User Manual - PROCON Electronics
Contents
1. PROCON ELECTRONICS 37 CANopen PC6RO PROCON ELECTRONICS 38 CANopen PC6RO 7 3 Manufacturer Segment 7 3 1 Object 2001h Module ID 7 3 2 Object 2002h Module Baud Rate PROCON ELECTRONICS 39 CANopen PC6RO 7 3 3 Object 2003h Module DIP Switch wr I PROCON ELECTRONICS 40 CANopen PC6RO 7 4 Device Profile Segment 7 4 1 Object 6200h Write State 6 Output Lines Sets a group of 6 output lines as a byte of information E PROCON ELECTRONICS 41 CANopen PC6RO 7 4 2 Object 6202h Polarity 6 Output Lines Defines the polarity of a group of 6 output lines i SN PROCON ELECTRONICS 42 CANopen PC6RO 7 4 3 Object 6206h Error Mode 6 Output Lines This object indicates whether an output is set to a pre defined error value see 6207 h object in case of an internal device failure or a Stop Remote Node indication 1 output value shall take the pre defined condition specified in 6207 h object 0 output value shall be kept if an error occurs me ee je Mode for digital Outputs 1 Data Type UNSIGNED8 PROCON ELECTRONICS 43 CANopen PC6RO 7 4 4 Object 6207h Fault State 6 Output Lines Output line fault state This defines the default output state on detecting a fault condition Defined for groups of 8 outputs The corresponding bit must be set in the default output line mode C ae ad State for digital Outputs 1 PROCON ELECTRONICS 44 CANopen PC6RO 7 4 5 Object 6220h Write State 1 Output Line2. Sub index 001 contains the error class for a communication error Sub indices 001 to 254 contain device profile or manufacturer specific error classes The value of an error class can be 0 pre operational 1 no state change 2 stopped 3 127 reserved Te MINA PROCON ELECTRONICS 33 CANopen PC6RO 7 2 18 Object 1200h Server SDO Parameter 1 The object contains the parameters for the SDOs for which the device is the server MT PROCON ELECTRONICS 34 CANopen PC6RO 7 2 19 Object 1400h Receive PDO Communication Parameter 1 It contains the communication parameters of the current PDO the device is able to receive Sub index O contains the number of PDO parameters implemented Sub index 1 describes the COB ID If bit 31 is set the PDO is disabled The transmission mode is defined by sub index 2 An inhibit time can be defined on sub index 3 in 100 us At the 5th sub index can be defined an event time for asynchronous pdos INDEX 1400 Name Receive PDO Communication Parameter 1 Data Type PDO COMM PAR Meer PROCON ELECTRONICS 35 CANopen PC6RO Data Type UNSIGNED16 7 2 20 Object 1600h Receive PDO Mapping Parameter 1 The sub indices contain the indices the sub indices and the lengths of the mapped sub indices Their structure is as follows index 16bit sub index 8bit length 8bit INDEX 1600 Receive PDO Mapping Mapping Data Type PDO_MAPPING PROCON ELECTRONICS 36 CANopen PC6RO ma
3. ssenennennenzznnnnazzznnnnenzznnananzmnnaza 7 2 9 Object 100Dh Life Time Factor 7 210 Object 1010h Store Parameter Field is 7 2 11 Object 1011h Restore Default Parameters 7 2 12 Object 1014h COB ID EMCY rrrsnnrnnonnrvrnnnnnvnrsnsnnrnnnsarnrnnnnnvvrsnnnnnnee 7 2 13 Object 1015h Inhibit Time Emergency 7 214 Object 1016h Heartbeat Consumer Entries 7 215 Object 1017h Producer Heartbeat TIME seeessnnsnnnazzennzni 7 2 16 Object 1018h Identity Object rear 7 2 17 Object 1029h Error Behaviour iii 7 2 18 Object 1200h Server SDO Parameter 1 7 219 Object 1400h Receive PDO Communication Parameter 1 PROCON ELECTRONICS 3 CANopen PC6RO 7 2 20 Object 1600h Receive PDO Mapping Parameter 1 36 7 3 MANUFACTURER SEGMENT covocococoneconniodosinimacanoto aree esalta 39 7 3 1 Object 2001h Module Direita ae ea Saad bo ag en e Caran 39 7 3 2 Object 2002h Module Baud Rate ii 39 7 3 3 Object 2003h Module DIP Switch i 40 7 4 DEVICE PROFILE SEGMENT caerra oe I e vene NOTI RATE 41 7 4 1 Object 6200h Write State 6 Output LINES 41 7 4 2 Object 6202h Polarity 6 Output Lines rrarrrenonnrvrrronvrnrrnarvrrnonnrrrsnonnrnrrrervrnnnnnrsssnnnnnn 42 7 4 3 Object 6206h Error Mode 6 Output Lines rsrnn
