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sysWORXX CANopen I/O modules User Manual

1. Trunk line _ _ _ _ Terminator Node Node s Nocte gt Node O fa gt Node 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 specific CAN bus network Drop line length Total length of all drop Bit rate single drop line lines 1000 kbps lt 1m lt 5m 500 kbps lt 5m lt 25m 250 kbps lt 10m lt 50 m 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 500 kbps lt 1 2 m lt 66 m 250 kbps lt 2 4m lt 120m L 1070e_07 Connecting Drop line length Bit rate multiple drop lines star shaped 125 kbps lt 4 8 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 07 31 Connecting This s
2. 129 Table 79 CANopen IO X3 technical data part I O neee 130 Table 80 CANopen IO X3 Object Dictionary Device specific part 131 Table 81 CANopen IO X3 parameter description nnee 131 Table 82 CANopen IO X3 default mapping annen eenen eneen 132 Table 83 Accessory for CANopen IO X3 neee neer eneen enneereneen 132 Table 84 CANopen IO X4 device pinout neee eeen eneen 136 Table 85 CANopen IO X4 technical data part common aaneen 138 Table 86 CANopen IO X4 technical data part communication 138 Table 87 CANopen IO X4 technical data part I O neee 138 Table 88 CANopen IO X4 Object Dictionary nnee eneen 142 Table 89 CANopen IO X4 parameter description nnn eeen 144 Table 90 CANopen IO X4 default mapping nnee eneen eneen eneen 144 Table 91 Accessory for CANopen 1O X4 nnee ereen enneereneen 145 Table 92 CANopen IO X5 device pinout nnee eneen eneen 147 Table 93 Device specific LED states for CANopen IO X5 ne 148 Table 94 CANopen IO X5 technical data part common neee 149 Table 95 CANopen IO X5 technical data part communication 150 Table 96 CANopen IO X5 technical data part I O neen 150 Table 97 CANopen IO X5 Object Dictionary nnen 154 Table 98 CANopen IO X5 parameter description nnn eeen 157 Table 99 CANopen IO X5 de
3. 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 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_07 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 000H 80H node ID This command is used to reset one or all nodes on the network Reset_Node COB ID 2 byte data 000H 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
4. L 1070e_07 137 Analog I O modules Common Maximum Typical 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 Same cece compliant to segmen CiA 120 and Isolation voltage 1kV BOLIDE 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 I O 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 0 5 PE Accuracy at 12 bit Common ADC solution 12 bit 14 bit optional Sampling rate 7 12 5Hz 8ch 100Hz 1ch Table 88 CANopen IO X4 technical data part I O 21 The sampling rate decreases with the number of inputs enabled 138 L 1070e 07 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
5. 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 09 4 Digital Output 89 20 Digital Output 139 20 Block diagram 24VDC LED Display Temp sensor EEPROM GND DO 0 23 CANGND ip Embedded i T Processor Contig switches Reset Watchdog Powersupply 24VDC Figure 34 CANopen IO X3 block diagram 128 24VDC GND Digital I O modules Technical data Common Typical Maximum Vepu 24V DC 20 Power supply Vio 24V DC 20 Current lcpu 0 05A consumption I Os inactive lio 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 10kBi
6. Event timer Unsigned16 TPDO2 Record 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 parameter Record PDOMapPar ProgramControl VAR from firmware Unsigned8 version 1 30 Table 18 Object Dictionary Communication Profile 10 Up to 4 TPDOs are available on the sysWORXX I O modules depending on module type L 1070e 07 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 07 Functions 8 2 CANopen Communication Services Introduction This section provides generic information about the CANopen communication services implemented on the sysWORXX 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
7. nnen ereen 183 Troubleshooting str smerrstan edb a a Sees 184 Module Dimensions iscia aitaan 187 Bus cable and termination resistors anneer eneen 188 Table of Contents This page was left empty intentionally Index of Tables Index of Tables Table 1 CANopen I O module overview anneer eneeeenene enen 12 Table 2 Component overview nennen eneen eneen eneen enneerenveneerennenn 13 Table 3 Selection Guide for I O modules nennen eneen eneen 15 Table 4 Electrical maximum configuration annen 16 Table 5 Mounting dimensions nnn eneen enne erenneeeenenneeeenenneeeenneen 17 Table 6 System startup after certain events nnn aren en ee neeeenenn 23 Table 7 Considerations for 24VDC power supply eenen 24 Table 8 Protection from external electrical interference neen 24 Table 9 Protective Measures sr smenrssernennsnedn eenderde innen dandendenhee dennen 26 Table 10 CAN bus interface connector pinout nnen eneen eeen ennenen 28 Table 11 Drop cable length single drop line nnn eneen 30 Table 12 Drop cable length multiple drop lines nnn enen 31 Table 13 CANopen tools overview nnen eneen enen enneeeeneene eeen 38 Table 14 Supported bit rates of the CANopen IO devices 41 Table 15 Object Dictionary entries for store restore parameter 1010H 1011H dei enen E eneen va erase va ended elec 48 Table 16
8. 140 152 176 6126M rsr tn Goi 176 OT2ZM een err e 176 6131H eeens 140 152 176 6132H renee 141 153 177 6150H ee 141 153 177 112 130 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 Type 142 154 178 Al Status eee 143 155 179 AO Fault FV Leece 167 AO Fault mode eee 167 AO Output type ossosa 167 COB ID Emergency message 92 COB ID SYNC eects 78 COB ID used by PDO osise 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 eee 73 Error Count 87 Error mode output 8 Bit 114 131 Error Register 86 Error value output 8 Bit 114 115 131 Event timer 40 snrennsers eerdere rade 59 Filter constant of digital inputs 8 Bifiene 113 123 Filter Constant output 8 Bit 114 131 Global interrupt enable 8 Bit 113 123 Guard Time aaaeeeaa 99 Inhibit TiM nanne 59 Interrupt mask any change 8 Bit Wishanigithiat a teen alten 113 123 Interrupt mask high to low 8 Bit dansles lln Set edn 114 124 Interrupt m
9. 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 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 100gec for AOO pulslength 100ms If the application requires retrigger functionality 6 Configure the retrigger value of the outputs Object 2012H e g 01H for
10. Parameter Consumer Heartbeat Time Description Specifies the maximum time to wait for a Heartbeat 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 Consumer Time must be greater than the Heartbeat Consumer time as there might are delays in transmission of the Heartbeat message Producer Heartbeat Time Specifies the time between transmission of two Heartbeat messages in milliseconds Default value OOH disabled Table 51 Parameter description for device guarding configuration Reference 100 CiA 301 V4 02 L 1070e_07 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 sysWORXxX 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 elec
11. 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 effect 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 07 39 Configuring 40 Note Table 119 on page 184 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 Figure 15 Example for a node ID setup on hardware switches Configuring the CAN bus bit rate The third hardw
12. Classes Unsigned8 Communication Errors Unsigned8 6206H Error Mode Output 8 bit Unsigned8 6207H Error Value Output 8 bit 6340H AO Fault Mode Unsigned8 7341H AO Fault Value Integer16 Unsigned8 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 description for detailed information i Objects 6206H and 6207H are only available on modules with digital outputs IO X1 IO X3 16 Objects 6340H and 7341H are only available on modules with analog outputs IO X6 L 1070e_07 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 01h No change of NMT state 02h Switch to NMT state STOPPED Default value 00H 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
13. 1 enable 0 disable Default value OOH Specifies the input lines that generate an event upon positive and or negative edge detection Interrupt mask any change 8 Bit 0 interrupt disable 1 interrupt enable Default value FFH Specifies the input lines that generate an event upon positive edge detection Interrupt mask low to high 8 Bit 0 interrupt disable 1 interrupt enable Default value OOH L 1070e 07 123 Digital I O modules Parameter Description Specifies the input lines that generate an event upon negative edge detection Interrupt mask an high to low 8 Bit 0 J interrupt disable 1 interrupt enable Default value OOH Table 74 CANopen IO X2 parameter description Default mapping of I O PDO TPDO1 Mapped objects 3 Mapped obj 1 DIO_7 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
14. Commissioning nnen 169 CANopen IO X6 ACCESSOLY sarravsenarnetean ttds 169 CANopen IO X7 Error behaviour ee 174 CANopen IO X7 annae 170 Block diagram nnee 172 LED display nn 171 Manufacturer specific functions 174 Module pinout ne 170 Properties aanne 170 Technical data eee 173 CANopen IO X7 Object dictionary 175 CANopen IO X7 Parameter description 178 Index CANopen IO X7 Default mapping nnen 181 CANopen IO X7 Commissioning nnen 182 CANopen IO X7 ACCESSO aen hee ea 182 CANopen PLC C14eco nsss 8 CDM See CANopen Device Monitor CIA 301 oiiire neiaa 4 6 GIA 302 Sarin enerverende 4 10 CHA 304 ziener sneerzerernerte edn setiesen 4 GIA 3055 stennis 33 40 42 CIA 306 iiinis 5 CiA 401 4 CIA 402s gk 4 GiAA405 5 nseearerererensneennneevensneenn 4 10 CIA 406 aen eaneneneneenneererennenereens 4 Commissioning anna vaneen 51 Startup of the sysWORXX I O MOGUIES raars nemende 52 Communication method Event driven 63 Individual polling 64 Synchronized 64 Timer driven nn 64 Communication Parameter Set 61 Communication Services 61 Compact system Components of the sysWORXX CANopen I O modules Configuring Basic device configuration 39 bit rat renrsrenrteerersrdt natte 40 CANopen networks 33 Defining the sys
15. 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_07 191 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 Uon Output voltage high Uou Output voltage low Uin Input voltage high Ui Input voltage low lon Output current high loc Output current low In Input current high tor Output turn off time ton Output turn on time 192 L 1070e 07 Index Index Analog input module 135 146 170 Analog output module 160 Application planning nn 15 bitrates isisisi seraaransersaasa sers tndinsodsens 42 CAN interfaces CAN Ethernet Gateway 11 USB CANlog CAN interfaces USB CANmodul1 10 USB CANmodul2 10 CAN GND 545520 iia irnir 28 CAN_H GAN letteren denke trctecctattcet wutbaceccteameres 28 CAN SHLD i arseen 28 CAN VEn n n 28 CANopen Configuration Suite 46 CANopen configura
16. 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 07 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 110 CAN 2 0B passive Same ink compliant to segmen CiA 120 and Isolation voltage 1kV 19071103072 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 I O 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 Sre aus 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 3ps channel Table 105 CANopen IO X6 technical data part I O Manufacturer specific functions The CANopen IO X6 supports the following device specific manufacturer extension L 1070e 07 163 Analog I O modules e Channel Calibration Object 2400H e for Production only Object 2500H
17. 300 10000kbps 5 EEKE EEE EERE is RI con ene E ie BA E E E A A E me tk ak In A EREN ee Ed LELIE ie oft ae tater NE Eft Aen VET ELKE ie Te a IN he Eat AAN EA LT ETET LDL m ft akon AE fee OTE VT ETET OLSENE ie Th IEN he Pipette eN VTA ie eneen m fk Mot tenn AE Pie te AAN LAER LEL LE EEA ho Liet AN Nee N ei ee ELEN Ne Sik Ate APA Ren Ea 1000kbps lt 1m 1000kbps 20m 1000kbps HHH EEEE EDE l ARTE RE ie TAT LEET ELKE DIE IN i a ONE He BLT t ek HD lt 100m 500kbps LLT g LLL ELEN iy et rand ee N eener m oft O LE eenen a EEL m LEEN IN lt 250m 250kbps Ke LELIE LLL l Ann Pe Kd LLL LEEK ie if LLL EEA LEE LLN il het NN 100kbps 4 E TNT LEENE desi NOS NN ni A i en Ah EE LEL LLL ne Pye ae tee LT eenen m fe ennai i Bih ae thal EELKE m HE te HEI he Cit Od 1000m 50kbps i eee m fh sh r E N Vi the WP ae le eae eT Te TE Tee me fh nh aaa ho edet Te at R T E EA E O N Rede ELR OT eT Te me fh eae ie Seko ant Pooma 20kbps i ean mf Ad afia he Vil ae E LNE 10kbps E EE SLE ie ek enh lt 5000m 10kbps E E V s CAN bus length Ss v S v Table 120 CAN bus length versus bit rate 188 L 1070e_07 Appendix A figure of 40m at 1 Mbit s is often found in the CAN literature 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
18. 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 analog outputs Refers to module CANopen IO X6 88 L 1070e 07 Error behavior and system messages Error condition 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 Emergency Description error code 0000H No e
