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User Manual - BLxx- CANopen object register

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1. Count operation Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit O Byte 0 diagnostic substitute Function Do2 Function DO1 DoT value Byte 1 direction sensor sensor sensor input B sensor A input filter input filter input filter signal evaluation B DI BI A Byte 2 behavior CPU master Common reserved reserved stop diagnostics Byte 3 reserved Note Please find a detailed description of the parameters in the table Meaning of the parameter bits of BL20 1CNT 24VDC page 11 69 Structure of the data bytes for the measurement operation Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit O Byte 0 diagnostic substitute Function DO1 001 value DO1 Byte 1 directio sensor sensor sensor input B sensor A input filter input filter input filter signal evaluation A B DI BI A Byte 2 behavior CPU master Common reserved reserved stop diagnostics Byte 3 reserved Note i Please find a detailed description of the parameters in the table Meaning of the parameter bits of BL20 1CNT 24VDC page 11 69 D301230 BLxx CANopen 0511 11 9 Objects for Encoder modules SSI CNT BL20 E 2CNT 2PWM Object Encoder Config takes effect on parameter bytes 0 2 and 10 channel 1 or respectively 3 5 and 12 channel 2 of the BL20 E 2CNT 2PWM Byte Bit 7
2. 11 2 7 Object 5806 Optional Encoder Status The object Optional Encoder Status reads different bytes of the module s process input data This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons E BLxx 1SSl BL20 E 2CNT 2PWM BL67 1CNT ENC Table 131 Feature Description Object 5806 Optional Encoder Status Object code ARRAY Data type Unsigned8 Access ro Default value No PDO mapping Yes BLxx 1SSI The object Optional Encoder Status reads byte 2 of the process input data of the BLxx 1SS module Bits 6 and 7 are masked out Structure of the data byte Bit 7 Bit 6 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 Bit 0 masked masked reserved SSI_ SSI_ SSI SSI_ 0 0 STS3 STS2 STS1 STSO Note Please find a detailed description of the status bits in the process input in table Meaning of the process input bits of 1551 page 11 59 BL20 E 2CNT 2PWM The object reads process input byte 6 of the 2CNT 2PWM module Bits 5 to 7 are masked out Sub index Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x00 n 2 0x47 isb n CNT1 reserved STS_DBP1 D1 n 1 2 reserved STS_DBP2 D2 Note Please find a detailed description of the status bits in the process input in table Meaning of the process input bits of BL20 E 2CNT 2PWM page 11 63 11 18 D301230 BLxx CANopen 0511 General object overview f
3. 2 Network Management 2 Service Data Objects 5 3 Process Data Objects PDOS oii cocdeistsassecdaweecatncendinancieivysadeuasnsied aE aTa Taaa N RAHE aas 3 Special Function ObJects critt arbej a 4 2 2 EDS file Electronic data sheet ssssssscsssccsccccccccccccccocccooecooseosseosooeosossososssossoosscssssossccsssscscccsssseeseseo 5 2 3 and CANopen sssssssssssssccccsecccccccecccecccoccececcooceooseossoossssssoossssssossssssssosscessssosccessssscccossssececeoseeosseo 5 2 3 1 Setting UP COMMUNICATION 5 MINIMUM BOOT UP pP RN 5 Identifier for the Standard Objects 8 Set up Node Guarding Protocol RA 9 10 2 3 2 Parameterization through Service Data Objects 500 10 Write Write to Object Dictionary 12 Parameter StorinG REStONING esisiini aiara 13 2 3 3 Transmission of Process Data Objects PDO M1 W W ssssseeerrr kreeret REE 14 Communication parameter COB ID
4. BL20 E 2CNT 2PWM module s process output data Count operation Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 reserved SET DO2 CTRL_ SET DO1 reserved CTRL SY SW GAT DO2 DO1 N E Measurement mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 reserved CTRL SET DO1 reserved SW GAT DO1 E Note Please find a detailed description of the control bits in the process output in table Meaning of the process output bits of BL20 1CNT 24VDC page 11 54 The object Encoder Control writes or reads byte 0 channel 1 or respectively byte 1 channel 2 of the Bit7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 CNT1 CNT1 CNT1 CNT1 CNT1 CNT1 x n reserved 5 SFKT_ reserved m GENERAL SINGLE SW LR DISABLE LOGMSG ENABLE DISABLE CNT2 CNT2 CNT2 CNT2 x CNT2 CNT2 m n 1 CNT2 reserved SFKT reserved _ GENERAL SINGLE SW LR DISABLE LOGMSG ENABLE DISABLE Note Please find a detailed description of the control bits in the process output in table Meaning of the process output bits of BL20 E 2CNT 2PWM page 11 56 BL67 1CNT ENC The object reads process input byte 0 of the BL67 1CNT ENC module Bit 7 Bit 6 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 Bit 0 DO3 DO2 001 DOO reserved RES_ SYNC GATE STS REQ Note Please find a detailed description of the control bits in the process output in table Meaning of the proce
5. 8 11 0301230 CANopen 0511 14 1 Manufacturer specific objects 14 1 General The manufacturer specific objects used in BLxx can be divided into 2 groups module related manufacturer specific objects 2000 to 2FFF and 4000 to 5FFF E slot related objects 3000 to 3FFF 14 1 1 Module related manufacturer specific objects The module related objects 2000 to 2FFF and 4000 to 5FFF refer to special device types They describe special functions for these types of devices which cannot be represented using the device profiles defined by the Table 206 Object no Description Module related manufacturer specific objects Gateway 2000 Serial Number see chapter 4 Device gateway objects 2010 Node Reset Modifiers 2400 System Voltages 2401 pex System Voltages Analog input modules 5420 Analog Input Mode see chapter 8 Objects for analog input modules Analog outputs 5440 Analog Output Mode see chapter 9 Objects for analog output modules RS232 485 422 5600 RS232 RS4xx parameters see chapter 10 Objects for RS232 RS4xx 5601 RS232 RS4xx RxD modules 5602 RS232 RS4xx TxD Encoder SSI counter 5801 Encoder Config 5802 Encoder Status 5803 nex Encoder Flags 5804 Encoder Diag 5805 nex Encoder
6. Object description INDEX Store Parameters Object code Shey Data type Unsigned32 Value description Sub index O0nex Description Largest Supported Index Access ro PDO mapping No Default value BLxx Sivas Sub index 01 Description Save all Parameters Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx Sub index O2 nex Description Save Communication Parameters Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx Sub index O3hex Description Save Application Parameters Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx 0301230 BLxx CANopen 0511 Objects of the Communication Profile acc to CIA DS 301 Industri 4 1 10 Object 1011 Restore Default Parameters The object 1011 can be used to restore the default parameters The command is executed by writing the data contents 6461 6F6C load to one of the Sub indices Table 27 Object description Object 1011 INDEX 1011 hex Name Restore Default Parameters Object code ARRAY Data type Shay Value description Sub index Description Largest Supported Index Access ro PDO mapping No Sub index OT hex Description Restore All Default Parameters Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx 0301230 BLxx CANopen 0511 Device gateway objects
7. 11 11 2 3 Object 58025 Encoder Status iere ene Encre E nt rein EE bra dr rta eius 11 BEXSSTSSE S 11 BE20 16NT 24 VDO ettet itas tui er tbe rie FEDERE 12 BE20 E 2ONT 2P WM inito tin hene tt trt ette Itinerari tea ian ete ed epa lae nau a 12 BE67 16NT ENG d tenu a d di e set 12 11 2 4 Object 5803 a Encoder Flags oii ene metere eret esteri seri 13 is cca aces diuturno hiuc Miei tede 13 mv se jpe 13 BE20 E 2O0NT 2PWM ettet mte iie teinte ina eed eee 14 uUrlegpzic 14 11 2 5 Objekt 5804 Encoder Diag ba niente 14 BLR SS EA 15 BE20 16NT 24VDO ette cad se obi ni ie dites 15 BL20 E 2ONT 2PWM nn nnt tetro niita SERA NSA n Eri een eR 15 breleuzmiece Se Tare a Cenex thes cust sag 16 11 2 6 Object 580546 Encoder Native 16 BERK RM 16 mic uuepui 17 67 M 17 11 2 7 Object 5806 Optional Encoder Status 18 mibi 18 BLE20
8. 4 Ex PROCESS OUTPUT d RR 5 Representation of diagnostic data rape ERE erre E ee Ru ces 6 Representation of parameter 10 Object 3064 Parami DWOtd Per Ghia dias 13 Object 3065 XBl Param DWOFGd 2 14 Object 3066 XBlParam Dword3 Er 14 Object 3067 XBlParam 14 Object 3068 DWord 15 Object 3069 15 0301230 CANopen 0511 12 1 Objects for SWIRE modules 12 1 Motor starter modules BL20 The objects are used in the following modules Table 187 Product family Module BL20 motor starter modules PL20 BL20 E 1SWIRE 12 2 General object overview for SWIRE modules Table 188 Object Name page General object overview for Input data SWIRE modules 6000 Read Input 8 bit page 5 4 6120 Read Input 32 bit page 5 6 Output data 6200 lt x Write Output 8 bit page 6 4 6320 Write Output 32 bit page 6 12 Diagnostic data 3040 XBIDiag Byte page 14 88 3042 XBIDiag Word 3044 XBIDiag Dword 3045 nex XBIDiag Dword2 3046
9. Object 1009 Manufacturer Hardware Version Object 100 Manufacturer Software Version Object G ard M SCR Object 100D Lifetime Factor Object T010 z Store Parameters ssrin nna R A T ai Object 1011 Restore Default Parameters ssssscsssssssosssssssossssssooosesssssssessssnssessssnssooossssusseessnssssossssnssseessssoescessnssseesessnsssessee Object 1014 Emcy 1 Object 1016 Consumer Heartbeat Time Object 1017 Producer Heartbeat Time i Object M01 Bien Obj Cts c Object 1020 a Verify Configuratio N sssrini ia Object 1027 Module re Objects for the Transfer of Service Data Objects 1200 10 1203 Server SDO Default Parameters 4 3 4 3 1 4 3 2 4 4 4 4 1 4 4 2 4 5 4 5 1 4 5 2 4 5 3 4 5 4 4 6 4 6 1 4 6 2 4 7 4 7 1 4 7 2 473 4 74 5 1 5 2 5 2 1 5 2 2 5 2 3 5 2 4 6 1 6 2 6 2 1 6 2 2 6 2 3 6 2 4 6 2 7 6 2 8 6 2 9 6 2 10 6 2 11 6 2 12 Objects for the Transfer of Process Output Data ccscscsscssescccsccscscrescccsccsescseseccsccsescsesecssccscsscesecee see 4 21 Object 1400 to 141F Receive PDO Comm Default Parameters seen tttetenn
10. PK Overcurrent protective circuit breaker If the parameter PKZ A is set for group diagnostics this bit indicates an error as soon as only one PKZ of a slave has tripped 0 OK No PKZ has tripped or diagnostics function has been deactivated via the parameter setting 1 tripping At least one PKZ has tripped TYP ERR Configuration If the TYP r parameter is set for group diagnostics this bit indicates an error as soon as the ACTUAL configuration of a slave does not match the SET configuration for this position 0 OK The ACTUAL configuration fully matches the SET configuration or diagnostics function has been deactivated via the parameter 1 faulty The actual configuration does not fully match set configuration U AUXERR Voltage If the UnuyearA parameter is activated Will generate an error message as soon as the power supply goes below the level at which the function of the relays is not guaranteed 0 OK Contactor supply voltage is o k gt 20 VDC or diagnostics function has been deactivated via this parameter 1 under voltage Contactor supply voltage is not o k 18 VDC Byte 3 4 Device configuration slave Info field for the individual indication of a configuration error as error message If the parameter has been set for single diagnostics this bit field indicates the error as soon as the ACTUAL configuration of the slave was
11. 14 clade cR 15 2 3 4 InhibIt DITIe eee erint retain commer rece 16 2 3 5 I A 16 AvallableJP OS ioco iei IHE LE 16 2 3 6 Mapping Objects PDOS 25 inerte REX RR RR ER 16 Default PDOs and 17 BLxx spezifische Default PDOs gilt nicht f r BL 18 Ob je SES MH 22 Procedure for Altering PDO Mappings 23 2 3 7 Commands for Parameter Save and Restore Defaults 24 D301230 BLxx CANopen 0511 2 1 CANopen 2 1 CANopen Note The following description of CANopen is an excerpt from the homepage of CiA CAN in Automation the international users and manufacturers organization for CAN 2 1 1 General CANopen is an open non proprietary network protocol It consists of a profile family based communication profile and several device profiles The CANopen communication profile is standardized as CiA DS 301 Application Layer and Communication Profile The CANopen device profile for I O modules has been published as CiA 05 401 Device Profile for I O Modules CANopen is based on the following standards E ISO 11 898 Physical and Data Lin
12. default parameterization Note Please find detailed description of the parameters in the table Meaning of the parameter bits of BL20 E 2CNT 2PWM page 11 72 11 32 D301230 BLxx CANopen 0511 General object overview for encoder modules 11 2 22 Object 5902 PWM Status This object is used in the following modules BL20 E 2CNT 2PWM BL20 E 2CNT 2PWM hex The object supplies the following status messages M output status M operation status of the PWM Industri A Table 147 Feature Sub index Description Object 5902 Name PWM Status Object code ARRAY PDO mapping Yes Data type 0x00 Unsigned 8 0x01 to 0x47 Unsigned 8 Access 0x00 ro 0x01 to 0x47 ro Default value 0x00 0x01 to 0x47 Structure the data byte Sub index Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x00 lt n gt 0x47 STS STS_ STS_ STS_ bale n PWM1 0 X X DBP1 D1 PWM1 PWM1_ PWM1_ GENERAL LOGMSG SFKT EN RUN EN STS STS_ STS_ STS_ Elo n 1 PWM2 0 X X DBP2 D2 PWM2 PWM2 PWM2_ GENERAL LOGMSG SFKT EN RUN EN Note 0301230 BLxx CANopen 0511 Please find detailed description of the status bits the process input table Meaning the process input bits of BL20 E 2CNT 2PWM page 11 63 11 33 Objects for Encoder modules SSI CNT 11 2 23 Object 5903 This object is used in the following modules
13. Table 102 Feature Description Value Object 6425 Analog Input Interrupt Lower Limit Integer Object code ARRAY PDO mapping No Sub index 00 Data type Unsigned8 Access ro Default value BLxx No Sub index 01 bis 8E Data type Integer32 Access rw Default value BLxx 00000000 hex 8 2 8 Object 6426 Analog Input Interrupt Delta Unsigned The object 6426 hex defines a Delta value Values that deviate from the input value by this Delta value can be defined as the condition for generating an interrupt signal gt 6421 Analog input interrupt trigger selection page 8 11 Table 103 Feature Description Value Object 6426 Analog Input Interrupt Delta Unsigned Object code ARRAY PDO mapping No Sub index 00 Data type Unsigned8 Access ro Default value BLxx No Sub index 01 bis 8E Data type Unsigned32 Access rw Default value BLxx 00000000 0301230 CANopen 0511 Objects for analog input modules 8 2 9 Object 6427 The object 6427 defines a Delta value hx Analog Input Interrupt Negative Delta Unsigned Values with a negative deviation of the input value by more than this Delta value can be defined as the condition for generating an interrupt signal gt 6421 Analog input interrupt trigger selection page 8 11 Table 104 Feature Description Value
14. 65535 Lower count limit 2147483648 231 bis 0 Lower count limit 32768Ato Signed16 HWORD 0 Lower count limit 32768to OA Signed16 LWORD 32 767 Behaviour CPU 00A turn off DO1 master STOP 01 proceed with operating mode 10 switch to substitute value 11 DO hold last value 0301230 BLxx CANopen 0511 11 71 Objects for Encoder modules SSI CNT Table 180 Meaning of the parameter bits of BL20 1CNT 24VDC alphabetically sorted Designation Value Description Counter mode 100000 A continuous count 100001 single counting 100010 periodical counting 11 5 3 Meaning of the parameter bits of BL20 E 2CNT 2PWM Table 181 Meaning of the parameter bits of BL20 E 2CNT 2PWM alphabetically sorted 11 72 Bit Value Meaning ADR AUX REGx WR DATA Address of the basic write registers Default ADR AUX REG1 WR DATA 0x60 ADR AUX REG2 WR DATA 0x61 ADR AUX REG3 WR DATA 0x70 ADR AUX REGx RD Address of the basic read registers DATA Default ADR AUX REG1 RD DATA 0x20 ADR AUX REG2 RD DATA 0x21 ADR AUX REG3 RD DATA 0x40 DBPx STS MODE 00A STS DBPx 1 at CNTx CMPO lt CNTx lt CNTx CMP1 01 reserved 10 11 STS DBPx Diagnostic CNTx 0 Diagnostic messages of the function unit activated in Diagnostic PWMx diagnostic interface A 1 Diagnostic messages of the function unit deactiv
15. ee 14 4 Process IA PUt objeti nes 14 5 Process output objeti 14 6 Diagnosis ODJeCts 14 8 Parameter Objects ES 14 9 Diagnostics Emergency Frames lj 15 2 Structure of the emergency frames sccccsescssssessscscccsccssccssscccsccssecscscsesccssccsssesescccsccessesescscsccsesereseceoess 15 2 Emergency 15 2 Iditojgizo Hic p 15 4 Emergency codes for module diagnostics General module error codes Digital output modules Analog Input Modules m Technology modules Index vi D301230 BLxx CANopen 0511 Industri A 1 About this manual 1 1 Documentation cConcept ssssssssssesessssessosossssssessossssesesessssoseososossoseosossssssosesssssssososssseseossssssssessssssssse 2 1 1 1 Additional doc rientatlorni senssa EE e 2 mM 2 SBL20 ducum A Miccuteatagdeteoees 2 SEEDEDE SEES E
16. 2 0301230 BLxx CANopen 0511 3 1 Object dictionary overview of all objects 3 1 Overview of all objects The following table provides an overview of all objects supported by the BLxx CANopen gateway Table 15 Overview of all objects gt lt 2 8 5 B x 9 x gt 1 0 x 1 x B Index Name 2 Objects according to CiA CS 301 1000 Device Type X X X X see chapter 4 1001 Error register X X X X 1005 SYNC COB ID X X X X 1008 Device Name X X X X 1009 Manufacturer Hardware Version X X X X 100 Manufacturer Software Version X X X X 100 Guard Time X X X X 100D Lifetime Factor X X X X Store Parameters X X X X 1011 Restore Default Parameters X X X X 1014 Emcy COB ID X X X X 1016 Consumer Heartbeat Time X X X X 1017 Producer Heartbeat Time X X X X 1018 Identity Object X X X X 1020 Verify Configuration X X X X 1027 Module List X X X 1200 to Server SDO Parameters X X X X 1203 nex 1400 to Receive PDO Communication X X X X 1403 nex Parameters 1 to 4 1404 to Receive PDO Communication X X X Parameters 5 to 32 16001 to Receive PDO Mapping Parameters X X X X 1603 1104 1604 to Receive PDO Mapping Parameters X X X 161Fhex 5 to 32 3 2 D301230 BLxx CANopen 0511 Overview of all obj
17. esee nennen nnne thin tenente 24 aeg uo 24 11 2 18 Object 5822 Measuring High Lirnit isseire reniei nenne nnn 24 ceu 24 D301230 BLxx CANopen 0511 11 1 Objects for Encoder modules SSI CNT 11 2 14 11 2 15 11 2 16 11 2 17 11 2 18 11 2 19 11 2 20 11 2 21 11 2 22 11 2 23 11 2 24 11 2 25 11 2 26 11 2 27 11 2 28 11 2 29 11 2 30 11 2 31 11 2 32 11 2 33 11 2 34 11 2 35 11 2 36 11 2 37 11 2 38 Object 5823 Measuring Units Per Revolution 25 BL20 1CNT 24VDGC i ire eat i n ase tien ed ante rn Eg udis 25 Object 5824 Measuring 5 26 BL20 E 2CNT 2PWM rrr rn t Der a E P 26 mre 26 Object 5825 Measuring Factor eene beet edi ted ern e aede eredi 26 BL20 E 2G6NT 2PMM i re a eno Deer ri RR D Pre RR ur E e 27 67 1 T M 27 Object 5827 Measuring TimeoOUt seine niente tienen a E 27 BE20 E 26NT 2PWM ere rg er e d E Ae ER REL nd dois 27 7 iere ER EDU ED E Po AER Dive ERE Dd 27 Object 5830 x Measuring Value nein tenni 28 BE20
18. Table 149 Feature Sub index Description Object 5904 PWM Diag Object code ARRAY PDO mapping Data type 0x00 Unsigned 8 0x01 to 0x47 Unsigned 8 Access 0x00 ro 0x01 to 0x47 ro Default value 0x00 0x01 to 0x47 Note By means of this access the messages are reset automatically after reading Structure of the data byte Sub index Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x00 lt n 2 0x47 PWM1_ 0 HW ERR PAR ERR X X X X P1_DIAG D1_DIAG PWM2_ n 1 PWM2 0 HW_ERR PAR ERR X X X X P2 DIAG D2 DIAG Note i Please find a detailed description of the status bits in the process input in table Meaning of the diagnostic bits of BL20 E 2CNT 2PWM page 11 79 D301230 BLxx CANopen 0511 11 35 Objects for Encoder modules SSI CNT 11 2 25 Object 5908 PWM Control This object is used in the following modules BL20 E 2CNT 2PWM BL20 E 2CNT 2PWM hex The object provides the following control functions 8 general enable of the function E start stop of the signal output E Freezing the module s error messages to enable reading them without data loss enabling or disabling of the special function 8 executing a software latch retrigger E Setting the single continuous signal output Table 150 Feature Sub index Description Object 5908 Name PWM Control Object code ARRAY PDO mapping Ye
19. Table 166 Feature Description Object 6B31 Name Hysteresis Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value No Sub index O1 47 hex Data type Unsigned16 Access rw Default value No BL20 1CNT 24VDC The object defines the hysteresis value for reference value2 CAM1 Low Limit Object 6B10 and reference value1 CAM1 High Limit Object 6B20 Note The object 6B30 is only valid if the counter module works in count mode BL20 E 2CNT 2PWM The object defines the hysteresis value for compare values CMPO and CMP1 which affects the digital output Dx and the STS_DBPx assigned to the counter The object writes or reads register 2F ex channel 1 or respectively Register 4F channel 2 of the module s register interface 11 48 D301230 BLxx CANopen 0511 General object overview for encoder modules 11 2 39 Object 6C00 Area State Register Industri A Object 6C00 corresponds to Object 6400 acc to 05406 contains two status bits per channel which report an underflow at the lower count limit Object 6C01 Work Area Low Limit and an overflow at the upper count limit Object 6C02 Work Area High Limit The status bits are non volatile All status messages are reset by writing Object 5803 with any value This object is used in the following modules In all other encoder modules this objects can only be found for compatibility
20. i osis Object 201016 Node Object 2400 System Voltages only BL67 Object 2401 pex System Currents only BL67 Objects for digital input modules Digital input modules BEXX q 5 2 General object overview for digital input modules ccsccccscscscsesseccsccsscssccsscsecsscssesssessesssecsesssesseees 5 2 Object 6000 Readiln put 8 Bitiren iait adnia atian aei etapei indana aiias 5 4 Object 6020 Read Input Bit 1 to 128 Object 6021 Read Input Bit 129 to 256 Object 6022 Read Input Bit 257 to 288 nissenana S a e S 5 5 Object 6100 Read Input 16 Bit Object 6120 Read Input 32 Bit Objects for digital output modules Digital output mod les Lc 6 2 General object overview for digital output modules esssssososesossosssesosesosecssossssesossesesesssesossessossssesosesososee 6 3 Object 6200 Write QUtput8Bit rriteni instr asar HSS SE AEE E AA E a iSS 6 4 Object 6206 Error Mode Output 8 Bit se cesssssscsssssssssssssscsessessnsnsesssssssssssesessesssssssnsssssesesssssnsesessessssssssesessesssssnsnseesssessestes 6 5 Object 6207 Error State Output 8 Bit r kn a RN EE AEEA E ERNER 6 6 Object 6220 Write Output Bit 1 to 128 Object 6221 ex Write Output Bit 129 to 256 Object 6222 Write