4. 1 6 Sets a single output line information me PROCON ELECTRONICS 45 CANopen PC6RO PROCON ELECTRONICS 46 CANopen PC6RO 8 SAFETY GUIDELINES 8 1 Introduction The lO Modules have been designed developed or manufactured for conventional use in industry They were not designed developed and manufactured for any use involving serious risks or hazards that without the implementation of exceptionally stringent safety precautions could lead to death injury serious physical damage or loss of any other kind Such risks and hazards include in particular the use of these devices to monitor nuclear reactions in nuclear power plants as well as flight control systems flight safety the control of mass transportation systems medical life support systems and the control of weapons systems When using IO Modules with programmable logic controllers and when using operating and monitoring devices as control systems in conjunction with a Soft PLC the safety precautions applying to industrial control systems e g the provision of safety devices such as emergency stop circuits etc in accordance with applicable national and international regulations must be observed The same applies for all other devices connected to the system such as drives All tasks such as installation commissioning and service may only be carried out by qualified personnel Qualified personnel are persons who are familiar with the transport mounting installation commi
5. DIP SWITCH TO SET THE NODE ID AND BAUD RATE 4 2 SETTING THE NODE ID USING THE DIP SWITCHES lie 4 3 SETTING THE BAUD RATE USING THE DIP SWITCHES iii 4 4 SETTING THE NODE ID USING SOFTWARE i 4 5 SETTING THE BAUD RATE USING SOFTWARE 5 WIRING eee et ses esses irene rene nere renesenen e cene nice nen ecenanenenane 5 1 POWER SUPPLY AND COMMUNICATIONS WIRING c cc 5 2 WIRING THE RELAY OUTPUTS iii 6 INDICATORS eenneneennneveneevennnevennnenennnnnnnennennunnennuvenneuvennnenene 6 1 FRONT PANEL INDICATORS iii i i i iaaa 6 2 RUNINDIGATOR R ssc se beta dare A ia 6 3 ERR RINDIGATOR Tenne 7 IMPLEMENTED CANOPEN OBJECTS 7 1 OBJECT BLOCK DIAGRAMS L Lecce iii 7 1 1 Block diagram for relay outputs 7 2 COMMUNICATION SEGMENT ec iii 7 2 1 Object 1000h Device Type rrrnrrnnnnnnrorvrnrsrnnannrnrvrnsnnnnnnnnnvsnnsnnsennnne 7 2 2 Object 1001h Error Register i 7 2 3 Object 1003h Pre defined Error Field ii 7 2 4 Object 1005h COB ID SYNC i 7 2 5 Object 1008h Manufacturer Device Name n 7 2 6 Object 1009h Manufacturer Hardware Version 7 2 7 Object 100Ah Manufacturer Software Version 7 2 8 Object 100Ch Guard Time
6. to be installed on a standard 35 mm DIN rail Snap the BUS connector first into the rail as shown above Next clip the top of the module onto the DIN rail and pivot the Module onto the DIN rail The spring loaded clasp will latch around onto the DIN resulting in a firmly seated product Do not force the module onto the connector otherwise the module or connector may be damaged Note The modules are not designed for hot plug in The power must be turned off before the modules are plugged into the base PROCON ELECTRONICS 8 CANopen PC6RO 3 4 Removing the module from the DIN rail To remove the module from the DIN Rail use a flat blade screwdriver to pry the spring loaded clasp away from the DIN rail in the manner shown in the picture below Next pivot the module up and away from the DIN rail and remove 3 5 Grounding Shielding In most cases the modules will be installed in an enclosure along with other devices which generate electromagnetic radiation Examples of these devices are relays and contactors transformers motor controllers etc This electromagnetic radiation can induce electrical noise into both power and signal lines as well as direct radiation into the module causing negative effects on the system Appropriate grounding shielding and other protective steps should be taken at the installation stage to prevent these effects These protective steps include control cabinet grounding module grounding cable shie
7. 0 0x8140 0x8210 0x8220 e ei PROCON ELECTRONICS 19 CANopen PC6RO PROCON ELECTRONICS 20 CANopen PC6RO Default Value 0x00000000 PROCON ELECTRONICS 21 CANopen PC6RO 7 2 4 Object 1005h COB ID SYNC COB ID of the Synchronization object The device generates a SYNC message if bit 30 is set The meaning of other bits is equal to the other communication objects INDEX 1005 7 2 5 Object 1008h Manufacturer Device Name Contains the device name INDEX 1008 Manufacturer Device Name PROCON ELECTRONICS 22 CANopen PC6RO 7 2 6 Object 1009h Manufacturer Hardware Version Contains the device hardware version Default Value V01 00 7 2 7 Object 100Ah Manufacturer Software Version Contains the device software version Default Value V01 00 PROCON ELECTRONICS 23 CANopen PC6RO 7 2 8 Object 100Ch Guard Time This entry contains the guard time in milli seconds It is 0 if not used 7 2 9 Object 100Dh Life Time Factor The life time factor multiplied with the guard time gives the life time for the device It is 0 if not used Default Value 0x00000000 PROCON ELECTRONICS 24 CANopen PC6RO 7 2 10 Object 1010h Store Parameter Field This entry supports saving of parameters in non volatile memory With a read access the device provides information about its saving capabilities Several parameter groups are distinguished Sub index 1 all parameters Sub index 2 commu
8. 080 PROCON ELECTRONICS 28 CANopen PC6RO 7 2 13 Object 1015h Inhibit Time Emergency Inhibit Time used for emergency message Emergency Producer The time has to be a multiple of 100 us 7 2 14 Object 1016h Heartbeat Consumer Entries The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured on the device producing this heartbeat The bits 31 24 of each sub index has to be 0 The bits 23 16 contain the node id The lower 16 bits contain the heartbeat time PROCON ELECTRONICS 29 CANopen PC6RO 7 2 15 Object 1017h Producer Heartbeat Time The producer heartbeat time defines the cycle time of the heartbeat If the time is 0 it is not used The time has to be a multiple of 1 msec INDEX 1017 PROCON ELECTRONICS 30 CANopen PC6RO 7 2 16 Object 1018h Identity Object This object contains general information about the device Sub Index 1 contains a unique value allocated each manufacturer Sub Index 2 identifies the manufacturer specific product code device version Sub Index 3 contains the revision number Bit 31 16 is the major revision number and Bit 15 0 the minor revision number Sub Index 4 identified a manufacturer specific serial number PROCON ELECTRONICS 31 CANopen PC6RO PROCON ELECTRONICS 32 CANopen PC6RO 7 2 17 Object 1029h Error Behaviour Sub index 000 contains the number of error classes
9. PCORO CANopen IO Module E e MITO User Manual p R O C O N P O Box 164 61 2 96248376 Seven Hills 1730 61 2 9620 8709 ELECTRONICS NSW proconel proconel com AUSTRALIA www proconel com 05 08 2014 V1 0 Procon Electronics makes no representations or warranties with respect to the contents hereof In addition information contained herein are subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Procon Electronics assumes no responsibility express or implied for errors or omissions or any damages resulting from the use of the information contained in this publication All trademarks belong to their respective owners PROCON ELECTRONICS 2 CANopen PC6RO TABLE OF CONTENTS 1 INTRODUCTION eeenneeveneevennnevennnenenannnnnennannnnnennuvenneevennnenene 2 TECHNICAL SPECIFICATION cccsesceccesceccssceccsececceeeeeeees 3 PHYSICAL INFORMATION eeeeevevavevenenvnnnennennnvnennvvennnevennnenene 3 1 PHYSICAL DIMENSIONS used rieti 3 2 DIN RAIL BUS ADAPTOR sirrien aita aeaa sans rca canas ordeno FAIR ir 3 3 INSTALLING THE MODULE ONTO THE DIN RAIL 3 4 REMOVING THE MODULE FROM THE DIN RAIL 3 5 GROUNDING SHIELDING c rire 3 6 NETWORK TERMINATION LL LL aa nie erre rece irene nere nara na rene na nine nanna nanna 4 SETTING THE NODE ID AND BAUD RATE 4 1 CHANGING THE
10. facturer segment The object address is 2001h The node id can be configured from 1 to 127 PROCON ELECTRONICS 11 CANopen PC6RO 4 5 Setting the baud rate using software In order to use the baud rate from memory ensure that all of the baud rate dip switches are in the OFF position Before the internal baud rate is selected the user must first write the correct baud rate value to the Module Baud Rate object in the manufacturer segment The object address is 2002h The following baud rates are supported BAUD RATE OBJECT VALUE 2002h kbits s 20 50 100 125 250 500 800 1000 0 J D UI Ba WinN E PROCON ELECTRONICS 12 CANopen PC6RO 5 Wiring 5 1 Power supply and Communications Wiring The following diagram shows the wiring for the power and CAN communications REO SP ON E PROC ELECTRONICS www proconel com CE Y Y ey JP Gus 50550 TAX JON Terminal Description CAN GND The CAN circuit is isolated from the DC power supply for the module The CAN GND connection is not connected to the DC power supply GND Use a separate ground wire to connect all of the CAN GND terminals on the modules together This ensures that all of the modules are at the same potential The ground wire must be earthed at one end only PROCON ELECTRONICS 13 CANopen PC6RO 5 2 Wiring the relay outputs The following diagram shows how t
11. he relay contacts are connected to the wiring terminals PROCON ELECTRONICS 14 1 2 3 4 5 6 TE 8 9 10 11 12 13 14 15 16 17 18 COM 1 N C1 N O 1 COM 2 N C2 N O 2 COM 3 N C3 N O 3 COM 4 N C4 N O 4 COM 5 N C5 N O 5 COM 6 N C6 N O 6 CANopen PC6RO 6 Indicators 6 1 Front panel indicators The CAN communications uses an error LED T and a run LED R The run LED indicates the CANopen state The error LED is shows errors of the network Power Flashes to indicate the CPU is running CAN R Indicates the CANopen run state CAN T Indicates a CANopen error Output Status OFF when the output is off ON when the output is on R CANopen RUN state T CANopen Error Output Status 1 6 nm w B a D N PROCON ELECTRONICS 15 CANopen PC6RO 6 2 Run indicator R RUN LED State Description Single flash STOPPED The device is in STOPPED state Blinking PRE OPERATIONAL The device is in PRE OPERATIONAL state On RUN The device is in RUN state 6 3 Error indicator T ERROR LED State Description Off no error The device is in working condition Single flash warning limit reached At least one of the error counters of the CAN controller has reached or exceeded the warning limit Double flash Error Control Event A guard event NMT Slave or NMT Master or a Heartbeat e
12. ld grounding protective elements for electromagnetic switching devices correct wiring as well as consideration of cable types and their cross sections 3 6 Network Termination Transmission line effects often present a problem on data communication networks These problems include reflections and signal attenuation To eliminate the presence of reflections from the end of the cable the cable must be terminated at both ends with a resistor across the line equal to its characteristic impedance Both ends must be terminated since the direction of propagation is bi directional This termination is typically 120 ohms PROCON ELECTRONICS 9 CANopen PC6RO 4 Setting the Node ID and baud rate The DIP switches are provided to manually configure the module node ID and baud rate Switches 1 through 5 set the node ID sequentially starting at 1 and ending at 31 Switches 6 7 amp 8 set the baud rate When the ID switches are all set to zero the ID is taken from internal memory When the baud rate switches are all set to zero the baud rate is taken from the internal memory The user must first configure the module by writing the correct values to the module 4 1 Changing the DIP switch to set the Node ID and baud rate The software in the module samples the dip switches on a reset when the power is cycled Once sampled the software writes the settings to the CAN port The user is welcome to change the dip switches while the module is powered howeve
13. nication parameters Sub index 3 application parameters Sub index 4 127 manufacturer defined parameters For saving the signature save 0x65766173 must be written The following parameters can be saved or loaded Communication Parameter Object COB ID SYNC 1005h Guard Time 100Ch Life Time Factor 100Dh COB ID EMCY 1014h Heartbeat Consumer Entries 1016h Producer Heartbeat Time 1017h PDO length exceeded 1029h Manufacturer Specific Parameter Object Module ID 2001h Module Baud Rate 2002h Application Parameter Object Polarity 6 Output Lines 6202h Error Mode 6 Output Lines 6206h Fault State 6 Output Lines 6207h ma PROCON ELECTRONICS 25 CANopen PC6RO arameters arameters 7 2 11 Object 1011h Restore Default Parameters This entry supports restoring of default parameters With a read access the device provides information about its capabilities to restore these values Several parameter groups are distinguished PROCON ELECTRONICS 26 CANopen PC6RO Sub index 1 all parameters Sub index 2 communication parameters Sub index3 application parameters Sub index 4 127 manufacturer defined parameters For restoring the signature load 0x64616f6c must be written Description Restore Communication Default Parameters PROCON ELECTRONICS 27 CANopen PC6RO Description Parameters 7 2 12 Object 1014h COB ID EMCY COB ID used for emergency message Emergency Producer fc I N Default Value 0x00000
14. nrsnnrrvnrrnnrnnsserrensennrrrsnennrnsssersensennrseseennene 43 7 4 4 Object 6207h Fault State 6 Output Lines ss sssnesnnnenazsnnnnzanznenazzznnznazznznnzzzznznnzznznza 44 7 4 5 Object 6220h Write State 1 Output Line 1 6 i 45 8 SAFETY GUIDELINES 6550 cccscscsiicvescties coccdiieceiss coves cetevecscadescesedeeuccisedeceesenvereess 47 8 1 INTRODUCTION aent isen ari a Fa ae 47 8 2 INTENDED USE bas 47 8 3 TRANSPORFAND STORAGE hr OL Ore 47 8 4 INSTALLATION erre er ee Ria 47 PROCON ELECTRONICS 4 CANopen PC6RO 1 Introduction The PC6RO module has 6 normally open normally closed relay outputs These modules may be used when a higher drive capability is required or when isolation between outputs are required The module plugs into a special bus connector which fits inside the DIN rail The power supply voltage and the CAN bus signals are connected via this bus connector The CAN interface is electrically isolated and is compliant with ISO 11898 The module has been equipped with status led s which are used to indicate the status of the Inputs and communications This visual indication assists with fault finding and diagnostics The CANopen node ID and bit rate can be setup by DIP switches or software PROCON ELECTRONICS 5 CANopen PC6RO 2 Technical Specification Power Supply CANopen Data Connectors Logic Supply Voltage i 24 Vdc i PDO Modes Output Points Maxim
15. r a reset must be initiated afterward The DIP switch can be toggled using a small flat blade screwdriver or equivalent tool as shown in the picture below PROCON ELECTRONICS 10 CANopen PC6RO 4 2 Setting the Node ID using the DIP switches The following table assists with the setting up of DIP switches for the required NODE ID NODE ID SWITCH SETTING SW8 SW7 SW6 SW5 SW4 SW3 SW2 SW1 Software Off Off Off Off Off 1 Off Off Off Off On 2 Off Off Off On Off 3 Off Off Off On On 4 Off Off On Off Off 4 Off Off On Off On 6 Off Off On On Off 31 On On On On On 4 3 Setting the Baud Rate using the DIP switches The following table assists with the setting up of DIP switches for the required Baud Rate BAUD SWITCH SETTING RATE kbits s SW8 SW7 SW6 SW5 SW4 SW3 SW2 SW1 Software Off Off Off 20 Off Off On 50 Off On Off 125 Off On On 250 On Off Off 500 On Off On 800 On On Off 1000 On On On 4 4 Setting the Node ID using software In order to use the node ID from memory ensure that all of the node ID dip switches are in the OFF position Before the internal node id is selected the user must first write the correct id value to the Module ID object in the manu
16. ssioning and operation of the product and have the appropriate qualifications National accident prevention guidelines must be followed The safety guidelines connection descriptions and limit values listed in the technical data must be read carefully before installation and commissioning and must be observed 8 2 Intended Use Electronic devices are generally not fail safe In the event of a failure on the IO Modules operating or monitoring device or uninterruptible power supply the useris responsible for ensuring that other devices that may be connected such as motors are made safe 8 3 Transport and Storage During transport and storage devices must be protected from excessive stress mechanical load temperature humidity aggressive atmosphere 8 4 Installation e The installation must take place according to the documentation e The IO Modules are only allowed to be installed witout voltage applied and by qualified personnel e General safety regulations and nationally applicable accident prevention guidelines must be observed Electrical installation must be carried out according to the relevant guidelines e g line cross section fuse protective ground connection PROCON ELECTRONICS 47 CANopen PC6RO
17. um Current 1A 220VAC 1A 28VDC 000Vrms between field and logic 1500Vrms between outputs Node Guarding Consumer Heartbeat DIP switch or software Error Control _ Event Controlled Asynchronous i Event Timer Asynchronous Sync Acyclic Sync Cyclic Number of SDO 20 C to 70 C 40 C to 85 C Operating Temperature Storage Temperature Inputs 6x 3 Way screw connector on top and i bottom PROCON ELECTRONICS 6 CANopen PC6RO 3 Physical Information 3 1 Physical Dimensions The PC6RO enclosure is shown below The module clips directly onto an industry standard DIN rail Field wiring is on the top and bottom of the module via 6 plug in connectors The module power and CAN communications wiring is on a separate connector which clips onto the DIN rail on the back of the housing Allow at least 25mm on top and below the module to accommodate the wiring Ensure that enough space is kept above and below the module for good ventilation 113 0mm 17 6mm WUWIG O LL PROCON ELECTRONICS 7 CANopen PC6RO 3 2 DIN rail Bus adaptor The BUS connector allows side by side installation of the Modules The picture below shows multiple BUS connectors installed on a DIN rail First install the BUS connector onto the DIN rail then slide into the adjacent BUS connector 3 3 Installing the module onto the DIN rail The modules are designed
18. vent has occurred On Bus Off The CAN controller is bus off PROCON ELECTRONICS 16 CANopen PC6RO 7 Implemented CANopen Objects 7 1 Object Block Diagrams 7 1 1 Block diagram for relay outputs Default Default Communication Mapping Change Parameter Parameter Polarity 1400h 1600h 6202h Physical RPDO1 RECEIVE CHANGE Digital CAN RPDO1 POLARITY Outputs Reception x Error Mode Error Value 6207 PROCON ELECTRONICS 17 CANopen PC6RO 7 2 Communication Segment 7 2 1 Object 1000h Device Type The device type specifies the kind of device The lower 16 bit contain the device profile number and the upper 16 bit an additional information INDEX 1000 7 2 2 Object 1001h Error Register The error register is a field of 8 bits each for a certain error type If an error occurs the bit has to be set ies Meaning generic error communication error overrun error state NED WB WIN e O mm PROCON ELECTRONICS 18 CANopen PC6RO 7 2 3 Object 1003h Pre defined Error Field This object holds errors that have occurred on the device and have been signalled via Emergency Object It is an error history Writing to sub index O deletes the entire error history ERROR Communications Error CAN Overrun Error CAN in error passive Heart Beat or life guard error CAN recovered from bus off PDO not processed due the length PDO length exceeded CODE 0x8100 0x8110 0x8120 0x813
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