19. I O connector 1 10 Current output 0 2 UO Voltage output 0 3 GND GND channel 0 4 GND GND channel 1 5 11 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 I6 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_07 161 Analog I O modules LED display Channel state LED field On if channel is enabled Channel output type LED field l Mode On if channel configured is for current measurement 10e Analog Output 0 4 MOOO0040000 U Mode Channel output type LED field On if channel configured is for voltage measurement Block diagram LED Display Temp sensor EEPROM CAN RS485 cann CAN Bus CANL Technical data 162 Embedded Processor BENS CANGND Config switches 24VDC Reset Powersupply Watchdog 24VDC GND Figure 41 CANopen IO X6 block diagram Common Typical Maximum Power supply Vepu 24V DC 20 Current consumption lepu 0 09A I Os inactive Storage
20. Table 116 CANopen IO X7 parameter description Default mapping of I O PDO TPDO1 TPDO2 TPDO3 TPDO4 180H 280H 380H 480H SORA 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 O5H 08H 07H 08H All Al3 Al5 Al7 Mapped object 3 data byte 3 4 7130H 7130H 7130H 7130H 02H 10H 04H 10H 06H 10H 08H 10H g Al1 State Al3 State Al5 State Al7 State Mapped object 4 data byte 5 6150H 6150H 6150H 6150H 02H 08H 04H 08H O6H O08H 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 ADCyaiue AL EJKLT Gain x Al_EJKLT_Offset_x Al Scaling Factor_x Al Scaling Offset_x FV FV1 2 222154 yV Digit thermocouple sensor type R and S FV1 ADCvatue AL_RS_Gain_x Al_RS_Offset_x Al Scaling Factor_x Al Scaling Offset_x FV FV1 0 755386 yV Digit L 1070e_07 181 Analog I O modules x means number of Al channel The calculation of 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 s
21. before scaling 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 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 SE node ID node ID node ID node ID Mapped objects 4 4 4 4 M gebiedt Alp Al2 Al4 Al6 apped objec 7130H data budel 7130H 7130H 7130H 2 OIE On 03H 10H 05H 10H 107H 10H Ald State Al2 State Al4 State Al6 State Mapped object 2 data byte 2 6150H 6150H 6150H 6150H 01H 08H 03H 08H O5H 08H 07H 08H All Al3 Al5 Al7 Mapped object 3 data byte 3 4 7130H 7130H 7130H 7130H 02H 10H 04H 10H O6H 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 O6H 08H 08H 08H Table 100 CANopen IO X5 default mapping 4 A mapping entry consists of Object Subindex Datasize of mapped data L 1070e_07 157 Analog I O modules Relation between Fieldva
22. configuration error An overview about the LED display is given below JO Power Run SUS WORX Error LED Automation Series Run LED Error Digitalinput 0 01410 90 Digitalinput 8 OO 0120 O Digital Input 160 O20 Power LED CANopen IO X2 VO state LED field L 1070e_07 81 Error behavior and system messages Description of LED states 82 Flickering Blinking oo 200 Single Flash 2 1000 Double Flash 22912001200 1000 Triple Flash 229 200 200 200 200 1000 time ms Figure 26 LED blinking cycles of the sysWORXX I O modules NMT state Description The device is in NMT state OPERATIONAL The device is in NMT state PRE OPERATIONAL The device is in NMT state STOPPED LSS service in progress Always On OPERATIONAL Blinking PRE OPERATIONAL Single Flash STOPPED OPERATIONAL or Flickering PRE OPERATIONAL alternate flickering with Error LED Configuration error Synchronous p blinking with INITIALIZING A wrong configuration Error LED selected at hardware switches en Hardware error riple Flas ike Error INITIALIZING Hardware error detected LED during internal diagnostics Table 28 Description of Run LED states Error LED NMT state Description states The device is operating under Of normal conditions No error OPERATION
23. 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 transmitted 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 late
24. interconnected externally G gt PE Components and protective measures Regulations stipulate the implementation of diverse components and protective measures when installing the plant 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 7 DIN VDE 0100 DIN VDE 0113 to Figure 9 Disconnecting devices for control systems signal Part 460 main Part 1 mains generators and switch en nem final control elements L 1070e_07 25 Connecting For Reference DIN VDE 0100 DIN VDE 0113 to Figure 9 Part 1 Short circuit and Part 129 grounded Single pole secondary overload pe 20 fusing of power circuit protection HAS circuits single pole fusing Part 430 Protection of Line protection cables and lines against over current Table 9 Protective measures Overall configuration of a sysWORXX 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 LIG L2 o L3 o N o PE o sysW ORXX I O module ee ei Cn o e e L1 N Cm 8 e e e e E E E 5029808000508 868 Figure 9 Electrical configuration of the sysWORXX I
25. passive eee compliant to 9 CiA 120 and Isolation voltage 1kV 190 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 I O Minimum Maximum Digital outputs DOO 8 Uon at lon 500MA Vio 0 16V lt Uon lt Vio UoL at lot OmA 0 5V Current limitation 2 8A lon max Maximum 24V DC output high current o side switch transistor Polyswitch 2A ESO protected lor off 10pA torr at lon 500 mA 115us 190us ton at low 500 mA 75us 125us Digital inputs DIO 15 Un 15V 30V 24V DC inputs Ur 3V 5V lin Uin 5 6 2700 3 5mA 9mA Table 64 CANopen IO X1 technical data part I O L 1070e_07 109 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 followin
26. 110 CAN 2 0B passive oes compliant to 9 CiA 120 and Isolation voltage 1kV 190118982 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 I O Minimum Maximum Digital inputs DIO 23 Union 15V 30V Uintow 3V 5V 24V DC inputs In 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 error behavior Please refer to Section 9 4 for configuration of error behavior on communication errors L 1070e_07 121 Digital I O modules Object dictionary pa 2 O Ke o raf ke gt N o in Disable digital input 8 Bit 2010H Array see Section 8 4 on Unsigned8 x x page 71 Array Read Digital Input 8 Bit Unsigned8 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
27. 1GB size Selective Triggers and message filters External power supply 9 30VDC CAN Ethernet Gateway Supports all higher layer CAN protocols Up to 4 connections per device High speed transmission of CAN messages bulk High precision timestamps for CAN frames ASCII based device configuration Telnet or RS232 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 sysWORXxX 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 07 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 3001
28. Array EEn vat Unsigned32 X 00H Number Of Entries Unsigned8 6131H 01H en Unsigned32 07H eo eee Unsigned32 176 L 1070e_07 Analog I O modules Array ees Digits Unsigned X X 00H Number Of Entries Unsigned8 Al0_Decimal_Digit 6132H 01H s PV Unsigned8 Al7_Decimal_Digit F 07H s PV Unsigned8 Array Al Status Unsigned8 X 00H Number Of Entries Unsigned8 6150H 01H AlO Status Unsigned8 07H Al7_Status Unsigned8 Array Al Input FV Integer16 X OOH Number Of Entries Unsigned8 7100H 01H AlO Input FV Integer16 07H Al7_Input FV Integer16 Array Al Input PV Integer16 X 00H Number Of Entries Unsigned8 7130H 01H Al0_Input_PV Integer16 07H Al7_Input PV Integer16 L 1070e_07 177 Analog I O modules Al Interrupt delta Input PV Array Integer16 x X 00H Number Of Entries Unsigned8 AlO_Interrupt Delt 7133H 01H a_Input PV Integer16 Al7_Interrupt_Delt 07H a_Input PV Integer16 Array Al Interrupt lower Integer16 x x limit Input PV 00H Number Of Entries Unsigned8 AlO_Interrupt Low 7134H 01H er_Limit_Input_PV Integer16 Al7_Interrupt_Low O7H er Limit Input pv Iteger16 Array Al Interrupt upper Integer16 x X limit Input PV 00H Number Of Entries Unsigned8 Al0_Interrupt_Upp 7135H L ut 01H er_Limit_Input_PV Integer16 a AI7_Interrupt_Upp
29. Fail Enable or disable Power Fail monitoring Interrupt Enable meat s 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 manufacturer specific extensions References CiA 301 V4 02 L 1070e_07 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 type Subindex Object stored via 1010H Object restored via 1011H Record Identity Object Identity 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
30. I O PDO RPDO1 COB ID 200H node ID Mapped objects 3 Mapped obj 1 DOO_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 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 1 jumper for the CAN bus termination Table 84 Accessory for CANopen IO X3 2 A mapping entry consists of Object Subindex Datasize of mapped data 132 L 1070e_07 Digital I O modules References CiA 303 1 V1 3 CiA 303 3 V1 2 CiA 301 V4 02 CiA 401 V2 1 L 1070e_07 133 Digital I O modules This side was left empty intentionally 134 L 1070e_07 Ana
31. I O modules References CiA 303 1 V1 3 CiA 303 3 V1 2 CiA 301 V4 02 CiA 404 V1 2 L 1070e_07 159 Analog I O modules 12 3 CANopen IO X6 analog output module 8AO U I Order No and options 3001006 Properties Module pi CANopen IO X6 galvanic isolated CAN 10 bit DAC 8 analog output each configurable as current or voltage output 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 nout UO U1U2 U3 UAL US U U7 AO 0 Satie Esha Lielie ir OPower Run Error Automation Series Mode eee dee AndogOupt 09 OOC lt 0 U Mode KI IE III Sys TEC CANopen IO X6 EM RST L 0G DC 24V High Low Baud rate Node ID CANterm 120R CAN Jajo amm 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 160 L 1070e_07 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
32. 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 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_07 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
33. 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 5dec thermocouple sensor type R 6dec thermocouple sensor type S 178 L 1070e_07 Analog I O modules Parameter Description 4 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 OOACOOOOH F Default value 002D0000H C Specifies the number of decimal digits following the decimal point for interpretation of data type Integer16 Example ae A process value of 98 2 C will be coded as 982 sec Al Decimal Digits in Interger16 format if the number of decimal digits PV is set to 1 and 98uec if number of decimal digits
34. O modules 26 L 1070e_07 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 bar Fuses for line protection 4 3 Connecting the CAN bus Introduction This section provides an overview on how the sysWORXX 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 Shield 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 07 27 Connecting CAN bus interface connector pinout on the sysWORXX I O modules 2 3 5 O O O IN Figure 11 CAN bus interface connector pinout Pin CAN bus signal Description CAN_GND CAN_L n c 1 2 3 4 CAN_H a CAN _V connected to L on modules without galvanic isolation not used on modules with galvanic isolated CAN
35. 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 sysWORXX I O modules feature a so called simple boot up NMT master implemented as manufacturer specific extension See Section 8 4 for more information 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_07 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 CANo
36. Reference 94 CiA 301 V4 02 CiA 401 V2 1 CiA 404 V1 2 L 1070e_07 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 sysWORXX I O module implements a CANopen NMT slave device This enables a Network Management Master e g a PLC to watch 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 sysWORXX 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 en eet Pre Operational Ll Figure 28 The NMT state machine NMT commands 6 Start Remote Node 7 Stop Remote Node 8 Enter PREOPERATIONAL State 10 Reset Node 11 Reset Communication 12 Boot up message In state INITIALIZATION the CANopen data structures e g Object Dictionary of a nod
37. SDO abort codes for store restore configuration 49 Table 17 Commissioning requirements nnen nennen nennen enneneneeeenenennenen 51 Table 18 Object Dictionary Communication Profile ee 59 Table 19 TPDO transmit trigger options anneer eneen eeen 64 Table 20 Transmission type parameter overview nennen venen 65 Table 21 Transmission type description neee eneen eneen 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 eee 74 Table 27 Parameter description Identity Object neen 75 Table 28 Description of Run LED states nennen oneens 82 Table 29 Description of Error LED states anneer ennen venen ennenn 83 Table 30 Description of configuration and hardware error signaling 84 Table 31 User action required for error events nnn ennen 84 Index of Tables Table 32 Object Dictionary entries for error data on the sysWORXX I O devices winabar redire denn eere anda may hota tanende eenden delen 86 Table 33 Parameter description for error data nnee eenen 87 Table 34 Error conditions for digit
38. X3 block diagram ane eneen eneen eneen 128 CANopen IO X4 device schema anneer eneen ennen eneen 135 CANopen IO X4 block diagram aaneen eneen 137 CANopen IO X5 device schema nennen eneen eneen 146 CANopen IO X5 block diagram 3 wire connection 149 CANopen IO X5 block diagram 2 wire connection 149 CANopen IO X6 device schema annae eneen eneen 160 CANopen IO X6 block diagram anneer eneen eneen 162 CANopen IO X7 device schema nnn anneer eneen eneen 170 CANopen IO X7 block diagram nennen eenen eneen 172 General description 1 General description 1 1 What are distributed I O systems Process 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 cha
39. ae a die eddies anitae nde de deed cts 23 Operation of sysWORXX I O modules on grounded reference potentialen a a falese deed bn dente eenen desen aes 25 Connecting the CAN Dus nnee en eneneeeneenenenneeeee eeen enn 27 CONFIGURING n scananen on senrsndarsinaetenendnonreweneannevenenesn 33 General rules for configuring CANopen networks 33 Basic device configuration anneer eeneerenneeeen eneen 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 anneer eeen 48 Resetting to factory settings anneer neer 50 COMMISSIONING annen enennneeeeee ere eenenn 51 Commissioning of the sysWORXX I O modules 51 Startup of the sysWORXX I O modules nnee 52 MAINTENANCE AND SERVICE 55 Removing and inserting I O modules nnen eneen 55 FUNCTIONS asseanersevernsennrnsanssennsnseeiedsseedeessvedenen vande 57 The Object Dictionary of the sysWORXX I O modules 57 CANopen Communication Services neee ennen 61 Internal diagnostics and monitoring functions eee eeeeeees 69 Manufacturer specific extensions annen eenen eneen 71 Device identification data nennen eneen e
40. 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 when running in master manager Test amp Commissioning Operation L 1070e_07 37 Configuring Tasks Scope of use Tool device 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_07 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 sysWORXxX 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
41. 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 O modules L 1070e_07 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
42. 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 bO 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_07 147 Analog I O modules LED display Channel state LEDfield On ifchannel isenabled AND lowertimit lt PV lt uppersimit Channel PVstate LEDfield On ifprocess valueexceeds uppertimit configured in Object 7135H gt Max 0000 0000 L Temp Input 10000 0000 Eo 7000040000 Channel PVstate LEDfield On ifprocess valueexceeds lowerimit configured in Object7134H Condition LED states EMCY trigger PV gt Upper Yellow gt MAX state LED n Limit PV upper on Short Circuit Yellow gt MAX state LED be PV lt Sensor upper blinking y Range Limit Channel enabled Green Temp Input LED on no PV lt Lower Yellow lt MIN state L
43. digital inputs on the sysWORXX I O modules It allows for selective Enable Disable of digital inputs L 1070e_07 71 Functions Object Dictionary entries Object restored via 1011H 5 gt o x SgS TL5 ose 7 NMT Boot Unsigned8 Auto Auto Configuration access access Object type I Subindex 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 DI8_DI15 Disable Unsigned8 DI16_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 Enable or disable the NMT boot function 0 disable NMT Boot enable 11 Value is stored to non volatile memory immediately after write access to the Object 12 Object 2001H is described in Section 8 4 Table 23 on page 70 72 L 1070e_07 Functions Parameter Description A 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
44. 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 eere eeens 1 What are distributed I O systems annen ennen eneen 1 Main characteristics of CAN nnee eeen enneneereneerennn 1 What iis GANOpen 2 12 2 0 oie ta tenen Medien eee ei baie 3 The sysWORXX Automation Series nennen neer 8 CANopen N O modul8S nnen carea 11 Components of the sysWORXX CANopen I O modules 12 HMI elements on the sysWORXX I O modules 14 APPLICATION PLANNING eee 15 Compact system design nanne eneen enne ee ennen eenen 15 Selection guide for I O modules nanne eenen eenen 15 Maximum configuration nnee enneeeen enne erenneneen eneen 16 MOUNTING na sasseonineerseersensensneineerserssers verwa ahi aeai sE 17 Rede e S a a a bn dd 17 Installing the I O modules nnn oneens enneeeenn 17 Installing the wiring to the connectors nnee eeen 18 Setting the CANopen node ID bit rate and the terminating resistor EERE ALE EERE EEn ECTP 20 CONNECTING inssnonermneeneden neee 23 General rules and regulations for operating the sysWORXX I O Modules
45. faults For all systems or plants that contain a sysWORXxX I O device make sure that the system is properly grounded in order to allow the EMC conformant discharge of 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 07 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 sysWORXxX 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
46. for configuration of error behavior on communication errors Object dictionary 2500H Array for Production only OOH Number Of Entries Unsigned8 01H reserved Unsigned32 02H manufacture date Unsigned32 03H calibration data Unsigned32 04H pAl O_U_ Gain Real32 05H pAl 0 U Offset Real32 06H pAl 1_U_ Gain Real32 07H pAl_1_U Offset Real32 12H pAl_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_07 139 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 Unsigned Number Of Entries Unsigned8 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 Real32 Unsigned8 Number Of Entries Unsigned8 Al Scaling Offset 0 Real32 Al Scaling Offset 7 Real32 6131H Array Al Physical Unit Unsigned32 X PV OOH Number Of Entries Unsigned8 01H ene Unsigned32 140 L 1070e_07 Anal
47. 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 10dec corresponds to 1 0 C under default settings Note L 1070e_07 179 Analog I O modules 180 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 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 i
48. 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 07 Functions 8 3 Internal diagnostics and monitoring functions Introduction The sysWORXX 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 below If this happens please contact our support team for further instructions 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 condit
49. 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 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 328 5 C will be coded as 3285 in Integer16 format if the number of decimal digits is L 1070e 07 Analog I O modules Parameter Description 4 set to 1 Default value 200 C Al Input FV This object contains the field value
50. of Output 8 Bit Unsigned8 01H DOO_DO7_ErrorMode Unsigned8 130 L 1070e 07 Digital I O modules o o 2 2 0 0 Array Error Value Output 8 Bit Unsigned8 x x 6207H 00H Number of Output 8 Bit Unsigned8 01H DOO_DO7_ErrorValue Unsigned8 Array ee Constant Output 8 Unsigned8 X 6208H 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 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 L 1070e_07 131 Digital I O modules Default mapping of
51. of 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
52. on the hardware switches to enable a normal startup behavior of the sysWORXX module 42 L 1070e_07 Configuring Procedure In the following the procedures of configuring a sysWORXX 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 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 2 CANopen Device Monitor 3 1 2 Node 64 File Edit View Connection Extras Windowg Y Nodedafe4 Set Load the LSS plug in and go to the LSS tab sheet Action NMT Description PDO Process Chart Network Node LSS Devices Node VendoriD Seia 3 There are two ways of adding nodes to the node list for L 1070e_07 configuration a Right click on the node list to add an already configured node for changing its node ID Add configured device Remove device from list b Scan the network for unconfigured devices according to some search criteria Action NMT Description PDO Process Chart LSS Network Node LSS Devices Node VendonD Product Revision Seria Vendor ID Ox3F fo
53. protocol 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_07 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 OSI Layer 1 2 protocol As a higher layer protocol for general industrial application CANopen was specified by the CAN in Automation CiA and applie
54. 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 Slide it into the working position L 1070e_07 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 07 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 ph
55. support remote configuration via LSS according to CiA 305 V1 1 Layer Setting Services according to CiA 305 L 1070e 07 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 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
56. switches digital 24 DI 24V DC CANopen IO X2 sensors 8 DO 24V DC Switching solenoid 0 5A CANopen IO X1 valves DC contactors IDE signal lamps 7 g p 24V DC 0 5 A CANopen IO X3 Switching piloting 8 AO proportional valves 0 10 V servo drives 4 20 MA CANopen I0 X6 proportional actuators 0 20 mA 8 Al Voltage measurement 10 V CANopen IO X4 0 10 V 4 Al Current measurement 4 20 mA CANopen IO X4 0 20 mA Measuring low to SAID PT100 CANopen IO X5 medium temperatures PT1000 Measuring medium to if eee high temperatures up dn eJ K L CANopen IO X7 to 1870 C a T A Table 3 Selection Guide for I O modules L 1070e_07 15 Application planning 2 3 Maximum configuration Maximum number of nodes on the CAN bus The CAN bus drivers used on the sysWORXX 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 i
57. 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 disabled on the NMT slave node by setting the Guard Time Object 100CH or the Life Time Factor Object 100DH to 0 ede A B 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 17 See Table 51 on page 100 L 1070e_07 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 Heartbea
58. 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 A mapping entry consists of Object Subindex Datasize of mapped data 124 L 1070e_07 Digital I O modules 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 CiA 303 3 V1 2 CiA 301 V4 02 CiA 401 V2 1 L 1070e_07 125 Digital I O modules 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 Power Run Error Digital Output 9 4
59. upon reception of next SYNC message Output da command Figure 23 Synchronized communication principle in CANopen Object Dictionary entries ta messages time v x 58 HETTE Ek eS cp TA Sr Oos le o 7 gt 1005H Var COB ID SYNC Unsigned32 X X 00H COB ID SYNC Unsigned32 1007H Synchronous Var Window Length Unsigned32 X X Synchronous 8 00H Window Length Unsigned32 Figure 24 Object dictionary entries for SYNC L 1070e_07 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 S
60. value assigned by the vendor specifying the device type For the sysWORXX I O modules this Subindex contains the order number of the device 13 CAN in Automation http www can cia org 74 L 1070e 07 Functions Parameter Description Revision This Subindex 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_07 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 o
61. 005 CANopen IO X7 8 TC 12 bit 3001006 Table 1 CANopen I O module overview Installation The sysWORXX 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 sysWORXxX 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_07 General description Component Function ER 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 b
62. 1014H Var Emergency Unsigned32 X X Message L 1070e_07 57 Functions 2x S I 58 g gt PE ec o3 0o 85 ae y on 9 Consumer 1016H Array Heartbeat Time Unsigned32 X x Producer 1017H Var Heartbeat Time Unsigned16 X X 1018H Record Identity Object Identity 1029H Array Error Behavior Unsigned8 X x 4200H Record 1st Server SDO SDO E _ Parameter Parameter Record RPDO1 Communication parameter PDOComPar Largest Subindex supported Unsigned8 COB ID used by PDO Unsigned32 Transmission Type Unsigned8 Inhibit Time Unsigned16 Record Event timer RPDO2 Communication parameter RPDO1 Mapping parameter Unsigned16 PDOComPar PDOMapPar 00H Number of Mapped Objects Unsigned8 01H PDO Mapping 1 App Object Unsigned32 PDO Mapping 8 Unsigned32 Object only available on IO X1 IO X3 IO X6 Up to 4 RPDOs are available on the sysWORXX I O modules depending on module type 58 L 1070e 07 Functions Object type Subindex Object stored via 1010H Object restored via 1011H App Object RPDO2 Mapping PDOMapPar X X 1601H Record parameter TPDO1 Record Communication PDOComPar parameter Largest Subindex supported COB ID used by PDO Unsigned8 Unsigned32 Transmission Type Unsigned8 Inhibit Time Unsigned16
63. 1070e_07 9 General 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 07 General description USB CANlog CAN bus data logger with USB CAN interface Stand alone operation 2 CAN interfaces Supports SD cards up to
64. 16 format if the number of decimal digits is set to 2 AO Output type Specifies the analog output type O0gec disabled 12gec 0 10V 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 AO Fault FV 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 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 manufacture This object contains the manufacture date The object is L 1070e_07 167 Analog I O modules Parameter Description 7 date read only e g 01112007H means 1 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
65. 20 CANopen IO X3 nn 129 CANopen IO X4 en 137 CANopen IO X5 nne 149 CANopen IO X6 n 162 CANopen IO X7 nnee 173 Electromagnetic compatibility 102 General technical data 101 Mechanical and climatic ambient conditions nnen 102 Shipping and storage conditions 102 Standards and certifications 101 Technical Support ne 4 Timer driven nnen enn vennnennnen 64 TN S power supply nne 25 MP DQ 5 57 etrean denied ensen ede see 61 Transmission type 0 65 1 240 nonr ante 65 252 253 rendent 66 2541255 nennen 66 Acyclic synchronous 65 Asynchronous neee 66 Cyclic synchronous 65 RTR ONIY 2 secar aenema 66 Transmission type parameter 65 Trunk lines nnen nnn venneennnen 29 VDE 0100 VDE 0113 Wiring schema nnn nnanne rennen 29 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 A von Complete revision Missing 2006 Mar 195 10 06 01 Collrepp sections added Reformatting 2006 Apr 03 L 1070e 01 2 von Finalizing Pre release Collrepp 2006 Jun 17 L 1070e_01 Avon Release version Collrepp FJ Completion pulsed DO for X1 Jung 2007 Nov 22 L 1070e_02 ee Completion Calibartion Entries for X4 X5 X6 2008 Mar 25 L 1070e_03 F Jung Completion Calibartion Entries for an
66. 24V RST L 0G O n Be _ 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 L 1070e_07 Digital I O modules 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 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 5
67. 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 16 10 48 30 80 50 112 70 17 11 49 31 81 51 113 71 18 12 50 32 82 52 114 72 19 13 51 33 83 53 115 73 20 14 52 34 84 54 116 74 21 15 53 35 85 55 117 75 22 16 54 36 86 56 118 76 23 17 55 37 87 57 119 77 24 18 56 38 88 58 120 78 25 19 57 39 89 59 121 79 26 1A 58 3A 90 5A 122 TA 27 1B 59 3B 91 5B 123 7B 28 1C 60 3C 92 5C 124 7C 29 1D 61 3D 93 5D 125 7D 30 1E 62 3E 94 5E 126 7E 31 1F 63 3F 95 5F 127 7E L 1070e 07 183 Appendix fa 3 Node ID decimal decimal Node ID hex Node ID decimal Node ID hex Table 119 Conversion table from decimal to hexadecimal Node ID 13 2 Troubleshooting Warning limit Bus off indicated on one or more modules 184 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 t
68. 7 Modules suitable for extended temperature range eee 103 Table 60 CANopen IO X1 device pinout nnee ereen eneen 107 Table 61 CANopen IO X1 technical data part COMMON ane 108 Table 62 CANopen IO X1 technical data part communication 109 Table 63 CANopen IO X1 technical data part I O neee 109 Table 64 CANopen IO X1 Object Dictionary Device specific part 113 Table 65 CANopen IO X1 parameter description nnee 115 Table 66 CANopen IO X1 default mapping annen eneen eneen 115 Table 67 Accessory for CANopen IO X1 n eenen enneeeenenneereneen 117 Table 68 CANopen IO X2 device pinout nnee eneen eneen eneen 120 Table 69 CANopen IO X2 technical data part COMMON ane 121 Table 70 CANopen IO X2 technical data part communication 121 Index of Tables Table 71 CANopen IO X2 technical data part I O neee 121 Table 72 CANopen IO X2 Object Dictionary Device specific part 123 Table 73 CANopen IO X2 parameter description annen en eneen 124 Table 74 CANopen IO X2 default mapping nnn nennen eneen neen enennenen 124 Table 75 Accessory for CANopen IO X2 neee ereen eeen enneerenven 125 Table 76 CANopen IO X3 device pinout nnee ennen eneen 128 Table 77 CANopen IO X3 technical data part common nee 129 Table 78 CANopen IO X3 technical data part communication
69. 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 Al Physical Unit py celeulation Possible values 00050000H K 002D0000H C OOACOOOOH F Default value 002D0000H C This parameter specifies the number of decimal digits following the decimal point for interpretation of data type Integer16 Example M A process value of 98 2 C will be coded as 982 sec 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 input not valid e g sensor break short circuit underflow L 1070e_07 155 Analog I O modules 156 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 10dec corresponds to 1 0 C under default settings Note The entered value
70. 8 6 for detailed information on how to use SYNC with the sysWORXX 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_07 Configuring Estimating the bandwidth usage Calculating 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 2 3 Calculate the number of data bytes transmitted e g at each SYNC cycle Example 32 Digital inputs BYTE 4 bytes 4 Analog inputs INT 8 bytes 8 Digital outputs BYTE 1 byte Total 13 bytes 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 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 ma
71. 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 infer that a pr
72. AL or LSS service in Flickerin lity g PRE OPERATIONAL alternate flickering with Run L 1070e_07 Error behavior and system messages Error LED states NMT state Description LED Single Flash OPERATIONAL or PRE OPERATIONAL Warning limit reached At least one of the error counters of the CAN controller has reached or exceeded the warning limit Double Flash OPERATIONAL or PRE OPERATIONAL Error control event A node guarding event or heartbeat event has occurred see Section 9 5 OPERATIONAL or PRE OPERATIONAL Bus off The CAN controller is in state bus off too many error frames on the bus Synchronous blinking with RUN LED INITIALIZING Configuration error A wrong configuration is selected with the rotary switches see Table 30 Synchronous Triple Flash with RUN LED INITIALIZING Hardware error The internal diagnostic functions detect an hardware error during power on and the NMT command Reset Node see Table 30 Table 29 Descript Digital Input output ion of Error LED states statusLED field Digital Input 0 0000 0000 Digital Input 8 O OO2OOOO Digital Output WO0O040000 O stateLED field 1st line Figure 27 Signaling configuration or hardware errors example for baudrate error see Table 30 14 After the Bus off error state has disappeared th
73. AN 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_07 145 Analog I O modules 12 2 CANopen IO X5 analog input module 8RTD Order No and options 3001004 g Properties CANopen IO X5 alvanic isolated CAN 12 bit ADC 8 analog input suitable for resistor temperature devices RTD e g PT100 or PT1000 in 2 or 3 wire connection scheme CANopen device according to CiA 404 V1 2 LED for I O state indication Galvanic isolated CAN bus interface Non volatil Watchdog e storage of configuration data CAN bus termination 1200 resistor via Jumper Module pinout bO b1 b2 b3 b4 Dirie a2 Es a4 L b5 b6L b7 Tle eer Power Run Error Automation Series gt Max 000 ee Temp input 09 lt 0 lt Min 7000040000 24V DC 24V IRST L 0G Sys TEC Node ID High Low CANopen IO X5 Baud CANterm 120R rate CAN i Figure 37 CANopen IO X5 device schema Pin Name Power supply Description connector 1 L 24VDC 20 2 0G Ground 0 for device power supply 146 L 1070e_07 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
74. 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_07 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_07 117 Digital I O modules 11 2 CANopen IO X2 digital input module 24DI DC 24V Order No and options 3001001 CANopen IO X2 Properties e e galvanic isolated CAN 24 digital inputs 24VDC galvanic isolated in groups of 4 inputs 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 Module pinout ooooooooooooooo ooooooooooooooe 118 zel 4 5 6 7 4c 12 13 14 15 ec 20 21 22 23 DI selo 1 2 3 sc e 9 10 11 sc 16 17 18 19 Power Run Error Automation Series Digitalinput 00 O OO 40000 Digitalinput 80 20 OO Digital input 160 20 OOO SYS TEC CANopen IO X2 Baud rate CANterm 120R CAN Node ID High Low 24V DC
75. Digital Output 8 20 Digital Output 16 n Automation Series sys TEC CANopen IO X3 24V DC mal Node ID Baud CANterm 120R RST L 0G High Low rate En Figure 33 Me IO X3 device schema 126 L 1070e_07 Digital I O modules 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 1L 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 digital 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 2L 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 connected to L L 1070e_07 127 Digital I O modules Pin Name Description
76. ED no Limit PV lower on Sensor Fraction Yellow lt MIN state LED es PV gt Sensor lower blinking y Range Limit Table 94 Device specific LED states for CANopen IO X5 Block diagram LED Display Embedded Processor 24VDC Reset Powersupply _ Watchdog 24VDC GND Channel 0 7 148 L 1070e_07 Analog I O modules Figure 38 CANopen IO X5 block diagram 3 wire connection LED Display CANL CANGND Embedded Processor Channel 0 7 24VDC Reset Powersupply L Watchdog 24VDC GND Figure 39 CANopen IO X5 block diagram 2 wire connection Technical data Common Typical Maximum Power supply Vepu 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 71 mm Dimensions High 58 mm Length 95 mm Connection scheme Removable spring type clamp connectors Table 95 CANopen IO X5 technical data part common L 1070e 07 149 Analog I O modules Communication Minimum Maximum bit rate 10kBit s 1MBit s number of nodes supported on 110 CAN 2 0B passive he compliant to 9 CiA 120 and Isolation voltage 1kV ISO 11998 2 CAN_H a
77. Figure 16 restore default reset power cycle a ED y default values valid Figure 16 Restore procedure SDO abort code 0606000H Description Store Restore failed 0800002xH Wrong signature Table 16 SDO abort codes for store restore configuration Reference CiA 301 V4 02 L 1070e 07 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 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 07 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 Section 3 Mounting The module is installed and w
78. G 22 21 digital input 21 24V to 6G L 1070e_07 119 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 120 O Digital input 13O O O O20 OOO Block diagram 24VDC L GND D Display EEPROM CANH Embedded Processor CANL CAN Bus CANGND Config switches Reset Watchdog 24V Figure 32 CANopen IO X2 block diagram Technical data Powersupply DC 24VDC Common Typical Maximum Power supply Vepu 24V DC 20 Current consumption lcpu 0 05A I Os inactive Storage 20 90 C Temperature range Operation 20 70 C Protection class Enclosure IP20 Module weight 130g 120 L 1070e_07 Digital I O modules Common 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
79. H 08H Table 91 CANopen IO X4 default mapping Relation between Fieldvalue FV Processvalue PV and Calibration U mode PVoc FV 6 947 10 PV PVb pAl_x_U_Gain pAl_x_U_Offset Al Scaling Factor_x Al Scaling Offset_x I mode PVoc FV 7 825 107 PV PVb pAlL_x_l_Gain pAl_x_ _Offset Al Scaling Factor_x Al Scaling Offset_x 2 A mapping entry consists of Object Subindex Datasize of mapped data 144 L 1070e_07 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 number 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 C
80. O 11898 Table 113 CANopen IO X7 technical data part communication 5 Only on modules with galvanic isolated CAN bus interface L 1070e_07 173 Analog I O modules Vo 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 eeen ra nge for R 50 C 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 ie ales 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 174 The CANopen 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 correspo
81. O 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 07 103 General technical data This side was left empty intentionally 104 L 1070e 07 Digital I O modules 11 Digital I O modules 11 1 CANopen IO X1 digital 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_07 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 12 131415 py Power Run Error Automation Series Digital Input eee ss Digital Input s0 00000000 Digital Output 0000 00000 SIS TEC CANopen IO X1 24V DC 24vV Node ID RST L 0G High Low Baud CANterm 120R rate CAN fe ee jam Figure 29 CAN
82. PT100 7 Real32 pGain_PT1000_0 Real32 pOffset_PT1000_0 Real32 pGain_PT1000 7 Real32 pOffset_PT1000_7 Real32 reserved Unsigned8 reserved Unsigned8 reserved Unsigned8 Al Sensor Type Unsigned16 Number Of Entries Unsigned8 AlO_ Sensor Type Unsigned16 Al7_Sensor_ Type Unsigned16 6110H Array Al Sensor Type Unsigned16 X X OOH Number Of Entries Unsigned8 L 1070e_07 151 Analog I O modules 152 Al0_Sensor_Type Unsigned16 Al7_Sensor_Type Al Operation mode Unsigned16 Unsigned8 Number Of Entries Unsigned8 AlO_Operation_Mode Unsigned8 Al7_Operation_Mode Al Scaling Factor Unsigned8 Unsigned8 Number Of Entries Unsigned8 Al Scaling Factor 0 Real32 Al Scaling Factor 1 Al Scaling Offset Real32 Unsigned8 Number Of Entries Unsigned8 Al Scaling Offset 0 Real32 Al Scaling Offset 1 Al Physical Unit PV Unsigned32 Number Of Entries Unsigned8 AlO_Physical_Unit_P Vv Unsigned32 Al7_Physical_Unit_P Vv Unsigned32 L 1070e 07 Analog I O modules Al Decimal Digits Unsigned8 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_Statu
83. Product Revision Seria Al 3 Click on Set Bit rate and select the new bit rate from the dialog that appears EAEE xj Selected new baud rate e 1000 kBit s 800 kBit s 500 kBit s 250 kBit s 125 kBit s 100 kBit s 50 kBit s 20 kBit s 10 kBit s Cancel 4 Click on Store to save the changes to non volatile memory eeeereeeee 5 Click on Activate to take the changes into effect 6 The hardware configuration dialog appears Switch your CAN interface hardware to the new bit rate and reconnect to the network You are done 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_07 45 Configuring 5 4 Configuring with using Device Configuration Files DCF Introduction This section provides an overview about how to configure a sysWORXX 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 to
84. SSAJES annae ennen 81 Error conditions analog inputs nnee 88 analog outputs nne 88 digital outputs eee 88 integrated power supply and diagnostics ne Event driven nennen enn eeen Extended temperature range FUIICAN ci enb Functions nnssrssererservesererse vwerdsnonseden Communication Services 61 Device identification data 74 Internal diagnostics and monitoring69 Manufacturer specific extensions 71 Object Dictionary eeaeee 57 Synchronized operations 76 General rules and regulations Operating the sysWORXX I O MOUUIGS neren tavernes 23 Guarding Heartbeat nnee 98 Life Guarding nnen 97 Node Guarding 97 Node Life Time nnee 99 Heartbeat 20500 osrservverorage sersnreers 98 Heartbeat Consumer 98 Heartbeat error ee 99 Heartbeat Producer 98 I O filtering Identity Object nanne 74 IEC 60364 4 44 ooo eeeeeeceeeeeeeseeeeeeeee 25 IEC 61131 3 Controls 8 IEC 61131 3 IDE 0 00 eeeeeeeeeeeeeeeeeeeeee 9 Individual polled 64 Inhibit Time Inhibit Timer nanne venvennnennnenn 63 Installation 17 Connectors eect eeneeeeees 18 WO modules irsini rii raia 17 Setting the node ID and termination RI te Nett ee Oe ae Ni las 20 Internal diagnostics and monitoring functions cece ceseeeneeeeeeeenenenenees 69 ISO 11898 1 eneen 1 ISO 11898 2 nn unia 1 6 Layer Setting S
85. SYS TEC Automation Series sySWORXX CANopen I O modules User Manual Document number L 1070e 07 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 135 Appendix 183 A The following supplement is part of this documentation none Release 04 2010 L 1070e_07 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 taken
86. 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 This is the common ground used by the CAN CAN_GND nodes This might not be needed 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_07 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 ry y t Y Opto Opto Opto Opto coupler coupler coupl r coupler A v Yy Transceiver Transceiver i CAN_L R Termination ATEN iR aa Resistance I i CAN_GND Figure 13 Wiring sc
87. 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 OOH Number Of Entries Unsigned8 01H reserved Unsigned32 02H manufacture date Unsigned32 03H calibration data Unsigned32 04H pAO_O_U Gain Real32 05H pAO 0 U Offset Real32 06H pAO_1_U Gain Real32 164 L 1070e 07 Analog I O modules pAO_1_U_ 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 Unsigned32 Number Of Entries Unsigned8 AOO Physical _ Unit PV Unsigned32 AO7_Physical_ Unit_PV AO Decimal digits PV Unsigned32 Unsigned8 Number Of Entries Unsigned8 AOO Decimal_ Digits_PV Unsigned8 L 1070e 07 AO7_Decima
88. YNC 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 transmitted 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_07 Functions References CiA 301 V4 02 L 1070e 07 79 Functions This side was left empty intentionally 80 L 1070e 07 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 sysWORXX 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 ki 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
89. _FilterConstant Unsigned8 02H DI8_DI15 FilterConstant Unsigned8 6005H Var Se Interrupt Enable 8 Boolean Interrupt Mask Any 2 Array Change 8 Bit Unsigned8 x x 00H Number of Input 8 Bit Unsigned8 6006H 01H E E Unsigned8 02H DI8_DI15 InterruptAnyCha Unsigned8 nge Interrupt Mask Low to Dj 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 122 L 1070e 07 Digital I O modules Interrupt Mask High to Low 8 Bit Array Unsigned8 x x 6008H OOH Number of Input 8 Bit Unsigned 01H DIO_DI7_InterruptHighToLow Unsigned8 02H DI8_DI15_InterruptHighToLow Unsigned8 Table 73 CANopen IO X2 Object Dictionary Device specific part Parameter description Parameter Description This parameter specifies a manufacturer specific filter for the digital inputs Disable digital The filter disables or enables specific input lines input 8 Bit 0 disable 1 enable Default value OOH Specifies whether the manufacturer specific filter is used for an input block Filter constant of digital inputs 8 Bit 0 Filter for input disable 1 Filter for input enable Default value OOH This parameter enables disables the interrupt of the inputs generating of events globally without changing the interrupt masks in Object 6006H Global interrupt 6007H and 6008H enable 8 Bit be
90. age 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_07 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 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 oO r EE gt z pE os Stes 289 53 oge o8s o2 R Z 1000H Var R Unsigned32 1001H Var Error Register Unsigned8 1003H Array Predefined Error Unsigned32 AUTO AUTO 1005H Var heee Unsigned32 X xX 1007H Var sts Window Unsigned32 x x 1008H Var Manuraciurer String 2 z Device name Manufacturer 1093F eat Hardware Version Sting j j J Manufacturer i TO9AFS Var Software Version String E j A 100CH Var Guard Time Unsigned16 100DH Var Life Time Factor Unsigned8 1010H Array Store Parameter Unsigned32 1011H Array gchar ay Unsigned32 COB ID
91. al outputs nonnen eneen 88 Table 35 Error conditions for analog inputs annuus 88 Table 36 Error conditions for analog outputs nonnen eneen 89 Table 37 Error conditions for power supply and diagnostic 89 Table 38 Structure of an Emergency message nonnen enen 89 Table 39 Supported emergency error cod S annen 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 anneer eneen 96 Table 45 NMT commands noen eaae 97 Table 46 Response to a node life guarding remote frame n se 97 Table 47 Node state of a CANopen devic annae nennen eneen 98 Table 48 Heartbeat message nnn ennen eren neenennverenseeeen ennen 98 Table 49 Object Dictionary entries for device guarding nnee 99 Table 50 Parameter description for device guarding configuration 100 Table 54 Shipping and storage conditions anneer eneen 102 Table 55 Climatic ambient conditions neee eneen eneen 103 Table 56 Modules suitable for commercial temperature range 103 Table 5
92. alue 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_07 169 Analog I O modules 12 4 CANopen IO X7 analog input module 8TC Order No and options 3001006 CANopen IO X7 galvanic isolated CAN 12 bit ADC 3001008 CANopen IO X7 galvanic isolated CAN 14 bit ADC Properties 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 resistor via Jumper Module pinout 170 O Power Run Error gt Max ee 06086 Temp input 0 4 000 lt Min Teer we ee Automation Series SYS TEC CANopen IO X7 24V DC Node ID Baud CANterm 120R RST L 0G High Low rate Figure 42 CANopen IO X7 device schema Pin Name Description Power supply connector a L 24VDC 20 L 1070e_07 Analog I O modules Pin Name Descriptio
93. are 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 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_07 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 N o A BW NH OEH L 1070e 07 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 ca
94. ask low to high 8 Bit114 123 Life Time Factor 99 Mapping parameter 59 NMT Boot enable 72 NMT Start Time Producer Heartbeat Time 100 Product Code 74 Revision Number 75 Serial Number 75 Standard Error Field 87 Synchronous Window Length 78 Transmission Type 59 Vendor ID nne 74 PDO iiini ad aaaea 3 61 PDO linking nnen anne eneenen eneen 61 PDO Linking nnen eenn eneennenn 10 PDO mapping 66 PDO Mapping nnn aanne nennen eenn 10 PDO Transmission Type 63 PLCmodule C14 anneer 8 Pre defined Connection Set 61 Preface s nnersenenseerinsenenanntedennezdesee 3 Process Data Objects Reading diagnostic data 86 Recycling and disposal 3 Remote Request annen 66 Removing and inserting I O modules EEEN 55 Resetting to factory settings 50 Selection guide nennen 16 WO modules aderarii 15 Maximum configuration 16 Serial number Service Data Objects Shipping and storage conditions 102 Standards and certifications 101 Startup diagnostics 69 Startup of the sysWORXX I O modules nanne nnn venenneren 52 Status LEDS nanne 81 SYNC message nnn anneer 76 Synchronized aaneen 64 Synchronized operations 76 sysWORXX Automation Series 8 Technical data CANopen IO X1 iiien 108 CANopen IO X2 nnen 1
95. ate 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 rate 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_07 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 JOO 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_07 21 Mounting This side was left empty intentionally 22 L 1070e 07 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 Observe the safety and accident prevention regulations for speci
96. ations 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 extend
97. 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 for example simply represents the inputs and outputs in their physical sequence in the RPDO and TPDO respectively L 1070e_07 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 aaa on ee 71300210H EK EK Total length of TPDO 40bit AlO_Input_PV Al1_Input_PV Al2_Input_PV AI3_Input_PV AlO_Status Al1_ 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 dev
98. d version 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 07 Error behavior and system messages Emergency Description error code 8210H PDO not processed due to length error Device specific error codes Scope FFO3H Sensor fraction on input FFO4H Sensor overload on Input Channel FFO5H Short circuit at input 10 x4 FFO6H Chosen value range too low for configured sensor 1O X5 type IO 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 ax Ps os o 2 A5 2H O Var COB D Emergency Unsigned32 x x message 1014H oon COB ID Emergency Unsigned32 message Table 41 Object Dictionary entries for the Emergency COB ID L 1070e 07 91 Error behavior and system messages Parameter description Parameter Description COB ID Defines the COB
99. d as 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_07 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 configur
100. d 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 trigger on error frames using a oscilloscope this type of diagnosis however is only recommended for experts L 1070e 07 Appendix 13 3 Module Dimensions gagad C20000080000000006 8 LeoocococococooeH Power Run sysWORXX Automation Series Error Digital input 00000 40000 Digital Input BOO OO 120000 Digital Output 00 O OO 40000 IVCPU dl Node ID Baud CANterm Reset L OG High Low With DIN Rail 1 With DIN Rail 2 187 L 1070e_07 Appendix 13 4 Bus cable and termination resistors 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 related 2 resistance Diameter mm a 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
101. 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 168 U mode FVy PV 3048 09 Uour PV pAO_x_U_Gain pAO_x_U_Offset AOx_Gain AOx_Offset I mode FV PV 1310 68 lout PV pAO_x_ _Gain pAO_x_ _Offset AOx_Gain AOx_Offset x means number of AO channel L 1070e_07 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 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 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 v
102. dreas X7 F Juno 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 Presram 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 Revision history This page was left empty intentionally Suggestion for improvements Suggestion for improvements Document sysWORXX CANopen I O modules Document number L 1070e_07 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 August Bebel Str 29 D 07973 Greiz GERMANY Fax 49 366 1 6279 99 Email info systec electronic com SYS TEC Published by Ordering No L 1070e_07 SYS TEC electronic GmbH 2010
103. e 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 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 07 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 sysWORXX 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 INITIALIZING DEAR OPERATIONAL STOPPED Boot up X SDO X Xx EMCY X xX SYNC X xX Heartbeat Node X X X guarding PDO X
104. e 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_07 83 Error behavior and system messages VO stateLED 1 line Description LEDO i error Baudrate switch out of range value LED1 configuration error Node ID switch out of range 0 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 Error Warning limit reached Action Please refer to Section 13 2 for a detailed test procedure Bus off Please refer to Section 13 2 for a detailed test procedure Configuration error Check for correct settings on the hardware switches and reset If this doesn t help reset to factory defaults see Section 5 6 If the error still persists contact the support for further assistance Hardware error Please contact the support for further 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 Run LED ERROR LED RER Description state state Off program download is running Always T
105. ectly 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 De aT Po Reel t en ce s CE Addl ae WEEP EER REET ER 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 sste ED eel ma EN ES Td Master Slave CAN I eg high speed sensor network Figure 2 Complex CANopen network configuration L 1070e 07 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 a
106. ed 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_07 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
107. efault 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 07 113 Digital I O modules 114 Parameter Interrupt mask low to high 8 Bit _ Description 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 Error mode output 8 Bit 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 Error value output 8 Bit 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
108. ervices See LSS LED Blinking cycles nne 82 Eiffel re 81 Error LED double flashing 83 84 Error LED flickering 82 84 Error LED single flashing 83 84 Error LED tripple flashing 83 RUM eneen 81 Run LED blinking 82 Run LED flickering 82 Run LED single flashing 82 Run LED tripple flashing 82 84 Life Guard Time annen 97 Life Guarding TEA A eel abana itl reader stata tee 55 Mapping Parameter Set 61 Mechanical and climatic ambient conditions eeeeeeeeeeeeeees Minimal NMT bootup master Module Network status and device guarding Mounting nnee eoude sains dense NMT message Bogt Uppa iea a 53 95 Enter_PREOPERATIONAL_State 97 Reset_Communication 53 69 97 Reset Node a an 53 69 97 Start Remote _Node 53 95 96 Stop _Remote_Node 96 NMT messages NMT Slave nnn onee rnneennnennnen NMT state INITIALIZATION eee 52 53 95 OPERATIONAL 53 96 PRE OPERATIONAL 53 95 97 STOPPED zr sassen naar 96 NMT STATE PRE OPERATIONAL 94 STOPPED main ieee ean aad 94 Node Guarding annae eenn 97 Node Life Time annen 99 node ID Object 6000F ee 111 122 112 122 6005H es 111 112 122 GO0GH kariine 112 122 6007H erann 112 122 6008H 2 oen an eene 112 123 6110H 139 140 151 164 165 175 6112H
109. escription 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 81H manufacturer specific error 86 L 1070e_07 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
110. essages 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
111. f 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 buffer 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 below 76 L 1070e 07 Functions le Communication cycle period Synchronous window length Input data Output dat Samples taken at reception of SYNC al command messages SYNC message Input data Output data are applied
112. fault mapping nnee eneen 157 Table 100 Accessory for CANopen IO X5 anneer eneen enneerennen 158 Table 101 CANopen IO X6 device pinout anneer eneen eneen 161 Table 102 CANopen IO X6 technical data part common nnee 163 Table 103 CANopen IO X6 technical data part communication 163 Table 104 CANopen IO X6 technical data part I O nnee 163 Table 105 CANopen IO X6 Object Dictionary anne eee enen 166 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 eeen 168 CANopen IO X6 default mapping nnn eneen eener eneen 168 Accessory for CANopen IO X6 nnee eneen ennen eneen 169 CANopen IO X7 device pinout ennen eneen eenen 171 Device specific LED states for CANopen IO X7 nn 172 CANopen IO X7 technical data part common nn 173 CANopen IO X7 technical data part communication 173 CANopen IO X7 technical data part I O neee 174 CANopen IO X7 Object Dictionary a onno ee eeen 178 CANopen IO X7 parameter description ae een 181 CANopen IO X7 default mapping nnee oneens neee 181 Accessory for CANopen IO X7 n nnen enen ennene eenen enennenen 182 Conversion table from decimal to hexadecimal Node ID 184 CAN bus len
113. fic applications for example the machine protection directives EMERGENCY OFF equipment components EMERGENCY OFF equipment must remain effective in all operating states of the plant 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 dangerous operating states must voltage drop or power fail 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_07 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
114. ft empty intentionally 54 L 1070e 07 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 sysWORXxX 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 application 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
115. 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 1070e_07 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 mess
116. g parameters Error Mode Output 8 Bit Error Value Output 8 Bit Filter Constant Output 8 Bit L 1070e 07 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 DO0_DO7 Unsigned8 Enable active off pulsed digital output Unsigned8 Number of Output 8 Bit Unsigned8 DO0_DO7 Unsigned8 Pulslength pulsed digital output Unsigned8 Number of Input 8 Bit Unsigned16 DOO Pulselength 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 07 111 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 Unsigned8 ee Unsigned8 ange Interrupt Mask Low to High 8 Bit Unsigned8 Number of Input 8 Bit Unsigned8 DIO_DI7_InterruptLowToHigh Unsigned8 DI8_DI15_InterruptLo
117. gnostic covering Flash RAM EEPROM LEDs Device configuration 52 L 1070e_07 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 ID 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 internal diagnostic covering Flash RAM EEPROM This checks will take about 2 seconds to complete Autonomous startup of CANopen network devices The sysWORXxX 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_07 53 Commissioning This side was le
118. gth versus bit rate nnn ennen eenen eneen 188 Index of Figures Index of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Simple CANopen network configuration nnen eneen eneen 7 Complex CANopen network configuration annen 7 Overview of HMI elements on the sysWORXX I O modules 14 Installation of the sysWORXX I O Modules eneen 18 Handling of spring type connectors anneer enen eneneeeen enen 19 Handling of screw type connectors annae ennen 19 Figure 7 Location of configuration switches nnee 20 Figure 8 CAN bus termination jumper nnn en ennnneneenenenenennene eeen enenn 21 Figure 9 Electrical configuration of the sysWORXX I O modules 26 Figure 10 CAN bus cable cross view nanne enen nneee ener enenenneneenenen enn 27 Figure 11 CAN bus interface connector pinout nnee eneen enen 28 Figure 12 CAN bus signal description nnen enen nnene enen enenenneneeeenenenn 28 Figure 13 Wiring schema of galvanic isolated sysWORXX I O devices 29 Figure 14 Physical layout of a CANopen network ane eeen 30 Figure 15 Example for a node ID setup on hardware switches eee 40 Figure 16 Restore procedure nnee neee aatinaa iiaeia 49 Figure 17 Startup cycle of a sysWORXX I O device nennen eneen 52 Figure 18 PDO linking for master slave communicat
119. hema 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 120Q at each end of the line Please refer to Section Fehler Verweisquelle konnte nicht gefunden werden for more detailed information about cable length 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 brop seg de 50 t The total drop line length is calculated as following prop ser seg La lt 10 1 i l L 1070e_07 29 Connecting 30 With tp Specific line propagation delay per length unit tprop 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 Tap Tap Tap
120. ice 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 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_07 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
121. ide was left empty intentionally 32 L 1070e 07 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 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 eae 3 party devices e g sensors with CANopen le 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 A LSS Master is required for configuration All sysWORXX I O devices
122. ion is detected the device will send out an Emergency message to report the error that occurred Please refer to L 1070e_07 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 module 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 Temp C in 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 OD value 10 Device main voltage U ain Vv 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 2 x a a EE ERTE Ke Qo o gt of elk oe 2001H Array Device Features Integer16 00H Number of Entries Unsigned8 01H Device temperature Integer16 02H Device main vol
123. ion structure 62 Figure 19 PDO linking for peer to peer communication structure 62 Figure 20 PDO transmission types nnen eneen enneeren sene erenne neen enneeeenn 63 Figure 21 PDO mapping example nn nnen en eneennenenereenenenneneneeeenen 67 Figure 22 Error state blinking cycle nanne nennen en ennene enen enenenneneeneneneen 69 Figure 23 Synchronized communication principle in CANopen cee 77 Figure 24 Object dictionary entries for SYNC ee eenen 77 Figure 25 Parameter description for synchronous operation 78 Figure 26 LED blinking cycles of the sysWORXX I O modules eee 82 Figure 27 Signaling configuration or hardware errors example for baudrate Error see Table 30 cease ciosavters docateicpuaesbiseseecaccuenyes bu aceealeconSebis pane terevebe 83 Figure 28 The NMT state machine nanne eneen veneeeeer eneen eneen 95 Figure 29 CANopen IO X1 device schema nnee ennen 106 Figure 30 CANopen IO X1 block diagram onee neenenneneerenenn 108 Figure 31 CANopen IO X2 device schema nnee ennen ereen 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 eeen eeen ennen eneen 120 CANopen IO X3 device schema nennen eneen ennen eneen 126 CANopen IO
124. ired Section 4 Connecting The device is configured node ID bit rate Section 5 Configuring Table 17 Commissioning requirements 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_07 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 from 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 Power LED ON i Initializing and startup diagnostics 1 i LED Test all LED ON m gt Startup diagnostics LED Error Blinking No Cycle 3 Load device Device not ready configuration Transmit Boot up message 2 Run LED blinking Error LED off 3 C Device ready Pre Operational H Figure 17 Startup cycle of a sysWORXX I O device Hardware reset NMT command Reset node or Reset communication 1 After power on or hardware reset the device will perform some internal dia
125. istered 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 3 I ai ARRA se 23S 255 a8 oss O86 le ha 7 gt Var Guard Time Unsigned16 X X 100CH 00H Guard Time Unsigned16 Var Life Time Factor Unsigned8 X X 100DH 00H Life Time Factor Unsigned8 Consumer f Array Heartbeat Time Unsigned32 X X 1016H 00H Number of Entries Unsigned32 01H Consumer Heartbeat 05H Time Unsigned32 Var i oducer Heartbeat Unsigned16 L x x ime 1017H 00H Skan Heartbeat Unsigned16 ime 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 00H 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 00H L 1070e_07 99 Error behavior and system messages
126. ition 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 climatic ambient conditions Climatic ambient conditions Applicable climatic ambient conditions only indoor use Ambient Fields of application Remarks conditions 20 C to 70 C All mounting Temperature ae 20 C to 50 C IO X7 only positions Temperature fluctuation eed 2 en 5 without Relative humidity lt 95 condensation 102 L 1070e 07 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 I
127. l_ Digits_PV Unsigned8 165 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 166 L 1070e 07 Analog I O modules Parameter description 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 AO Decimal Digits PV Specifies the number of decimal digits following the decimal point for interpretation of data type Integer16 0 no decimal digits 1 one decimal digits 2 two decimal digits 3 three decimal digits 12 bit resolution only Default value 02H Example A process value of 1 234 V will be coded as 123 in Interger
128. le Description PDO Send object values to device Read object values from device Store Restore non volatile parameters gt Store all parameters Store communication parameters Store application parameters Convert to concise DCF i gt Plug In Restore all parameters Options Ld REN Restore communication parameters v 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 and click on button Reset Appl for resetting the node Process Chart LSS Action NMT Description PDO Network 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_07 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 facto
129. log I O modules 12 An alog I O modules 12 1 CANopen IO X4 analog input module 8Al U I Order No and options 3001003 CANopen IO X4 galvanic isolated CAN 12 bit ADC Properties Module p 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 inout 0020000000000 000000000000 Ud UtjU2 _ U3 UAL US UL U7 A Hah Fela ps 16a O Power Run Error l Mode 000 Analoginput 09 0 U Mode OOo 000 Automation Series Sys TEC CANopen IO X4 24V DC 24V Node ID Baud CANterm 120R RST L 0G High Low rate CAN E Tee e a Figure 35 CANopen IO X4 device schema Pin Name Description Power supply connector 17 L 24VDC 20 2 0G Ground 0 for device power supply L 1070e_07 135 Analog I O modules 136 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 inpu
130. lossary CAN Controller Area Network is an internationally standardized serial bus system COB Communication Object A unit of transportation in a 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 Control 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 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
131. lue FV Processvalue PV and Calibration PT 100 Roe FV 1 5108 107 R Rtbc pGain_PT1000_x pOffset_PT1000_x Al Scaling Factor_x Al Scaling Offset_x PT 1000 Rtbe FV 1 3872 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 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 158 L 1070e_07 Analog
132. meout 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 Inhibit Time asynchronous Further device specific communication control mechanisms are described with the modules L 1070e_07 63 Functions Transmit Trigger Options Timer driven cyclic asynchronous Description 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 no
133. n F 2 0G Ground 0 for device power supply 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 1e O 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 L 1070e 07 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 BE 19e Temp Input 1 eee eee MOOO0040000 lt Min L hannel PV state LED field On if process value exceeds lower limit configured in Object 7134H 171 Analog I O modules Condition LED states EMCY trigger PV gt Upper Yellow gt MAX state LED nd Limit PV upper on PV gt Sensor Yellow gt MAX state LED s Range Limit upper blinking y Channel anabled Green Temp In
134. n 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 process 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 7 However before the module is accessible via LSS valid values must be configured
135. nd 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 Vo Minimum Maximum RTD input Ch0 Ch7 200 C 600 C Eet BEK MK 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 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 3 The sampling rate decreases with the number of inputs enabled 150 L 1070e_07 Analog I O modules Object dictionary for Production only Number Of Entries Unsigned8 reserved Unsigned32 manufacture date Unsigned32 calibration data Unsigned32 pGain_PT100 0 Real32 pOffset PT100 0 Real32 pGain_PT100 1 Real32 pOffset PT100 1 Real32 pGain_PT100 7 Real32 pOffset
136. nd CANopen PLC The sysWORXX PLC modules are high performance and versatile 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 10baseT Ethernet interface for uplink to management PC for Ethernet Sik 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 2 encoder a b and pulse dir hd ecw isolated 24VDC 70kHz P 1 counter 24VDC 70kHz Relay outputs 4 channels 230VAC 3A NO 4 channels 230VAC 3A NO Power supply 24VDC L 1070e_07 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 Tex
137. nding Subindex of Object 6150H to value 01H L 1070e 07 Analog I O modules Object dictionary Array pst es 7 r 00H Number Of Entries Unsigned8 2909H 01H password Unsigned32 02H manufacture date Unsigned32 03H calibration date Unsigned32 04H Al 0 EJKLT Gain Real32 05H Al 0 EJKLT Offset Real32 06H 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 X x OOH Number Of Entries Unsigned8 6110H 01H AlO_Sensor_Type Unsigned16 07H Al7_Sensor_Type Unsigned16 L 1070e_07 175 Analog I O modules Al Operation F Array mede Unsigned8 X 00H Number Of Entries Unsigned8 6112H 01H Al0_Operation_Mode Unsigned8 07H Al7_Operation_Mode Unsigned8 Array Al Scaling Factor Unsigned8 X 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
138. neen eneen 74 Synchronized operations anneer enneevenseneen eneen 76 ERROR BEHAVIOR AND SYSTEM MESSAGES 81 Device status LEDS aa ea aeee aea ie rren aean iaee ieaiaia 81 Reading diagnostic data nnee eneen eenen eneen 86 Evaluation of diagnostic messages CANopen Emergency messages anneer eneen 88 Error behavior sn varrrveanrenenterdessnndenn tande dende seeden edes dant 92 Module Network status and device guarding 95 GENERAL TECHNICAL DATA ee 101 Standards and Certifications un ennne ereen enen ennenn 101 Electromagnetic compatibility oaeen eneen 102 Shipping and storage conditions anneer ennen 102 Mechanical and climatic ambient Conditions 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 0 0 eeeeeeeeeeeeeeee 105 CANopen IO X1 digital input and output module 16DI 8DO DC 2AV aanne erservernedereinn edes dende dsne derde dee 105 CANopen O X2 digital input module 24DI DC 24V 118 CANopen IO X3 digital output module 24DO DC 24V 126 ANALOG I O MODULES 135 CANopen IO X4 analog input module 8AI U I 135 CANopen IO X5 analog input module BRTD assecc 146 CANopen IO X6 analog output module 8AO U l ee 160 CANopen IO X7 analog input module BTC 170 APPENDIX a a aeo areta aeaaeae pa aeaaaee taaa aaien 183 Conversation table of node IDS
139. nput 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 5285 ec 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 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_07 Analog I O modules Parameter Description see below Al Scaling Factor Al Scaling Offset see below The Value Factor is multiply with the Fieldvalue The Value Offset is add to the Fieldvalue Al Input PV scaling This object contains the process value after
140. ny 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 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_07 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
141. o 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 0868080 Digital Input s0 00020000 Digital Output 0 0 L 1070e_07 107 Digital I O modules Block diagram 24VDC GND LED Display Temp eeprom CAN sensor RS485 CAN Bus CANH CANL CANGND Embedded Processor Config switches 24VDC Powersupply 24VDC Reset Watchdog Figure 30 CANopen IO X1 block diagram Technical data Common Typical Maximum Vepu 24V DC 20 Power supply Vio 24V DC 20 Current lcpu 0 05A consumption I Os inactive lio 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 62 CANopen IO X1 technical data part common 108 L 1070e 07 Digital I O modules Communication Minimum Maximum bit rate 10kBit s 1MBit s number of nodes supported on 110 CAN 2 0B
142. oduct 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 August Bebel Str 29 Address D 07973 Greiz GERMANY Ordering 49 3661 6279 0 Information sales systec electronic com Technical 49 3661 6279 0 Support support systec electronic com Fax 49 3661 6279 99 Web Site http www systec electronic com Copyright 2010 SYS TEC electronic GmbH All rights including those of translation
143. og I O modules AI7_Physical_Unit_P Unsigned32 Vv Al Decimal Digits Unsigned8 PV Number Of Entries Unsigned8 AlO Decimal_Digit Unsigned8 s PV Al7_Decimal_Digit Unsigned8 s_ PV Al Status Unsigned 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 07 141 Analog I O modules Input PV Al Interrupt delta Integer16 Number Of Entries Unsigned8 AlO _Interrupt Delt Integer16 a_Input PV Parameter description 142 Parameter Al Sensor Type Al7_Interrupt_Delt Integer16 a_Input_PV Table 89 CANopen IO X4 Object Dictionary Description This parameter specifies the input type range of the channel 41 dec input type 10V U mode 42 gec input type 0 10V U mode 51dec input type 4 20mA I mode 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 Al Operation mode Enables disables an input channel 0 Channel disabled 1 Channel enabled operating Default value OOH Note Each operating channel
144. ols CANopen configuration tool providing SDO access to the Object Dictionary e g CANopen Device Monitor PC CAN interface Procedure 46 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 sysWORXX I O modules to be ready for operation 1 Open the CDM and connect to the network 2 Select the node you want to configure from the NMT tab sheet 3 Load the configuration file DCF CANopen Device Monitor 3 1 2 Node 69 sysWORXX C File Edit View Connection Extras Windows Help Load EDS CTRL L Load default EDS Load previous EDS el Process in Load device configuration Load DCF Load OCF Save device configuration gt Project r Exit 6340 AO Fault Mode 4 Edit the configuration if needed L 1070e_07 Configuring 5 Download the configuration to the device l Extras Windows Help Scan Obj Dict Comm Scan Obj Dict Device Edit Obj Dict Export EDS File Send object values to device Read object values from device Store Restore non volatile parameters gt 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 Fi
145. ommissioning nnn 132 CANopen IO X3 ACCESSO arnan ase 132 CANopen IO X4 Error behaviour ee 139 CANopen IO X4 annen 135 Block diagram ne 137 LED display 137 Manufacturer specific functions 139 Module pinout nn 135 Prope rti S iiciin 135 Technical data ee 137 CANopen IO X4 Object dictionary 139 CANopen IO X4 Parameter description 142 CANopen IO X4 Default mapping nnn 144 CANopen IO X4 Commissioning nnn 145 CANopen IO X4 AGCOESSOMY sionn nertsen 145 CANopen IO X5 Error behaviour eee 150 CANopen IO X5 ane 146 Block diagram en 148 LED display Manufacturer specific functions 150 Module pinout nn 146 Properties nnen 146 Technical data ee 149 CANopen IO X5 Object dictionary 151 CANopen IO X5 Parameter description 154 CANopen IO X5 Default mapping nne 157 CANopen IO X5 Commissioning nnen 158 CANopen IO X5 ACCESSOLY anneer venen 158 CANopen IO X6 Error behaviour eee 164 CANopen IO X6 ann 160 Block diagram nee 162 LED display inana innnan 162 Manufacturer specific functions 163 Module pinout Properti S nnn nennen Technical data ee CANopen IO X6 Object dictionary 164 CANopen IO X6 Parameter description 167 CANopen IO X6 Default mapping nnn 168 CANopen IO X6
146. open 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 output 5 24V 500mA digital output 2 24V 500mA Corn o A A W N a Al O digital output 6 24V 500mA 106 L 1070e 07 Digital I O modules Pin Label Description 9 3 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 t
147. open 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 sysWORXxX I O devices shipped out after July 1 2006 comply with RoHS regulations Category 9 of the Germany law Gesetz Uber das Inverkehrbringen die Rucknahme und die umweltvertragliche 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 3661 6279 0 Fax 49 366 1 6279 99 For further information about our products and services please refer to our Homepage at http www systec electronic com Service amp Support on the Internet There you will find
148. order not important will reduce the maximum sampling rate by apx 1 8 Al Physical Unit PV 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 L 1070e_07 Analog I O modules _ Description FD040000H mA Default value 00260000H This parameter specifies the number of decimal digits following the decimal point for interpretation of data type Integer16 Parameter 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 status 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 input PV N Default value OOH disabled Note The entered value must have the
149. pecific 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 2 182 L 1070e_07 Appendix 13 Appendix 13 1 Conversation table of node IDs The following table shows a conversion of decimal node IDs into hexadecimal format oc OG A a a af 23 23 23 1 1 33 21 65 41 97 61 2 2 34 22 66 42 98 62 3 3 35 23 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
150. pen 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 IDs are unique 6 L 1070e_07 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 dir
151. ponding 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 transmission 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_07 65 Functions 66 Transmi
152. 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 outmin 1 5 V Minimum differential input resistance Raittmin 20 KO Requested differential input voltage Vih max 1 0 V Minimum termination resistance Rtmin 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 n Z a n 100 n 32 n 64 100 150 170 270 320 410 480 n 32 n 64 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 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 07 189 Appendix This page was left empty intentionally 190 L 1070e 07 Glossary G
153. 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 Enable retrigger pulsed digital output 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 L 1070e_07 Digital I O modules Parameter Enable active off pulsed digital output Description This parameter specifies the possibility to switch off 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 08H 6200H 01H 08H Mapped obj 2 DI8_15 data byte 1 6000H 02H 08H Table 67 CANopen IO X1 default mapping L 1070e_07 18 A mapping entry consists of Object Subindex Datasize of mapped data 115 Digital I O modules
154. put LED on no PV lt Lower Yellow lt MIN state LED a Limit PV lower on Sensor Fraction Yellow lt MIN state LED ae PV lt own lower blinking y temperature Table 111 Device specific LED states for CANopen IO X7 Block diagram LED Display Temp sensor Cold Junction Compensation MUX EEPROM CAN Embedded Processor ADC switches Channel 0 7 Reset Watchdog Figure 43 CANopen IO X7 block diagram 172 Powersupply 24VDC CAN Bus CANH CANGND 24VDC GND L 1070e_07 Analog I O modules Technical data Common Typical Maximum Power supply Vepu 24V DC 20 Current consumption lepu 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 Communication Minimum Maximum bit rate 10kBit s 1MBit s number of nodes supported on 110 same CAN bus CAN 2 0B passive segment compliant to isolation CiA 120 and i me 1kV ISO 11898 2 voltage CAN_H and CAN_L short circuit proof towards 24V DC High speed CAN bus transceiver compliant to IS
155. r SYS TEC electronic GmbH unique for all SYS TEC products Product code Ox2DCAA8 for sysWORXX IO X1 43 Configuring see note below lol Vendor ID Ox3f Praduct Code Ox2dcaa8 T 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 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 xl LSS Enter canopen Devic 11 2 The device is shown with its new node ID on the node list Node VendolD Product Revision Serial 4 Kit 0x3f 0x217 01010527 0x81d38 6 Click on Store to save the changes to non volatile memory You are done 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 1 Connect to the CAN network CANopen Device Monitor 3 1 2 Node 64 File Edit View Connection Extras Windows I Nodedafe4 Set B Gommunication Segment Cq_Malfacturer Segment 44 L 1070e 07 Configuring 2 Load the LSS plug in and go to the LSS tab sheet Action NMT Description PDO Process Chart Network Node LSS Devices Node VendoiD
156. r 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 Choosing devices and tools 36 L 1070e 07 Configuring 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 Tasks Scope of use CANopen Device Monitor 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 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
157. racteristics 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 At 1MBit s a network length of 40m is possible At 80 kBit s up to 1000m bus length is possible L 1070e_07 1 General description important m
158. rent 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 supply 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 reduce
159. 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 the manual of the CAN
160. rigger 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 each 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 07 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 650 it indicates the ab
161. riple Single Flash reason for bootloader gt Flash application signature is not set reason for bootloader is Double Flash application CRC is wrong Table 32 Description of Run and Error LED at Program Control 84 L 1070e_07 Error behavior and system messages Reference CiA 303 3 V1 0 L 1070e 07 85 Error behavior and system messages 9 2 Reading diagnostic data Introduction In addition to the state LEDs the sysWORXX 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 ax 8 I 2s ser SPE 3s S82 88 28 os Ogg le 2 7 gt Var Error Register Unsigned8 1001H OOH Error Register Unsigned8 Pre Defined Error z Array Field Unsigned32 1003H 00H Number of Entries Unsigned8 Error Counter 01H to i OAH Standard Error Field Unsigned32 Table 33 Object Dictionary entries for error data on the sysWORXX I O devices Parameter d
162. rror 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 WARNING Device not ready for operation and must be replaced Please contact our support for further instructions L 1070e_07 89 Error behavior and system messages 90 Emergency Description error code 5003H CRC error on RAM A WARNING Device not ready for operation and must be replaced Please contact our support for further instructions 5004H CRC error on EEPROM A WARNING Device not ready for operation and must be replaced Please contact our support for further instructions 6101H Unexpected software reset A WARNING Device not ready for operation and must be replaced Please contact our support for further instructions 6102H Stack overflow A WARNING Please contact our support for further instructions 6103H Unused software interrupt A WARNING Please contact our support for further instructions 6110H from reason for starting bootloader is application signature is not firmware set version This information is not saved in Predefined Errorfield V1 30 6111H from reason for starting bootloader is application CRC is wrong firmware This information is not saved in Predefined Errorfiel
163. ry default settings index 1011H is used Object Object A Read Write Index Subindex Objectname Data type value value 1010H 4 Save al 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 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 SO8859 character e v a s hex 65 76 61 73n 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 07 Configuring Signature MSB LSB SO8859 character d a o hex 64 61 6F 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
164. s 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 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_07 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 187 Mounting dimensions Comment Dimension Mounting width 71 mm with I O terminal block 96 mm A assembled Mounting height 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
165. s 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 07 153 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 154 Parameter Description This parameter specifies the type of sensor which is connected to the analog input Al Sensor Type 30dec PT100 33dec PT1000 Default value 30dec L 1070e_07 Analog I O modules Parameter Description Enables disables an input channel 0 Channel disabled 1 Channel enabled operating A Default value OH Al Operation mode Note Each active channel the order is not important will reduce the maximum sampling rate by apx 1
166. same physical unit and number of digits as configured for the respective channel This object contains the field value before scaling AID 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_07 143 Analog I O modules Parameter Description Al Scaling Factor Al Scaling Offset The Value Factor is multiply with the Processvalue 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 dn node ID node ID node ID node ID Mapped objects 4 4 4 4 NE MO Al2 Ald Al6 apped objec 7130H data byte 0 1 7130H 7130H 7130H yte 0 1 OIH AOH O3H 10H josHi0H 07H 10H AlO State Al2 State Al4 State Al6 State Mapped object 2 data byte 2 6150H 6150H 6150H 6150H 01H O8H 03H 08H 05H 08H 107H 08H g Al1 Al3 Al5 Al7 Mapped object 3 data byte 3 4 7130H 7130H 7130H 7130H 02H 10H 104H 10H 06H 10H 08H 10H B Al1 State Al3 State Al5 State Al7 State Mapped object 4 data byte 5 6150H 6150H 6150H 6150H 02H 08H 104H 08H 06H 08H 08
167. sence of a terminating resistor or a break in a signal lead If the measured value is less than 50 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 lines 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 07 185 Appendix 186 Test 7 Use a DC ampere meter to measure the cur
168. ssion 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 process data of the corresponding PDO are acquired continuously 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 RTR only 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 events are defined in the device profile Asynchronous 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
169. station the master For this kind of L 1070e_07 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 RPDO identifier of the consumer CANopen Slave X CANopen Slave Z Figure 19 PDO linking for peer to peer communication structure 62 L 1070e_07 Functions PDO Transmission Types Producer Consumer s Internal event or event timer has elapsed Event driven Timer driven Remote frame Individual Polled i YNC message Synchronized cyclic acyclic Figure 20 PDO transmission types Transmit Description Trigger Options 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 ti
170. t ST and Instruction 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
171. t 0 3 GND GND channel 0 4 GND GND channel 1 5 11 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 I5 Current input 5 18 U5 Voltage input 5 19 I6 Current input 6 20 U6 Voltage input 6 21 GND GND channel 6 22 GND GND channel 7 23 I7 Current input 7 24 U7 Voltage input 7 Table 85 CANopen IO X4 device pinout L 1070e_07 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 0000 0000 Analoginput 09 0000 KE Odd0O40000 Channel input type LED field On if channel configured is for voltage measurement Block diagram LED Display EEPROM CAN Bus CANH CANL CANGND Embedded Processor Config switches 24VDC Reset Powersupply Watchdog 24VDC GND Figure 36 CANopen IO X4 block diagram Technical data Common Typical Maximum Power supply Vepu 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 Width 71 mm Dimensions High 58 mm Length 95 mm
172. t 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 producer set Object 1017H to 0 COB ID 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_07 Error behavior and system messages Heartbeat message that has been received and a corresponding entry is reg
173. t 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 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 07 Functions g fe 3 3 Transmission 2 S Eon type parameter S S 5 2 rs Q 2 gt lt 5 a oO lt 0 X 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 corres
174. t s 1MBit s number of nodes supported on 110 CAN 2 0B passive ee compliant to 9 CiA 120 and Isolation voltage 1kV Eee 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 L 1070e_07 129 Digital I O modules fe Minimum Maximum Digital outputs DOO 23 Uon at lon 500MA Vio 0 16V lt Uon lt Vio Vor at lou OmA 0 5V Current limitation 2 8A loH_max 24V DC output Maximum current high side switch Polyswitch jd 20 C protected lou off 10A tot at lon 500 MA 115yus 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 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 ke end g 2 29 2 2e oD Oc e O L Array Write Output 8 Bit Unsigned8 x 6200H OOH Number of Output 8 Bit Unsigned8 01H DO0_DO7 Unsigned8 Array Error Mode Output 8 Bit Unsigned8 x x 6206H OOH Number
175. tage Integer16 Table 23 Object Dictionary entries for diagnostic and monitoring functions 70 L 1070e_07 Functions References CiA 301 V4 02 8 4 Manufacturer specific extensions Introduction This section describes the manufacturer specific functions implemented in the sysWORXX I O modules In addition to the corresponding device profile the following extensions are available e Minimal NMT boot up master Object 2000H e 1 0 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 I O filtering This function implements a bit wise applied filter for
176. tem 33 General rules nnen 33 ESS traande ah 39 40 node ID urverserssennenenveresenn 39 Resetting to factory settings 50 Store Restore device configuration 48 Using Device Configuration Files 46 Using Layer Setting Services LSS MRB 42 Connecting nanne vennen 23 CAN Cable nee 27 CAN GND iieii iii 28 CAN H nnee enne 28 GAN Eisenstadt hinne 28 CAN SHLD nis aanus 28 CAN VE nean aaa 28 GAN bUS raia aaee 27 CAN bus signals ee 28 grounded reference potential 25 Physical layout nn 29 Power supply anneer eneen 25 Wiring and cabling 27 Contact information nn l DCF 9 See Device Configuration File Device Configuration File 5 20 46 56 Device identification data 74 Device monitoring Diagnostic data nne Diagnostics Diagnostic data e 86 Diagnostic messages 88 Evaluation of agnostic messages 88 Status LEDS ee 81 Digital input and output module 105 Digital input module 118 Digital output module 126 Disclaimer nnnannannne ennen enneenneenn l Distributed I O systems Drop line siririna asas EDS 9 See Electronic Data Sheet Electronic Data Sheet 5 42 46 Emergency messages 69 88 Emergency codes 89 Index Message structure 89 EN 50325 4 Error behavior nanne een 92 Error behavior and system ME
177. tion tools 9 CANopen Device Monitor CANopen introduction CANopen IO X1 Error behaviour 110 CANopen IO X1 nnen 105 Block diagram nen 108 LED display nne 107 Manufacturer specific functions 110 Module pinout 106 Properties nennen ennen 105 Technical data ee 108 CANopen IO X1 Object dictionary 111 CANopen IO X1 Parameter description 113 CANopen IO X1 L 1070e 07 Default mapping nnen 115 CANopen IO X1 Commissioning nnn 116 CANopen IO X1 ACCESSO oia aaa ae 117 CANopen IO X2 Error behaviour eee 121 CANopen IO X2 ane 118 Block diagram nnn 120 Manufacturer specific functions 121 Module pinout 118 Properties anneer 118 Technical data ee 120 CANopen IO X2 Object dictionary 122 CANopen IO X2 Parameter description 123 CANopen IO X2 Default mapping nnen 124 CANopen IO X2 Commissioning nn 124 CANopen IO X2 AGCOSSOMNY is an dea tre raerener ande innat 125 CANopen IO X3 Error behaviour eee 130 CANopen IO X3 ane 126 Block diagram nnn 128 Manufacturer specific functions 130 Module pinout e 126 Properties annen 126 Technical data ce 129 CANopen IO X3 Object dictionary 130 193 Index CANopen IO X3 Parameter description 131 CANopen IO X3 Default mapping nnen 132 CANopen IO X3 C
178. tronic GmbH Quality Management Dept August Bebel Str 29 D 07973 Greiz 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 Specification 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_07 101 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 cond
179. 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 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
180. us lines The connector pinout complies with DS 102 Power supply connector Removable 2 pin screw type connector to connect power supply Table 2 Component overview L 1070e 07 13 General description 1 7 HMI elements on the sysWORXX I O modules Introduction This section describes the HMI elements on the sysWORXX I O modules Overview 4G 12 131415 py 3G 8 91011 we VO connector Device status LEDs Digital Input S AP ae status LED field Digitalinput 80 O 120 O 1 sys TEC CANopen 10 1 Reset butto Baud rate CANterm 120R CON Node ID fog ast pe 03 ie CAN bus termination RST L 0G High Low Power connector CAN bus connector Configuration switches Figure 3 Overview of HMI elements on the sysWORXX I O modules 14 L 1070e_07 Application planning 2 Application planning 2 1 Compact system design A compact system design in the context of the sysWORXX 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
181. wToHigh 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 07 Digital I O modules Error Value Output 8 Bit Unsigned8 restored Number of Output 8 Bit Unsigned8 DOO_DO7_ErrorValue Unsigned8 Filter Constant Output 8 Bit Unsigned8 Number of Output 8 Bit Unsigned8 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 D
182. ysical dimensions of the connection point 2 Insert the cable end and remove the screwdriver O A O QW Gl la ANNT A OIL ER IT onma Figure 5 Handling of spring type connectors Screw type see Figure 6 1 Open the screw and insert the cable 2 Close the screw open close E Figure 6 Handling of screw type connectors See also Section 6 Commissioning the sysWORXX I O modules at page 51 L 1070e_07 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 r

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