit wise applied filter for digital inputs on the sysWORXX I O modules It allows for selective Enable Disable of digital inputs L 1070e_09 71 Functions Object Dictionary entries Object restored via 1011H 2 sor o SgS aso Ose oa NMT Boot Unsigned8 Auto Auto Configuration access access 1 Object type Subindex

sysWORXX CANopen I/O modules User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents