User Manual M3000® Control System RDIO 16/16-0,5
Contents
1. saved 49 32 bit Upload eiii eee ies 49 Upload with abort 2 49 Diagram of Telegram Data uuusnsssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnneeennnsnnen n nnne nn 50 ANNEX ee 51 Environmental Protection eesssesieessessesseee eene nnne nnne trn trn trate natnra tnra innata nn nnn 51 8421 EMISSION t ode Re id ho en ede e te eure d bed ded ed feed et 51 8 12 27 Disposa c 51 MaintenancGe U pkee p Pc A an aaae aaae aa e 51 5 5 CPP E 51 EC MEE Tc Mm 51 E 52 Addresses and 54 9 5 1 Addresses oos 54 8 5 2 5 54 2D0082003ZD00 doc BERGHOF Automationstechnik General Instructions General Instructions 1 1 Hazard Categories and Indications DANGER e Warning Caution gt The indications described below are used in connection with safety instructions you will need to observe for your own personal safety and the avoidance of damage to property These instructions are emphasised by bordering and or s2. 13 2 57 Gomtissionilg oer ie E ode dee t ote vett mites 13 2 5 2 Function Selection Displays 0000 14 3 CONFIGURATION AND PROGRAMMING TOOL 2 1 15 3 1 Programming gErl SS H E 15 3 2 Configuration of Cell Controller with the CNW 1 16 3 3 Setting the Node ID e ree Re rr 17 3 4 Baud Rate reunieron NC nte ce decet etna ice decree ere deca 17 3 5 Gateways Exceptional Cases unnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnsnnennnnsnnnennnsnnennnnsnnnnnannnnnn 18 DIGITAL INPUTS OUTPUTS HIGH SIDE LOW SIDE SWITCHING 19 4 1 Grouping 44 4 4 2044412 nete tesis nnns sh nnn 19 4 1 1 Schematic Diagram of Input Output Grouping high side low side switching 20 4 1 2 Without Grouping high side low side 21 4 2 Digital Inputs high side switching nnn nnn nnns 22 4 2 1 Block diagram of input high side mm 22 4 3 Digital Inputs low side switching nenresnssnrnennnnnnnnnnnnnnnnnnnnnnnnnnn
3. bergangsbereich cross over area SELL TEL AUS Bereich UL min QFE LOW t St rabstand 1 V 7 5 0 noise margin 1 V 11 mA 0 00 1 00 2 00 3 00 4 00 5 00 6 00 7 00 8 00 9 00 10 00 11 00 IL min IL max 0 0 Eingangsspannung DC der externen Stromversorgung Input voltage DC of extern power supply Ue 24V Bemessungsspannung rated voltage Ue max 30 V oberer Grenzwert upper limit Ue min 19 2 V unterer Grenzwert lower limit Grenzwerte f r 1 Signal f r die EIN Bedingung Limit for 1 signal for the ON condition untere Stromgrenze lower current limit Grenzwerte f r 0 Signal f r die AUS Bedingung Limit for 0 signal of the OUT condition UL max 5 5 V obere Spannungsgrenze upper voltage limit IL max 1 5 mA obere Stromgrenze upper current limit UL min OV untere Spannungsgrenze lower voltage limit IL min untere Stromgrenze lower current limit 2VF100010DG00 cdr 2D0082003ZD00 doc 25 Digital 16 16 0 5 BERGHOF Automationstechnik 4 4 Digital Outputs high side switching A Warning Outputs Protected output Operating status The module can be destroyed by overvoltages gt 32 V and or feedback Risk of fire Each digital output is also usable as an input See description under Digital Inputs if using as input The outputs are of high si
4. i o M6 ol wl ol ET E Bus 1 8i Le 2D0082003ZD00 DOC 11 Remote module with 32 digital I O 2 4 M1 L1 24 V module electr IN5 IN12 L2 24V 1 01 1 04 Links vom Modul d rfen keine C Q oder R Module angereiht werden E Bus IN und CAN1 IN sind nicht verf gbar On the left side of the module C Q or R modules mustn t end to end E bus IN and CAN7 IN are not available L4 424 017 020 L6 24 V IN21 IN28 M6 2VF100029DG01 cdr 12 Module Diagram and Connection Assignment gt 24 V 2 3141516 1 7 8 91 19 44 12 13 14 15 16 17 24 V 24 V 37 O1 02 03 1 04 N5 N6 N7 IN8 N9 IN10 N11 N12 013 014 015 1 016 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 a 000000000000000 IN IN OUT IN OUT Tor 1027 10 Tor 1015 Tor Tors Tore CVO OY OL ANNMNN Ned VAY gt 1 1 X1 i 2 3 2 T8910 11 42 13 14 15 16 17 18 X2 19 20 21 22 28 24 25 26 27 28 29 30 31 22 38 34 35 36 3 38 9 40 442 43 4 45 46 47 54 6 48 9 50 5 52 53 12 02 03 04 IN5 IND IN 1 8 ING IN10 INT INI2 11013 014 1015 13
5. en en ee CE En dn et sence 37 Error Behaviour iseinean ran Pe SERA Ma exa RE nove 37 Network 37 DS301 ObjectiDictionary 1 ee aaa a ae ea Daneben emen 39 5 8 1 Overview of Object Dictionary esnnnnenennnnnnnennnnnnnnnnnnnnnennnnnnnennnnnnnnnnnnnnnnnnnnnnnn nn 39 5 8 2 Object 0x1002 Manufacturer Specific Status Register 40 5 637 Datla IL pes caet ERE rais eh NIU mim MES 40 5 9 4 PDO Mapping 42 DS401 Object Dictionary 2 43 5 9 1 Overview of the Object eene nennen 43 TELEGRAM FORMATS FOR REMOTE I O MODULE 16 16 45 Initiate Domain Download Protocol eeeeeeeeeeeeeenene nennen nennen enne nn nnn nnn n nennen nn nennen nnn 46 Initiate Domain Upload 4 240 11 2 1 1 1 ntn ne nn nn nn nnmnnn 47 Abort Domain Transfer 44 4 00 4 kinapa enanat aiian 48 EXAMPLES OF TELEGRAMS FOR REMOTE I O MODULE 16 16 49 16 bit DOWIMNO sic foe
6. x2 Voltage supply Group 1 Group 2 Group 3 9229000000000 00H EJ L2 IN OUT IN OUT L3 eee Lett E ma us i L4 FIN OUTS IN Anoura 15 ES Signal Group 4 Group 5 Group 6 UJ WW W W C 67 amp te GJ GJ QJ Voltage supply Ea oo90009ooooooooooQ 2 9 CO amp www amp qi GO qv qo 1 i 16 M6 2VF100008DG01 cdr 2VF100004FE04 doc 2D0082003ZD00 doc 21 Digital I O 16 16 0 5 BERGHOF Automationstechnik 4 2 Digital Inputs high side switching The digital inputs are high side switching type 1 inputs for 3 conductor sensors They are designed for input voltages of 24 V nominal The inputs are transmitted cyclically to the CPU An open input is interpreted as static 0 LOW Pulse recognition and interference suppression Inputs are read cyclically Pulses lt 100 us are hardware suppressed The sampling interval can be parameterised by software The shortest possible sampling interval is 250 us If pulses are to be detected reliably they must be longer than the sampling interval stipulated by software Multiple sampling can be programmed in order to suppress spurious pulses Sampling interval and multiple sampling filtering can be activated in groups of 32 inputs each Note This function is available only for C applications at present Using IEC 61131 3 the filter is permanently set to 250 us Operatin
7. LED 4 and 5 If another status is signalled press the S button The elementary parameters node ID identification number and CAN baud rate are then configured using the menu item peer to peer The data are validated in the module by pressing the S button located on the module and operation is then possible on a correspondingly set up CAN bus Example Ue Untitled Cnw 7 x Eile Setup Update PeerTo Peer View Help D E eb Node D Files Node Contiguration Node4D 7 Baudrate Automatic Detection 1MBit sec 500 kBit sec 250 kBit sec 125 kBit sec 100 kBit sec 50 kBit sec 20kBit sec 10 kBit sec Custom BTRO 1 stro hex BTR1 hex Seve Add File Delete File For Help press F1 2VF100052DG01 jpg 16 2D0082003ZD00 doc 2VF100041FE01 doc BERGHOF Automationstechnik Configuration Other functions of the CNW tool e Query firmware information Enter the node ID of the required cell controller and the CAN baud rate in the main window Then select Firmware Information in the Update menu This allows the firmware information for all cell controllers connected to CAN channel 0 to be queried This function also allows communication via the CAN bus to be tested at the same time Update firmware e Switch between application and configuration also bootloader mode Select Operation Mode in the Update menu this is t
8. 0 5 Switching level of inputs outputs positive switching Short circuit protection yes Connection method Serial data interfaces Number and type of interface CAN interfaces Number and type of interface Operation and display vertical three wire front wiring with push on terminal strips for screw spring or crimp connection 1 RS232 X9 for configuration 1 standard CAN 15011898 channel 0 on X7 X8 LEDs 5 status LEDs 1 status LED per input output S button yes at the front including module reset Configuration via CANbus or RS232 interface 10 2D0082003ZD00 DOC 2VF100028FE03 doc BERGHOF Automationstechnik 2 3 Block Circuit Diagram Q E o ITI g SIO 5 X9 dep ransceive x8 an x qed L el pL Controller Serial EEPROM Sale re E ped uM I Serial EEPROM L2 n 4x IN OUT _ ldem In Out 1 4 L1 8x IN l In 5 121 1 T L3 4x IN OUT In Out 13 16 2VF100026DG01 cdr 2VF100028FE03 doc 5V Mi 8V EUM E t cp I MI E Bus CAN 1 IN i E Bus i Interface L4 i 4x IN OUT Remote module with 32 digital I O E Bus BDM SIO CAN Controller Transceiver In Out 17 20 L6 8x IN ig In 21 28 M6 M6 T L5 4x IN OUT In Out 29 32
9. 14 13 12 11 10 9 In dd SSSR S59s98 saga FSFE 2882 eee 29 5885 99090 2222 22222222 28288 222 zz 9999 Ee vo 1 03 INS IN INS INT 1013 11015 1 02 1 04 ING IN8 IN10 IN12 1014 1 016 VO17 019 1N21 IN23 IN25 IN27 029 1 031 1 l O20 N22 IN24 IN26 IN28 1 030 1 032 10000200j00000000 nicht identisch mit Nummerierung der Anschlu klemmen Not identical with wire connector numbers 2VF100022DG02 cdr 2D0082003ZD00 doc 2VF100031FE01 doc BERGHOF Automationstechnik Annex 8 Annex 8 1 Environmental Protection 8 1 1 Emission When used correctly our modules do not produce any harmful emissions 8 1 2 Disposal At the end of their service life modules may be returned to the manufacturer against payment of an all inclusive charge to cover costs The manufacturer will then arrange for the modules to be recycled 8 2 Maintenance Upkeep Warning Do not insert apply detach or touch connections while in operation risk of de struction or malfunction Disconnect all incoming power supplies before working on our modules this also applies to connected peripheral equipment such as externally powered sensors programming devices etc All ventilation openings must always be kept free of any obstruction The modules are maintenance free when used correctly Clean only with a dry non fluffing cloth Do not use detergents 8 3 Repairs Service Warning Repair work may only be carried
10. Li CAN STATU dO SIO 14 0017 1018 1019 1020 IN21 IN22 N23 INZ4 IN26 IN26 1 27 28 028 1 030 VO31 1032 15 4 55 58 7 58 59 00 61 83 64 65 6 07 68 6 amp 9 70 71 72 62 0000 OOO OOOO OD C PINOUT 4 IN OUT 4 IN 600000000000 BERGHOF Automationstechnik L3 24V 1 013 1 016 O Status LEDs Printable area for I O labelling Status LEDs application specific Nameplate SET button Printable area for labelling 73 74 75 77 78 79 ao st 82 83 84 as se 87 a 92 93 95 96 97 99 100 101 102 103 104 105 x 2D0082003ZD00 DOC VO Status LEDs L5 24V 1 029 1 032 OUT L M 2VF100028FE03 doc BERGHOF Automationstechnik Remote module with 32 digital I O 2 5 Assembly Operation A Warning Do not insert apply detach or touch connections when in operation Destruction or malfunctioning may otherwise occur Disconnect all incoming supplies before working on modules including those of connected peripherals such as externally supplied sensors programming devices etc 2 5 1 Commissioning Boot UP I O access Node Guarding 2VF100028FE03 doc Re examine all connections
11. Subindex Comment Name Value 1600 0 Number ofmapped objects 9807 1 object to be mapped Write 8 Outputs 1H 8H 0x6200 0x01 2 pnd object to be mapped Write 8 Outputs 9H 10H 0x6200 0x02 3 3 object to be mapped Write 8 Outputs 11H 18H 0x6200 0x03 5 4 object to be mapped Write 8 Outputs 19H 20H 0x6200 0x04 rd th 8 BPobject tobe mapped Wte_6_ Outputs 39H 40H _ 048200 0x08 Transmit PDO 1 Default Index Subindex Comment Name Value 0 TNumberofmappedoblecie 1 Fobjectto be mapped Read Inputs HH 06000001 2 object to be mapped Inputs 9H 10H 0x6000 0x02 6 object to be mapped Read 8 Inputs 29H 30H 0x6000 0x06 7 object to be mapped Read 8 Inputs 31H 38H 0x6000 0x07 g object to be mapped Read 8 Inputs 39H 40H 0x6000 0x08 Receive PDO 2 manufacturer specific 6 Index Subindex Comment Name Value 0x1602 0 Number of mapped objects 0x02 1 object to be mapped Digital 32 bit I O group 0x0042 0x01 om object to be mapped Data Value 0x0042 0x02 Transmit PDO 2 manufacturer specific Index Subindex Comment Name Value 0 Numberomapedobjens 9X2 1 object to be mapped Digital 32 bit I O group 0x0042 0x01 t om object to be mapped Data Value 0x0042 0x02 42 2D0082003ZD00 doc 2VF100029FE03 doc BERGHOF Automationstechnik Object Dictionaries 5 9 DS401 Object Dictionary This section describes all objects from the DS401 device profile
12. input or output in question 5 operating status LEDs indicate the current state of the power supply module mode and other functions Error messages are also displayed by these status LEDs status LED status Logic state input LED yellow ON 1 HIGH activated input LED yellow OFF 0 LOW output LED yellow ON 1 HIGH activated output LED yellow OFF 0 LOW Operating status 1 11 green ON correct supply voltage for module electronics 2 CAN status 2 green ON CAN 0 send active 3 CAN status 3 green module active see software manual 4 CAN status 4 red alternating flashing indicates configuration mode on see software manual 5 CAN status 5 red alternating flashing indicates configuration mode on see software manual 2D0082003ZD00 DOC 2VF100028FE03 doc BERGHOF Automationstechnik Configuration 3 Configuration and Programming Tool 3 1 Programming Tool n Caution 2VF100041FE01 doc The most commonly used programming and diagnostic tool PADT is a personal computer provided by the user The features of this peripheral strongly determine how safe and reliable the opera tion of the automation system with a connected PADT will be Commercially available PCs are in general not suitable for use under the operating conditions defined for automation system industrial environment The user should specially ensure that the conditions necessary for safe operation as a PADT are fulfilled by the
13. manual Completeness This manual is complete only in conjunction with the user manual entitled Introduction to CANtrol Automation System and the product related hardware or software user manuals required for the particular application Standards The CANtrol automation system its components and its use are based on International Standard IEC 61131 Parts 1 to 4 EN 61131 Parts 1 to 3 and Supplementary Sheet 1 Supplementary Sheet 1 of EN 61131 IEC 61131 4 entitled User Guidelines is of particular importance for the user Order numbers Please see the relevant product overview in the Introduction to CANtrol Automation System manual for a list of available products and their order numbers 2800820 You can reach us at our headquarters at Germany Austria BERGHOF Automationstechnik GmbH BERGHOF Elektronik und Harretstr 1 Umwelttechnik GmbH Nfg KG D 72800 Eningen A 6200 Wiesing 323 Phone 49 0 71 21 8 94 0 Phone 43 0 52 44 6 48 08 0 Telefax 49 0 71 21 89 41 00 Telefax 43 0 52 44 6 48 08 81 http www berghof automation de http www berghof co at e mail info berghof com e mail info berghof co at BERGHOF Automationstechnik GmbH works in accordance with DIN EN ISO 9001 BERGHOF Automationstechnik RDIO 16 16 0 5 Update version Dae 02 08 00 IEC 1131 changed by IEC 61131 Export hint removed Block diagram cor rected Text completed in Schematic Diagram of Input Output
14. out by the manufacturer its authorised service engineers 8 3 1 Warranty Sold under statutory warranty conditions Warranty lapses in the event of unau thorised attempts to repair the equipment and or product or in the event of any other form of intervention 2VF100055FE01 doc 2D0082003ZD00 doc 51 Annex 8 4 Nameplate BERGHOF Automationstechnik Erklarungen zu den Typenschildern Beispiel nameplate descriptions example 002000000000 oo00 0000000000000000 000000000020002000000 mmm m mmm m mm mu oooo00o00000000000000 Barcode Identifizierungs Nr identification no Modul Typ module type Identifizierungs Nr identification no Modell Bestell Nr model order number Version Versorgungsspannung supply voltage Datum Date 7 Kennzeichnung mark 52 C LULU ELL S2CDIO 16 16 0 5 1131 eum 20110300300329 Modell 2011030 aS Version 03 SSELV 24V DC 12A max T 7 Co LUE EU HELL RUE DELE ET wv TEDIO 16 16 0 5 1131 Gum 2012230200
15. user s chosen PC The PADT can be connected to the automation system via the CANbus the serial module interface the Ethernet interface CEDIO Konfiguration von Node ID und Baudrate mit Peer to Peer Verbindung Configuration of the node ID and baudrate with peer to peer connection R232 Ethernet CAN 2VF100023DG00 cdr 2D0082003ZD00 doc 15 Configuration BERGHOF Automationstechnik 3 2 Configuration of Cell Controller with the CNW Tool New or replaced cell controllers have to be configured before they are used in an application This procedure can be compared with setting selector switches in other systems Such switches were deliberately omitted when the automation system was being designed since these do not allow the array of configuration data cur rently needed to be represented conveniently and neatly In place of this the automation system uses the user friendly CNW tool CANtrol Node Wizard which guides you through the configuration process The familiari sation and documentation requirements usually involved with setting configurations are thus reduced to a minimum A single module is connected to the PADT PC for configuration The module has to be put into configuration mode after the supply voltage has been applied or depending on previous use it may already be ready for configu ration Configuration mode is indicated by the alternate flashing of the status indicators
16. 00 VAC 50 60 Hz or 1 500 VDC Qualified project planning and design proper transport storage installation use and careful maintenance are essential to the flawless and safe operation of the automation system The automation system may only be used within the scope of the data and applica tions specified in the present documentation and associated user manuals The automation system is to be used only as follows e as prescribed e in technically flawless condition e without arbitrary or unauthorised changes and e exclusively by qualified users The regulations of the German professional and trade associations the German technical supervisory board TUV the VDE Association of German electricians or other corresponding national bodies are to be observed Safety oriented fail safe systems Particular measures are required in connection with the use of SPC in safety oriented systems If an SPC is to be used in a safety oriented system the user ought to seek the full advice of the SPC manufacturer in addition to observing any standards or guidelines on safety installations which may be available As with any electronic control system the failure of particular components may Warning result in uncontrolled and or unpredictable operation All types of failure and the associated fuse systems are to be taken into account at system level The advice of the SPC manufacturer should be sought if necessary 2D0082003ZD00
17. 000 Modell 2012230 X 5yersion 20 SBELV 24V DC 12 max 3 00836400001073 4 Typ 9407 481 60001 7 Nr 8346 5 Version 2A 6 24V DC 5W intern Made in Germany C 2VF100080DG01 cdr 2D0082003ZD00 doc 2VF100055FE01 doc BERGHOF Automationstechnik Annex Barcode same as identification number Module type plain text name of module Identification no module s identification number Model order no You only need to give this number when ordering a module The module will be supplied in its current hardware and software version Version defines the design level of the module as supplied ex works Supply voltage Oo Date internal code CE mark Note o The Version supply version panel specifies the design level of the module as supplied ex works When replacing a module users with the CNW Cantrol Node Wizard tool can read off the current software version of the newly supplied mod ule and then reload their own software version for a particular project if neces sary With the latter in mind before the download you should always keep a record of the existing software levels in your project documentation software version node IDs baud rate etc 2VF100055FE01 doc 2D0082003ZD00 doc 53 Annex BERGHOF Automationstechnik 8 5 Addresses and Bibliography 8 5 1 Addresses CiA DIN EN Standards IEC Standards CAN in Automation internationa
18. 004FE04 doc BERGHOF Automationstechnik Digital 16 16 0 5 4 5 Digital Outputs low side switching A Warning Outputs Protected output Operating status The module can be destroyed by overvoltages gt 32 V and or feedback Risk of fire Each digital output is also usable as an input See description under Digital Inputs if using as input The outputs are of low side switching 24 volt type two conductor Maximum out put current per output is 500 mA The outputs have a common earth GND when operating in groups Power is supplied separately from the supply for the modular electronic circuit see Connection Assignment The outputs switch automatically to 1 HIGH if there is no available data link to the CPU or if the module s internal supply is insufficient All outputs are protected by an incorporated current limiting circuit and a thermal overload protection circuit If overloaded the affected output switches off The output can be re activated by program on elimination of the overload and thermal cooling The overload protection of non involved outputs may also respond prematurely if feedback give rise to thermal loads The status of each output is indicated by a yellow operating status LED on the front panel of the module The LEDs are spatially assigned to the supply terminals ALED lights when its associated output is activated logical 0 LOW 4 5 1 Block diagram of output lo
19. 1 from group 1 to group 7 The entry Data Value describes the status of the individ ual I Os per group Data type PdoCommPar Index hex Subindex Field in Data Type DS301 0x0020 0 Number of supported entries Unsigned 8 in the record Cobld used by PDO Unsigned 32 2 Transmission Type Unsigned 8 Note The data type PdoCommPar describes the communication parameters of the indi vidual PDOs During the remote module s operation time the individual PDOs can be activated or deactivated in this way and the identifiers set can be changed 40 2D0082003ZD00 doc 2VF100029FE03 doc BERGHOF Automationstechnik Object Dictionaries Bits 11 Bit ID 29 Bit ID Example 11 Bit ID 2VF100029FE03 doc The entry Cobld is identified as follows MSB LSB 28 11 or 0 000000090909090000 TBtkenfe Bitnumber Value Meaning 31 MSB 0 PDO valid 1 PDO not valid 30 0 RTR allowed on this PDO 1 no RTR allowed on this PDO 29 0 1 11 bit ID CAN 2 0A 29 bit ID CAN 2 0B 28 11 0 if bit 29 0 X if bit 29 1 bits 28 11 of 29 Bit Cob ID 10 0 LSB Bits 10 0 of Cobld Note It is not possible to use 29 bit identifiers with the remote module release of the receive PDO 2 Index 0x1402 subindex 0x01 ID 1026 MSB LSB 1 o 000000000000000000 10000000010 2D0082003ZD00 doc 41 Object Dictionaries BERGHOF Automationstechnik 5 8 4 PDO Mapping Receive PDO 1 Default Index
20. 4 7 Response telegram Server CANopen slave Byte 0 EIE bit 4 0 reserved hence 0 Byte 1 2 m multiplexer index 16 bit Byte 3 q multiplexer subindex 8 bit Byte 4 7 X reserved hence 0 46 2D0082003ZD00 doc 2VF100030FE01 doc BERGHOF Automationstechnik Telegram Formats 6 2 Initiate Domain Upload Protocol el 3 el ccs 2 Byte 0 3 en scs 2 lt q Client Server Request telegram Client CANopen master Byte 0 bit 7 5 client command specifier reserved hence 0 multiplexer index 16 bit multiplexer subindex 8 bit reserved hence 0 Response telegram Server CANopen slave ston Comment O RN Fie LLL reserved hence0 bit 3 2 number of bytes not containing valid data valid if e 1 and s 1 bit 1 0 segmented transfer 1 expedited transfer hence always 1 0 data size n invalid hence 0 data bytes 1 data size is shown in n normal case multiplexer index 16 bit multiplexer subindex 8 bit data 2VF100030FE01 doc 2D0082003ZD00 doc 47 Telegram Formats BERGHOF Automationstechnik 6 3 Abort Domain Transfer Protocol Note Both the client and the server can abort a domain transfer at any time with this telegram Byte 0 Byte 1 3 Byte 4 7 cs 4 X m q d Client Server Server Client Abort telegra
21. DOC 2VF100054FE01 doc BERGHOF Automationstechnik Remote module with 32 digital I O 2 Remote module with 32 digital I O 2 1 Overview Order number Function E bus expansion Features Material supplied order item required for acquiring a replacement is to be found on the nameplate of the module The module is a CANopen capable remote module with 32 digital I Os and fixed functionality The module is a CANopen slave device complying with CiA Draft Standard DS401 The remote module comprises 16 digital inputs and 16 digital outputs Each output is also usable as an input combined I Os The Remote module can be extended locally by connecting digital expansion modules The I O level of the Cell Controller can be extended by adding a maximum of 6 E bus expansion modules each with 32 digital I Os Assembling e g 6 digital expansion modules is equivalent to 224 I Os MC 68332 CPU 25 MHz e 2MB flash memory 1 25 MB CMOS RAM 16 digital inputs and 16 digital individually configurable inputs outputs outputs may be supplied with power in groups layer locally extendible over internal E bus with up to six expansion modules digital e Minimal space requirement and mounting depth e Maintenance free having no buffer battery The material supplied comprises e Remote module with 32 digital I Os Note See section on 16 16 0 5 digital I Os for information on digital I Os and the forma t
22. G00 bmp 2D0082003ZD00 doc 2VF100029FE03 doc BERGHOF Automationstechnik Object Dictionaries 5 3 Service Data Objects SDOs Example Download Example Upload 2VF100029FE03 doc All object dictionary entries can be accessed via SDO telegrams Only the so called expedited protocol is supported which can contain up to 4 bytes of user data In association with this all object dictionary entries are 4 bytes or less The expedited protocol contains a request telegram transmitted by a CANopen master and a corresponding response telegram of the CANopen slave modules Remote modules cannot initiate request telegrams but merely respond to re quests The Remote module supports one SDO channel The request and re sponse telegram CAN identifiers Cobld are derived from the node numbers Nodeld set by the CNW software For this purpose the standard identifiers as stipulated by the CiA DS301 CANopen communication profile are used Identifier request telegram Master Slave 1536 Nodeld Identifier response telegram Slave Master 1408 Nodeld The graphic below is a schematic representation of the expedited protocol structure The first byte in the expedited protocol CMD contains coding which describes whether data from the slave module object dictionary should be uploaded or downloaded Index and subindex identify the object In download data the user data of up to 4 bytes are contained in the request telegram
23. Grouping Data type PdoCommPar corrected Modul type formal amended 02 09 02 Formal updates company name and product names hint removed modification graphic Module diagram 1 2 23 05 03 Update in Remote Modules with 32 digital 1 and Object Dictionaries 2D0082003ZD00 doc 3 RDIO 16 16 0 5 BERGHOF Automationstechnik blank page 4 2D0082003ZD00 doc BERGHOF Automationstechnik RDIO 16 16 0 5 Contents 1 2 2 7 1 1 Hazard Categories and Indications 11 nennen 7 1 2 7 A 7 1 3 Use as eene nennen nnne tener natn sna stant atn nan nn 8 2 REMOTE MODULE WITH 32 DIGITAL N O 9 LM PETI mE 9 P PERITI IRR cpe een brennen harten 10 2 3 Block Circuit Diagram erret ente dehnen 11 2 4 Module Diagram and Connection Assignment 12 2 5 Assembly Operation err
24. MOOG User Manual M3000 Control System RDIO 16 16 0 5 Remote Module with Digital I Os and and CANopen Interface PROGRAM Controller Digital vost Controller alog l Os FI a brary Manage an man Analog Inputs M_HW_MSC lib 29 10 02 17 48 04 INT1 M_INTEGRAL P Analog Bi Range limiter Range PLCopen lib 3 11 02 17 47 14 FGENT M WAVE GEN 7 o 18 43 3 AISEOTAT SCOT REN axis_output 0 MER POU a Dynamic Function Blocks BUS ee ote MDERIVATIVE FB Bug enne MOHPFIFB Bieb opi M INTEGRAL FB Bi QAO o MAT de t MC MoveAksplute nite i d prix DMATEXS Execute EL Done oF i Noneisco MLPTI FB Position _ Commandahorke LI MITT M PT2 FB D GAIN Eure FREQ s B amp License nev em CAN slot ei 2000200300 202002003 2000 SELV 24V 12A max NOTES ON THIS MANUAL lj NI N DIO LZ bw J u This M3000 module is commercialized by Moog Berghof Automationstechnik together The main part of this manual was created by Berghof Auto mationstechnik GmbH and was inserted unchanged Therefore it i
25. See the section entitled Network Management The emergency telegram is issued An entry is made in the diagnostics monitor with the content of the manufacturer status register LED 5 is illuminated continuously until the module is restarted reset node The module remains operational The digital outputs behave as in a life guarding case An entry is made in the diagnostics monitor with the value 0 LED 4 is illuminated continuously LED 3 goes out A fatal error has occurred The remote module must be restarted 5 7 Network Management Node Guarding Life Guarding 2VF100029FE03 doc The node guarding function is provided from the CANopen master A monitoring telegram is issued there in configurable time intervals The addressed CANopen slave must issue a reply telegram with its current state in response to this If the reply is not received the CANopen Master can assume that the slave is no longer operational and react accordingly If a life guarding function has also been activated on the CANopen slave it can also react to missing node guarding telegrams This means that if the CANopen master fails the module can set its outputs to a secure state The standard setting deactivates outputs You can change this using corresponding objects 2D0082003ZD00 doc 37 Object Dictionaries BERGHOF Automationstechnik Life Time The life time is the period within which a node guarding telegram must be received If
26. arameter 0x1600 RECORD 1 receive PDO mapping PDOMapping 0x1602 RECORD 274 receive PDO mapping PDOMapping r Transmit PDO Communication Parameter 0x1800 RECORD 1 transmit PDO parameter PDOCommPar 0x1802 RECORD 2 transmit PDO parameter PDOCommPar Transmit PDO Mapping Parameter 0x1A00 RECORD 1 transmit PDO mapping PDOMapping 0x1A02 RECORD 2 transmit PDO mapping PDOMapping rw rw r rw rw ro ro 2VF100029FE03 doc 2D0082003ZD00 doc 3 Object Dictionaries BERGHOF Automationstechnik 5 8 2 Object 0x1002 Manufacturer Specific Status Register Status Register Layout Byte 0 Bit0 6 A 1 indicates the occurrence of an E bus life guarding event The bit position corresponds to the module number Bit 7 A life guarding event is indicated here with a 1 Byte 1 3 Reserved not yet in use Note This bit information is noted in the module s internal diagnostics monitor in the event of an error The content of this object is only set to O after the module is re started 5 8 3 Data Types Data Types Definition Index hex Object Name Type 0x0042 DEFTYPE Additional Digital PDO Mapping DigitalPdoMap Data Types DigitalPdoMap Index hex Subindex Field in DigitalPdoMap Record Data Type 0x0042 Number of supported entries Unsigned 8 in the record _ Digital 32 bit VO group Unsigned 8 2 Data Value Unsigned 32 Note The specification of the 32 bit I O group is the same as the numbering 0540
27. are 4 objects for the 8 bit group index 0x6000 2 objects for the 16 bit group index 0x6100 and 1 object for the 32 bit group index 0x6120 per module The 32 bit object corresponds to the number of I O modules The user can read out the values with SDO telegrams The subindex 0 contains the number of objects that are available in the corresponding group Read accesses Read accesses provide the current connector status regardless of whether they are used as an input or output Write accesses With write accesses the respective input bits are masked by the system DWORD Datenzugriff auf RDIO E A Daten DWORD Data access to RDIO I O Datenformat umwandeln data format exchange 4 l H CAN Telegram Module data Intel Format 42 00 21 00 hex 0021 00142 Motorola Format LSB MSB MSB LSB Hinweis Die CAN Telegramme werden im Intel Little Endian Format bertragen Note CAN telegramms are transmitted in the Intel Little Endian format 00 21 00 42 E A Punkt WO point 5 wes Ea 8838 2222 2222999099 55565 Z2z2z22 2 gt 22 0505050 1 032 FENERE Coo OC VO NS INT 1013 1015 102 104 INIO 1 12 1014 1016 vor Voto IN23 IN25 IN27 1 029 031 i Na IN26 IN2B Ment vos2 C
28. ce Germany India Ireland 5 E EIS E T 1 PROGRAM Controller Controller AR Analog l Os FIX T 2 PID1 M PID S 1 03 EAs ITI 1ib 29 10 1 INTI MJNTEGRAL BI Analog MOUSE Axis 2 fi ua 105 E Range limiter 2 Loops Wok 2 FGENT M WAVE GI axis output 0 REALE amp Dynamic Function Blocks M_DERIVATIVE TMAiPos Position Erle TMATVel Velocity celeration TMATDec_ Dereleration ont RIEN iu 4 Loge Function Blocks TS 8 Em 9 Italy Japan Korea Luxembourg Norway Philippines Russia Singapore Spain Sweden South Africa United Kingdom USA MOOG Moog GmbH Hanns Klemm Stra e 28 71034 B blingen Germany Telephone 49 7031 622 0 Fax 49 7031 622 100 E Mail info moog de For the location nearest to you contact www moog com worldwide 1 GmbH IDO PDF only C43149 001 Version 1 0 09 03
29. de switching 24 volt type two conductor Maximum out put current per output is 500 mA The outputs have a common earth GND when operating in groups Power is supplied separately from the supply for the modular electronic circuit see Connection Assignment The outputs switch automatically to 0 LOW if there is no available data link to the CPU or if the module s internal supply is insufficient All outputs are protected by an incorporated current limiting circuit and a thermal overload protection circuit If overloaded the affected output switches off The output can be re activated by program on elimination of the overload and thermal cooling A high speed de excitation feature having a terminal voltage of 50 V related to L protects all outputs against induced voltage peaks under in ductive loads The overload protection of non involved outputs may also respond prematurely if feedback or high speed de excitation give rise to thermal loads The status of each output is indicated by a yellow operating status LED on the front panel of the module The LEDs are spatially assigned to the supply terminals ALED lights when its associated output is activated logical 1 HIGH 4 4 1 Block diagram of output high side switching 26 i M Internal M cs GND ASIF 1 AX Je IT Mintemal M 2VF100011DG01 cdr 2D0082003ZD00 doc 2VF100
30. e bit The extended node guarding function life time monitoring of the master has been implemented You can also configure the reaction to a missing guarding tele gram Once the supply voltage has been switched on the remote module executes a boot up process in accordance with CiA DS301 Minimum Capability Device The change in state from Initialising to Preoperational is displayed using an emergency telegram with no data content The CAN identifier of the telegram Cobld is calculated by adding 128 to the node number Nodeld The remote module then switches to the preoperational state and can be operated using CANopen SDO accesses The I O status LEDs of the digital outputs are not illuminated during boot up The outputs are set to 0 low when switching the module electronics on and off They remain in this state until the next switching command No short switching peaks occur as a result All digital channels be actuated using either SDO or PDO telegrams All changes to inputs outputs can generate edge triggered event PDOs This is de pendent on the status and configuration of the module Full access to the object dictionary entries via SDO channel When accessing the object dictionary by SDO the individual objects are selected using an index and subordinate sub index The index is displayed as a 16 bit value and the sub index as an 8 bit value To operate the remote module using a PDO process data objec
31. e more in depth knowledge of the commu nication protocols CAN CANopen in order to implement the required functionality successfully Keywords high system load or number of users time critical appli cations etc 2D0082003ZD00 doc 2VF100041FE01 doc BERGHOF Automationstechnik Digital I O 16 16 0 5 4 Digital Inputs Outputs high side low side switching Outputs may also be connected to inputs without additional external load 4 1 Grouping of Inputs Outputs Inputs Outputs A Warning 2VF100004FE04 doc The grouping facility permits formation of groups separate power circuits emergency off circuits etc as and when required Inputs outputs can be supplied in groups as 2 input groups and 4 output input groups The modular electronic circuit for C modules is supplied together with input group 2 Group 2 over connection terminals 1 L1 and 2 1 The modular electronic circuit must be supplied with power in any cases otherwise the modules will be inoperable Supply must be provided directly unswitched from the supply unit Inputs sensors must be supplied directly from the supply unit Do not conduct the sensor supply through switched circuits Output groups may be supplied through upstream switch elements emergency off manual switches etc Feedback could destroy the module and or the sensors Otherwise when group power supply is disconnected connected sensors could produce a feedback ov
32. er the output transistors Always make sure the sensors are each supplied from the same power source as the module s associated I O group 2D0082003ZD00 doc 19 Digital I O 16 16 0 5 BERGHOF Automationstechnik 4 1 1 Schematic Diagram of Input Output Grouping high side low side switching ER TM design without ER TM equipment 24 V GND 24V GND SH GND Ete M1 T i i i i Voltage i supply i i i L2 0600000000090000006 LinouT 4 IN l IN OUT FINOUTS n 690000000009000009 5 BE sina EJ supply EI 24V GND 24 V GND 24 V GND NI X X Group IN OUT 1 4 Bemessungsspannung f r Group 2 IN 5 12 erh hte Isolation nach Rated voltage for Group a IN OUT 13 16 increased isolation Group 4 IN OUT 17 20 defined by Group 5 IN 21 28 EN 61131 2 0 50 V Group 6 IN OUT 29 32 2VF100007DG00 cdr 20 2D0082003ZD00 doc 2VF100004FE04 doc BERGHOF Automationstechnik Digital I O 16 16 0 5 4 1 2 Without Grouping high side low side switching Wird auf die Gruppenbildung bei der Spannungsversorgung verzichtet sind vom Anwender die im folgenden Bild dargestellten Verbindungen herzustellen Without grouping of the voltage supply the user has to build the following connection common principle design voltage supply without protection equipment GND 24V In lt 12 max 9
33. f the module The LEDs are spatially assigned to the supply terminals An LED lights when its associated input is activated logical 0 LOW 4 3 1 Block diagram of input low side switching 2VF100004FE04 doc GND j M HMM 2VF100085DG00 cdr 2D0082003ZD00 doc 23 Digital I O 16 16 0 5 BERGHOF Automationstechnik 4 3 2 Digital Inputs Data high side low side switching Module data Number of inputs Line lengths in switchgear cabinet Allow for voltage drop when choosing conductor cross section otherwise no restrictions in prac tice dedicated l v wiring Observe all relevant local regula tions and the requirements of EN 61131 3 Please consult manufacturer regarding lightning hazard Rated load voltage L 24 VDC SELV Reverse voltage protection yes Electrical isolation yes optical isolator in groups Status display yes yellow LED for each input Alarms definable according to software Input delay parameterisable by software nput capacitance 24 2D0082003ZD00 doc 2VF100004FE04 doc BERGHOF Automationstechnik Digital I O 16 16 0 5 Digital input operating areas high side low side switching 2VF100004FE04 doc 300 T OE 25 0 Ue 24 V DC EIN Bereich ON HIGH area 20 0 St rabstand 1V noise margin 1 V
34. for I O mod ules that are supported by the remote module 5 9 1 Overview of the Object Dictionary Digital Input Module Index Object Name Type Acc 0x6000 ARRAY Read State 8 Input Lines unsigned 8 ro 0x6005 Enable Digital Input Interrupt 0x6006 ARRAY Input Interrupt Mask 8 Input Lines any change 0x6007 ARRAY Input Interrupt Mask 8 Input Lines low to high 0 6100 RECORD Read State 16 Input Lines unsigned 16 0x6106 RECORD Input Interrupt Mask 16 Input Lines any change unsigned 16 i i 0x6107 RECORD Input Interrupt Mask 16 Input Lines low to high unsigned 16 rw 0x6108 RECORD Input Interrupt Mask 16 Input Lines high to low unsigned 16 rw Digital Output Module Index Object Name Type Acc 0x6200 ARRAY Write State 8 Output Lines 0x6300 RECORD Write State 16 Output Lines unsigned 16 rw 0x6306 RECORD Fault Mode 16 Output Lines unsigned 16 0x6307 RECORD Fault State 16 Output Lines unsigned 16 0x6320 RECORD Write State 32 Output Lines unsigned 32 0x6326 RECORD Fault Mode 32 Output Lines unsigned 32 0x6327 RECORD Fault State 32 Output Lines unsigned 32 2VF100029FE03 doc 2D0082003ZD00 doc 43 Object Dictionaries BERGHOF Automationstechnik blank page 44 2D0082003ZD00 doc 2VF100029FE03 doc BERGHOF Automationstechnik Telegram Formats 6 Telegram Formats for Remote I O Module 16 16 2VF100030FE01 doc Accessing a remote module in accordance with the CANopen standard can also be done without complete
35. for correct wiring and polarity before applying the sup ply voltage Then switch on supply voltage After the supply voltage is switched on the remote module carries out a boot up process in accordance with the CiA DS301 minimum capability device A boot up identifier is transmitted in the form of an emergency telegram without data bytes The telegram CAN identifier Cobld is derived from 128 node number Nodeld Then the remote module switches to pre operational state and can be operated via CANopen SDO accesses The number of coupled expansion modules is automati cally recognised during the boot up process and entered in the corresponding ob jects in the object dictionaries The I O status LEDs of the digital outputs will not light up during boot up The out puts are set to 0 low when switching on and off the module electronics and re main in that state until the next switching command No occurrence of brief switching peaks The I Os are accessed via the CANopen communication profile defined in CiA Draft Standard DS301 All I O channels can optionally be operated via SDO or PDO telegrams Addition ally all inputs can create edge triggered event telegrams PDO SDO telegrams In order to operate the remote module using PDOs process data objects the module has to be switched over to the operational state with the corresponding NMT command start node The remote module supports 2 PDO telegrams each in the transmit and receive di
36. g status The status of each input is indicated by a yellow operating status LED on the front panel of the module The LEDs are spatially assigned to the supply terminals An LED lights when its associated input is activated logical 1 HIGH 4 2 1 Block diagram of input high side switching 2VF100009DG01 cdr 22 2D0082003ZD00 doc 2VF100004FE04 doc BERGHOF Automationstechnik Digital I O 16 16 0 5 4 3 Digital Inputs low side switching Q Operating status The digital inputs are low side switching type 1 inputs for 3 conductor sensors They are designed for input voltages of 24 V nominal The inputs are transmitted cyclically to the CPU An open input is interpreted as static O LOW Pulse recognition and interference suppression Inputs are read cyclically Pulses 100 us are hardware suppressed The sampling interval can be parameterised by software The shortest possible sampling interval is 250 us If pulses are to be detected reliably they must be longer than the sampling interval stipulated by software Multiple sampling can be programmed in order to suppress spurious pulses Sampling interval and multiple sampling filtering can be activated in groups of 32 inputs each Note This function is available only for C applications at present Using IEC 61131 3 the filter is permanently set to 250 us The status of each input is indicated by a yellow operating status LED on the front panel o
37. hading and a bold printed indication their meaning being as follows means that death severe physical injury or substantial damage to property will occur on failure to take the appropriate precautions means that death severe physical injury or substantial damage to property may occur on failure to take the appropriate precautions means that minor physical injury or damage to property may occur on failure to take the appropriate precautions Note provides important information on the product or refers to a section of the docu mentation which is to be particularly noted 1 2 Qualified users 2VF100054FE01 doc Qualified users within the meaning of the safety instructions in this documentation are trained specialists who are authorised to commission earth and mark equip ment systems and circuits in accordance with safety engineering standards and who as project planners and designers are familiar with the safety concepts of automation engineering 2D0082003ZD00 DOC 7 General Instructions BERGHOF Automationstechnik 1 3 Use as Prescribed This is a modular automation system based on the CANbus intended for industrial control applications within the medium to high performance range The automation system is designed for use within Overvoltage Category IEC 364 4 443 for the controlling and regulating of machinery and industrial processes in low voltage installations in which the rated supply voltage does not exceed 1 0
38. he same function as manual switching with the S button on the module Configuration bootloader mode is only required for configuration and reloading of the firmware Note Further programming procedure is determined by the programming environment used IEC 61131 C For more information see the relevant programming manu als 3 3 Setting the Node ID The individual CAN bus users are identified within the automation system commu nications by an unambiguous node ID The node ID numbers from 1 to 127 are permitted These numbers can be allocated at will however they do affect individual CAN user priorities do not confuse with CAN message identifiers Note Users of the same physical CAN line must always be allocated an unambiguous node ID 3 4 CAN Baud Rate 2VF100041FE01 doc In order to ensure successful CAN communication there should be a uniform baud rate setting for all bus users The values chosen should be selected in accordance with the maximum line length but should not be unnecessarily high extra safety factor Note Cell controller communication occurs during programming and maintenance in CAN exclusively by means of CAN channel 0 on the front panel of the module Channels 1 and 2 are reserved for the application programs There is always a uniform baud rate for a physical CAN line For this reason baud rate settings have to be identical for all users located in the same line both duri
39. ion of I O groups 2D0082003ZD00 DOC 9 2VF100028FE03 doc Remote module with 32 digital I O 2 2 Module data Dimensions W x H x D mm Technical Data BERGHOF Automationstechnik 124 x 170 x 85 5 modular dimension W 113 118 5 Weight approx 700 g Mounting NS 35 7 5 EN 50022 mounting rail Expansion with up to 6 E bus expansion modules Working temperature range 5 C to 50 C no moisture condensation convection cooling provided CPU MC 68332 25 MHz Flash EPROM SRAM 2 MB 1 25 MB Parameterisation CANopen EMC class of protection insulation testing degree of protection Emitted interference EN 50081 2 industrial sector Noise immunity EN 50082 2 industrial sector Class of protection Insulation resistance EN 61131 2 500 VDC test voltage Degree of protection IP 20 Supply voltage power consumption Module electronics power supply supply voltage SELV 24 VDC max 0 15 A EN 61131 2 Power supply digital I Os 24 VDC EN 61131 2 subdivided into 6 groups Power consumption at Ue 24 VDC no load max 300 mA fuse protection according to load on I Os max 10 A Power supply reverse voltage protection yes Electrical isolation Digital inputs outputs DIO yes between CANbus and digital I Os Number of inputs 16 Number of inputs outputs 16 individually configurable as inputs or outputs Output current
40. l manufacturers and users organisation for CAN users in the field of automation CiA CAN in Automation e V Am Weichselgarten 26 D 91058 Erlangen Germany e mail headquarters can cia de http www can cia de Beuth Verlag GmbH VDE Verlag GmbH 10772 Berlin 10625 Berlin VDE Verlag GmbH or Internet search 10625 Berlin http www iec ch 8 5 2 Standards Bibliography 61131 1 61131 1 61131 2 61131 2 61131 3 61131 3 IEC61131 4 EN61131B11 EN 50081 Parts 1 2 EN 50082 Parts 1 2 ISO DIS 11898 EN 954 1 Bibliography 54 Programmable controllers Part 1 General information Programmable controllers Part 2 Equipment requirements and tests Programmable controllers Part 3 Programming languages Programmable logic controllers Supplementary Sheet 1 User guidelines German EMC Act Emitted interference German EMC Act Noise immunity Draft International Standard Road vehicles Interchange of digital information Controller Area Network CAN for high speed communication Safety of machinery Safety related parts of control systems Part 1 A variety of specialist publications on the CANbus is available from specialist bookshops or can be obtained through the CiA users organisation Note Our Technical Support team will be glad to provide other literature references on request 2D0082003ZD00 doc 2VF100055FE01 doc Argentina Australia Austria Brazil China Finland Fran
41. l outputs max 8 A 16 x 0 5 Total current per group max 2 4 x 0 5 horizontal mounting on vertical mounting plate Lamp load 24 VDC max 6 watts Connection of two outputs in parallel to provide logic operation allowed to increase performance not allowed Insulation resistance Rated voltage V lt Ue lt 50 V Test voltage up to 2 000 m altitude 500 VDC 2D0082003ZD00 doc 2VF100004FE04 doc BERGHOF Automationstechnik Digital I O 16 16 0 5 Overload Reaction of Digital Outputs high side low side switching berlast Verhalten der digitalen Ausg nge Overload reaction of digital output Vollast full load Vollast full load Unbelastet unload U 18V U 24V U 30V la 2A la 1A la 0 7A T 0 C T 25 C T 50 C 100000 10000 Ausgang AUS Output OFF Ausgang EIN Abschaltung durch Output ON thermische Uberlast Switching Off by _ E thermal overload o 1000 8 __ 0 5 100 L cu EH E B sl ad 10 m 1 2 Streubereich der Strombegrenzun 216 Current limit scatter band E L 1 23 9 Arbeitsbereich der Strombegrenzung Current limiting range 0 1 0 1 2 3 4 5 10 20 30 40 50 100 200 R Ohm Innerhalb des Streubereichs der Strombegrenzung ist das Verhalten der Strombegrenzung undefiniert Within the current limi
42. m Client Server Byte 0 ZZ giro Dx error code application specific multiplexer index 16 bit multiplexer subindex 8 bit 48 2D0082003ZD00 doc 2VF100030FE01 doc BERGHOF Automationstechnik Examples of Telegrams T Examples of Telegrams for Remote I O Module 16 16 7 1 16 bit Download Client Server Request gt 0010 1011 Index Subindex Data gt 7 2 32 bit Upload Client Server Request gt 0100 0000 Index Subindex X gt 7 3 Upload with abort Client Server Request 0100 0000 Index Subindex X gt 1000 0000 Index Subindex Error lt Abort Code 2VF100031FE01 doc 2D0082003ZD00 doc 49 Examples of Telegrams BERGHOF Automationstechnik 7 4 50 Diagram of Telegram Data DWORD Datenzugriff auf RDIO E A Daten DWORD Data access to RDIO I O Datenformat umwandeln data format exchange 4 CAN Telegram Module data Intel Format 4210021 00 hex 00 21 00 42 Motorola Format LSB MSB MSB LSB Hinweis Die CAN Telegramme werden o im Intel Little Endian Format bertragen Note CAN telegramms are transmitted in the Intel Little Endian format 00 21 00 42 23222120 23222120 2322 20 2322 21 VA 23 22 21 20 23 22 91 20 73 Fha 32 31 30 29028127 26 25 2412322 21 20 19 18 17 1615
43. master implementation This is done using the SDO protocol defined as a multiplex domain protocol in the CAL protocol This is the so called expedited data transfer An SDO telegram always consists of a request and a response telegram The re quest telegram is transmitted by the client CANopen master and the response telegram by the server CANopen slave The user data are identified with the use of a so called multiplexer This consists of a 16 bit index entry and an 8 bit subindex entry Apart from a protocol specific control byte a CAN telegram also contains up to 4 bytes worth of space for user data Note Note that in CAN telegrams all data are transmitted in Intel format Little Endian but are processed and displayed within the module in Motorola format 2D0082003ZD00 doc 45 Telegram Formats BERGHOF Automationstechnik 6 1 Initiate Domain Download Protocol Zn E u 1 X Client ee Server Byte 0 3 E scs 3 X Client s Server Request telegram Client CANopen master ws 7 i number of bytes not containing valid data valid if e 1 and s 1 0 segmented transfer 1 expedited transfer hence always 1 0 data size n invalid hence 0 data bytes 1 data size is shown in n normal case multiplexer index 16 bit multiplexer subindex 8 bit data Byte 1 2 Byte 3 Byte
44. ng configuration with the CNW and in the application programs Different lines may have different baud rates 2D0082003ZD00 doc 17 BERGHOF Automationstechnik Configuration 3 5 Gateways Exceptional Cases A gateway provides the means for a cell controller to receive certain CAN mes sages over a given channel and to transmit these unchanged i e with the same CAN identifier over another channel perhaps with a different baud rate In order to keep the system load to a minimum it is possible and indeed advisable to let only a certain number of CAN messages pass through the gateway The cell controller gateway functionality must explicitly be activated by the application pro gram function block or library function Note If you want to programme and maintain cell controllers behind a gateway then the entire CAN identifier range 1409 to 1663 has to be transmitted in both directions When this is happening the node IDs of these cell controllers should not collide with other node IDs in the higher level system In this case the system cannot be programmed via the gateway node serial inter face The application program must already be started on this node for the gateway to be activated only in this way can the function blocks be called Individual configuration means that the user has a considerable degree of flexibility when it comes to arranging the gateway functionality It might be necessary for the user to hav
45. nicht identisch mit Nummerierung der Anschlu klemmen Not identical with wire connector numbers 2VF100022DG02 cdr 32 2D0082003ZD00 doc 2VF100029FE03 doc BERGHOF Automationstechnik Object Dictionaries 5 2 1 Operating Status Display Software Operating Status CANopen Status 2VF100029FE03 doc Five operating status LEDs display the current state of the power supply module mode and error messages The general states and their meanings were described in the chapter entitled Function Selection Displays Diagnosis The following out line relates exclusively to special system dependent software states that are indi cated by the operating status LEDs Pressing the S key opens a time window for accessing the boot loader configura tion status Pressing the S key once while the application module is active illumi nates LED4 LEDS If you press the S key again while these LEDs are illuminated the boot loader configuration status is activated If you do not press the S key a second time while these LEDs are illuminated the application module is reset only To start the application module from the boot loader press the S key once only The following outline relates exclusively to special software states of the CANopen software that are indicated by the operating status LEDs LED Blinking PREOPERATIONAL state ON OPERATIONAL state OFF Error state BUS OFF or boot loader indicated
46. nnnnnnnnnnnnnnnnnnnnnsnnnnnnnnnnnnnnnsnnnnnn 23 4 3 1 Block diagram of input low side switching 23 4 3 2 Digital Inputs Data high side low side 24 4 4 Digital Outputs high side 26 4 4 1 Block diagram of output high side 26 4 5 Digital Outputs low side 27 4 5 1 Block diagram of output low side switching 27 4 5 2 Digital Outputs Data high side low side 28 Overload Reaction of Digital Outputs high side low side 29 2D0082003ZD00 doc 5 RDIO 16 16 0 5 BERGHOF Automationstechnik 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 6 1 6 2 6 3 7 1 7 2 7 3 7 4 8 2 8 3 8 4 8 5 OBJECT DICTIONARIES FOR REMOTE I O MODULE 16 16 31 lc 31 Access to l O 32 5 2 1 Operating Status Display 33 Service Data Objects 5 1 1 11 35 Process Data Objects PDOs 36 Emergency Objects 2
47. oup In the initial state of the remote module these additional PDOs are deacti vated Receive PDO 2 1024 node number Transmit PDO 2 896 node number Note The second PDO pair predefined in accordance with CiA DS301 is not supported by the remote module since this is reserved in the DS401 device profile for analog The predefined identifiers can be changed with respect to operational time using SDO accesses to the object dictionary entries 0x1400 0x1402 and 0x1800 0x1802 In order to operate the remote module using PDOs it must be switched over to operational state with the NMT command START NODE Then outputs can be switched by PDO and correspondingly programmed edge events will be signalled by the RDIO module via PDO telegrams In initial state edge events are active for rising and falling edges at all inputs 2D0082003ZD00 doc 2VF100029FE03 doc BERGHOF Automationstechnik Object Dictionaries 5 5 Emergency Objects Identifier Error Codes If an error situation occurs on the CANopen slave this is documented in the error register or manufacturer status register An emergency telegram is issued for every change made to these registers The emergency object is sent from the CANopen slave with the identifier 128 Nodeld Format Byte 0 1 2 3 4 5 6 7 0x5001 E bus internal system bus Guarding Error 0x8130 Life Guard Error 5 6 Error Behaviour Life Guarding E bus Guarding CAN BUS OFF
48. rections After switching on in this way the first transmit and receive PDO pair is activated The second transmit and receive PDO pair is de activated and can be activated with respect to operating time via corresponding SDO service data ob ject accesses All PDOs are implemented solely as asynchronous event PDOs no synchronous operation A CANopen master available in the CAN network can operate the remote module via node guarding telegrams The module responds in accordance with the node guarding protocol specifications by transmitting the corresponding operational status with toggle bit The life guarding function Monitoring of the CANopen master from the slave is implemented See associated software documentation for further information 2D0082003ZD00 DOC 13 Remote module with 32 digital I O BERGHOF Automationstechnik 2 5 2 Function Selection Displays Diagnostics A Warning S button status Operating status Do not touch S button during normal operation Program sequence could otherwise be put into an undefined state Risk of uncontrolled system and machine states Put system machine into a safe initial state maintenance mode for example be fore actuating the S button Used to switch between modes and to re start the module The function of the S button is software dependent Each input and output has a yellow I O status LED assigned to it to indicate the logic state of the
49. red the system remains in this state until the next node guarding telegram is received A life guarding event can then be triggered again if life guarding remains active Life Guarding Objects 0x100C Guard time in milliseconds 0x100D Life time factor 0x6306 Fault mode 16 bit Outputs whose value is modified in the event of an error 0x6307 Fault state 16 bit Status assumed by outputs in the event of an error 0x6326 Fault mode 32 bit Outputs whose value is modified in the event of an error 0x6327 Fault state 32 bit Status assumed by outputs in the event of an error 38 2D0082003ZD00 doc 2VF100029FE03 doc BERGHOF Automationstechnik Object Dictionaries 5 8 DS301 Object Dictionary This section describes all objects that are supported by the remote module and that are defined in the CiA DS301 communication profile In addition a manufacturer specific data type for the remote module is defined which allows more than 64 I Os to be operated via a PDO 5 8 1 Overview of Object Dictionary Index Object Name Type Acc 0x1009 Manufacturer hardware version Vis String Ox100C unsigned 0x100D Life Time Factor 0x100A VAR Manufacturer software version Vis String ro 0x100E VAR Cobld guarding protocol unsigned32 rw 0x100F Number of SDOs supported unsigned32 ro Receive PDO Communication Parameter 0x1400 RECORD 1 receive PDO parameter PDOCommPar 0x1402 RECORD 27 receive PDO parameter PDOCommPar Receive PDO Mapping P
50. s possible that some terms in this manual do not correspond to the terms used in the other M3000 manuals COPYRIGHT 2003 Moog GmbH Hanns Klemm StraBe 28 71034 B blingen Germany Telefon 49 7031 622 0 Telefax 49 7031 622 100 E Mail info moog de M3000 Support Moog de Internet http www moog de http Awww moog com M3000 All Rights Reserved No part of this manual may be reproduced in any form print photocopies microfilm or by any other means or edited duplicated or distributed with electronic systems without prior written consent from Moog Offenders will be held liable for the payment of damages RESERVATION OF CHANGES AND VALIDITY Subject to changes without prior notice The information included in this manual is valid at the release date of this manual See footer for version number and release date of this manual EXCLUSION OF LIABILITY This manual was prepared with great care and the contents reflect the authors best knowledge However the possibility of error remains and improvements are possible Please feel free to submit any comments regarding errors or incomplete information to Moog Moog does not offer any guarantee that the contents con form to applicable legal regulations nor does Moog accept any liability for incorrect or incomplete information and the consequences thereof TRADEMARKS Moog and Moog Authentic Repair are registered trademarks of Moog Inc and it
51. s subsidiaries All product designations mentioned in this manual are trademarks of the respective manufacturers The absence of the trademark symbols or does not indicate that the name is free from trademark protection DIN EN ISO 9001 Our quality standard is according to DIN EN ISO 9001 A Moog User Manual RDIO Version 1 0 09 03 RDIO 16 16 0 5 Remote I O Module V 1 2 User Handbook Automation System CANtrol Ident No Copyright BERGHOF Automationstechnik GmbH Reproduction and duplication of this document and utilisation and communication of its content is prohibited unless with our express permission All rights reserved Damages will be payable in case of infringement Disclaimer The content of this publication was checked for compliance with the hardware and software described However discrepancies may arise therefore no liability is assumed regarding complete compliance The information in this document will be checked regularly and all necessary corrections will be included in subsequent editions Suggestions for improvements are always welcome Subject to technical changes Trademark CANtrol is a registered trademark of BERGHOF Automationstechnik GmbH General Information on this Manual Content This manual describes the RDIO 16 16 0 5 CANtrol module and its modifications The product related information contained herein was up to date at the time of publication of this
52. t this must be Switched to its operational state using the relevant NMT command start node The remote module supports 2 transmit and 2 receive event PDOs One transmit and one receive PDO are active without any further configuration once the remote module is operational It can be deactivated at runtime using corresponding SDO accesses It relates to the first transmit receive PDO described in DS401 and so only supports 64 digital I Os For all 224 digital I Os to be actuated by PDO there is also one manufacturer specific transmit PDO and one receive PDO Note Note that all data are transmitted in Intel Little Endian format but are processed and displayed within the module in Motorola format 2D0082003ZD00 doc 31 Object Dictionaries BERGHOF Automationstechnik 5 2 Access to I O Data A remote module comprises 16 digital inputs and 16 digital combined input output ports see diagram It can be expanded with up to six digital I O expansion mod ules with the same I O arrangement The I Os are always accessed via the object dictionary There the I Os are subdivided into 8 16 or 32 bit wide I O groups Be ginning with 1 the individual I O groups are numbered consecutively from left to right in accordance with the physical position of the module After the remote is switched on the system automatically determines the number of I O modules and the I O group objects are created correspondingly the object dictionary There
53. t scatter band the reaction of current limiting is undefined 2VF100021DG00 cdr Note o It is not possible to know for certain within the current limit scatter band whether the response will be to disconnect or to return to the working range As a result this state should be avoided The output is ready for operation by elimination of the overload and thermal cooling 2VF100004FE04 doc 2D0082003ZD00 doc 29 Digital I O 16 16 0 5 BERGHOF Automationstechnik blank page 30 2D0082003ZD00 doc 2VF100004FE04 doc BERGHOF Automationstechnik Object Dictionaries 5 Object Dictionaries for Remote I O Module 16 16 5 1 General NMT Node Guarding Boot Up I O Access SDO Telegrams PDO Telegrams 2VF100029FE03 doc The remote module is a CANopen slave device with a device profile for I O mod ules in accordance with Draft Standard DS 401 of the CAN users organisation CAN in Automation CiA Up to 224 digital l Os can be recorded with the remote module All device profile and communication profile parameters DS301 are filed in an object dictionary The communication profile s basic utilities comprise the fol lowing The NMT functionality includes node guarding and a minimum boot up A CANopen master in the CAN network can actuate the remote module using node guarding telegrams The remote module responds in compliance with the node guarding protocol specification by transmitting the operating condition with a toggl
54. this does not occur the module proceeds according to the method described above The life time is calculated by multiplying the guard time objects 0x100C by the life time factor 0x100D E g Guard Time 1000 ms x Life Time Factor 3 Life Time 3000 ms Life guarding is only enabled if both values are not equal to 0 However it is only actually activated if the first node guarding telegram is received If either of these two objects is set to zero during operation life guarding is deactivated again Note o The life time can never be shorter than the node guard time of the corresponding master The guard time must be at least 10 In addition only values divisible by 10 without a remainder are permitted If this is not the case the system rounds the figure up to the next highest number divisible by 10 Life Guarding Event The life guarding event occurs if the life time is not reached The following actions are executed on the module 1 The module switches to PREOPERATIONAL mode 2 The digital outputs are set to a defined status and can be configured using the Fault Mode 0x6306 0x6326 and Fault State 0x6307 0x6327 objects 3 emergency telegram is issued by the remote module Error code 0x8130 4 The life guarding event is noted with the contents of the error register in the module s internal diagnostics monitor 5 LED4 blinks and indicates the life guarding event Restart If a life guarding event has occur
55. vents which lead to a PDO being transmitted are encoded into corresponding bits there When the remote module is started up the Any Change mask appears by default so that a PDO can be transmitted with every edge change at an I O When using event inter rupt masks it must be ensured that the individual interrupt masks are found in a logical OR relationship to each other This means that any mask set for rising edges will not be influenced by deletion of the Any Change mask The remote module caters for two different data formats The first transmit and receive PDO pair PDO 1 is defined analogously to the CiA 05401 device profile Thus up to 64 digital I Os can be actuated via a single PDO In connection with the remote module the I Os can therefore be operated up to and including the first expansion module In the initial state of the remote module this PDO pair is activated The telegram identifiers used are derived from the mod ule node number in accordance with CiA DS301 Receive PDO 1 512 node number Transmit PDO 1 384 node number A second transmit and receive PDO pair PDO 2 enables all expansion modules to be operated via PDOs up to maximum expansion These additionally imple mented PDOs in the RDIO module use identifiers from the free range between 896 and 1408 as a default setting and are likewise set with respect to the node number The data format describes the required I Os by giving the corresponding 32 bit gr
56. w side switching 2VF100004FE04 doc mun T 7 OUT IN M GND L gt E E Ps 2VF100086DG00 cdr 2D0082003ZD00 doc 27 Digital I O 16 16 0 5 BERGHOF Automationstechnik 4 5 2 Digital Outputs Data high side low side switching 28 Module data Number of outputs 16 semiconductor outputs in 4 groups Type of outputs semiconductor non holding Suppressor circuit for inductive loads high speed de excitation 50 V terminal voltage typical to 24 V Power loss due to de excitation max 0 5 watts per output max 4 watts per module Status display yes yellow LED for each output Diagnostic function yes switching state can be read back at pin Load connection Total loading 100 8A 16x0 5 A Overload protection yes in event of thermal overload Responding of thermal overload protec tion may influence adjoining outputs Short circuit protection yes electronic current limiting response threshold feature min 0 5 A typically 0 9 A 1 Current is limited electronically Responding of the short circuit protection feature produces thermal overload and trips the thermal overload protection circuit Output delay for 0 to 1 max 0 5 ms for 1 to 0 max 0 5 ms Output capacitance Rated voltage Voltage drop at rated current Rated current for 1 signal Leakage current for 0 signal Total current of al
57. whereas the user data are included in the response telegram in upload data Download data to remote module 0 1 2 3 4 5 6 7 Request CMD Index Sub Data index 0 1 2 3 4 5 6 7 Response CMD Index Sub reserved index Upload data from remote module 0 1 2 3 4 5 6 7 Request CMD Index Sub reserved index 0 1 2 3 4 5 6 7 Response CMD Index Sub Data index Note Please refer to the section on telegram formats for a detailed description of SDO telegrams 2D0082003ZD00 doc 35 Object Dictionaries BERGHOF Automationstechnik 5 4 Process Data Objects PDOs Data formats PDO 1 Identifiers Operational state 36 Process data objects PDOs are defined as individual unconfirmed CAN tele grams They can be transmitted by all users in the network A PDO therefore al ways has a transmitter and can be processed by one or several slaves The CiA DS301 communication profile defines various object dictionary entries that describe the PDO communication behaviour and the data format All PDOs supported by the remote module are exclusively defined as asynchronous event PDOs and are not suitable for synchronous operation The data format of individual PDOs is preset and unchangeable In the remote module initial state the first transmit and receive PDO pair is activated In order that the remote transmits its event PDO an event interrupt mask has to be activated The I O e
58. with LED4 or LED5 Life Guarding Event BUS OFF on CAN bus Not an error state if LED5 is also off Life Guarding Event on internal module bus E bus OFF Not an error state if LED4 is also off 2D0082003ZD00 doc 33 Object Dictionaries Diagnostics Monitor 34 BERGHOF Automationstechnik The system software of the module logs system events internally These are en tered in the diagnostics monitor You can access this data using the software tool CNW The module specific features are described here the online help for CNW contains details of the tool The image below shows the diagnostics entries Logged errors are indicated by a red dot Two module specific error states are displayed E bus internal system bus Guarding Error Source Code Generation Data EBUS LGUARDING Manufacturer Specific Status Register Life Guard Error Source Code Generation baa LGUARDING Error Register Ereignisse index Quelle Code Erzeugung 74 4 DIAG INIT 000000000 BGHLIB BOOT 080008000 181 EBUS LGUARDING 000000002 439958 DIAG INIT 0 00000000 4 BGHLIB BOOT 080008000 181 EBUS LGUARDING 0 00000003 217251 DIAG INIT 000000000 2 BGHLIB BOOT 030028000 179 RDIO LGUARDING 000000001 24939 4 DIAG INIT 000000000 4 BGHLIB BOOT 030008000 181 EBUS LGUARDING 0 00000002 5096 RDIO LGUARDING 000000001 5934 DIAG INIT 000000000 19 BGHLIB BOOT 030028002 19 440044 O44 O44 04 2VF100105D
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