21. 2PWM alphabetically sorted Mode PWMx 0000 A PD DC Definition 0001 HT LT Definition 0010 to reserved 0111 1111 P just output Mode Zx 0000 Alarm input CNT 0001 A HW gate CNT 0010 Single Latch Retrigger CNT 0011 Continuous latch retrigger CNT 0100 Single L R and HW gate CNT 0101 Continuous L R and HW gate CNT 0110 reserved Pull Up Zx OA Pull Up resistance 20 kQ off 1 Pull Up resistance 20 kQ on Threshold input A B Z OA Threshold 7 5V only valid for Ax Bx Zx CNTx 1 Threshold 2 5V only valid for Ax Bx Zx 11 5 4 Meaning of the parameter bits BL67 1CNT ENC Table 182 Bit Value Meaning Meaning of the parameter bits of BL67 1CNT ENC alphabetically sorted Input x OA normal 1 inverted Input filter A B 00 A 500 kHz 01 50 kHz 10 5 kHz 11 reserved 11 74 0301230 BLxx CANopen 0511 Parameter interface of the Encoder modules Industri Table 182 Bit Value Meaning Meaning of the parameter bits of BL67 1CNT ENC alphabetically sorted Function DI3 OA input 1 encoder GND Function DO3 OA output 1 encoder power supply Encoder signal OA Push pull input single ended Signal evaluation between A B Z and GND The inputs A B and Z are internally connected to GND 1 RS422 input Signal evaluation between A B Z and A B Z Measurement mode Frequency measurement 1 Period duration measurement Pull
22. High Limit Seite 11 47 6B30 CAM1 Hysteresis Seite 11 48 6C00 Area State Register Seite 11 49 6C01 pex Work Area Low Limit Seite 11 50 6 02 Work Area High Limit Seite 11 51 6D00 Operating Status Seite 11 52 6D01 ex SingleTurn Resolution rotary Measuring step linear Seite 11 52 6D02 Number of Distinguishable Revolutions Seite 11 52 6FFF Device Type Seite 11 52 0301230 BLxx CANopen 0511 11 5 Objects for Encoder modules SSI CNT 11 2 1 Object 5800 hex Encoder Basic Mode The object 5800 affects parts of the module parameters Write accesses initiate a parameter update via the internal module bus The parameter is stored as a non volatile parameter in the gateway and is restored with every node reset This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BL20 1CNT 24VDC BL67 1CNT ENC Table 125 Feature Description Object 5800 Encoder Basic Mode Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value BLxx No Sub index O1 47 hex Data type Unsigned32 Access rw Default value BLxx No 11 6 0301230 BLxx CANopen 0511 General object overview for encoder modules Industri A BL20 1CNT 24VDC The object 5800 affects the operation mode parameters of the BL20 counter module It serves
23. 2 16 Default RPDOS 2 18 Default TPDOs Diagnostic isse 15 2 Error COGG e Re d radi rai e 15 2 EFFOorregister e 15 2 15 4 la us 2 15 I Identifier 2 8 Inhibit An 2 15 M e Manufacturer specific objects Mappable Objects Mapping Objects Minimum cessssscsccscseeseessesscsesecscatenccnscncencescnseneesees N Node Guarding 224 2 9 Node ID ll 4 5 Object dictionary eere enne 3 1 objects 1000hex Device Type eene ttn 1001hex Error Register 1005hex SYNC COB ID 1008hex Device Name 1009hex Manufacturer Hardware Version 4 8 100Ahex Manufacturer Software Version 4 8 D301230 BLxx CANopen 0511 Industri A 100Chex Guard Time 1011hex Restore Default Parameters 1014hex Emcy 1F80hex NMT Start Up nnt nnttnnos 1F81hex Slave Assignment 1 82 Request 1F83hex Request Guarding ss 2000 S
24. Industrial Automation USER MANUAL CANOPEN OBJECT REGISTER HN Arif All brand and product names are trademarks or registered trade marks of the owner concerned Edition 0511 O Hans Turck GmbH Muelheim an der Ruhr All rights reserved including those of the translation No part of this manual may be reproduced in any form printed photocopy microfilm or any other process or processed duplicated or distributed by means of electronic systems without written permission of Hans Turck GmbH amp Co KG Muelheim an der Ruhr Subject to alterations without notice Industri A Warning Before commencing the installation Disconnect the power supply of the device Ensure that devices cannot be accidentally restarted Verify isolation from the supply Earth and short circuit Cover or enclose neighboring units that are live Follow the engineering instructions of the device concerned Only suitably qualified personnel in accordance with EN 50 110 1 2 VDE 0 105 Part 100 may work on this device system Before installation and before touching the device ensure that you are free of electrostatic charge The functional earth FE must be connected to the protective earth PE or to the potential equal ization The system installer is responsible for implementing this connection Connecting cables and signal lines should be installed so that inductive or capacitive interfer ence do not i
25. Table 6 Meaning TPDO Sub Index 01 Overview COB ID Default TPDOs as per CiA DS 301 und DS 401 1 group digital input channels bits O to 63 PDO1 0000 0180 Node ID 1800 1 group analog input channels channels 0 to 3 PDO2 0000 0280 Node ID 1801 ye 2 group analog input channels channels 4 to 7 PDO3 0000 0380 Node ID 1802 3 group analog input channels channels 8 to 11 PDO4 0000 0480 Node ID 1803 Overview of the Default RPDOs as CiA DS 301 and DS 401 Table 7 Meaning RPDO COB ID Overview Default RPDOs as per CiA DS 301 und DS 401 1 group digital output channels bits 0 to 63 PDO1 0000 0200 Node ID 1400 1 group analog output channels channels 0 to 3 PDO2 0000 0300 Node ID 1401 hex 2 group analog output channels channels 4 to 7 PDO3 0000 0400 Node ID 1402 3 group analog output channels channels 8 to 11 PDO4 0000 0500 Node ID 1403 hex BLxx spezifische Default PDOs gilt nicht fiir BL compact These additional PDOs will be set to Invalid as a default Before enabling these PDOs the corresponding parameters must be checked This applies especially to the COB IDs since these are taken from the Default Master Slave Connection Set and are assigned to other Node IDs For this reason other nodes with the corresponding Node ID must not be present in the network or such nodes must not use the corresp
26. 0000 0480 Node ID Index 1804 to 181Fhex Value description Sub index 02 Description Transmission Type Access rw PDO mapping No Value range BLxx Unsigned8 Default value BLXx FFh Sub index O3 nex Description Inhibit Time Access rw PDO mapping No Value range BLxx Unsigned16 4 28 0301230 BLxx CANopen 0511 Objects for the Transfer of Process Input Data Industri Table 41 Object description BLxx BLCCO Object 1800 to 181 Fire Default value BLxx 0 Sub index O4 nex Description reserved Sub index 05 Description Event Timer Access rw PDO mapping No Value range BLxx Unsigned16 0 is not used Default value BLxx 0 The COB ID sub Index 01 shows the following structure MSB LSB Bits 31 30 29 28 to 11 10to0 11 bit ID 0 1 0 1 0 00 0000 0000 0000 0000 11 bit Identifier 29 bit ID 0 1 0 1 1 29 bit Identifier Table 42 Bit no Value Description Description of the COB ID entry sub index OT nex 31 MSB 0 PDO exists is valid 1 PDO does not exist is invalid 30 0 RTR is possible in this PDO 1 RTR is not possible in this PDO 29 0 11 Bit ID CAN 2 0A standard application 1 29 bit ID CAN 2 0B 28to 11 0 if bit 29 0 Standard application X if bit 29 1 bits 28 to 11 of COB ID 10 to 0 LSB X bits 10 to 0 of COB ID 0301230 BLxx CANopen 0511
27. Name Encoder Diag Object code ARRAY Data type Unsigned8 Access ro Default value No PDO mapping No BLxx 1SSI Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit reserved ERR SIS STS ERR SSI_ PARA UFLW OFLW SSI DIAG Note i Please find a detailed description of the status bits in the process input in table Meaning of the diagnostic bits of BLxx 1SSI page 11 77 BL20 1CNT 24VDC Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 MEAS _ OPER ERR PARA ERR ERR DO MODE MODE 24Vdc Note i Please find a detailed description of the status bits in the process input in table Meaning of the diagnostic bits of BL20 1CNT 24VDC page 11 77 BL20 E 2CNT 2PWM Sub index Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x00 lt n gt msb Isb 0x47 CNT1 CNT1 ERR CNT1 ERR n PAR ERR _UFLW OFLW reserved CNT2 2 ERR CNT2 ERR n 1 CNT2 HW_ERR PAR ERR _UFLW _OFLW reserved Note i Please find a detailed description of the status bits in the process input in table Meaning of the diagnostic bits of BL20 E 2CNT 2PWM page 11 79 D301230 BLxx CANopen 0511 11 15 Objects for Encoder modules SSI CNT BL67 1CNT ENC Bit7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 ERR_ reserved DIA DO3 DIA_DO2 DIA_DO1 DIA DOO STS_ STS_ PARA OFLW UFLW Note Pl
28. BLxx analog input modules BL20 BL20 xAI 0 4 20MA BL20 xAI U 10 0 10VDC BL20 2AI PT NI 2 3 BL20 2AI THERMO PI BL20 4AI U I BL20 E 8AI U I APT NI BL20 2AIH I BL67 67 2 BL67 2AI V BL67 2AI PT BL67 2AI TC BL67 4AI V 1 BLC miscellaneous 8 2 General object overview for analog input modules Table 87 Object Name page General object overviewtTor 5420 Manu Spec Analog Input Range page 8 3 analog input 6401 Read analog Input 16 Bit page 8 10 modules 6421 hex Analog Input Interrupt Trigger Selection page 8 11 6422 ex Analog Input Interrupt Source page 8 13 6423 Analog Input Global Interrupt Enable page 8 14 6424 Analog Input Interrupt Upper Limit Integer Seite 8 14 6425 Analog Input Interrupt Lower Limit Integer Seite 8 15 6426 Analog Input Interrupt Delta Unsigned Seite 8 15 6427 hex Analog Input Interrupt Negative Delta Unsigned Seite 8 16 6428 Analog Input Interrupt Positive Delta Unsigned Seite 8 16 8 2 0301230 BLxx CANopen 0511 General object overview for analog input modules Industri A The following figure shows the relationship between the analog input objects for an 16 bit access Figure7 R
29. Table 27 Object 1011 Object description Value description Sub index O2nex Description Restore Communication Parameters Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx Sub index 03 hex Description Restore Application Parameters Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx 4 1 11 Object 1014 COB ID Object 1014 contains the Identifier for the Emergency Messages MSB LSB Bits 31 30 29 28 to 11 10to0 11 bit ID 0 1 0 0 00 0000 0000 0000 0000 11 bit Identifier 29 bit ID 0 1 0 1 29 bit Identifier Table 28 Bit no Value Description Description of the Emcy COB ID entry 31 MSB 0 EMCY exists is valid 1 EMCY does not exist is not valid 30 0 reserved always 0 29 0 11 bit ID CAN 2 0A for BLxx 1 29 bit ID CAN 2 0B 28to 11 0 if bit29 0 X if bit 29 1 bits 28 to 11 of 29 bit COB ID 4 12 0301230 BLxx CANopen 0511 Objects of the Communication Profile acc to CIA DS 301 Industri A Table 28 Bit no Value Description Description of the Emcy COB ID entry 10 to 0 X bits 10 to 0 of COB ID LSB Note Bit 30 is static i e cannot be changed Table 29 Object description Object 10144 INDEX 1014 Emcy COB ID Object code VAR Data type Unsigned32 Value description Access rw PDO mapping No
30. tet wit ee Dt Ecco saspe 40 BE20716NT 24VDO iiit eto erede adoret pe EE Marked tS 40 BLE20 E 2G6NT 2PWM io teint ene dne o tree Pei 41 BL67 1GNHT ENG iret GM ED EORR XR DER EROR ERBEN ERA 41 Object 6820 Position Valus i reete etr taipat 41 zung e 41 BE20 16NT 24VD O rdiet sioe re er det a e p 41 BL20 E 2G6NT 2PMM i etu eoe ee br ERR D Per er 41 BL67 1G6NT EN a ion cio enne e a ER E e a EE Ea os 41 Object 6800 CAM State Register 42 cttam tete tesi ftue idt em eet 42 IBL20 16NT 24VDO ite ve e us dtp e epe me Ree ia 42 BL20 E 26NT 2PMM i ce Ha EE d ER Enea P 43 Object 6B01 Enable 44 Object 6B02 CAM Polarity Register esses eterne nenne nnn netta nentes 45 Object 6 10 CAMT 46 BlxlS9l sitmet tet a 46 BL20 16NT 24VDO eto te cue herido dive teni Dra Pr DERE M Ede iate 46 BL20 E 26NT 2PWM teer ce d pra Em E Eee e dentin e ndo 46 Object 6B20 CAM High 47 47 BL20 ACNT 24VDO
31. Master Byte 0 Byte 1 a4 Node E ID COB ID 0 Slave The internal change of state of the CANopen slave now requires a pause of at least 20 ms before another request may be made by the master D301230 BLxx CANopen 0511 BLxx and CANopen Industri A 15 7 Enter Pre Operational change over to Pre Operational Master Byte 0 Byte 1 Node COB ID 0 Slave The internal change of state of the CANopen slave now requires a pause of at least 20 ms before another request may be made by the master 15 8 Stop Remote Node stop the CAN node Master Byte 0 Byte 1 Node cs 2 ID COB ID 0 Slave The internal change of state of the CANopen slave now requires a pause of at least 20 ms before another request may be made by the master 15 10 11 Reset Node reset the complete CAN node Master Byte 0 Byte 1 Node cs 129 ID COB ID 0 Slave The execution of this command is confirmed by a boot up message This is in the form of a guard frame with the data contents 00 15 13 14 Reset Communication reset communication for the CAN node Master Byte 0 Byte 1 Node cs 130 ID COB ID 0 Slave The execution of this command is confirmed by a boot up message This is in the form of a guard frame with the data contents 00 D301230 BLxx CANopen 0511 2 7 CANopen Identifier for the Standard Objects Node ID The identifier for each de
32. 011011 Pt200 200 150 C 3 wire 011100 Pt500 200 850 C 3 wire 011101 Pt500 200 150 C 3 wire 011110 Pt1000 200 850 3 wire 011111 Pt1000 200 C 150 C 3 wire 100000 Ni100 60 C 150 C 2 wire 100001 Ni100 60 C 150 C 2 wire 0301230 BLxx CANopen 0511 8 9 Objects for analog input modules Table 95 Assignmen Parameters Meaning Module param t eters BL20 E 8AI U 4PT NI Byte 0 7 0 5 Operation mode 100010 Ni1000 60 C 250 C 2 wire 100011 Ni1000 60 C 250 C 2 wire 100100 NI1000TK5000 60 C 150 C 2 wire 100101 Ni100 60 C 150 C 3 wire 100110 Ni100 60 C 150 C 3 wire 100111 Ni1000 60 C 250 C 3 wire 101010 Ni1000 60 C 250 C 3 wire 101001 NI1000TK5000 60 C 150 C 3 wire 110000 resistance 0 250 W 110001 resistance 0 400 W 110010 resistance 0 800 W 110011 resistance 0 1000 W 110100 resistance 0 2000 W 110101 channel not active 0 7 6 Value representation Integer 15bit sign Kx 12 bit left justified 7 Diagnostic Kx release A block 8 2 2 Object 6401 Read Analog Input 16 Bit The object represents the measured values for the analog input modules with 16 bits for each channel hex Attention The process data t
33. 0301230 BLxx CANopen 0511 Industri A 7 Objects for digital combi modules 7 1 Digital combi modules BLxx eee eee eee ee ee eee esee eae e eee eee eee eee esee eee esee sees eu 2 7 2 General object overview for digital combi eese ee eese esee eese e eso seesseesssee oos 2 0301230 BLxx CANopen 0511 7 1 Objects for digital combi modules 7 1 Digital combi modules BLxx The objects are used in the following modules Table 84 Product family Module BLXX digital combimodules 2167 BL67 4DI 4DO PD BL67 8XSG PD BLC miscellaneous 7 2 General object overview for digital combi modules Note i The objects for digital combi modules correspond to those of the digital in and output modules Please read chapter 5 Objects for digital input modules and chapter 6 Objects for digital output modules The parameterization of the combi modules is realized through the manufacturer specific objects described in the following Table 85 Object Name page General object overview for Input objects digitalcombi Read Input 8 Bit page 5 4 modules 6020 6021 6022 Input 8 Bit page 5 5 6100 Read Input 16 5 6 6120 Read Input 32 5 6 Output objects 6200 Write Output 8 Bit page 6 4 6206 Error Mode Output 8 page 6 5 6207 Error
34. 9 2 3 Object 6443 hex Industri Analog Output Error Mode It defines for each digital output channel whether or not the output should take on a substitute value in the event of an error The Sub indices 01 8E define the parameters for the analog output channels 1 to 142 The following applies 004 output maintains its value if an error occurs hex he output is set to the substitute value if an error occurs The substitute values for the analog output channels are defined by the Analog Output Error State object 6444 9 Table 113 Feature Description Value Object 6443 Analog Output Error Mode Object code ARRAY PDO mapping No Sub index 00 Data type Unsigned8 Access ro Default value BLxx No Sub index 01 to Data type Unsigned16 Access rw Default value BLxx 00 0301230 BLxx CANopen 0511 9 7 Objects for analog output modules 9 2 4 Object 6444 Analog Output Error State hex A substitute value is assigned to each analog channel The substitute values will only be sent in case of an error object Analog Output Error Mode 6443 is set to 01 The Sub indices 01 to 8E define the parameters for the analog output channels 1 to 142 Table 114 Feature Description Value Object 6444 Name Analog Output Error State Object code ARRAY PDO mapping No Sub index nex Da
35. E 2 1 2 General 2 1 2 1 Presen bed use e 2 1 2 2 Notes concerning planning installation of this 2 1 3 Description of symbols used eee eee eere eee ee eene eese eee nnne see ss een snos esses eese eese naso sess esee esee enne 3 D301230 BLxx CANopen 0511 1 1 About this manual 1 1 Documentation concept This manual describes the CANopen object directory for TURCK BLxx products If not marked especially the object descriptions are valid for all products of the product lines BL20 BL67 and BLcompact 1 1 1 Additional documentation BL67 8 D301006 BL67 User manual for CANopen M Data sheets for the BL20 products www turck com BL20 0301108 BL20 ECO gateway for CANopen 8 D301109 BL20 User manual for CANopen Data sheets for the BL20 products www turck com BLC Manuals and data sheets for the BLC CANopen products www turck com 1 2 General Attention Please read this section carefully Safety aspects cannot be left to chance when dealing with electrical equipment 1 2 1 Prescribed use Appropriate transport storage deployment and mounting as well as careful operating and thorough maintenance guarantee the trouble free and safe operation of these devices Danger The devices described in this manual must be used
36. Industri A Table 146 Feature Sub index Description Object 5901 PWM Config Object code ARRAY Data type 0x00 Unsigned 8 0x01 to 0x47 Unsigned 32 Access 0x00 ro 0x01 to 0x47 rw Default value 0x00 PDO mapping No BL20 E 2CNT 2PWM The object affects the configuration parameters of the PWMx Sub index Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit O 0x00 n 2 0x47 Isb 0 diagnosti X mode D1 c PWM1 Ox3F Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 subs subs 1 DBP1 STS MODE titute titute mode PWM1 0x00 value P1 value 01 0x00 n PWMI 0x00 0x00 Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 X Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 3 msb X ADR AUX REG1 WR DATA 0x60 0301230 BLxx CANopen 0511 11 31 Objects for Encoder modules SSI CNT Sub index Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x00 lt n2 0x47 Isb 0 diagnosti X mode D2 c PWM2 Ox3F Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 subs subs 1 DBP2 STS MODE titute titute mode PWM2 0x00 value P2 value D2 0x00 n 1 PWM2 0x00 0x00 Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 2 X Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 3 msb X ADR AUX REG3 WR DATA 0x70
37. The TX_CNT values are sequential 00 gt 01 gt 10 gt 11 gt 00 decimal 0 gt 1 gt 2 gt 3 gt 0 Errors in this sequence show the loss of data segments TX BYTE CNT Number of the valid bytes in this data segment RXBUF FLUSH 0 1 The RXBUF FLUSH bit is used for clearing the receive buffer If STATRES 1 A request with RXBUF FLUSH 1 will be ignored If STATRES 0 RXBUF FLUSH 1 will clear the receive buffer TXBUF FLUSH 0 1 The TXBUF FLUSH bit is used for clearing the transmit buffer If STATRES 1 A request with TXBUF FLUSH 1 will be ignored If STATRES 0 TXBUF FLUSH 1 will clear the receive buffer 10 8 0301230 BLxx CANopen 0511 Industri A 11 Objects for Encoder modules SSI 11 1 Encoder module BLXX 4 11 2 General object overview for encoder modules cccccccccccsscsccccccccsccccccccccccccccccccccccccscccscccccsses 4 11 24 Object 58004 Encoder Basic MOQS niit oie ecc re let bene 6 au seguuc M 7 regie RA RAS 7 11 22 Object 5801 Encoder Con fig eerte imde 7 mb 8 vueuus 9 BE20 E 20NT 2PWM tt tete toe re t iei n reete Ea bee 10 aireymiieme
38. see also channel modules Table 225 Load dump at outputs 2330hex bit 1 set Module number channel number for multi too low threshold see also channel modules Table 225 Note i For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames page 15 2 D301230 BLxx CANopen 0511 15 5 Diagnostics Emergency Frames 15 3 3 Analog Input Modules Analog input modules current Designation byte 01 Byte 2 Byte 3 Byte 4 Meaning Input current too high Error code Error register Additional Additional information The input current is information aurae orte 2110 bit 1 set Module number channel number for multi permissible range A see also channel modules Table 225 Input current too low Open tirent or 2130 bit 1 set Module number channel number for multi current for the imeasuring range to see also channel modules igi Table 225 mA too low The threshold is 3 mA AThe threshold for this error message is 196 over the upper measuring range value or 1 below the lower measuring range value Note For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames page 15 2 Analog input modules voltage Designation byte 01 Byte2 Byte 3 Byte 4 Meaning AI U voltage out of Error code Error register Additional Additional information range information biu a or te M
39. 0 1 Entry R RPDOT gt into 6200h Error Mode 6206h js Hn Oh 1h Error Value t0 1j 6207h Write Output 8 Bit The object presents the values for the digital output modules in 8 bit groups A total of 36 groups each 8 bit can be displayed 288 digital output channels D301230 BLxx CANopen 0511 General object overview for digital output modules Industri PDO mapping of this object is always executed by default and automatically for the first 8 sub indexes This corresponds to 64 digital output channels If more than 64 output channels are present then the PDO mapping must be carried out by the user Table 72 Feature Description Value Object 6200 Name Write Output 8 Bit Object code ARRAY PDO mapping Yes Sub index Data type Unsigned8 Access ro Default value BLxx No Sub index 01 to 24 Data type Unsigned8 Access rw Default value BLxx 0 6 2 2 Object 6206 Error Mode Output 8 Bit The object defines values in 8 bit groups A total of 36 groups each 8 bit can be displayed 288 digital output channels It defines for each digital output channel whether or not the output should take on a substitute value in the event of an error The following applies 0 The output maintains its value if an error occurs 1 The output is set to a substitute value if an error occurs 0301230 BLxx CANopen 0511 6 5 Objects for dig
40. BLxx CANopen 0511 14 11 Manufacturer specific objects 8XSG PD Table 224 Byte Bit Name Description Parameters 8XSG PD 0 0 Input filter 0 deactivated input filter 0 25 ms A 1 activated input filter 2 5 ms ADefault setting 7 Input filter 7 1 0 Digital input 0 0 normal A 1 inverted 3 Digital input 7 2 0 Output on overcurrent 0 0 automatic recovery A 1 controlled recovery 7 Output on overcurrent 7 3 0 Output 0 0 deactivate 1 activate 7 Output 7 SWIRE see Representation of parameter data page 12 10 14 12 D301230 BLxx CANopen 0511 Industri A 15 Diagnostics Emergency Frames 15 1 1 11 n 2 15 2 Structure of the emergency frames ecce eere eene eese eese osse sse eo esee eee e eee eee e e eee ee eese eese esee ee 2 15 2 1 Emergency Error GOd68 iie txt xdi ern pas E Ex er n ERR ies 2 Ioas EE PO Fe JS TERRI EI EL EL ER DLL D DL LITT 4 15 3 Emergency codes for module eene eee eee etes ness esses eese een sss esses eee eese e ense 5 15 3 1 General module error COGS eiie ie Eire tpe Copie Eee cogent ERR Fou 5 15 3 2 Digital outputmod ules et tr eric Ebo Len reis ER SERE ARE 5 15 8 3 Analog Input Modules erii i rete nq Dex ce C Een EXE Dee E
41. CANopen 0511 General object overview for encoder modules Industri A The object takes effect on parameter byte 5 and 7 and serves for setting the upper limit in measurement mode Permissible value range 1 to 16777215 Note The object is only valid if the counter module works in measurement mode 11 2 14 Object 5823 Measuring Units Per Revolution Object 5823hex is used to set the sensor pulses per revolution This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BL20 1CNT 24VDC Table 138 Object 5823 Feature Description Name Measuring Units Per Revolution Object code ARRAY Data type Unsigned 16 Access rw Default value PDO mapping No BL20 1CNT 24VDC The object is used to set the sensor pulses per revolution for the counter module Value range 1 to 65535 D301230 BLxx CANopen 0511 11 25 Objects for Encoder modules SSI CNT 11 2 15 Object 5824 Measuring Divisor hex The object serves for scaling the measured value This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BL20 E 2CNT 2PWM BL67 1CNT ENC Table 139 Feature Description Object 5824 Name Measuring Divisor Object code ARRAY Data type Unsigned32 Access rw Default value PDO mapping No BL20
42. Ifthe value is set as defined per default from FALSE to TRUE than sending the analog input values TPDOs can be triggered using an interrupt signal Table 100 Feature Description Value Object 6423 Analog Input Global Interrupt Enable Object code VAR PDO mapping No Sub index 00 nex Data type Boolean Access rw Default value BLxx FALSE 8 2 6 Object 6424 Analog Input Interrupt Upper Limit Integer The object 6424 defines the value for an upper limit Values above this upper limit can be defined as the condition for generating an interrupt signal gt 6421 Analog input interrupt trigger selection page 8 11 Table 101 Feature Description Value Object 6424 Analog Input Interrupt Upper Limit Integer Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value BLxx No Sub index 01 bis 8E Data type Integer32 Access rw Default value BLxx 0000000 8 14 0301230 0511 General object overview for analog input modules Industri 8 2 7 Object 6425 The object 6425 defines the value for an lower limit Analog Input Interrupt Lower Limit Integer hex Values below this lower limit can be defined as the condition for generating an interrupt signal gt 6421 Analog input interrupt trigger selection page 8 11
43. PDO3 PDO12 own Node ID 96 60 PDO4 PDO13 own Node ID 32 20 PDO1 PDO14 own Node ID 32 20 PDO2 PDO15 own Node ID 32 20 PDO3 PDO16 own Node ID 32 20 PDO4 D301230 BLxx CANopen 0511 2 21 CANopen Mappable Objects The maximum of 64 mapping entries per PDO that is specified by Communication Profile CiA DS 301 is supported The following objects from the Object Dictionary can be mapped Table 11 Name Index Sub index Direction Overview of mappable objects A n dependson Dummy Mapping Boolean 0001 Receive the used object as wellasonthe Dummy Mapping Boolean Integer8 0002 Receive Dummy Mapping Boolean Integer16 0003 Receive Dummy Mapping Boolean Integer32 0004 Receive Dummy Mapping Boolean Unsigned8 0005 Receive Dummy Mapping Boolean Unsigned16 0006 5 Receive Dummy Mapping Boolean Unsigned32 0007 Receive Error register 1001 ex Transmit Manu Spec Analog Input Range 5420 1tonA Transmit RS232 RS4xx RxD 5601 1ton Receive RS232 RS4xx TxD 5602 1ton Transmit RFID Input Data U64 5700 1ton RFID Output Data U64 5702 1ton RFID Status 5708 1ton Encoder Status 5802 1ton Transmit Encoder Flags 5803 1ton Transmit SSI Native Status 5805 1ton Transmit SSI Optional Encoder Status 5806 1ton Transmit Encoder Control 5808 1ton Receive PwmStatus 590
44. Reset Communication command the operating mode will in all cases be reset to normal Reset Node D301230 BLxx CANopen 0511 4 43 Device gateway objects 4 44 0301230 BLxx CANopen 0511 Manufacturer specific device objects Industri 4 7 3 Object 2400 System Voltages only BL67 This object enables the reading of up to 4 system voltages At the moment the BL67 GW CO supports the reading of U from sub index 1 The sub indices 2 4 sys give out 0 Table 62 Object description Object 24004 INDEX 2400 Name System Voltages Object code ARRAY Data type Unsigned16 Access ro PDO mapping No Default value No 4 7 4 Object 2401 System Currents only BL67 This object enables the reading of up to 4 system currents Table 63 Object description Object 2401 INDEX 2401 pex Name System Currents Object code ARRAY Data type Unsigned16 Access ro PDO mapping No Default value No 0301230 BLxx CANopen 0511 4 45 Device gateway objects 4 46 0301230 BLxx CANopen 0511 Industri A 5 Objects for digital input modules 5 1 Digital input modules BLXX 2 5 2 General object overview for digital input modules cccccccccccccccscccccccccccccccccccsccccsccccscccccssccsces 2 5 2 1 Object 6000 Read Input 8 Bt intente nene eet ce debe ri se lee nana 4 5 2 2 Object 6020
45. This diagnostics information must be acknowledged with the EXTF_ACK see Meaning of the process output bits of BL20 1CNT 24VDC page 11 54 control bit ERR DO Short open circuit excess temperature at the output DO1 This diagnostics information must be acknowledged with the EXTF_ACK see Meaning of the process output bits of BL20 1CNT 24VDC page 11 54 control bit D301230 BLxx CANopen 0511 11 77 Objects for Encoder modules SSI CNT Table 184 Meaning of the diagnostic bits of BL20 1CNT 24VDC alphabetically sorted Designation Description ERR_PARA Bit 2 End of counter range wrong The following parameter errors are indicated Upper count limit lower count limit Upper count limit lt lower count limit Upper count limit 0 Bit 3 Start of counter range wrong Lower count limit upper count limit Lower count limit gt upper count limit lower count limit 0 Bit 4 Invert Dl latch retr not perm It is not permitted to invert the level of the digital input when using the latch retrigger function Bit 5 Main count direction wrong Wrong parameter value for defining the main count direction Object 5800 Encoder Basic Mode page 11 6 byte 1 bit 5 and Permissible values 00 none 01 up 10 down OPER _MODE Wrong parameter value for defining the operation mode Object 5800 Encoder Basic Mode page 11 6 byte 0 bit 0 5 Measurement mode ER
46. even if they have not changed since the last transmission Type 253 The PDO is only transmitted if a transmitted Remote Frame requests this from the BLxx CANopen gateway i Attention This Transmission Type is only allowed for TPDOs Type 255 In this mode of operation the BLxx CANopen gateway does not depend on any Sync or Remote Request for PDO communication Whenever this is envisaged for an internal event within the BLxxCANopen gateway the gateway will transmit a PDO to the CANopen network The Transmission types of the individual PDOs are independent which means that a freely mixed operation with synchronous and asynchronous PDOs is possible D301230 BLxx CANopen 0511 2 15 CANopen 2 3 4 Inhibit Time The setting of an Inhibit time for the PDOs Object 1800 ff Sub Index 03 is only supported for TPDOs Unlike the other time values which are given as multiples of 1 ms the Inhibit time is defined as a multiple of 100 us However since the time resolution of the system clock in the BLxx CANopen gateway is 1 ms Inhibit time values below 10 x 100 us are pointless 2 3 5 Event Timer The Event timer Object 1800 ff Sub Index 05 defines the maximum interval after which a will be transmitted even though no event has occurred This means that the Event timer determines the maximum interval between two transmissions of a TPDO The expiry of the interval set for the Event timer is detected as an event If
47. gt During REG WR 1 the register addressed in REG WR ADR in the control interface could not successfully be written with user data 1 REG WR ADR valid gt During REG WR 1 the register addressed REG WR ADR in the control interface could not successfully be written with user data REG WR AKN 0 No change in the in the registers gt No change of register contents through a process output A write access WR to the register bank is only possible when this bit was previously zero handshake for data transfer to the registers Register contents updated gt A change of register contents had been assigned through a process output 11 66 D301230 BLxx CANopen 0511 Meaning of the process input bits of the Encoder modules Industri Table 178 Bit Value Meaning Meaning of the process input bits of BL67 1CNT ENC alphabetically sorted STS OFLW 1 Counter value exceeded upper limit of counter range STS UFLW 1 Counter value below lower limit of counter range STS ZC 1 Counter value crossed zero value SYNC AKN 1 Encoder synchronized with zero position count direction 0 Up 1 Down 0301230 BLxx CANopen 0511 11 67 Objects for Encoder modules SSI CNT 11 5 Parameter interface of the Encoder modules 11 5 1 Meaning of the parameter bits of BLxx 1SSI Value Description Sensor idle data cable test OA Activate ZERO test of data cable 1 Deactiva
48. 0580 Node ID Index 1201 to 1203 4 3 Objects for the Transfer of Process Output Data The objects 1400 to 141F define together with objects 1600 to 161F ex which output data have to be transferred via RPDO In addition to that the priority and the transmission type for the RPDO transfer are defined Object 1400 defines the priority and the transmission type for the RPDO1 Object 1600 defines the object index the sub index and the data length for the data which have to be transferred via RPDO1 Objects 1401 and 1601 thus define the RPDO2 etc The priority of the data is defined through the Identifier COB ID The values are already entered by default for objects 1400 to 1403 and 1600 to 16034 A station with up to 64 digital outputs and 12 analog outputs therefore transfers the process output data automatically via RPDOs 4 3 1 Object 1400 to 141F ex Receive PDO Comm Default Parameters Objects 1400 to 141F define the priority for the transmission of RPDO11 to RPDO32 The priority is defined via the identifier COB ID see Identifier for the Standard Objects sub index 01 With the highest bit of sub index 01 the further content can be defined as valid invalid The respective highest exadecimal number is then gt 8 The transmission type is defined with the sub index 02 Which data content is to be transferred with the RPDO1 to RPDO32 is defined with the
49. 1 Analog inputmodules BLXxX 8 2 8 2 General object overview for analog input MOMUIES csccsccscccsccrcccscesccescsscccsccsccsscssccsecsscsnecsscsecsses 8 2 8 2 1 Object 5420 Manu Spec Analog Input Range sccssssssssssssssssssssseesessssssssesesssessssssseseesssssssssnssssssessessnseeesssssssssesseseseesss 8 3 8 2 2 Object 6401 Read Analog Input 16 Bit inanan 8 10 8 2 3 Object 6421 Analog Input Interrupt Trigger Selection ettet tttttennttttennnnntetnnntactsnn 8 11 8 24 Object 6422 Analog Input Interrupt Source 8 13 8 25 Object 6423 Analog Input Global Interrupt Enable 8 14 8 2 6 Object 6424 Analog Input Interrupt Upper Limit Integer 8 14 8 27 Object 6425 Analog Input Interrupt Lower Limit Integer ssssssssssssesesessssssesessssssssssesessessssssssesessesssssssnessessseeses 8 15 8 2 8 Object 6426 Analog Input Interrupt Delta Unsigned 8 15 8 2 9 Object 6427 Analog Input Interrupt Negative Delta Unsigned 8 16 8 2 10 Object 6428 Analog Input Interrupt Positive Delta Unsigned eere teetennttttennnntto 8 16 9 Objects for analog output modules 9 1 Analog output modules BLXX cccccccsccessssccescesccsscesccsecesccnecescesccessesccnecsscesecesessccsssssccsecssccsecssccnecssessecseces 9 2 9 2 General ob
50. 1 to 128 to Write X X X X 6222 Output Bit 257 to 288 6250 to Error Mode Output Bit 1 to 128to Error X X X X 6252 Mode Output 257 to 288 6260 to Error Value Output Bit 1 to 128 to Error X X X X see chapter 6 6262 Value Output Bit 257 to 288 6300 Write Output 16 X X X X 6306 Error Mode Output 16 Bit X X X X 6307 Error Value Output 16 Bit X X X X 6320 Write Output 32 Bit X X X X 6326 Error Mode Output 32 Bit X X X X 6327 Error Value Output 32 Bit X X X X 6401 pox Read Analog Input 16 Bit X X X X see chapter 8 6411 hex Write Analog Output 16 Bit X X X X see chapter 9 6421 hex Analog Input Interrupt Trigger X X X X see chapter 8 Auswahl 6422 ex Analog Input Interrupt Source X X X X 6423 Analog Input global Interrupt Enable X X X X 6424 Analog Input Interrupt Upper Limit X X X X Integer 6425 hex Analog Input Interrupt lower Limit X X X X Integer 6426 Analog Input Interrupt Delta Unsigned X X X X 6427 nex Analog Input Interrupt Negative Delta X X X X Unsigned 6428 Analog Input Interrupt Positive Delta X X X X Unsigned 3 6 0301230 BLxx CANopen 0511 Overview of all objects Industri A Table 15 Overview of all objects 2 a 4 2 o 5 B i 9 x gt 1 0 x x 5 4 Index Name a 6443 hex Analog Output Error Mode X X X X see chapter 9 6444 Analog Output Error Value I
51. 4th Mapping Object Access rw rw PDO mapping No No Value range BLxx Unsigned32 Unsigned32 Default value BLxx No No Default values for objects 1600 to 1603 Note The number of mapping objects which are automatically generated by the gateway during start up depends on the actual physical structure of the BLxx station Table 40 Object Product Sub Default value Description valid for Default values index for objects 1600 to 1603 nex 1600 BLxx 6200 0108 151 Mapping Object RPDO1 digital output 08 nex 6200 0808 8th Mapping Object digital output BLCCO 6200 0108 e 15 Mapping Object RPDO1 digital output 1601 hex BLxx 01 hex 6411 0110 1st Mapping Object RPDO2 analog output 04 nex 6411 0410 4th Mapping Object analog output BLCCO 01 hex 6411 0110 1st Mapping Object RPDO2 analog output 0301230 BLxx CANopen 0511 4 25 Device gateway objects Table 40 Object Product Sub Default value Description valid for Default values index for objects 1600 to 1603 1602 01 6411 0510 44 15 Mapping Object RPDO3 analog output 04 64110810 4th Mapping Object analog output BLCCO 1603 nex BLxx 64110910 1st Mapping Object RPDO4 analog output 04 64110C10 Mapping Object analog output BLCCO 01 hex 64110510 1st Mapping Object RPDO4 analog output 4 26 0301230 BLxx CANopen 0511
52. 8 Object 100D ex Lifetime Factor 1 cerent nnne 9 4 1 9 Object 1010 Store Parameters dieci estere eee ir ete 10 4 1 10 Object 1011 Restore Default Parameters 11 4441 Object 1014 Emocy COB ID vec iiiter tres enit ren e enne re ei e nece a in go Ea E ea ada 12 4 1 12 Object 1016 Consumer Heartbeat 13 4 1 13 Object 1017 Producer Heartbeat 15 4 1 14 Object 1018 Identity ODJect ecrire center tentent eine 16 4 1 15 Object 1020 Verify Configuration 17 4 1 16 Object 1027 Module LISE 1 sese t 19 4 2 Objects for the Transfer of Service Data en n ones e easet e etae een osse eaae s eese esse osse eese een 20 4 2 1 Objects 1200 to 1203 Server SDO Default Parameters 20 4 3 Objects for the Transfer of Process Output Data eee esee essen osse eee eee 21 4 3 1 Object 1400 to 141F44 Receive PDO Comm Default Parameters 21 4 3 2 Object 1600 161F44 Receive PDO Mapping 24 4 4 Objects for the Tra
53. ARRAY Request NMT page 4 36 Unsigned8 rw O 1F83 ARRAY Request Guarding page 4 38 Unsigned8 rw 4 4 0301230 BLxx CANopen 0511 Objects of the Communication Profile acc to CIA DS 301 4 1 1 Object 1000 Device Type Industri Object 1000 contains the Type and Function for the station The value FFFF 0191 indicates that all Device Profiles are supported Table 17 Object 1000 Object description INDEX 1000 Device Type Object code VAR Data type Unsigned32 Value range Access ro PDO mapping No Value range Unsigned32 Default value BLxx FFFF 0191 Default value depends on the respective module 4 1 2 Object 1001 Error Register The object 1001 contains the Error register for the CANopen gateway It thus contains in one byte the internal errors that occur Table 18 Object description Object 1001 INDEX 1001 Name Error register Object code VAR Data type Unsigned8 Value range Access ro PDO mapping Optional Value range Unsigned8 Default value BLxx Error register Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Generic Current Voltage 0 Comm 0 0 Manu 0301230 BLxx CANopen 0511 4 5 Device gateway objects Abbreviations Abbr Meaning Valid for Modules generic General error all modules Current Output short circuit current error
54. BL20 E 2CNT 2PWM Table 143 Feature Description Object 5831 Name Encoder Latch Value Object code ARRAY Data type Unsigned 32 Access rw Default value PDO mapping No BL20 E 2CNT 2PWM The object writes or reads register 28 e channel 1 or respectively register 48 channel 2 of the module s register interface 11 28 D301230 BLxx CANopen 0511 General object overview for encoder modules 11 2 20 Object 5840 Industri Diag Mapping hex This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons 8 BLx x 1SSl BLxx 1SSI The object writes or reads register 51 REG SSI MASK of the module REG SSI MASK contains the SSI encoder diagnostics transferred Some SSI encoders not only transfer the position value in the data frame that they transfer to the module but also supply additional status messages It is advisable to include these status messages in the application in order to analyze the measured value Writing the 551 MASK register allows up to four individual bits to be taken from the SSI encoder data frame and transferred to the SSI STSx bits of the process input data Table 144 Feature Description Object 5840 Name SSI Diag Mapping Object code ARRAY Data type Unsigned32 Access rw Default value No P
55. Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 diag measure 0 input input input les Ned ment main count direction A1 B1 71 CNT1 mode CNT1 CNT1 ullu threshold 1 filter Z1 filter A1 B1 res p 71 input A B Z CNT1 2 mode Z1 mode CNT1 measure input input input ment main count direction A2 B2 Z2 rese jdiagnostiei code CNT2 CNT2 ull u threshold 4 filter Z2 filter A2 B2 res 72 input A B Z CNT2 5 mode Z2 mode CNT2 Object 5901 10 res ADR AUX REG1 RD DATA Object 5901 12 res ADR AUX REG3 RD DATA Object 5901 Note i Please find a detailed description of the parameters in the table Meaning of the parameter bits of BL20 E 2CNT 2PWM page 11 72 11 10 D301230 BLxx CANopen 0511 General object overview for encoder modules BL67 1CNT ENC Industri A The Object Encoder Config has effect on parameter bytes 0 0 3 of the BL67 1CNT ENC module Byte Bit 7 Bit 6 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 Bit 0 count Signal input filter M input A input B reserved direction evaluation AB i Sync with Encoder Function Function PullUp 1 input Z reserved 7 reserved signal DO3 013 7 2 threshold input A and Z Measure Counter 3 reserved ment Gate Gate function mode mode input input Sync synchronization Note Please find a detailed description of the parameters in table Meaning of the parameter bits of BL67 1CNT
56. DO ALTC Voltage voltage error PF DO Al AO Comm communication error all modules Manu Manufacturer specific error all modules 4 1 3 Object 1005 SYNC COB ID Object 1005 defines the COB ID and thus the priority gt Identifier for the die standard objects of the synchronization object SYNC The BLxx CANopen gateway is not able to generate but only to receive SYNC messages Structure of the SYNC COB ID entry Unsigned32 MSB LSB Bits 31 30 29 28 to 11 10 to 0 11 bit ID x 0 0 00 0000 0000 0000 0000 11 bit Identifier 29 bit ID x 0 1 29 bit Identifier Table 19 Bit no Value Description Description of the SYNC COB ID entry 31 MSB X fixed 30 0 Module does not generate a SYNC message 1 Module generates a SYNC message 29 0 11 bit ID CAN 2 0A for BLxx 1 29 bit ID CAN 2 0B 28to 11 0 if bit 29 0 X if bit 29 1 bits 28 to 11 of the SYNC COB ID 10 to 0 LSB X bits 10 to 0 of the SYNC COB ID Note Bit 30 is static i e cannot be changed 4 6 D301230 BLxx CANopen 0511 Objects of the Communication Profile acc to CIA DS 301 Industri Table 20 Object 1005 4 1 4 Object 1008 Object description INDEX 1005 Name COB ID Object code VAR Data type Unsigned32 Value range Access rw PDO mapping No Value range Unsigned32 Default value BLxx 0000 0080h hex Device Name Object 1008 contains the manufactu
57. E 2C6NT 2PMM iio iie epo pre eT o DRE RU re LESE boda B PELEAS ERE 28 BE67 1G6NTV EN ion dre iere deca e Lu de 28 Object 5831 Encoder batch Value 52 eite tt ente terere terea 28 BL20 E 2CNT 2PWM 28 Object 5840 Diag MappinG cris i re Re tet ete 29 IBExxsl9ls iid eene a a a ea aan Grete a 29 Object 5901 30 BE20 E 2CNTS2PWM 31 Object 5902 Status 33 20 2 2 saa ante 33 Object 5903 Flags em sies xi laane RR te ede 34 5904 PWM Diag t du te anuo tpa eec ced dan 35 Object 5908 PWM Gontrol ree ete fie eei us 36 Object 5910 PWM Load Prepare 38 Object 5913 4 nere cette these ger reta 38 Object 5920 PWM Period 39 Object 5931 batch ValU retener teen a 39 Object 6800 Operating Parameters 40 Objekt 6810 Preset Values for Multi Sensor Devices 40 SIBLE KET SS lice cnc ict tiet a
58. E 2O0NT 2PWM tnit tnt taret rre RATER A EAA KREDS R RER e rated 18 rezmiim e 19 11 2 8 Object 5808 Encoder GCOHIEFO sc ae 19 Soles UEM 19 zm euuc 20 BE20 E 2O0NT 2P WM restet to lame t a tesa i eei lees cc RE Ee e 20 raleyiie 20 11 2 9 Object 5810 Encoder Load Prepare 21 BL2Z0 1ONT 24V DC 21 20 2 2 rr tee Ett 21 67 1 21 11 2 10 Object 58111 Encoder Pulse Widths 2 2 22 BL20 1ONT PAVDG REE ANE 22 BE20 E 20NT 2PWM tait ipte etta cci eub erba 22 11 2 11 Object 5820 Measuring Integration 23 2 20 1 24 ettet teer iei oen eer natis irse eate ine 23 BL20 E 2ONT 2P WM ttt et rr ree Ree per 23 11 2 12 Object 5821 Measuring Low Limit
59. ENC page 11 74 11 2 3 Object 5802 Encoder Status The object Encoder Status displays the status of the modules count direction This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons 8 BLxx 1SSl 8 BL20 1CNT 24VDC E BL20 E 2CNT 2PWM E BL67 1CNT ENC Table 127 Feature Description Object 5802 Encoder Status Object code ARRAY Data type Unsigned8 Access ro Default value No PDO mapping Yes BLxx 1SSI Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 STS DNS STS UP reserved 0301230 BLxx CANopen 0511 11 11 Objects for Encoder modules SSI CNT Note the process input bits of 1551 page 11 59 BL20 1CNT 24VDC Please find a detailed description of the status bits in the process input in table Meaning of the process input bits of BL20 1CNT 24VDC page 11 61 BL20 E 2CNT 2PWM The object 5802 supplies the following status messages M count direction E status of in and outputs M operation status of the counter Structure of the data bytes Bit 7 Bit 6 Bit5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 STS DN STS UP reserved STS DO2 STS DO1 reserved STS DI STS GATE Note Please find a detailed description of the status bits in the process input in table Meaning of Sub index Bit 7
60. EXER ER ene 5 Analog input modules 2 6 Analog input modules 4AI TG tics secacesesccacesncdecssnvessvececiethcbesnvesevdacnsnusiunacacaeshuvesseagasdecs 7 Analog input modules 8AI U I APT NI 8 8 2 2 Object 6401 Read Analog Input 16 Bit nennen 10 8 2 3 Object 6421 Analog Input Interrupt Trigger Selection 11 8 2 4 Object 6422 Analog Input Interrupt 13 8 2 5 Object 6423 Analog Input Global Interrupt Enable sese 14 8 2 6 Object 6424 Analog Input Interrupt Upper Limit Integer sees 14 8 2 7 Object 6425 Analog Input Interrupt Lower Limit 15 8 2 8 Object 6426 Analog Input Interrupt Delta 15 8 2 9 Object 6427 Analog Input Interrupt Negative Delta 16 8 2 10 Object 6428 Analog Input Interrupt Positive Delta Unsigned 16 D301230 BLxx CANopen 0511 8 1 Objects for analog input modules 8 1 Analog input modules BLxx The objects are used in the following modules Table 86 Product family Module
61. Encoder Pulse Width Object code ARRAY Data type Unsigned16 Access rw Default value No PDO mapping No BL20 1CNT 24VDC The object takes effect on the module S parameter byte 11 and serves for setting the pulse duration at DO1 002 in the count operation BL20 E 2CNT 2PWM The object writes or reads register 30 e channel 1 or respectively register 50 channel 2 of the module s register interface The time is set in 1ms bit Value range 0 ms to 65535 ms 1min 5s 11 22 D301230 BLxx CANopen 0511 General object overview for encoder modules Industri A 11 2 11 Object 5820 The object serves for setting the integration time Measuring Integration Time hex This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BL20 1CNT 24VDC BL20 E 2CNT 2PWM Table 135 Feature Description Object 5820 Name Measuring Integration Time Object code ARRAY Data type Unsigned 32 Access rw Default value PDO mapping No BL20 1CNT 24VDC The object takes effect on parameter byte 8 and 9 and serves for setting the integration time in measurement mode Valid values are 1 to 1000 Note The object is only valid if the counter module works in measurement mode BL20 E 2CNT 2PWM The object writes reads register 29 e channel 1 or respectively register 49 channel 2 of the modu
62. Mains voltage too 3110 6 bit 0 bit2 set 0 chann 0 System voltage too high high el no 15 2 D301230 BLxx CANopen 0511 Structure of the emergency frames Industri Designation 0 1 2 3 4 5 Meaning Error code Error register Additional information A hex see also B Table 225 Mains voltage too 3120 bit 0 bit2 set modul chann 0 System voltage too low low eno el no Output voltage too 3320 ex bit 0 bit2 set modul chann 0 Field voltage too low low eno el no SSI RSxxx 7000 ex bit 0 bit7 set modul chann Modul Error in SSI or RSxxx module Error D eno el no eError page 15 8 ff alway Code E 5 1 E General 7010 bit O bit7 set 0 0 0 gt page 15 5 ff S module error Change of 7011 bit 0 bit 7 set modul diagnosis eno Module list 707Anex bit 0 bit7 set modul 0 0 module list adaptable change ok eno change e g module removed 9 Module list 707D ex bit 0 bit7 set modul 0 0 I O module list incompatible 5 change not eno ok Module list 707 bit 0 bit7 set modul 0 0 module list extended amp extended 3 Module list 707F bit 0 bit7 set modul 0 0 1 module removed from I O lt shortened eno module list Communication 8100 bit 0 bit4set 2 0 0 CAN communication faulty at warning least one of the error counters for the C
63. Minimum Initialization state Pre Operational state 5 Stopped state Operational state 0301230 BLxx CANopen 0511 2 5 CANopen 2 6 Power on automatic change of state to the Initialization condition Initialization Finished automatic change of state to Pre Operational Start Remote Node start the CAN node Enter Pre Operational change over to Pre Operational Stop Remote Node stop the CAN node Start Remote Node start the CAN node Enter Pre Operational change over to Pre Operational Stop Remote Node stop the CAN node on OU h WN Reset Node reset the complete CAN node 10 Reset Node reset the complete CAN node 11 Reset Node reset the complete CAN node 12 Reset Communication reset communication for the CAN node 13 Reset Communication reset communication for the CAN node 14 Reset Communication reset communication for the CAN node The following messages are exchanged in the states mentioned E Operational and SDO communication 8 Pre Operational only SDO communication The services listed above 1 to 14 are required by CANopen or performed independently by the nodes in order to change from one state to another The Stopped state can be skipped when using Minimum Boot up 1 Power on automatic change of state to the Initialization condition 2 Initialization finished automatic change of state to Pre Operational 3 6 Start Remote Node start the CAN node
64. Native Status see chapter 11 Objects for Encoder modules SSI CNT 14 2 0301230 BLxx CANopen 0511 General Industri A Table 206 Object no Description Module related manufacturer specific objects 5806 Encoder Optional Encoder 5808 Encoder Control 5810 Encoder Load Prepare Value 5811 Pulse Width 5820 Measuring Integration Time 5821 Low Limit 58221ex Measuring High Limit 5823 Measuring Units Per Revolution 5824 nex Encoder Measuring Divisor 5825 Encoder Measuring Factor 5827 hex Encoder Measuring Time Out 5830 Encoder Measuring Value 5831 Encoder Latch Value 5840 SSI Diag Mapping PWM 5901 nex PWM Config see chapter 11 5902 eig Encoder modules 5903 PWM Flags 5904 PWM Diag 5908 PWM Control 5910hex PWM Load Prepare Value 591 Bhex PWM Duty Cycle 5920 Period Duration 5931 PWM Latch Value Address assignment In module related objects all modules of one module type within one BLxx station are counted and considered as one module group The sub index of the respective module defines the position of the module within this group not the slot number Example A BL20 station contains 3 module type RS232 To address the parameters of the 2 RS232 module in the station object 5600 Sub
65. Object 6427 Name Analog Input Interrupt Negative Delta Unsigned Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value BLXx No Sub index 01 bis 8 Data type Unsigned32 Access rw Default value BLxx 0000 0000 ex 8 2 10 Object 6428 nex Analog Input Interrupt Positive Delta Unsigned The object 6428 defines a Delta value Values with a positive deviation of the input value by more than this Delta value can be defined as the condition for generating an interrupt signal gt 6421 Analog input interrupt trigger selection page 8 11 Table 105 Feature Description Value Object 6428 Name Analog Input Interrupt Positive Delta Unsigned Object code ARRAY PDO mapping No Sub index 00 Data type Unsigned8 Access ro Default value BLXx No Sub index bis 8E 8 16 D301230 BLxx CANopen 0511 General object overview for analog input modules Table 105 Feature Description Value Object 6428 Data type Unsigned32 Access rw Default value BLxx 00000000 ex D301230 BLxx CANopen 0511 Industri Objects for analog input modules 8 18 0301230 BLxx CANopen 0511 Industri A 9 Objects for analog output modules 9 1 Analog output modules BLxx ccccccccseccsccccccccccccccscccccccsccccscccscccccccccccccccsccccecccescccscccsccccccssccsees 2 9 2 General object overview f
66. Objects for the Transfer of Process Input Data Industri A The following structure applies to the parameters for sub indices Structure of the PDO Mapping entries MSB LSB Index 16 bit Sub Index 8 bit Object length 8 bit Note To change the number of mapping entries follow the instructions in section Procedure for Altering PDO Mappings page 2 23 4 4 Objects for the Transfer of Process Input Data Objects 1800 to 181F 1800 to 1803 define together with objects 1A00 to 1A1F 1A00 to 1A03 which input data are transferred Additionally they define the priority and the mode for the data transfer via TPDO Object 1800 defines the priority the minimum inhibit time the event timer and the transmission type for TPDO1 Object 1A00 defines the object index the sub index and the data length for the data which have to be transferred via TPDO1 Objects 1801 and 1A01 thus define the TPDO2 etc The priority of the data is defined through the Identifier COB ID The values are already entered by default for objects 1800 to 1803 and 1A00 to 1A03 A station with up to 64 digital outputs and 12 analog outputs therefore transfers the process input data automatically via TPDOs 4 4 1 Object 1800 to 181F Transmit PDO Parameters Objects 1800 to 181F BLCCO 1800146 to 1803 define the priority the transmiss
67. Request NMT Service for slave with Node ID 1 Access rw PDO mapping No Value range BLxx Unsigned8 Value 0 Slave being monitored at present 1 Slave not being monitored at present Sub index 7Fh Description Request Guarding for Slave with Node ID 63 Access rw PDO mapping No Value range Unsigned8 Value 0 Slave being monitored at present 1 Slave not being monitored at present 4 38 0301230 BLxx CANopen 0511 Overview about the objects of the Device Profile acc to CIA DS 401 and 406 Industri Table 52 Object description Object 1F83 Sub index 80 Description Request Start Stop Guarding for all slaves Access wo PDO mapping No Value range BLxx Unsigned8 Default value BLxx No 4 6 Overview about the objects of the Device Profile to CIA 05 401 and 406 4 6 1 Object 67FF Device Type The object 67FF ex specifies the type of the first device profile supported The object contains the value 000x0191 pex Das Low Word 0191 specifies the device profile acc to CiA DS 401 1 0 modules the high word 000x the I O types see CiA DS 401 Table 53 Feature Description Value Object 67FF Device Type Object code VAR Data type Unsigned32 Access ro Default value No PDO mapping No 0301230 BLxx CANopen 0511 4 39 Device gateway objects 4 6 2 Object 6FFF Device Type Object 6FFF
68. SSI BIT RATE Data rate 0 1000000 bps 1 500000 bps 2 250000 bps 3 125000 bps 4 100000 bps 5 83000 bps 6 71000 bps 7 62500 bps 810 15 reserved SSI CODE G D OA SSI encoder sends data in binary code 1 SSI encoder sends data in Gray code SSI Data frame bits LENGTH 1 to 32 Number of bits of the SSI data frame 551 FRAME LEN must always be greater than INVALID BITS Default 25 19 11 5 2 Meaning of the parameter bits of BL20 1CNT 24VDC Table 180 Designation Value Description Meaning of the parameter bits of BL20 1CNT 24VDC alphabetically sorted ADefault Diagnostic DOx OA Diagnostic activated setting 1 Diagnostic deactivated Digital input DI OA normal 1 inverted Substitute value DO OA 0 1 0301230 BLxx CANopen 0511 11 69 Objects for Encoder modules SSI CNT Table 180 Meaning of the parameter bits of BL20 1CNT 24VDC alphabetically sorted 11 70 Designation Value Description Function DI 00A input 01 HW gate 10 Latch Retrigger when edge pos only count operation 11 Synchronization when edge pos only count operation Function DOx 00A output 01 on when cnt value ref value count operation outside of limit measurement operation 10 on when cnt value ref value count operation below lower limit measurement operation 11 on when cnt value ref value count operation above upper limit measurement operation Se
69. Table 141 Object 5827 re Feature Description Name Measuring Timeout Object code ARRAY Data type Unsigned 32 Access rw Default value PDO mapping No BL20 E 2CNT 2PWM The object writes or reads register 2D e channel 1 or respectively Register 4D channel 2 of the module s register interface BL67 1CNT ENC The object writes or reads register 60 of the module s register interface D301230 BLxx CANopen 0511 11 27 Objects for Encoder modules SSI CNT 11 2 18 Object 5830 The object reads the measured value Measuring Value hex This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BL20 E 2CNT 2PWM BL67 1CNT ENC Table 142 Feature Description Object 5830 Measuring Value Object code ARRAY Data type Unsigned 32 Access rw Default value PDO mapping No BL20 E 2CNT 2PWM The object writes or reads register 21 pex channel 1 or respectively register 41 channel 2 of the module s register interface BL67 1CNT ENC The object writes or reads register 30 48 of the module s register interface 11 2 19 Object 5831 Encoder Latch Value The object reads the value of the counters latch register This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons
70. Value range BLxx Unsigned32 Default value BLxx No Sub index O2nex Description Save Reference Reset Modifier Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx No 0301230 BLxx CANopen 0511 4 41 Device gateway objects Table 55 Object description Object 2010 Sub index 03 hex Description Save Current Reset Modifier Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx No The Hard Reset Modifier determines whether in the event of a Reset Node command a normal fast reset should be performed or a hard processor reset which can take several seconds to be carried out For writing the value that is transferred in Unsigned 32 format will be interpreted as a string Table 56 MSB LSB Hard Reset processorreset selection t r h T 73 hex 72 68 Table 57 MSB LSB Normal Reset selection t r T 73 hex 7 2hex 73 hex After the next Reset Node or the next Reset Communication command the operating mode will in all cases be reset to normal Reset Node 2010 at BLxx The Index Save reference module list determines that in the event of a Reset Node command the BLxx reference module list Objects 3080 and 3081 will be saved in non volatile memory and then followed by a hard processor reset This hardware reset is necessary because changes to the BLxx0 reference module list cannot be
71. Width X X see chapter 11 5820 Measuring Integration Time X X 5821 hex Measuring Low Limit 5822 Measuring High Limit 5823 Measuring Units Per Revolution 5824 Encoder Measuring Divisor X X 5825 hex Encoder Measuring Factor X X 5827 Encoder Measuring Time Out X X 5830 Encoder Measuring Value X X 5831 hex Encoder Latch Value X X 5840 SSI Mapping X X X 5901 hex PWM Config X X 5902 PWM Status X X 5903 nex PWM Flags X X 5904 PWM Diag X X 5908 PWM Control X X 5910 PWM Load Prepare Value X X 5913 hex PWM Duty Cycle X X 5920 PWM Period Duration X X 5931 nex PWM Latch Value X X I O module objects according to CiA CS 401 6000 Read Input 8 Bit X X X X see chapter 5 chapter 7 6020 Read Input 1 to 128 X X X X 6021 hex Read Input Bit 129 to 256 X X X X 6022 Read Input Bit 257 to 288 X X X X 6100 Read Input 16 Bit X X X X 6120 Read Input 32 Bit X X X X 0301230 BLxx CANopen 0511 3 5 Object dictionary overview of all objects Table 15 Overview of all objects 2 gt 4 i 2 o B x x gt 1 uu 0 x 0 x 6 Index Name a 6200 Write Output 8 Bit X X X X see chapter 6 chapter 7 6206 Error Mode Output 8 X X X X 6207 Error Value Output 8 Bit X X X X 6220 to Write Output Bit
72. access all the diagnostics data The sub index of the objects has to correspond to the slot number of the module in the station Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 1 GENERAL Ucwerr free COM RR free RDY free SWERR ERR Byte 2 free UAUXERR TYP ERR free PKZERR free SDERR free 4 field Byte 3 TYPQS6 TYPrppS5 54 53 TYPERRS2 51 Byte 4 TYPepp S16 TYPegeS15 TYPeppS14 513 12 511 TYPeppS10 TYP eppS9 Slave diagnostics bit field Byte 5 50 558 505557 505556 50555 505554 50 5953 505552 50 551 Byte 6 5055516 50515 50514 50 513 50 53512 50 511 50 510 50 59 PKZ field Byte 7 PKZERR PKZERR PKZERR PKZERR PKZERR PKZERR PKZERR PKZERR S8 S7 S6 55 54 53 52 51 8 PKZERR PKZERR PKZERR PKZERR PKZERR PKZERR PKZERR PKZERR 516 515 514 13 512 511 510 59 12 6 0301230 CANopen 0511 General object overview for SWIRE modules Industri A The following table shows the meaning of the diagnostic bits Byte Design Status Comment Byte 1 SWERR SWIRE MASTER The configuration was accepted according to the parameter setting and the SWIRE bus is in data exchange mode 0 Data exchange The bus is in data exchange mode 1 Offline The configuration was not accepted the bus does not switch to data exchange mode SW LED flashing RDY ERR SPS SLAVE Parameter setting is
73. be defined by means of the module number Note The Error code of the Emergency Frame can only be read out using a special analysis tool 15 2 2 Error register Table 225 Error register M O Meaning Bit assignment of the Error register AM mandatory BitO MA Generate the error message BO optional Bit 1 OB current error Bit 2 voltage error Bit 3 temperature error Bit 4 communication error overrun error state Bit 5 device profile specific error Bit 6 reserved Bit 7 manufacturer specific error 15 4 D301230 BLxx CANopen 0511 Emergency codes for module diagnostics Industri A 15 3 Emergency codes for module diagnostics 15 3 1 General module error codes Designation byte 01 Byte 2 Byte 3 Byte 4 Meaning General module error Error code Error register Additional Additional information General module error information 7010 nex bit 0 bit 7 set reserved channel number for multi see also channel modules Table 225 Change of Dia change in byte 0 to 3 of the diagnostic data 7011 hex bit 0 bit 7 set Module number channel number for multi see also channel modules Table 225 15 3 2 Digital output modules Designation byte 01 Byte 2 Byte 3 Byte 4 Meaning Output current too Error code Error register Additional Additional information high information Current too high 2310 bit 1 set Module number channel number for multi
74. bus of the station Objekt 3060 XBlParamByte Table 217 Feature Description Value Object 3060 Name XBIParamByte Object code ARRAY Data type Unsigned8 Access rw Default value No PDO mapping No Object 3062 XBIParamWord Table 218 Feature Description Value Object 3062 Name XBIParamWord Object code ARRAY Data type Unsigned16 Access rw Default value No PDO mapping No 0301230 BLxx CANopen 0511 14 9 Manufacturer specific objects object 3064 XBIParamDword to object 3069 XBlParamDword8 Table 219 Feature Description Value object 3064 to 3069 Name XBlParam Dword Object code ARRAY Data type Unsigned32 Access rw Default value No PDO mapping No The structure of the parameter data depends on the respective module In the following the data structure is described for each module type for which the parameterization using this object is necessary BLxx 4DI NAMUR Table 220 Byte Bit Name Description Parameters BLXX 4DI 0 0 Input filter x 0 deactivated input filter 0 25 ms A NAMUR 1 activated input filter 2 5 ms ADefault 1 Digital input x 0 normal setting 1 inverted 2 Short circuit monitoring x 0 deactivated A 1 activated 1 3 Short circuit diagnosis x 0 deactivated A 1 activated 4 Open circuit monitoring x 0 deactivated A 1 activated 5 Open circuit di
75. control byte Bytes 2 to 7 are available for the user data The structure of the object 5602 is also changed by this setting Atthe location ofthe first data byte byte 1 ofthe object 5602 contains a byte with two control bits These can initiate a clearing of the receive and transmit buffer BitRate 0000 reserved Data rate 0001 300 bps 0010 600 bps 0011 1200 bps 0100 2400 bps 0101 4800 bps 0110 9600 bps A 0111 14400 bps 1000 19200 bps 1001 28800 bps 1010 38400 bps 1011 57600 bps 1100 115200 bps 1101 reserved 1110 reserved 1111 reserved 0301230 CANopen 0511 10 3 Objects for RS232 RS4xx modules FlowControl 00 A 01 XON XOFF 10 RTS CTS 11 reserved Data bits 0 7A 1 8 Parity 00 01 odd The parity bit is set so that the number of bits set to 1 data and parity bit together is odd A 10 even The parity bit is set so that the number of bits set to 1 data and parity bit together is even Stop bits 0 1 1 2A XONChar Oto 255 XON character 17 A This character is used to start the data transfer of the data terminal device with software handshake activated XOFFChar Oto 255 XOFF character 19 A This character is used to stop the data transfer of the data terminal device with software handshake activated 10 2 2 Object 5601 hex RS232 RS4xx RxD Process input data is data
76. eee eee ee eee eene en etna eene enses etos eee venne Dee 11 76 11 6 1 Meaning of the diagnostic bits of BLXX 1SSI eene een n n enne e ett sense eaae stet eene nose eae ee eee S SEES soos eaae E 11 76 11 6 2 Meaning of the diagnostic bits 20 1 24 11 77 11 6 3 Meaning of the diagnostic bits of BL20 E 2CNT 2PWM sssssssssccssssccssssecssssscessscessnscecsssescesseccessssecsssecesneessneecsnsneeesneeees 11 78 11 6 4 Meaning of the diagnostic bits of BL67 1CNT ENC cssssssssccssssscssscecssscccessscsessssecssssceesuscessssecsnsceesnsssssnsseeesnnecesnssessnsneees 11 79 iv D301230 BLxx CANopen 0511 12 12 1 12 2 12 2 1 12 2 2 12 2 3 12 2 4 13 13 1 13 2 13 3 13 4 13 5 13 6 13 7 13 8 14 14 1 14 1 1 14 1 2 14 1 3 14 1 4 14 1 5 14 1 6 15 15 1 15 2 15 2 1 15 2 2 15 3 15 3 1 15 3 2 15 3 3 15 3 4 16 0301230 BLxx CANopen 0511 Industri A Objects for SWIRE modules Motor starter modules BL20 ssesssessssssssosssessssosssossoossssosososssosssosessosososssossssosssoosoossssosssoesssssssssssssssssssosssss 12 2 General object overview for SWIRE MOdules ccccsccscccsscscccecesccncccsccnecsscssccsscssccsscesccsecssccsecssccssesseess 12 2 Representation of process input Cataa cscsssscsseccssecsssecsneccssecssseesseecssessessecsueessneesssscessscesscesssesseessecsasecsaeeeeseessneeessessseeesaees 12 3 Repres
77. ex corresponds to object 67FF ex in accordance with CiA DS 406 specifies the type of the second device profile supported The object contains the value 000 0191 The low word 0196 406dez specifies the device profile The high word 000A describes the encoder type in accordance with CiA 05 406 10dec Multi Sensor Encoder Interface Table 54 Feature Description Object 6FFF ex Name Device Type Object code VAR PDO Mapping No Data type Unsigned32 Access ro 4 7 Manufacturer specific device objects 4 7 1 Object 2000 Serial Number Object 2000 corresponds to sub index 04 of object 1018 and contains the ident number of the used BLxx gateway Note We recommend using object 1018 sub index 04 6 for the serial number 4 40 D301230 BLxx CANopen 0511 Manufacturer specific device objects Industri 4 7 2 Object 2010 Node ResetModifiers Object 2010 is used for a temporary volatile modification to the module behavior Table 55 Object description Object 2010 INDEX 2010 Node ResetModifiers Object code ARRAY Data type Unsigned32 Value description Sub index 00 Description Number of Entries Access ro PDO mapping No Value range BLxx Unsigned8 Default value BLxx No Sub index OT hex Description Hard Reset Node Identifier Access rw PDO mapping No
78. faulty The ACTUAL configuration was accepted according to the SET configuration and the data exchange with the higher level is o k 0 Data exchange The bus is in data exchange mode 1 Offline The configuration was not accepted the bus does not switch to data exchange mode Rdy LED flashing Communication SWIRE Acommunication error is present such as a slave is no longer reached its internal timeout has elapsed or communication is faulty The master cannot carry out data exchange with at least one slave 0 OK No error present 1 faulty An error is present Uswerr Voltage Usw Voltage fault in voltage 17 V DC for supplying the SWIRE slaves 0 OK No error present 1 under voltage An error is present GENE Error message RAL gan The creation of a function block shows that systems function blocks for the general checking of a slave for any diagnostics messages present only check the first byte 0 None No diagnostics message present 1 present One several diagnostics messages present Byte2 SDerr Communication SWIRE slave If the parameter SD pA is set for group diagnostics this bit indicates an error as soon as only one slave on the bus sets its SD error bit 0 OK No error is present or diagnostics function has been deactivated via the parameter setting 1 faulty An error is present 0301230 BLxx CANopen 0511 12 7 Objects for SWIRE modules Byte Design Status Comment
79. interface of the Encoder eee eee ee eene eene esee nena 53 Meaning of the process output bits of BLxx 1SSl ecce eee e e eee eee ee esse e eee eaae esee sees sees esse eee se 53 Meaning of the process output bits of 20 1 24 54 Meaning of the process output bits of 20 2 2 56 Meaning of the process output bits of 67 1 58 Meaning of the process input bits of the Encoder Modulles ccccccccscssscsccccscccscccccccscccsccccscccee 59 Meaning of the process input bits BLxx 1SSl 59 Meaning of the process input bits of 20 1 24 61 Meaning of the process input bits of 20 2 2 63 Meaning of the process input bits BL67 1CNT ENC ecccceeeceeeee cette ER ERE REELLE ER nnne nnn 66 Parameter interface of the Encoder modules ccce eee eee eee Leer eere ee eee eese eese e esee esee e eee eaae 68 Meaning of the parameter bits of BLxx 1SSI ssssssssssssssssssssssssessesssssssossosossssssssssssso ssssssssososossssossssssse 68 Meaning
80. object transmission follows the producer consumer push model The associated CAN frame has the pre defined identifier 256 and a data field of 6 byte length D301230 BLxx CANopen 0511 EDS file Electronic data sheet Industri A 2 2 EDS file Electronic data sheet CANopen nodes are embedded in the CANopen structure by the help of a standardized EDS file Electronic Data Sheet The EDS file lists all necessary Objects with their corresponding Sub indices and the matching entries The latest version of a particular EDS file can be downloaded directly from the TURCK homepage www turck com 23 BLxx and CANopen BLxx supports the following CANopen functions SDO transfer any length of information Emergency object Sync frame evaluation Event driven PDOs Synchronous PDOs clock synchronous Remote requested PDO polling 2 3 1 Setting up communication Minimum Boot up BLxx supports the Minimum Boot up function described in CiA DS 301 Table 1 Abbreviation Meaning Description Meaning of the abbreviations cs NMT command specifier A designation label for the required service Node ID Node Identifier Identifier for the node an identification byte that is set through the DIP switches for the CAN node Booting with the Minimum Boot up function is the typical application option for CANopen and runs according to the following state diagram Figure Fower on or hardware reset Boot procedure 1 with
81. objects 1600 to 161F Table 36 Object description BLxx BLC Object 1400 to 141F pex INDEX 1400 1400 to 141Fhex to 1403 Name Receive PDO Parameters Object code RECORD Data type PDO CommPar Value description Sub index Description Maximum Number of Entries Access ro D301230 BLxx CANopen 0511 4 21 Device gateway objects Table 36 Object description BLxx BLC Object 1400 to PDO mapping No Value range BLxx 2 Default value BLxx O2nex Sub index hex Description COB ID for the PDOs see Table 37 Access rw PDO mapping No Value range BLxx Unsigned32 Default value Index 1400 0000 0200 Node ID Index 1401 0000 0300 Node ID Index 1402 0000 0400 Node ID Index 1403 0000 0500 Node ID Index 1404 to 141F reserved Sub index O2 nex Description Transmission type see Table 38 Access rw PDO mapping No Value range BLxx Unsigned8 Default value BLxx FF rex 4 22 0301230 BLxx CANopen 0511 Objects for the Transfer of Process Output Data Structure of the COB ID entry Industri A MSB LSB Bits 31 30 29 28 to 11 10to0 11 bit ID 0 1 0 1 0 00 0000 0000 0000 0000 11 bit Identifier 29 bit ID 0 1 0 1 1 29 bit Identifier Table 37 Bit no Value Meaning Des
82. overview for 6200 Write Output 8 Bit page 6 4 digitaloutput 6596 Error Mode Output 8 Bit page 6 5 modules 6207 Error State Output 8 Bit page 6 6 6220 nex Write Output 8 Bit 1 to 128 page 6 7 6221 Write Output 8 Bit 129 to 256 page 6 7 6222 Write Output 8 Bit 257 to 288 page 6 7 6250 Error Mode Output Bit 1to 128 page 6 8 6251 Error Mode Output Bit 129 to 256 page 6 8 6252 Error Mode Output Bit 257 to 288 page 6 8 6260 nex Error State Output Bit 1 to 128 page 6 9 6261 Error State Output 129 to 256 page 6 9 6300 Write Output 16 Bit page 6 10 6306 Error Mode Output 16 page 6 10 6307 Error State Output 16 Bit page 6 11 63201 Write Output 32 6 12 6326 Error Mode Output 32 Bit page 6 13 6327 nex Error State Output 32 Bit page 6 14 0301230 BLxx CANopen 0511 6 3 Objects for digital output modules The following figure shows the relationship between the digital output objects for an 8 bit access Figure6 Relationship between the digital output objects according to CiA Draft Standard DS401 6 2 1 6 4 Communication Objects Hardware Objects Object 6200 Fixed Relation Switch if device failure 0 1 Single Digital Output Default Default Communication Mapping Parameter Parameter 1400h 1600h lig 8 Byte
83. remaining slaves are assigned in consecutive order accordingly The meaning of the data of an SWIRE slave depends on the product concerned Meaning of the 4 bit process output data on an SWIRE DIL device Bit 7 Bit 6 Bit 5 Bit 4 free free free SOx The following table shows the meaning of the data bits Table 190 Designatio Status Comment Meaning ofthe n data bits SOx relay x relay x SOx is transferred as the switch status of the contactor coil from the SWIRE bus master to the appropriate SWIRE bus slave 0 OFF Contactor not switched on 1 ON Contactor switched on 0301230 BLxx CANopen 0511 12 5 Objects for SWIRE modules 12 2 3 Representation of diagnostic data The 8 bytes of diagnostics data for the SWIRE module are represented by the manufacturer specific objects 30441 XBlDiag Dword 3045 XBlDiag Dword2 of the CANopen gateway A sub index of these objects can represent a maximum number of 4 bytes Larger diagnostics data volumes are distributed on the following objects The sub index also belongs to the module number The following table shows the assignment of the parameter data bytes of the SWIRE module to the manufacturer specific objects Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 No 8 Diagnostic bytes of the SWIRE module free Object 3044 3045 3046 3047 no in see page 14 8 see page 14 8 hex Use the objects 3044 3045 e to
84. the registers match 551 POS REG_CMPx This marker must be reset with CLR_CMPx 1 in the process output data REG_RD_ABORT 0 The reading of the register defined in REG_RD_ADR has been accepted and executed The content of the register can be found in the user data REG_RD_DATA byte 0 3 1 Reading of the register defined in REG_RD_ADR has not been accepted The user data range REG_RD_DATA Bytes 0 3 is zero REG_RD_DATA 0 277 1 Content of the register to be read if REG_RD_ABORT 0 If REG_RD_ABORT 1 then REG_RD_DATA 0 REG_RD_ADR 0 63 Address of the register to be read If the read operation is successful REG_RD_ABORT 0 the user data is located in REG_RD_DATA of the process input data bytes 0 to 3 REG_WR_ACEPT 0 Writing the user data from the process output to the register addressed with REG WR ADR in the process output could not be done 1 Writing the user data from the process output to the register addressed with REG WR ADR in the process output was successful D301230 BLxx CANopen 0511 11 59 Objects for Encoder modules SSI CNT Table 175 Designation Value Description Meaning of the process input bits of 1551 alphabetically sorted REG WR AKN 0 No modification of the data in the register bank by process output i e REG WR 0 A write job would be accepted with the next telegram of process output data handshake for data transmission to the regi
85. the telegram the type of parity the number of stop bits the bit transmission rate and the XON XOFF character used must be configured in the module with the appropriate parameters in order to adapt it to the data format of the data terminal device 4 bytes are used for the module parameters Table 117 Feature Description Object 5600 RS232 RS4xx parameters ARRAY Data type Unsigned32 Access rw Default value No PDO mapping No 10 2 D301230 BLxx CANopen 0511 Allgemeine Objektubersicht fur RS232 RS4xx Module Industri A Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 Disable Disable X Select Bit Rate Diagnosti Reduced RS485 cs Control Byte 1 X X Flow Control Data Parity Stop Byte 2 XONChar Byte 3 XOFFChar Table 118 Parameters Value meaning Parameters BLxx TRSxxx DisableDiagnostics 0 Diagnostics activated Diagnostics ADefault 1 Diagnostics deactivated setting This controls the separate field bus specific diagnostics signal not the diagnostics signal embedded in the process input data object 5601 DisableReducedCtrl The diagnostics messages are not part of the process input data object 5601 Bytes1 to 7 can therefore be used for the user data 1 The diagnostics messages are contained in byte 1 of the object 5601 irrespective of DisableDiagnostics Byte 0 contains the status and
86. xem B ORE HER PR ce 47 BL20 E 26NT 2PMM et ace purto e ER de eee P E P EE Ea 47 Object 6B30 CAMT Eysteresis niea epi ve aite 48 D301230 BLxx CANopen 0511 11 2 39 11 2 40 11 2 41 11 2 42 11 2 43 11 3 11 3 1 11 3 2 11 3 3 11 3 4 11 4 11 4 1 11 4 2 11 4 3 11 4 4 11 5 11 5 1 11 5 2 11 5 3 11 5 4 11 6 11 6 1 11 6 2 11 6 3 11 6 4 Industri A BLZ0 1CNT 24V DG REA 48 20 2 2 48 Object 6C 00 Area State Register eite een ai ie n inea 49 BL20 1CNT 24V m 49 Object 6C01 Work Area Low Limit then ip ek eei ne LEES 50 20 1 24 0 51 20 26 2 51 Object 6 02 Work Area High 51 milio Ie pom Ea Ed kanen 51 20 2 2 51 Object 6000 Operating Status Object 6001 ex SingleTurn Resolution rotary Measuring step linear Object 6002 Number of Distinguishable Revolutions 52 Object GFF Fis Device Type ettet kin t x EXE te vu 52 Process output control
87. 01 hex Description 1st Mapping Object Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx see page 4 32 Sub index 40 nex Description 64th Mapping Object Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx No 0301230 BLxx CANopen 0511 4 31 Device gateway objects Default values for objects 1A00 to 1A03 Note The number of mapping objects which are automatically generated by the gateway during start up depends on the actual physical structure of the BLxx station Table 45 Object Product Sub Default value Description valid for Default values Index for objects 1A00 to 1A03 1A00 nex BLxx OT hex 6000 0108 ex 15 Mapping Object TPDO1 digital input O8 6000 0808 8th Mapping Object digital input BLCCO hex 6000 0108 1st Mapping Object TPDO1 digital input BLxx 01 6401 0110 1st Mapping Object TPDO2 analog input O4 nex 6401 0410 4th Mapping Object analog input BLCCO 1 hex 64010110 1st Mapping Object analog input 1A02 BLxx 6401 0510 1st Mapping Object TPDO3 analog input 04 6401 0810 4th Mapping Object analog input BLCCO 01 hex 6401 0510 e 15 Mapping Object TPDO3 analog input nex BLxx 01 6401 09101 1st Mapping Object TPDO4 analog input O4 nex 6401 0C10 4th Mapping Object analog input
88. 1 General object overview for analog input modules Industri Table 95 Assignmen Parameters Module param t Meaning eters BL20 E 8AI U 4PT N Bit ADefault 0 7 0 5 Operation mode Kx 000000 Voltage 0 10 V DC Standard A settings Bin Pt Ni and 000001 Voltage 10 10 V DC Standard measurement only the first of 000010 Voltage 0 10 V DC PA NE 43 the used chan nels is parame terized channel 1 3 5 7 The parameteriza tion of the sec ond channel will be ignored 000011 Voltage 10 10 V DC PA NE 43 000100 Voltage 10 10 V DC Ext range 000101 Voltage 0 10 V DC Ext range 001000 Current 0 20 mA Standard 001001 Current 4 20 mA Standard 001010 Current 0 20 mA PA NE 43 0010112 Current 4 20 mA PA NE 43 001100 Current 0 20 mA Ext range 001001 Current 4 20 mA Ext range 010000 Pt100 200 850 C 2 wire B 010001 Pt 100 200 150 2 wire 010010 Pt200 200 850 C 2 wire 010011 Pt200 200 150 C 2 wire 010100 Pt500 200 850 C 2 wire 010101 Pt500 200 150 C 2 wire 010110 Pt1000 200 C 850 C 2 wire 010111 Pt1000 200 150 2 wire 011000 Pt100 200 850 C 3 wire 011001 Pt100 200 150 C 3 wire 011010 Pt200 200 850 C 3 wire
89. 1409 Node ID 1 Client Parameter Storing Restoring Saving of communication and application parameters is executed by a command This means that the parameters transferred through an SDO are held in volatile memory until they are saved by using the command Store parameters Object 1010 Sub indices 0 to 3 All the communication and application parameters that are supported by the gateway will be saved The command Restore Default parameters Object 1011 Sub indices 0 to 3 is also supported This command resets all the communication and or application parameters to the default values D301230 BLxx CANopen 0511 2 13 CANopen 2 3 3 Transmission of Process Data Objects PDO PDOs are fast real time process data that are handled as unconfirmed services without a protocol overhead We distinguish between Transmit PDOS TPDOs Receive PDOs RPDOs PDOs can contain a maximum of 8 bytes of data They can be assembled and configured by the user to suit the specific requirements In addition there are a number of transmission transfer settings Transmission types for process data The following attributes can be set for each PDO through the object PDO communication parameter Communication parameter COB ID The COB ID is the CAN identifier that is used for the transmission of a PDO object 1800 ff and 1400 ff COB IDs are used to define the priority of the message telegrams The lowest COB ID has
90. 2 1ton PwmFlags 5903 nex 1ton PwmControl 5908 1ton PwmPeriodDuration 5920 1ton Read Input 8 Bit 6000 1ton Transmit Read Input Bit 1 to 128 A 6020 1ton Transmit Read Input Bit 129 to 256 6021 1ton Transmit Read Input Bit 257 to 288 6022 1ton Transmit 2 22 0301230 BLxx CANopen 0511 BLxx and CANopen Industri Table 11 Index Sub index Direction Overview of mappable objects Read Input 16 Bit 6100 1ton Transmit Read Input 32 Bit 61205 1ton Transmit Write Output 8 Bit 6200 1ton Receive Write Output Bit 1to 128 A 6220 1ton Receive Write Output Bit 129 to 256 A 6221 1ton Receive Write Output Bit 257 to 288 6222 1ton Receive Write Output 16 Bit 6300 1ton Receive Write Output 32 Bit 6320 1ton Receive Read Analog Input 16 Bit 6401 1ton Transmit Write Analog Output 16 Bit 6411 1ton Receive Preset Value for Multi Sensor Devices 6810 1ton Transmit Position Value for Multi Sensor Devices 6820 1ton Transmit CAM1 State Register 6B00 1ton Transmit Area State Register 6C00 1ton Transmit Procedure for Altering PDO Mappings The Communication Profile CiA DS 301 Version 4 defines a detailed procedure for altering PDO mappings For the gateway this results in the following method for modifying PDO mappings 8 The node state of the gateway must be Pre Operational 8 The number of map
91. 2 Write Output Bit 257 to 288 The objects defined the values bit wise hex Each sub index for these objects is a Boolean value A total of 128 bits can be represented 128 digital output channels If more than 128 output channels are present then object 6221 is used If more than 256 output channels are present then object 6222 is used Since the number of digital output channels in a station is limited to 288 it is not possible to make use of the complete range of the array in object 6222 Table 75 Feature Description Value Objected 6220 6221 pex 6222 Write Output Object code ARRAY PDO mapping Yes Sub index Data type Unsigned8 Access ro Default value BLxx No 0301230 BLxx CANopen 0511 6 7 Objects for digital output modules Table 75 Feature Description Value Objected 6220 poy 622 1 pare 6222 Sub index 01 to 80 Data type Boolean Access rw Default value BLxx 0 6 2 5 Object 6250 129 to 256 Object 6252 Error Mode Output Bit 1 to 128 Object 6251 Error Mode Output Bit hex hex hex 7 Error Mode Output Bit 257 to 288 The objects define the values bit wise Each sub index for these objects is a Boolean value A total of 128 bits can be represented 128 digital output channels If more than 128 output channels are present then object 6251 ex is used If more than 256 output channels are pres
92. 29 1 Node ID In the event of a communication error not only the Emergency Error Code but also the Error register see Table 225 Bit assignment of the Error register and additional information will be transmitted so that the error can be more precisely identified Only a part of the 5 bytes is used for the additional information The remaining bytes are then 0 Byte 0 1 2 3 4 5 6 7 Date ier Additional information contents register 15 2 1 Emergency Error Codes Designation 0 1 2 3 4 5 Meaning Error code Error register Additional information A hex see also B Table 225 Error reset no error 0000 bit 0 bit 1 0 or Error code Error reset set modul Input current too 2110 bit 0 bit 1 modul chann 0 Input current too high high set eno el no Input current too 2130 bit 0 bit 1 modul chann 0 Input current too low low set eno el no Output current too 2310 bit 0 bit 1 modul chann 0 Output current too high high set el no Output current out 2323 bit 0 bit 1 modul chann 0 Output current below or above of range set e no el no the permissible range Load dump at 2330 bit 0 bit 1 modul chann 0 Output current too low outputs set e no el no Al U voltage out of 3003 nex bit 0 bit2set modul chann 0 Input voltage of an Al module range el no outside of the permissible
93. 2D BIS ESBAD Diag Mapping i e d 11 29 11 221 Object 5901 2 PWUM Corflg teret diet oue ege assiette ia 15222 OBjECt5902 PWM Status rine UE e ROPA LB e RU RR e Hed e etu se 11 2 23 Object 5903 PWM Flags 11 2 24 Object 5904 PWM Diag 11 2 25 Object 5908 PWM Control 11 2 26 Object 5910 PWM Load Prepare 11 2 27 Object 5913 PWM Duty Cycle seen tenente tnnt T notis 11 2 28 Object 5920 PWM Period Duration sscsssssssssssssseesssssessssssssesssssssnsesssssssessessssnseesssssesssssssnsessessssnseessssnseesssssssecsssesssseess 11 2 20 Object 5931 PWM LatchValUe 5 netten tette haine ii nee 11 2 30 Object 6800 Operating 11 2 31 Objekt 6810 Preset Values for Multi Sensor Devices 11 2 32 Object 6820 Position Value eee 11 2 33 Object 6B00 CAM State 11 2 34 Object 6 01 CAM1 Enable Register sssssssssssssssssssessessssssssssssssesssssnsssesssssssssssssessesesssssnsesesssssssssssesesssssssssssetessesssssssnes 11 2 35 Object 6B02 CAM Polarity 1 lt 11 2 36 Object 6B10 L
94. 3003 bit 2 set Module number channel number for multi voltage is outside of the ermissible range see also channel modules P Table 225 Note 15 6 For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames page 15 2 D301230 BLxx CANopen 0511 Emergency codes for module diagnostics Industri A Analog input modules PT Ni Designation byte 01 Byte 2 Byte 3 Byte 4 Meaning Output current too Error code Error register Additional Additional information high information Current too high threshold 2310 bit 1 set Module number channel number for multi approx 5 Q only with see also channel modules temperature measuring Table 225 ranges Output current out of range The input current is 2323 nex bit 1 set Module number channel number for multi outside of the see also channel modules permissible range A Table 225 Load dump at outputs m 2330 bit 1 set Module number channel number for multi i see also channel modules Table 225 AThe threshold for this error message is 1 over the upper measuring range value or 1 below the lower measuring range value Note i For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames page 15 2 Analog Input modules THERMO TC Designation byte 01 Byte 2 Byte 3 Byte 4 Meaning Error code Error register Additional Additional in
95. 4 29 Device gateway objects The Transmission type Sub index 02 can have the following values Table 43 Transmission PDO transmission Transmission Type Type cyclic acyclic synchr asynchr only with RTR 0 x x 1 x x 2 to 252 reserved 253 x x 254 reserved 255 x Inhibit time In order to avoid a permanent occupation of the field bus by high prior messages the Inhibit Time is defined With sub Index 03 the Inhibit time is defined as a multiple of 100 us However since the time resolution of the system clock in the BLxx CANopen gateway is 1 ms Inhibit time values below 10 x 100 us are pointless Event Timer Sub index 03 defines the maximum interval after which a will be transmitted even though no event has occurred The expiry of the interval set for the Event timer is detected as an event If any other event occurs the Event timer is reset and restarted The value of the object is interpreted as a multiple of 1 ms 4 4 2 Objects 1A00 to 1A1F ex Transmit PDO Mapping Parameter Die Objects 1A00 to 1A1F BLCCO 1A00 to 1A03 define which data have to be transferred with TPDO1 to TPDO32 The data content here process input data is represented by product specific mappable objects see Mappable Objects page 2 22 For example the process input data for the digital channels are entered in objects 6000 6020 etc The description of these objects can be found in the foll
96. 440 Name Manu Spec Analog Output Range Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value BLXx No Sub index 01 8E Data type Unsigned16 Access rw Default value BLXx No The structure of the 2 bytes of parameter data depends on the module concerned A sub index is assigned for each channel The following explains the structure for each module type Analog output modules current Table 109 Byte Bit Parameters Value meaning Parameter analog n 0 Current mode 0 0 20 mA A Analog output 1 4 20 mA modules 1 Value representation 0 Integer 15 bit sign A current 1 reserved ADefault _ setting 3 Channel x 0 activate 1 deactivate n 1 substitute value A1 The substitute value will be transmitted if the and respective parameters of the gateway have been set n 2 to output substitute value 9 4 0301230 BLxx CANopen 0511 General object overview for analog output modules Analog output modules voltage Industri A Parameters Value meaning Current mode 0 0 10VA 12 10 10V Value representation 0 Integer 15 bit sign A 1 reserved Channel 0 activate 1 deactivate Table 110 Byte Parameters analog output modules voltage ADefault setting n 1 and n 2 substitute value A1 The substitute value will be transmitted if the respective parameters of the gateway have been set to output substitute value ana
97. 6 XBlReferenceDiagSize 3087 nex XBIReferenceParamSize 3090 XBICurrentModuleld 14 4 D301230 BLxx CANopen 0511 General Industri 3091 XBlCurrentModuleType 3094 XBlCurrentInputSize 3095 XBlCurrentOutputsSize 3096 XBlCurrentDiagSize 3097 XBlCurrentParamSize Address assignment In the slot related objects the sub index defines the slot at which the respective module is located within the BLxx station 14 1 3 Process input objects Object 3000 XBlinputByte Table 208 Feature Description Value Object 3000 Name XBlInputByte Object code VAR Data type Unsigned8 Access ro PDO mapping Sub index 0 No Sub index 1 and 2 Yes Object 3002 XBlinputWord Table 209 Feature Description Value Object 3002 Name XBlInputWord Object code VAR Data type Sub index 0 Unsigned8 Sub index 1 and 2 Unsigned16 Access ro PDO mapping Sub index 0 No Sub index 1 and 2 Yes 0301230 BLxx CANopen 0511 14 5 Manufacturer specific objects Object 3004 XBlinputDWordO to Object 300B XBlinputDWord8 Table 210 Feature Description Value Object 3004 to 300 XBilnputDWordx Object code VAR Data type Sub index 0 Unsigned8 Sub index 1 and 2 Unsigned32 Access ro PDO mapping Sub index 0 No Sub index 1 and 2 Yes 14 1 4 Proce
98. 6261 Error State Output Bit 129 to 256 Object 6262 Error State Output Bit 257 to 288 9 Object 6300 7 Write Output 16 10 Object 6306 Error Mode Output 16 10 Object 6307 Error State Output 16 Bit ee eee 11 Object 6320 Write Output 32 re 12 Object 6326 Error Mode Output 32 Bit 13 Object 6327 Error State Output 32 14 D301230 BLxx CANopen 0511 6 1 Objects for digital output modules 6 1 Digital output modules BLxx The objects are used in the following modules Table 70 Product family Module BLXX digital output modules BL20 BL20 xDO 24VDC 0 5A P BL20 xDO 24VDC 0 5A N BL20 2DO 24VDC 2A P BL20 xDO 24VDC 0 5A P BL20 2DO 120 230VAC 0 5A BL20 2DO R NC BL20 2DO R NO BL20 2DO R CO BL67 BL67 xDO 0 5A P BL67 ADO 2A P BL67 ADO 4A P BL67 16DO 0 1A P BL67 ADO 2A N BL67 8DO 0 5A N BL67 8DO R NO BL67 ADIADO PD BL67 8XSG PD BLC miscellaneous 6 2 0301230 BLxx CANopen 0511 General object overview for digital output modules 6 2 General object overview for digital output modules Industri A Table 71 Object Name page General object
99. 6320 6 12 PDO mapping of object 6200 is always executed by default and automatically for the first 8 sub indexes This corresponds to the 64 bits of the SWIRE control interface If more than 64 process output data items are present the PDO mapping must be carried out by the user A total of 36 groups of 8 bits each can be displayed 288 bits If the representation of the data bits is not required with the object 6200 or if another arrangement of the mapped objects is required PDO mapping must be carried out by the user D301230 BLxx CANopen 0511 General object overview for SWIRE modules Process output Industri A Field output data is output from an SWIRE module to a field device The process output data is the data that is transferred by the PLC via a gateway to the SWIRE module The transfer is carried out in 8 byte format 4 bits are reserved for each SWIRE slave The following information is transferred Switch status of contactor coil on off Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 SWIRE Slave 2 SWIRE Slave 1 Byte 1 SWIRE Slave 4 SWIRE Slave 3 Byte 2 SWIRE Slave 6 SWIRE Slave 6 Byte 3 SWIRE Slave 8 SWIRE Slave 7 Byte 4 SWIRE Slave 10 SWIRE Slave 9 Byte 5 SWIRE Slave 12 SWIRE Slave 11 Byte 6 SWIRE Slave 14 SWIRE Slave 13 Byte 7 SWIRE Slave 16 SWIRE Slave 15 The data of SWIRE slave 1 is the data of the first physical slave on the SWIRE bus The
100. AN controller of the CANopen gateway has reached the value 96 Communication 8100 bit 0 bit4set 0 0 The CANopen gateway was not transmit timeout able to transmit a frame within the specified time Life guard 8130 bit 0 bit4 set O 0 0 The CANopen gateway has Heartbeat error detected an error in the CANopen Guarding or Heartbeat Protocol e g a time out Recovered from Bus 8140 bit 0 bit4 set 0 0 0 The system has left the CAN OFF Bus Off state i e the CAN controller for the CANopen gateway has moved out of this serious fault condition External Error 9009 bit 0 bit4set 0 0 0 Force Mode is active i e the outputs of the station are not under the control of CANopen at the moment Aln total bytes 3 to 7 of the Emergency Frame can be used to display additional information At the moment only byte 3 to 5 are used if necessary Byte 6 and 7 are not listed 0301230 BLxx CANopen 0511 15 3 Diagnostics Emergency Frames Unused bytes of additional information are 0 the error message is related to the gateway itself voltage module at the gateway the value for module and channel number is 0 Cin this case the module number is only displayed if the previous and already reset error was an error with Error code 7011 For all other errors this byte is DAn integration of this additional information is only possible if the type of the respective module can
101. BLCCO OT hex 6401 0910 ex 1st Mapping Object TPDO4 analog input 4 32 D301230 BLxx CANopen 0511 Objects for network management not valid for BLCCO Industri A The following structure applies to the parameters for sub indices 01 ff MSB LSB Index 16 bit Sub Index 8 bit Object length 8 bit Note F To change the number of mapping entries follow the instructions in section Procedure for Altering PDO Mappings page 2 23 4 5 Objects for network management not valid for BLCCO Objects 1F80 ex to 1F83 are only relevant if the BLxx station is to work as a Network Management Master The activation is done via bit 0 from object 1F80pex 4 5 1 Object 1F80 NMT Start up Object 1F80 describes the start up behavior BLxx NMT Network Management Table 46 Object description Object 1F80 to 1A1F ex INDEX 8 NMT Start up Object code VAR Data type Unsigned32 Access rw Table 47 Bit Value Meaning Structure of the NMT Start up 0 0 station is not the NMT Master All further bits will be ignored The objects in the network list will be ignored 1 BLxx is the NMT Master 1 0 Only the explicitly selected slaves will be started 1 After boot up the service NMT Start Remote Node All Nodes will be performed 2 0 BLxx moves automatically to the Operational state 1 BLxx does not automatically move to th
102. Bit 6 Bit 5 Bit4 Bit3 Bit 2 Bit 1 Bit 0 0x00 n 2 0x47 msb Isb STS CNT1 STS 1 575 1 STS CNTI m STS CNT1 n CNTI DN UP SEKT EN STS DBP1 D1 21 STS CNT2 STS CNT2 575 CNT2 STS CNT2 STS 2 n 1 2 DN UP SEKT STS DBP2 D2 ae i Z2 RUN Note the process input bits of BL20 E 2CNT 2PWM page 11 63 BL67 1CNT ENC Please find a detailed description of the status bits in the process input in table Meaning of Bits 6 and 7 of the object Encoder Status describe the up down direction of the current values Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 STS DNS STS UP reserved 11 12 Note the process input bits of BL67 1CNT ENC page 11 66 Please find a detailed description of the status bits in the process input in table Meaning of D301230 BLxx CANopen 0511 General object overview for encoder modules Industri A 11 2 4 Object 5803 Encoder Flags The object contains volatile status messages as well as module flags This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons 8 BLxx 1SSl 8 BL20 1CNT 24VDC 8 BL20 E 2CNT 2PWM 8 BL67 1CNT ENC Table 128 Feature Description Object 5803 Encoder Flags Object code ARRAY Data type Unsigned8 Access rw Default value No PDO map
103. Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 STAT RX CNT ACK TX TX BYTE CNT Status RES Byte 1 reserved RXBUF TXBUF Diag FLUSH FLUSH Byte 2 data byte 0 Byte 7 data byte 5 Structure of the data bytes with DisableReducedControl 0 in object 5600 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 STAT RX_CNT_ACK TX_CNT TX_BYTE_CNT Status RES Byte 1 data byte 0 Byte 7 data byte 6 0301230 BLxx CANopen 0511 10 7 Objects for RS232 RS4xx modules Table 122 Meaning of the data bits Designation Value Description STATRES The STATRES bit is used for resetting the STAT bit of the process input data object 5601 The STAT bit is reset from 0 to 1 with the transition from 1 to 0 falling edge If this bit is 0 all changes in the data fields TX_BYTE_CNT TX_CNT and RX_CNT_ACK are ignored The clearing of the receive and transmit buffer by RXBUF FLUSH TXBUF FLUSH is possible The value 1 or the transition from 0 to 1 disables the clearing of the receive and transmit buffer by the RXBUF FLUSH TXBUF FLUSH RX_CNT_ACK The value RX_CNT_ACK is a copy of the value RX_CNT The value RX_CNT was transferred together with the last data segment of the process input data Object 5601 e The value RX_CNT_ACK is a confirmation of successful acceptance of the data segment using RX_CNT TX_CNT The value TX_CNT is transferred together with every data segment of the process output data
104. CommPar rw page 4 21 RECORD 32nd Receive PDO Parameter PDO CommPar rw page 4 21 Receive PDO Mapping Parameters 1600 ARRAY 1st Receive PDO Mapping PDO mapping rw page 4 24 1601 2nd Receive PDO Mapping PDO mapping rw page 4 24 1602 3rd Receive PDO Mapping PDO mapping rw page 4 24 ARRAY 32nd Receive PDO Mapping PDO mapping rw page 4 24 Transmit PDO Communication Parameter 1800 RECORD 1st Transmit PDO Parameter PDO CommPar rw page 4 27 1801 RECORD 2nd Transmit PDO Parameter PDO CommPar rw page 4 27 0301230 BLxx CANopen 0511 4 3 Device gateway objects Table 16 Index hex Object Name Type Access M O C Object over view for the communication Profile CiA DS 301 1802 RECORD 3rd Transmit PDO Parameter PDO CommPar rw O page 4 27 181F RECORD 32nd Transmit PDO Parameter PDO rw 4 27 CommPar Transmit PDO Mapping Parameter 1 00 ARRAY Ist Transmit PDO Mapping PDO mapping rw 4 30 1 00 ex 2nd Transmit PDO Mapping PDO mapping rw 4 30 1 02 ARRAY 3rd Transmit PDO Mapping PDO mapping rw O page 4 30 1A1Fhex ARRAY 32nd Transmit PDO Mapping PDO mapping rw 4 30 NMT Master Objects 1F80 VAR NMT Start up page 4 33 Unsigned32 rw 1F81 pox ARRAY Slave Assignment page 4 34 Unsigned32 rw 1F82
105. DO mapping No Masking through REG SSI MASK process REG SSI MASK input data Byte Bit 7 Bit 6 B5 B4 B3 B2 B1 BO SSI STSO 0 EN DO RMSO EN DO DS X SSI FRAME BIT SELO 551 STS1 1 EN D1 RMS1 EN D1 DS X SSI FRAME BIT SEL1 SSI STS2 2 EN D2 RMS2 EN 02 DS X SSI FRAME BIT SEL2 SSI STS3 3 EN D3 RMS3 EN D3 DS X 551 FRAME BIT SEL3 Table 145 Designation Value Description Bit meaning ADefault EN Dx RMSx OA The mapping of the SSI status messages into the process input setting data is not activated 1 The mapping of the SSI status messages into the process input data is not activated D301230 BLxx CANopen 0511 11 29 Objects for Encoder modules SSI CNT Table 145 Designation Bit meaning Value Description EN Dx DS OA The evaluation of the SSI status messages for bit 0 of the diagnostics is not activated 1 The evaluation of the SSI status messages for bit 0 of the diagnostics is activated SSI FRAME BIT SEL OA Definition of the selected bits in the frame of the SSI encoder Default 0 The following applies to bit 0 SSI group diagnostics of the diagnostics interface 551 DIAG of the process input data SSI_STSO amp EN DO DS SSI STS2 amp EN D2 DS 11 2 21 Object 5901 hex PWM Config SSI STS1 amp EN_D1_DS SSI STS3 amp EN D3 DS This object is used in the following modules 11 30 0301230 BLxx CANopen 0511 General object overview for encoder modules BL20 E 2CNT 2PWM
106. E 2CNT 2PWM The object writes or reads register 2B e channel 1 or respectively Register 4B channel 2 of the module s register interface BL67 1CNT ENC The object writes or reads register 38 56 of the module s register interface 11 2 16 Object 5825 Measuring Factor hex The object serves for scaling the measured value This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BL20 E 2CNT 2PWM BL67 1CNT ENC Table 140 Feature Description Object 5825 Name Measuring Factor Object code ARRAY Data type Unsigned 32 Access rw Default value PDO mapping No 11 26 D301230 BLxx CANopen 0511 General object overview for encoder modules 11 2 17 Object 5827 Industri A BL20 E 2CNT 2PWM The object writes or reads register 2A ex channel 1 or respectively Register 4A channel 2 of the module s register interface BL67 1CNT ENC The object writes or reads register 34 52 of the module s register interface hex Measuring Timeout hex The object defines the time out after which in period duration measurement a message is generated The current period duration measurement is monitored This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BL20 E 2CNT 2PWM BL67 1CNT ENC
107. Index 2 zu w hlen D301230 BLxx CANopen 0511 14 3 Manufacturer specific objects 14 1 2 Slot related manufacturer specific objects The slot related objects 3000 to 3FFF are available for each module type in the BLxx product families They do not depend on the respective device type The slot related objects have to be used for certain device types for which no additional manufacturer specific device type related objects are defined e g for parameterization The following table shows the slot related objects for the BLxx system and defines for which modules they have to be used Table 207 Object no To be used in module type Slot related manufacturer mput objects specific objects XBlInputByte 3002 XBlInputWord 3004 to XBlInputDWordO to 300 XBilnputDWord8 Output objects 3020 XBlOutputByte 3022 XBlOutputByte 3024 to XBlOutputDWord0 to O2Brex XBlOutputDWord8 Diagnosis objects 3040 XBIDiagByte SWIRE page 12 6 3042 XBIDiagWord 3044 to 3 XBIDiagDWord0 to O4B XBIDiagDWord8 Parameter objects 3060 XBIParamByte SWIRE page 12 10 3062 XBlParamWord 3064 0 XBIParamDWord0 to xDI NAMUR page 14 10 306Bnex XBIParamDWord8 xDI xDO PD page 5 2 xXSG PD page 5 2 SWIRE page 12 6 Gateway objects 3081 XBIReferenceModuleType 3084 XBlReferencelnputSize 3085 XBlReferenceOutputSize 308
108. No BL20 1CNT 24VDC Note i The object 6B30 is only valid if the counter module works in count mode BL20 E 2CNT 2PWM The object writes or reads register 25 pex channel 1 or respectively register 45 channel 2 of the module s register interface D301230 BLxx CANopen 0511 11 51 Objects for Encoder modules SSI CNT 11 2 42 Object 6D00 Operating Status Object 6D01 SingleTurn Resolution rotary Measuring step linear Object 6D02 Number of Distinguishable Revolutions Note i The objects 6D00 to 6D02 correspond to objects 6500 to 6502 acc to CiA DS406 hex only exist because they are mandatory objects acc to DS406 and do not have any importance for BLxx The objects are always set to 0 in BLxx 11 2 43 Object 6FFF Device Type Object 6FFF corresponds to object 67FF in accordance with CiA 05406 specifies the type of the second device profile supported The object contains the value 000A0191 The low word 0196 406 specifies the device profile The high word 000 describes the encoder type in accordance with CiA 05 406 104 Multi Sensor Encoder Interface Table 170 Feature Description Object 6FFF Name Device Type Object code VAR PDO Mapping No Data type Unsigned32 Access ro 11 52 D301230 BLxx CANopen 0511 Process output control interface of the Encoder modules Industri A 11 3 Process ou
109. No object 3042 XBlDiagWord The object reads the module s first diagnostic word on the module bus The sub index 1 to 74 corresponds to the slot number of the module in the BLxx station Table 215 Feature Description Object 3042 Name XBlDiagWord Object code ARRAY PDO mapping No Data type Unsigned16 Access ro Default value No Object 3044 XBIDiagDword to Object 3047 XBIDiagDword4 The object XBIDiagDword reads the first diagnostic Dword byte 0 3 of a module on the module bus XBlDiagDword2 reads the second diagnostic Dword byte 4 7 etc The sub index 1 to 74 corresponds to the slot number of the module in the BLxx station Table 216 Feature Description Object 3044 to 3047 XBIDiagDwordx Object code ARRAY PDO mapping No Data type Unsigned32 Access ro 14 8 0301230 BLxx CANopen 0511 General Industri A Table 216 Feature Description Object 3044 to 3047 Default value No 14 1 6 Parameter objects Objects 3060 XBlParamByte to 306Bhex XBIParamDWord8 are used to parameterize the BLxx modules byte by byte word by word or Dword by Dword All modules which have according to the CANopen profile no parameter objects have to be parameterized using these objects Attention A The sub index corresponds to the slot number of the BLxx module within this BLxx station Note Objects 3000 to 3097 hex allow direct access to the internal module
110. Node Guarding Table 24 Object 100C Object description INDEX 100C Name Guard Time Object code VAR Data type Unsigned16 Value range Access rw PDO mapping No Value range BLxx Unsigned16 Default value BLxx 0 4 1 8 Object 100D Lifetime Factor If the Lifetime factor is multiplied by the Guard time the result is the Lifetime for Node Guarding Example Guard Time 100 ms With a Guard Time of 100 ms the network nodes expect a guard telegram every 100 ms The Lifetime factor enables a setting to be made in the BLxx gateway for how often a Guard Frame from the Master can be missed before an error condition is recognized In this example the relevant time would be 300 ms The evaluation would only become active after the message had been missing for 300 ms Table 25 Object 100D Object description INDEX 100D Name Lifetime Factor Object code VAR Data type Unsigned8 Value range Access rw PDO mapping No Value range BLxx Unsigned8 Default value BLxx 0 0301230 BLxx CANopen 0511 4 9 Device gateway objects 4 1 9 Object 1010 Store Parameters The object 1010 be used to save parameter changes in non volatile memory The command is executed by writing the data contents 6576 6173 save to one of the Sub indices Table 26 Object 1010
111. Nopen 0511 12 9 Objects for SWIRE modules 12 2 4 Representation of parameter data The 24 bytes of parameter data for the SWIRE module are represented by the manufacturer specific objects 30641 XBlParam Dword to 3069 XBlParam Dword6 of the CANopen gateway A sub index of these objects can represent a maximum number of 4 bytes Larger parameter data volumes are distributed on the following objects The sub index also belongs to the module number The following table shows the assignment of the parameter data bytes of the SWIRE module to the manufacturer specific objects Byte no 0 1 2 3 4 5 6 7 Object no Parameter bytes 0 to 7 of the SWIRE module 3064 see page 14 10 3065 see page 12 13 Byte no 8 9 10 11 12 13 14 15 Object no Parameter bytes 8 to 15 of the SWIRE module 3066 see page 12 13 3067 see page 12 13 Byte no 16 17 18 19 20 21 22 23 Object no Parameter bytes 16 to 23 of the SWIRE module 3068 see page 12 13 3069 see page 12 13 Use the objects 3064 and 3069 to access all the parameter data The sub index of the objects has to correspond to the slot number of the module in the station The structure of the parameter data will be described in the following Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 1 reserved free free free MNA Configura Disable free tion Cfg Byte 2 free U AUXERR PKZ PKZw
112. O Industri Table 50 Object description Object 1F82 PDO mapping No Value range BLxx Unsigned8 Default value BLxx No Sub index 3Fh Description Request NMT Service for slave with Node ID 63 Access rw PDO mapping No Value range BLxx Unsigned8 Default value BLxx No Sub index 80 Description Request NMT Service for all slaves Access wo PDO mapping No Value range BLxx Unsigned8 Default value BLxx No For a write access to this object the value corresponds to the state for the node to which the query is directed For read access the object contains the present state of the node Table 51 Status Value for Value for Value range Write access Read access Stopped 4 4 Operational 5 5 Reset Node 6 Reset Communication 7 Pre Operational 127 127 unknown 0 Node missing 0301230 BLxx CANopen 0511 4 37 Device gateway objects 4 5 4 Object 1F83 Object 1F83 describes as per CIA DSP 302 all the slaves that can be monitored through the Network Request Guarding hex Management NMT Table 52 Object description Object 83 INDEX 1F83 nex Name Request Guarding Object code ARRAY Data type Unsigned8 Access ro rw Value description Sub index Description Supported Number of Slaves Access ro PDO mapping No Value 128 Sub index Ol Description
113. O mapping No Sub index 00 Data type Unsigned8 Access ro Default value No Sub index OT hex 47 hex Data type Integer32 Access rw Default value 0000 BLxx 1SSI Object High Limit corresponds to the reference value1 CmpVal1 of the SSI module BL20 1CNT 24VDC The object corresponds to the reference value1 of the counter module The logical output DO1 whose behavior can be configured in manifold ways is assigned to reference value1 and thus to object CAM1 High Limit If reference value1 serves as upper limit depends on the configuration of DO1 In order to achieve a CAM function as per DS406 a special configuration is necessary see description of Object 6800 CAM State Register page 11 42 BL20 E 2CNT 2PWM The object corresponds to the reference value CMP1 of the counter module The object writes reads register 27 pex channel 1 or respectively register 47 channel 2 of the module s register interface D301230 BLxx CANopen 0511 11 47 Objects for Encoder modules SSI CNT 11 2 38 Object 6B30 CAM1 Hysteresis Per DS406 the object defines a hysteresis value which serves as offset for the switch points CAM1 Low Limit and CAM1 High Limit in case of switching on and off hex This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BL20 1CNT 24VDC BL20 E 2CNT 2PWM
114. OW Limit aet ioa 11 2 37 Object 6B20 ex CAM1 High Limit 11 2 38 Object 6B30 Hysteresis 11 2 39 Object 6C00 Area State Register 11 2 40 Object 6C01 ex Work Area Low Littiit ssssssssssssssssseessssseessssssssessssssnseessssssesssssssseessssssessessssnsesssssssnseesssssseessssssseeessnsssesees 11 2 41 Object 6C02 Work Area High Limit sssssssesscssssseessssssssecssssssesssssssssssssssssessssssuecssssssssecsssssuesesssssnscsssssuesecssssneeesses 11 2 42 Object 6D00 Operating Status Object 6D01 SingleTurn Resolution rotary Measuring step linear Object 6D02 Number of Distinguishable Revolutions ses 11 52 112 43 Object 6FFF Device Type rniii nri nrc Hail Mee x Feb Fasten ee TM kde dette 11 52 11 3 Process output control interface of the Encoder modules c eeeeee eerte eene eene erret nn sen se 11 52 11 3 1 Meaning of the process output bits 1551 ee ee esee eee ee eee e eee eee eee eee eaae ette eese ee etes ee eee esee eese eee 11 3 2 Meaning of the process output bits of 20 1 CNT 24VDC ou esssssssssccsssecssecsssecessecessecsssccsstccssccsuscessecessccesseceaseessseesnseees 11 3 3 Meaning of the process output bits of BL20 E 2CNT 2PWM 11 3 4 Meaning of the process output bits of BL67 1CNT ENC ou ssse
115. Output Bit 257 to 288 csssessssssssessesssssseessssssseessssseesssssssecsssssseesesssseeessssssessssssssecsessssessessasseeessssees 6 7 Object 6250 Error Mode Output Bit 1 to 128 Object 6251 Error Mode Output Bit 129 to 256 Object 6252 Error Mode Output Bit 257 to 288 ecsssssssssessnsesessssssssssssesssssssssnsesssssssssssesessesessssssesesssesssssnsesssssssssssnes 6 8 Object 6260 Error State Output Bit 1 to 128 Object 6261 Error State Output Bit 129 to 256 Object 6262 Error State Output Bit 257 to 288 ov eessssssesssssssesssssseesssssseeessessseessssssessssssseesessssnseesssssseesssssnseesesssseeessees 6 9 Object 6300 Write Output 16 Bits sssini ieee oes iE o E EEEo EE a a SESE Saaai aaiae Object 6306 Error Mode Output 16 Bit Object 6307 Error State Output 16 Bit ssessssssseesssssssesssssssneessssssessessssseessssssesssssssessssssnssessssnsessesssssessssessecsssesseeesses Object 6320 Write Output 32 Bit Object 6326 Error Mode Output 32 Bit m Object 6327 Error State Output 32 Bitsa an oneens ea oin nki iek ea ssaa KSAN aaea EASES D301230 BLxx CANopen 0511 Industri A 7 Objects for digital combi modules 7 1 Digital combi modules 7 2 7 2 General object overview for digital combi modules scccscsescsscccscsscccscescccscssccsecesccsecssccnecssccnecssecseees 7 2 8 Objects for analog input modules 8
116. PWM Flags hex BL20 E 2CNT 2PWM BL20 E 2CNT 2PWM The object supplies the following status messages reaching of limit values execution of a SW latch retrigger 8 an event defined as special function SFKT has occurred E atime out in the count pulse measurement occurred Table 148 Feature Sub index Description Object 5903 PWM Flags Object code ARRAY PDO mapping Yes Data type 0x00 Unsigned 8 0x01 to 0x47 Unsigned 8 Access SDO 0x00 ro 0x01 to 0x47 rw Access PDO 0x01 to 0x47 r Default value 0x00 0x01 to 0 47 i By means of this access the messages are reset automatically after reading Structure of the data byte Sub index Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x00 lt n gt 0x47 MSG_ MSG_ MSG_ MSG_ PWM1 0 X X X X PWM1_ PWM1_ PWM1_ PWM1_ DO_ERR SFKT NDDC SW_LR MSG_ MSG_ MSG_ MSG_ n 1 PWM2 0 X X X X PWM2 PWM2 PWM2 PWM2_ DO ERR SFKT NDDC SW LR i 11 34 Please find a detailed description of the status bits in the process input in table Meaning of the process input bits of BL20 E 2CNT 2PWM page 11 63 D301230 BLxx CANopen 0511 General object overview for encoder modules 11 2 24 Object 5904 PWM Diag This object is used in the following modules BL20 E 2CNT 2PWM BL20 E 2CNT 2PWM hex The object reads the module s diagnostic byte Industri A
117. R ERE aX RERR Ee aE ia 5 Object 3000 5 3002 XBIInp tWOFd 2 riter tec tede tb e ee tee be Ere er Rl 6 Object 3004 XBlInputDWordO0 to Object 300B XBlInputDWordB 6 14 1 4 eee aa aE aa EAE EE 6 Obj ct 3020 XBIOUtpUtByte eit etre ree retina 7 Object 3022 XBlOutputWaotd 2 etti ette i decer tt in n d EE adn ea 7 Object 3024 XBlOutputDWord0 to Object 302B XBlOutputDWordB 8 14215 Diagnosis objects Eie n Deer eate eie be REED ario bole Eee EE Pee Ree Ee ee HENRY cece 9 object 3040 XBIDiag os i mter eniin ee ipei deno tace ERR SEER ba ae eden 9 object 3042 XBIDI amp QWOEd ri rr Rote 9 Object 3044 XBIDiagDword to Object 3047 XBlDiagDword4 eese 9 14 1 6 Parameter Objects Gcntedadsstsnandevevascdesianedecbaayees 10 Objekt 3060 10 3062 XBIPAraMWOIG 55 erret rendre tree Pete ir 10 object 3064 XBIParamDword to object 3069
118. R Guard Time page 4 9 Unsigned32 rw 100D VAR Lifetime Factor page 4 9 Unsigned32 rw 1010 ARRAY Store Parameters page 4 10 Unsigned32 rw O 1011 ARRAY Restore Default Parameters Unsigned32 rw 4 11 1014 Emcy COB ID page 4 12 Unsigned32 rw 1016 ARRAY Consumer Heartbeat Time Unsigned32 rw 4 13 1017 Producer Heartbeat Time Unsigned16 rw 4 15 1018 RECORD Identity Object page 4 16 Identity ro 1020 Verify Configuration page 4 17 Unsigned32 rw 1027 ARRAY Module List page 4 19 Unsigned16 ro C 0301230 BLxx CANopen 0511 Objects of the Communication Profile acc to CIA DS 301 Industri A Table 16 Object over view for the communication Profile CiA DS 301 Index hex Object Name Type Access M O C Server SDO Parameter 1200 RECORD 1st Server SDO Parameter SDO ro page 4 20 Parameters 1201 hex RECORD 2nd Server SDO Parameter SDO parameters rw page 4 20 1202 Server SDO Parameter SDO parameters rw page 4 20 1203 RECORD Ath Server SDO Parameter SDO parameters rw page 4 20 Receive PDO Communication Parameters 1400 RECORD 1st Receive PDO Parameter PDO CommPar rw page 4 21 1401 hex RECORD 2nd Receive PDO Parameter PDO CommPar rw page 4 21 1402 RECORD 3rd Receive PDO Parameter PDO
119. RR Eee 6 Analog input modules poa aa PAi ra ERR REX 6 Analog input modules voltage 2 eite e et esed ERE Pee LEER P RR 6 Analog input modules T INIs oiii oe ranae kon Fh eene SERRE RE uk 7 Analog Input modules THERMOS 7 15 3 4 Technology Module re tit tet tet DE Ea 8 R92392 RHS4xx modules rien n Ep R N sender 8 IMO CUS occ HE E EE 8 Encode PWN 8 9 D301230 BLxx CANopen 0511 15 1 Diagnostics Emergency Frames 15 1 General the state of the BLxx station the communication through the internal modules bus the communication with CANopen the state of the gateway itself Diagnostics messages are indicated in two different ways 2 through the individual LEDs see the additional documentation page 1 2 E through Emergency Frames a CANopen configuration tool software 15 2 Structure of the emergency frames BLxx CANopen supports Emergency Frames EMCY as standardized in CiA DS 301 The COB IDs for the EMCY telegrams are defined by the Predefined Master Slave Connection Set COB ID 1
120. R_24Vdc see above ERR_DO see above ERR_PARA Bit 2 Sensor pulse wrong Bit 3 Integration time wrong The value for the integration time is incorrect Object 5820 Measuring Integration Time page 11 23 Permissible value range 1 to 1000 Bit 4 Upper limit wrong The value for the upper limit time is incorrect Permissible value range 1 to 16777215 ERR PARA Bit 5 Lower limit wrong The value for the lower limit time is incorrect Permissible value range 0 to 16777214 OPER MODE Wrong parameter value for defining the operation mode Object 5800 Encoder Basic Mode page 11 6 byte O bit 0 5 11 78 D301230 BLxx CANopen 0511 Diagnostic interface of the Encoder modules Industri Table 184 Designation Description Meaning of the diagnostic bits of BL20 1CNT 24VDC alphabetically sorted MEAS MODE This message is always shown in conjunction with other diagnostics messages and indicates that messages refer to an active measurement mode 11 6 3 Meaning of the diagnostic bits of BL20 E 2CNT 2PWM Table 185 Diagnostic message Values Meaning Diagnostics of the BL20 E 2CNT 2PWM CNT1 PAR ERR 0 Parameter set of function unit correct CNT2 PAR ERR i m PWMI ERR 1 Faulty inconsistent parameters wrong parameterization 2 PAR ERR P1 DIAG P2 DIAG 0 No diagnostic message D1 DIAG D2 DIAG 1 Diagnosi
121. Read Input Bit 1 to 128 Object 6021 Read Input Bit 129 to 256 Object 6022 Read Input Bit 257 to 288 5 5 2 3 Object 6100 Read Input 16 Bit 6 5 2 4 Object 6120 Read Input 32 Bit bain ka 6 D301230 BLxx CANopen 0511 5 1 Objects for digital input modules 5 1 Digital input modules BLxx The objects are used in the following modules Module BL20 xDI 24VDC P BL20 xDI 24VDC N BL20 2DI 120 230VAC BL20 4DI NAMUR BL20 E xDI 24VDC P BL67 xDI P BL67 xDI N BL67 xDI PD Table 64 Product family BLxx digital input modules BL20 BL67 BLC miscellaneous 5 2 General object overview for digital input modules Table 65 Object Name Page General object bverviev for 064 Dword 14 10 digitalinput QQ Read Input 8 Bit page 5 4 modules 6020 Read Input Bit 1 to 128 page 5 5 6021 ex Read Input Bit 129 to 256 page 5 5 6022 ex Read Input Bit 257 to 288 page 5 5 6100 ex Read Input 16 Bit page 5 6 6120h ex Read Input 32 Bit page 5 6 5 2 D301230 BLxx CANopen 0511 General object overview for digital input modules Industri A The following figure shows the relationship between the digital input objects for an 8 bit access Figure5 Relationship Ha
122. State Output 8 Bit page 6 6 6220 6221 he 6222h Write Output 8 Bit page 6 7 6250 6251 6252 Error Mode Output Bit page 6 8 6260 6261 Error State Output Bit 1 to 128 Bit 129 to 256 page 6 9 6300 Write Output 16 Bit page 6 10 6306 Error Mode Output 16 Bit page 6 10 6307 Error State Output 16 Bit page 6 11 63201 Write Output 32 6 12 6326 Error Mode Output 32 Bit page 6 13 6327 nex Error State Output 32 Bit page 6 14 7 2 0301230 BLxx CANopen 0511 General object overview for digital combi modules Industri A Parameter object 3064 XBIParam Dword page 14 10 0301230 BLxx CANopen 0511 7 3 Objects for digital combi modules 7 4 0301230 BLxx CANopen 0511 Industri A 8 Objects for analog input modules 8 1 Analog input modules BLXxX ccccccccccccscccscccccccccecscccccccccccscccscccccccccceccccscccescoccsccccccccsccscscsccessceses 2 8 2 General object overview for analog input moduleS sssssssssccccscccccceccscoosecossoossosssssssssssssssssssssssessee 2 8 2 1 Object 5420 Manu Spec Analog Input Range 3 Analog input modules current 4 Analog input modules voltage riii eet eee du EE rea es E EE pees 4 analog input modules current 5 Analog input modules ie ttn tenere e
123. TS _DBP2 0301230 BLxx Note of the parameter bits of BL20 1CNT 24VDC CANopen 0511 The function is only given if DBPx STS MODE 00 is parameterized see Abschnitt Meaning 11 43 Objects for Encoder modules SSI CNT 11 2 34 Object 6B01 CAM1 Enable Register The object activates or deactivates the status message concerning the comparison result Object 6B00 This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons 1551 BL20 1CNT 24VDC BL20 E 2CNT 2PWM Table 160 Feature Description Object 6B01 Name CAM Enable register Object code ARRAY Data type Unsigned8 Access rw Default value No PDO mapping No Structure of the data byte Bit 7 Bit 6 Bit 5 Bit4 Bit3 Bit 2 Bit 1 channel 1 X X X X X X X EN CAM1 channel 2 X X X X X X X EN 2 X reserved Table 161 Designation Description Meaning of the data bits EN CAM1 0 Object 6B00 is blocked 1 Object 6B00 is released 11 44 0301230 BLxx CANopen 0511 General object overview for encoder mod 11 2 35 Object 6B02 CAM Polarity ules Register Industri The object 6B02 can invert the status message for the comparison result Object 6B00 This object is used in the following modules In all other encoder modules th
124. Up Z OA The PullUp resistance for input Z is switched off 1 The PullUp resistance for input Z is switched on REG_AUX_ADR Oto 127 Definition of the register number from the register interface Default PARA REG COUNTER VALUE REG LOWER LIMIT etc 48 A whose content should be mapped into byte 8 11 of the process input data Signal evaluation A 00 1x rising edge at B 01 1 x falling edge at A 10A 2x both edges at A 11 4 x both edges at A and B only incremental encoders Threshold input A B 0000 1V Z 0001 15V 0010 2V 0011 2 5 V 0100 3V 0101 4V 0110 5V 0111 6V 1000 7V 1001 1010 9V 1011 A 10V 1100 12V 1101 14V 1110 16V 1111 18V 0301230 BLxx CANopen 0511 11 75 Objects for Encoder modules SSI CNT Table 182 Bit Value Meaning Meaning of the parameter bits of BL67 1CNT ENC alphabetically sorted Synchronization with OA single action Z If a signal is pending at Z and if at the same time the bit SYNC_REQ 1 see Abschnitt Meaning of the process output bits of BL67 1CNT ENC control interface byte 1 bit 6 then the counter is synchronized once with the load value 1 periodical If a signal is pending at Z and if at the same time the bit SYNC REQ 1 see Abschnitt Meaning of the process output bits of BL67 1CNT ENC control interface byte 1 bit 6 then the counter is synchronized once with the load value Gat
125. Value range BLxx Unsigned32 Default value BLxx 0000 0080 Node ID 4 1 12 Object 1016 Consumer Heartbeat Time The Heartbeat Protocol is used to monitor the operational capability of other CANopen bus nodes The Heartbeat Protocol must be seen as an alternative to Node Life Guarding which unlike Guarding does not use Remote Frames A device generates the Heartbeat with a specific cycle time see object 1017 Producer heartbeat time Another device receives the Heartbeat and monitors the cycle time Another device receives the Heartbeat and monitors the cycle time Object 1016 defines the cycle time interval at which the Heartbeat is expected This cycle time should be longer than the corresponding cycle time for the transmitter see object 1017 The monitoring of the Heartbeat starts when the first Heartbeat Frame is received If the Consumer heartbeat time 0 then the corresponding entry will not be used The time is set as a multiple of 1 ms Structure of the entry for Consumer heartbeat time Unsigned32 MSB LSB Bits 31 to 24 23to 16 15to 0 Value reserved default 00 Node ID Heartbeat Time Data type Unsigned8 Unsigned16 0301230 BLxx CANopen 0511 4 13 Device gateway objects Table 30 Object 101616x Object description INDEX 1016hex Name Consumer Heartbeat Time Object code ARRAY Data type Unsigned32 Value descript
126. XBIDiag Dword3 3047 XBIDiag Dword4 Parameter data 3060 XBlParam Byte page 14 9ff 3062 XBIParam Word 3064 3065 XBIParam DWord2 306 Dword8 12 2 0301230 BLxx CANopen 0511 General object overview for SWIRE modules 12 2 1 Industri Representation of process input data The process input data of the SWIRE modules is represented by objects 6000 6020 602116 and 6022 6100 Or 6120 for digital input channels of a station The user can choose between 4 different formats for representing the values E Only one bit represented by each SUB index objects 6020 6021 and 6022 see page 5 5 8 8 bits represented by each SUB index object 6000 page 5 5 M 16 bits represented by each SUB index object 6100 page 5 5 8 32 bits represented by each SUB index object 6120 page 5 5 PDO mapping of object 6000 is always executed by default and automatically for the first 8 sub indexes This corresponds to the 64 bits of the SWIRE feedback interface If more than 64 process input data items are present the PDO mapping must be carried out by the user A total of 36 groups of 8 bits each can be displayed 288 bits If the representation of the data bits is not required with the object 6000 or if another arrangement of the mapped objects is required PDO mapping must be carried out by the user Process input The field in
127. a change from 1 1 0 all data from REG_CNTx_LOGMSG are copied to the MSG bits in the check back interface CNT1_SFKT_DISABLE 0 The special function of input Zx is enabled depending on the parameterization in mode Zx 1 The special function of input Zx is disabled CNTx _SINGLE 0 Single enabling of CNTx 1 Continuous enabling of CNTx CNTx SW LR 0 Not activated 1 A SW latch retrigger has to be executed at counter CNTx with a change from 0 1 PWMx_ ENABLE 0 Not activated 1 Enable output PWMx The enable is done either per SW or per HW gate 11 56 0301230 BLxx CANopen 0511 Process output control interface of the Encoder modules Industri Table 173 Meaning of the process output bits of BL20 E 2CNT 2PWM alphabetically sorted Bit Value Meaning PWMx_GENERAL_ 0 Not activated DISABLE 1 Output PWMx generally enabled PWMx_LOGMSG 0 The messages in the MSG bits in the process input check back interface are active 1 With a change from 0 1 the MSG data are held and actual incoming messages are stored to the register REG_CNTx_LOGMSG Before switching to REG_CNTx_LOGMSG this register is set to 0 With change from 1 0 all data from REG_CNTx_LOGMSG are copied to the MSG bits in the check back interface PWMx SINGLE 0 Single enabling of PWMx 1 Continuous enabling of PWM PWMx SFKT DISABL 0 Enable the special function of input Zx depending on the E para
128. a type Integer32 Access rw Default value No PDO mapping Yes BLxx 1SSI The content of this object is added to the SSI encoder value The calculated value is stored to object 6820 BL20 1CNT 24VDC The object writes the load value for the counter value 11 40 D301230 BLxx CANopen 0511 General object overview for encoder modules Industri A BL20 E 2CNT 2PWM The object writes the load value for the counter value BL67 1CNT ENC The object writes the load value for the counter value 11 2 32 Object 6820 Position Value hex This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons E BLxx 1SSI BL20 1CNT 24VDC E BL20 E 2CNT 2PWMI 8 BL67 1CNT ENC Table 157 Feature Description Object 6820 Position Value for Multi Sensor Devices Object code ARRAY Data type Integer32 Access ro Default value No PDO mapping Yes BLxx 1SSI Object 6820 corresponds to object 6020 as per CIA 05406 contains the SSI encoder value of the BLxx 1SSI module The content of the object contains a value that is added to correct the measured value for a zero point adjustment BL20 1CNT 24VDC Object 6820 corresponds to object 6020 module BL20 E 2CNT 2PWM as per CiA DS406 contains the counter value of the hex Object 6820 corresponds to object 6020 as per CIA 05406 contains the counter value of t
129. agnosis x 0 deactivated A 1 activated 2 6 Input on diagnostic x 0 output substitute value A 1 hold current value 7 Substitute value on diag x O offA 1 on 14 10 D301230 BLxx CANopen 0511 General Industri A 4DI PD Table 221 Byte Bit Name Description Parameters ADI PD 0 0 Input filter 0 0 deactivated input filter 0 25 ms A 1 activated input filter 2 5 ms ADefault setting 3 Input filter 3 1 0 Digital input 0 0 normal 1 inverted 3 Digital input 3 2 0 Operation Mode Group A 0 normal A 12 grams itori 1 Operation Mode Group B OE Seng 4DI PD Table 222 Byte Bit Name Description Parameters ADI PD 0 0 Input filter 0 0 deactivated input filter 0 25 ms A 1 activated input filter 2 5 ms ADefault setting 3 Input filter 7 1 0 Digital input 0 0 normal 1 inverted 3 Digital input 7 2 0 Operation Mode Group A 0 normal 1 open circuit monitoring 3 Operation Mode Group D 4DI4DO PD Table 223 Byte Bit Name Description Parameters ADIADO PD 0 0 Input filter 0 0 deactivated input filter 0 25 ms A 1 activated input filter 2 5 ms ADefault Setting _ 3 Input filter 3 1 0 Digital input 0 0 normal A 1 inverted 3 Digital input 3 2 0 Output on overcurrent 0 0 automatic recovery A 1 controlled recovery 3 Output on overcurrent 3 0301230
130. alue in bytes 0 to 3 is accepted as upper measuring limit LOAD UPLIMT 1 to 200 000 000 x 10 Hz 1 to 25 000 000 x 10 U min 1 to 100 000 000 ms LOAD VAL 0o 1 Parameterization Load counter directly The value in bytes 0 to 3 is accepted as new counter value MODE DOx MODE DOx is only valid if LOAD DO PARAM 0 gt 1 The output DOx can show the status of the data bit SET DOx or comparison results if CTRL_DOx 1 MODE_DOx defines which function DO2 is to accept 00 The output DOx shows the status of the control bit SET_DOx This must be released with CTRL_DOx 1 01 Output DOx indicates Counter value gt reference value x 10 Output DOx indicates Counter value lt reference value x 11 Output DOx indicates Counter value reference value x A pulse is generated for indicating equal values The pulse duration is defined by byte 2 of this process output RES_STS 0 1 0 1 Initiate resetting of status bits Status bits STS_ND STS_UFLW STS_OFLW STS_CMP2 STS_CMP1 STS_SYN process input are reset Bit RES STS A 1 process input acknowledges that the reset command has been received RES_STS can now be reset to 0 SET_DOx f CTRL_DOx 1 and the physical output DOx is set to indicate the value SET_DOx DOx can be set and reset directly with SET_DOx DO1 can be set for this function via the process output MODE_DOx 00 and LOAD DO PARAM 0 gt 1 The output DOx can also be set before commissioning via
131. amongst others for setting the count operation or the measurement operation mode Structure of the data bytes for the count operation Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 Byte 0 reserved Counter mode Byte 1 reserved Main count direction Function DI Digital cae funes zation input DI tion Byte 2 reserved Byte 3 reserved X reserved Note Please find a detailed description of the parameters in the table Meaning of the parameter bits of BL20 1CNT 24VDC page 11 69 Structure of the data bits in the measurement mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 reserved Measurement mode Byte reserved Function DI Digital reserved input DI Byte 2 reserved Byte 3 reserved Note Please find a detailed description of the parameters in the table Meaning of the parameter bits of BL20 1CNT 24VDC page 11 69 BL67 1CNT ENC For this module this object describes parameter byte 14 Byte 14 of the modules parameter data serves for defining the number of the register from the register interface REG_PARA REG_COUNTER_VALUE REG_LOWER_LIMIT etc see D300529 whose content has to be mapped into the process input data of the module The default value for the module BL67 1CNT ENC is 32 register no 32 REG_COUNTER_VALUE 11 2 2 Object 5801 Encoder Config hex The object takes effect on parts of the respective module paramete
132. any other event occurs the Event timer is reset and restarted The value of the object is interpreted as a multiple of 1 ms Available PDOs BLxx 64 PDOs are supported 32 Transmit PDOs TPDO1 to TPDO32 Index 1800 to 181F 32 Receive PDOs RPDO1 RPDO32 Index 1400 to 141F BLCCO 8 PDOs are supported 4Transmit PDOs TPDO1 to TPDO4 Index 1800 to 1803 4 Receive PDOs RPDO1 to RPDO4 Index 1400 to 14034 The corresponding Default Master Slave Connection Set is supported for each of the PDOs 1 to 4 so that a COB ID distribution is not necessary for these PDOs If one of the COB IDs from xPDO1 to xPDO4 is reconfigured then the use of a COB ID from the Default Master Slave Connection Set can be achieved by setting this COB ID to 0 2 3 6 Mapping Objects in PDOs Mapping is the assignment of objects from an Object Dictionary in a PDO for transmission reception through the CAN bus More than one object can be transmitted in a single PDO The Mapping parameters determine which items of information are transmitted in a PDO Table 5 PDO Object Dictionary entries Object Dictionary for mapping parameters Type Product family Range Range Transmit PDOs BL20 BL67 TPDO1 to TPDO32 1A00 to BLCCO TPDO1 to TPDO4 1A00 to 1A03 Receive PDOs BL20 BL67 RPDO1 to RPDO32 1600 to 161F BLCCO RPDO1 to RPDO4 1600 to 1603 2 16 D301230 BLxx CANopen 0511 BLxx and CANopen Industr
133. arameter definition of the DO1 physical output and the virtual output DO2 DO1 and DO2 can indicate the status of data bit SET DO1 and SET DO2 or comparison results The latest telegram MODE DO1 and MODE 002 indicates the function required for DO1 and DO2 LOAD INTTIME 0 1 Parameterization Integration time Bytes Oto 1 of this process output represent a factor for defining the Integration time for frequency measurement and for determining the rotational speed The integration time can be adjusted between 10 ms and 10 s 10 ms increments and is produced by multiplying the factor x 10 ms With period duration measurement this factor determines the number of periods measured in order to calculate a mean value A factor 1 to 1000 1 to 3E8 is permissible 11 54 0301230 BLxx CANopen 0511 Process output control interface of the Encoder modules Industri A Table 172 Designation Value Description Meaning of the process output bits of BL20 1CNT 24VDC alphabetically sorted LOAD LOLIMIT 0 1 Parameter setting of the lower measuring limit The value in bytes 0 to 3 is accepted as lower measuring limit LOAD LOLIMIT 0 to 199 999 999 x10 Hz 0 to 24 999 999 x 10 U min 0 to 99 999 999 ms LOAD PREPARE 0o 1 Parameterization Load counter in preparation The value in bytes 0 to 3 is accepted as a load value LOAD UPLIMIT 0 1 Parameter setting of the upper measuring limit The v
134. ated in diagnostic interface A Input Ax OA Signal logic remains LOW 0 HIGH 1 Input Bx Input 7 Invert signal before processing 0301230 BLxx CANopen 0511 Parameter interface of the Encoder modules Industri Table 181 Bit Value Meaning Meaning of the parameter bits of BL20 E 2CNT 2PWM alphabetically sorted Substitute value Px The output of the substitute value depends on the Dx parameterization of the used gateway see documentation for the BL20 gateways Filter Ax Bx 00 2 us A 01 16 us 10 reserved 11 Filter Zx 00 2 us A 01 16 us 10 reserved 11 Main count direction 00 Basic function A CNTx 01 None 10 Up 11 Down Measurement mode 0 Frequency measurement A CNTx 1 Period duration measurement Mode CNTx 0000 A Pulse direction single sample 0001 Pulse direction double sample 0010 AB mode single sample 0011 AB mode double sample 0100 AB mode four samples 0101 to reserved 1110 1111 AB only input Mode Dx Definition of the function for Dx Default 11 1111 gt simple output can be controlled via process data Please find additional assignment in the general module documentation Turck documentation number D301224 0301230 BLxx CANopen 0511 11 73 Objects for Encoder modules SSI CNT Table 181 Bit Value Meaning Meaning of the parameter bits of BL20 E 2CNT
135. ation Value Description Meaning of the data bits STAT 0 1 1 The communication with the data terminal equipment DTE is error free 0 The communication with the data terminal equipment DTE is disturbed A diagnosis message is generated if the parameter Diagnostics is set to 0 release The diagnostic data show the cause of the communication disturbance The user has to set back this bit in the process output data by using STATRES Object 5602 TX_CNT_ACK 0 3 The value TX_CNT_ACK is a copy of the value TX_CNT The value TX_CNT was transferred together with the last data segment of the process output data The value TX_CNT_ACK is a confirmation of successful acceptance of the data segment using TX_CNT RX_CNT 0 3 This value is transferred together with every data segment The RX_CNT values are sequential 00 gt 01 gt 10 gt 11 gt 00 decimal 0 gt 1 gt 2 gt 3 gt 0 Errors in this sequence show the loss of data segments RX_BYTE_CNT 0 7 Number of the valid bytes in this data segment 0301230 BLxx CANopen 0511 10 5 Objects for RS232 RS4xx modules Table 120 Designation Value Description Meaning of the data bits BufOvfl Bit 7 0 ok 1 buffer overflow Overflow of the receive buffer RX buffer FrameErr Bit 6 0 ok 1 frame error The module has to be parameterized for adaptation to the data structure of the data terminal equipment DTE A frame error oc
136. ault value BLxx 0000 hex 6 2 8 Object 6306 Error Mode Output 16 Bit The object defines values in 16 bit groups A total of 18 groups each 16 bit can be displayed 288 digital output channels It defines for each digital output channel whether or not the output should take on a substitute value in the event of an error The following applies 0 The output maintains its value if an error occurs 1 The output is set to a substitute value if an error occurs The substitute values for the digital output channels are defined by the Error state output object e g 630716 Table 79 Feature Description Value Object 6306 Error Mode Output 16 Object code ARRAY PDO mapping No Sub index 00 0 Data type Unsigned8 Access ro Default value BLxx No 6 10 0301230 BLxx CANopen 0511 General object overview for digital output modules Industri Table 79 Feature Description Value Object 6306 Sub index 01 to 12 Data type Unsigned16 Access rw Default value BLxx 6 2 9 Object 6307 Error State Output 16 Bit hex The object defines values in 16 bit groups A total of 18 groups each 16 bit can be displayed 288 digital output channels A substitute value is assigned to each analog channel The substitute values will only be sent in case of an error object Error Mode Output 6306 is set to 1 for the respective channel S
137. cess Input Data of BL ident channel are displayed in object pex The 12 byte transfer format consists of the following 2 1 byte status messages 2 byte error code 8 1 byte reserved 8 byte read data Table 201 Feature Description Object 5701 Name RFID Input Data Segmented Object code ARRAY Data type Domain Access ro Default value No PDO mapping No 13 5 Object 5702 8 byte process output data The 8 byte of the Process output Data of BL ident channel are displayed in object 5702 The 8 byte transfer format consists of the following E 4 byte command and control bits E 4 byte write data Table 202 Feature Description Object 5702 Name RFID Output Data U64 Object code ARRAY Data type Unsigned64 Access rw Default value No PDO mapping Yes 0301230 BLxx CANopen 0511 13 3 Objects for RFID modules 13 6 Object 5703 12 byte process output data The 12 byte of the Process output Data of BL ident channel are displayed in object 5703 The 12 byte transfer format consists of the following E 4byte command and control bits 8 byte write data Table 203 Feature Description Object 5703 ne Name RFID Output Data Segmented Object code ARRAY Data type Domain Access rw Default value No PDO mapping No 13 7 Object 5708 hex 1 byte status messages 1 byte of the Process Input Data of BL ident channel is displayed
138. ch status of the contactor coil of the SWIRE bus slave as a feedback signal SIx makes it possible to check whether the set switch status was executed by a mechanical connection This musttake into accountthe time delay between the setting of an output a mechanical execution and the subsequent feedback signal 0 OFF Contactor coil is switched off 1 ON Contactor coil is switched on PKZSTx Switch status PKZ x 0 OFF The motor protective circuit breaker is off or has tripped 1 ON The motor protective circuit breaker is switched on SDx Communication error slave x Setting the NDDIAG parameter copies the slave diagnostics message input byte 1 bit 3 to the feed back interface The information is provided as status information in the PLC for the user 0 ON LINE Status of slave x 1 OFF LINE Status of slave x diagnostics available 12 2 2 Representation of process output data 12 4 The process input data of the SWIRE modules is represented by objects 6200 6220 6221 and 6222 6300 or 6320 for digital input channels of a station hex hex The user can choose between 4 different formats for representing the values Only one bit represented by each SUB index objects 6220 6221 and 6222 page 6 7 ff E 8 bits represented by each SUB index object 6200 page 6 4 16 bits represented by each SUB index object 6300 page 6 10 M 32 bits represented by each SUB index object
139. cription of the COB ID entry 31 msb 0 PDO exists is valid 1 PDO does not exist is invalid 30 0 RIRis possible in this PDO 1 RTR is not possible in this PDO 29 0 11 Bit ID CAN 2 0A standard application 1 29 bit ID CAN 2 0B 28to 11 0 if bit 29 0 Standard application X if bit 29 1 bits 28 to 11 of COB ID 10 to 0 Isb X bits 10 to 0 of COB ID The Transmission type Sub index 02 can have the following values Table 38 Transmission PDO transmission Description of the Transmission Type cyclic acyclic synchr asynchr only with RTR 0 x 1 x x 2 to 254 reserved 255 x 0301230 BLxx CANopen 0511 4 23 Device gateway objects 4 3 2 Object 1600 to 161F ex Receive PDO Mapping Parameter Objects 1600 to 161F BLCCO 1600 to 1603 define which data have to be transferred with RPDO1 to RPDO32 RPDO1 to RPDO 4 The data content here process output data is represented by product specific mappable objects Mappable Objects page 2 22 For example the process output data for the digital channels are entered in objects 6200 6220 etc The description of these objects can be found in the following chapter Sub indices 01 ff of the objects 1600 to 161F BLCCO 1600 to 1603 contain the object number the sub index and the length of the data that have to be transferred via the respective RPDO An RPDO can transfer a maximum number of 8 bytes 64 bit The numb
140. curs in case of inconsequent parameterization number of data bits stop bits method of parity HndShErr Bit 5 0 ok 11 Data flow control error The DTE connected t the module does not react to XOFF or RTS handshake The internal receive buffer may overflow buffer overflow 1 HwFailure Bit4 0 ok 1 Hardware failure The module has to be replaced e g error in EEPROM or UART PrmErr Bit 3 0 ok 1 Parameterization error The parameter settings can not be supported 10 6 D301230 BLxx CANopen 0511 Allgemeine Objektubersicht fur RS232 RS4xx Module 10 2 3 Object 5602 Industri RS232 RS4xx TxD Process output data are data which are sent from the PLC via the gateway and the RSxxx module to a connected field device hex The data received from the PLC are loaded into the 64 bit transmit buffer in the RSxxx module The transmission is realized in a 8 byte format which is structured as follows E bytes or 7 bytes are used to contain the user data 8 If parameterized 1 byte contains signals to start the flushing of transmit and receive buffer 1 control byte is required to ensure trouble free transmission of the data Table 121 Feature Description Object 5602 Name RS232 RS4xx TxD Object code ARRAY Data type Unsigned64 Access rw Default value No PDO mapping Yes Structure of the data bytes with DisableReducedControl 1 in object 5600
141. dule number channel number for multi see also channel modules Table 225 Output current out of range i i The input current is 2323 bit 1 set Module number channel number for multi outside of the see also channel modules Table 225 permissible range A 15 8 D301230 BLxx CANopen 0511 Emergency codes for module diagnostics Industri A SWIRE module Designation Byte0 1 Byte3 Byte 4 Byte 5 Byte 6 Byte 7 Meaning Error code Additional modules 7000 ex module Diagbyte0 Diag byte1 Diagbyte2 Diag byte 3 416 1517 Bytes 6 and 7 of the Emergency frame contain the result of the bitwise OR relation of the mentioned diagnostic bytes see Channel number see page 12 6 ff D301230 BLxx CANopen 0511 15 9 Diagnostics Emergency Frames 15 10 0301230 BLxx CANopen 0511 16 Index B BOOT UP Message 2 10 m isd tied ans CommunicatioN D I m Emergency object Emcy Network Management Messages Process Data Objects PDOs Service Data Objects 005 tees Synchronization object eren Time stamp object Time esent CANopen Standard Objects eee COB ID sehen ertet tn Communication profile D Default mappings tees eteeetteennttentttennttnn 2 16 Default PDOs
142. dynamically accepted in the CANopen I O mirror If the module list is altered all the CANopen parameters will be reset to the default values For writing the value that is transferred in Unsigned 32 format will be interpreted as a string Table 58 MSB LSB Selection Save and Hardware Reset V a S r 7 6hex 61 hex 73hex 72hex 4 42 D301230 BLxx CANopen 0511 Manufacturer specific device objects Industri Table 59 MSB LSB Normal Reset selection t r 174 73x 72 73 After the next Reset Node or the next Reset Communication command the operating mode will in all cases be reset to normal Reset Node The Index Save Current Reset Modifier determines that in the event of a Reset Node command the actual module list Objects 3090 and 3091 will be saved in non volatile memory and then followed by a hard processor reset This hardware reset is necessary because changes to the reference module list cannot be dynamically accepted in the CANopen I O mirror If the module list is altered all the CANopen parameters will be reset to the default values For writing the value that is transferred in Unsigned 32 format will be interpreted as a string Table 60 MSB LSB Save and Hard ware Reset selection V a S C 76 hex 61 hex 73x 63 Table 61 MSB LSB Normal Reset selection t r 174 73x 72 73 After the next Reset Node or the next
143. e Operational state The status change is defined through the respective application 3 0 Starting of the slave is permitted 1 Starting of the slave is not permitted D301230 BLxx CANopen 0511 4 33 Device gateway objects Table 47 Bit Value Structure ofthe NMT Start up 4 0 An error event in an obligatory slave deals with the slave individually 1 An error event in an obligatory slave triggers an NMT Reset All Nodes see object 1F81 bit 3 5 to 31 Reserved set to 0 4 5 2 Object 1F81 Slave Assignment Object 1F82 describes as per CIA DSP 302 all the slaves that can be connected to Network Management NMT It contains information on error control and on actions which will be enganged through error events All other parameters for a slave are only valid if this slave is described in object 1F81 Note i Object 1 81 is only valid if is defined as NMT Master see Object 1F80 ex Bit 0 Table 48 Object description Object 81 INDEX 1F81 pex Name Slave Assignment Object code ARRAY Data type Unsigned32 Access rw Value description Sub index ex Description Maximum Number of Entries Access rw PDO mapping No Value range 1to 127 Default value 127 Sub index OT hex Description Slave with Node ID 1 Access rw PDO mapping No Value range BLxx Unsigned32 4 34 D301230 BLxx CANope
144. e 0A normal 1 inverted Gate function 000 Counter permanently inactive 001 DIO is HW gate 010 is HW gate 011 DI2 is HW gate 100 DI3 is HW gate 101 Z is gate 110A only SW gate 111 reserved Count mode OA encoder 1 pulse and direction Count direction OA Up 1 Down 11 76 0301230 BLxx CANopen 0511 Diagnostic interface of the Encoder modules Industri 11 6 Diagnostic interface of the Encoder modules 11 6 1 Meaning of the diagnostic bits of BLxx 1SSI Table 183 Designation Value Description Meaning ofthe diagnostic bits of BLxx 1SSI alphabetically sorted ERR PARA 0 The parameter set of the module has been accepted 1 Operation of the module is not possible with the present parameter set ERR SSI 0 SSI encoder signal present 1 SSI encoder signal faulty e g due to a cable break SSI DIAG 0 No enabled status signal is active SSI STSx 0 1 At least one enabled status signal is active SSI STSx 1 SSI OFLW 0 SSI encoder value below equal to upper limit 1 SSI encoder value above upper limit Overflow occurred SSI UFLW 0 SSI encoder value above equal to lower limit 1 SSI encoder value below lower limit Underflow occurred 11 6 2 Meaning of the diagnostic bits of BL20 1CNT 24VDC Table 184 Designation Description Meaning of the diagnostic bits of BL20 1CNT 24VDC alphabetically sorted Count operation ERR 24Vdc Short circuit sensor supply
145. e 11 11 5803 nex Encoder Flags Seite 11 13 5804 Encoder Diag Seite 11 14 5805 SSI Native Status Seite 11 16 5806 SSI Optional Encoder status Seite 11 18 5808 Encoder Control Seite 11 19 5810 Encoder Load Prepare page 11 19 5811 Encoder Pulse Width page 11 22 5820 Measuring Integration Time page 11 23 5821 Measuring Low Limit page 11 24 5822 Measuring High Limit page 11 24 5823 nex Measuring Units Per Revolution page 11 25 5824 Measuring Divisor page 11 26 58256 Measuring Factor 11 26 5827 Measuring Timeout page 11 27 5830 Measuring Value page 11 28 0301230 BLxx CANopen 0511 General object overview for encoder modules Industri 5831 hex Encoder Latch Value page 11 28 5840 Diag Mapping page 11 29 5901 hex PWM Config page 11 30 5902 PWM Status page 11 33 5903 nex PWM Flags page 11 34 5904 PWM Diag page 11 35 5908 PWM Control page 11 36 5910 PWM Load Prepare page 11 38 5913 PWM Duty Cycle page 11 38 5920 nex PWM Period Duration page 11 39 5931 hex PWM Latch Value page 11 39 6800 Operating Parameters Seite 11 40 6810 Preset Value for Multi Sensor Devices Seite 11 40 6820 Position Value Seite 11 41 6800 ex State Register Seite 11 42 6B00 CAM Enable Register Seite 11 44 6B00 CAM Polarity Register Seite 11 45 6B10 ex CAM Low Limit Seite 11 46 6820
146. e ID MNA Configuration check active passive If the ACTUAL configuration of the SWIRE bus does not match the SET configuration the master only exchanges data with the correctly configured and functional slaves 0 Bus based A No data exchange with a slave with an incomplete incorrect configuration 1 Slave The bus also goes into operation with the correctly based configured slaves even if the configuration is incomplete All slaves detected by the daisy chain configuration with a position that matches the set configuration are started up Slaves that do not match the set configuration are inactive 50 Slave error field Activate slave diagnostics info field SD Sx As soon as a slave on the bus sets its error bit this is indicated individually as an error depending on the parameter setting active Single diagnostics is activated inactive Single diagnostics is not activate D301230 BLxx CANopen 0511 12 11 Objects for SWIRE modules Table 191 Parameter Value Module name parameters Byte 2 ADefault SDerr Group error slave error setting Activate slave diagnostics 50 As soon as only one slave on the bus sets its error bit this is indicated as a group error depending on the parameter setting 0 active Group diagnostics is activated 1 inactive Group diagnostics is not activated PKZ Nro PKZ error field Activate slave dia
147. e a safe operating state in the event of a fault or malfunction for example by means of separate limit switches mechanical interlocks etc The electrical installation must be carried out in accordance with the relevant regulations e g with regard to cable cross sections fuses PE All work relating to transport installation commissioning and maintenance must only be carried out by qualified personnel respect IEC 60 364 or HD 384 or DIN VDE 0100 and national work safety regulations All shrouds and doors must be kept closed during operation Industri A Table of Contents 1 1 1 1 1 1 1 2 1 2 1 1 2 2 1 3 2 1 2 1 1 2 1 2 2 2 2 3 2 3 1 2 3 2 2 3 3 2 3 4 2 3 5 2 3 6 2 3 7 4 1 4 1 1 4 1 2 4 1 3 4 1 4 4 1 5 4 1 6 4 1 7 4 1 8 4 1 9 4 1 10 4 1 11 4 1 12 4 1 13 4 1 14 4 1 15 4 1 16 4 2 4 2 1 0301230 BLxx CANopen 0511 About this manual erat urinciipDnpenmesdoqe 1 2 Additional documentation cccssssssssssesssesssessscsssecsssssccsscsssessscssscseseesscssssssscssscsssessscesscssscsuscsssssnscssscsssessecssscssscsnscssssssessscessesseeeseesss 1 2 rule Prescribed USE RE TIE tm Notes concerning planning installation of this product Description of symbols used Leere eee eere eene eee ee sets esset tasses eene tna seno esse
148. e contains the number of days since January 01 1984 The configuration time contains the number of milliseconds since midnight D301230 BLxx CANopen 0511 Objects of the Communication Profile acc to CIA DS 301 4 1 16 Object 1027 Module List Industri A Object 1027 describes all the actually installed modules a station It is only valid for modular devices and thus not for BLCCO Table 34 Object 1027 Object description INDEX 1027 nex Name Module List Object code ARRAY Data type Unsigned16 Access ro Value description Sub index Description Number of connected modules Access ro PDO mapping No Value range BLxx 00 to Default value BLxx No Sub index 01 hex Description Module 1 BL20 BL67 Sub index 20 Description Module 74 Module 32 The sequential Sub indices 01 to 4A BL20 or resp 20 BL67 describe the corresponding modules in the sequence in which they are installed in the station Each entry contains a number that identifies the particular module Each entry contains a number which identifies the respective module Note i There is one identifier for each type of BLxx module In the EDS file the individual extensions to object 1027 ex e g M1SubExt1027 for all the optional BLxx module types are listed in the section Supported Modules The default values e g default
149. e of the signals to be given out to this value is event driven Table 151 Feature Sub index Description Object 5910 Name PWM Load Prepare Value Object code ARRAY PDO mapping Data type 0x00 Unsigned 8 0x01 to 0x47 Integer 32 Access 0x00 ro 0x01 to 0x47 rw Default value 0x00 0x01 to 0x47 11 2 27 Object 5913 PWM Duty Cycle hex This object is used in the following modules 8 BL20 E 2CNT 2PWM BL20 E 2CNT 2PWM The object serves for setting the Duty Cycle of the PWM pulse Register for Duty Cycle PWM1 0x64 PWM2 no 0x71 Table 152 Feature Sub index Description Object 5913 Name PWM Duty Cycle Object code ARRAY PDO mapping Data type 0x00 Unsigned 8 0x01 to 0x47 Integer 32 Access 0x00 ro 0x01 to 0x47 rw Default value 0x00 0x01 to 0x47 11 38 0301230 BLxx CANopen 0511 General object overview for encoder modules 11 2 28 Object 5920 hex PWM Period Duration Industri The object contains the value for the period duration of the PWM register for period duration PWM1 no 0x60 PWM2 no 0x70 Table 153 Object 5920 Feature Sub index Description Name PWM Period Duration Object code ARRAY PDO mapping Yes Data type 0x00 Unsigned 8 0x01 to 0x47 Integer 32 Access SDO 0x00 ro 0x01 to 0x47 rw Access PDO 0x01 to 0x47 rw Default value 0x00 0x01 to 0x47 11 2 29 Ob
150. ease find a detailed description of the status bits in the process input in table Meaning of the diagnostic bits of BL67 1CNT ENC page 11 79 11 2 6 Object 5805 Encoder Native Status The object Encoder Native Status reads bytes 0 to 1 the the module s process input data This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons E 1551 BL20 E 2CNT 2PWM E BL67 1CNT ENC Table 130 Feature Description Object 5805 Name Encoder Native Status Object code ARRAY Data type Unsigned16 Access rw Default value No PDO mapping Yes BLxx 1SSI Writing the object with any value will reset the non volatile flags FLAG and FLAG CMP2 Exception if the relevant condition for setting a marker is still fulfilled this marker will continue to remain set Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 STS ERR STS STS ERR SSI_ STOP PARA UFLW OFLW SSI DIAG Byte 1 STS_ STS_ REL_ FLAG_ STS_ REL_ FLAG_ STS_ UP DN CMP2 CMP2 CMP2 CMP1 CMP1 Note Please find a detailed description of the status bits in the process input in table Meaning of the process input bits of 1551 page 11 59 11 16 D301230 BLxx CANopen 0511 General object overview for encoder modules BL20 E 2CNT 2PWM The object reads the process input bytes 0 to 1 channel 1 and 2 to 3 channel 2 of
151. ects Industri A Table 15 Overview of all objects 2 a 4 2 2 o 5 B i 9 x gt 1 0 x 1 x Index Name a 1800 to Transmit PDO Parameters 1 to 4 X X X X see chapter 4 1803 hex 1800 to Transmit PDO Parameters 5 to 32 X X X 181 Frex 1A00 to Transmit PDO Mapping Parameters X X X X 1A03 1 to 4 1A04 to Transmit PDO Mapping Parameters X X X 1A1Fhex 5 to 32 TF80 NMT Startup X X X 1F81 Slave Assignment X X X 1F82 pex Request NMT X X X 1F83 Request Guarding X X X Manufacturer specific objects 2000 Serial Number X X X X 2010 Node Reset Modifiers X X X X 2400 System Voltages X 2401 hex System Voltages X 3000 XBlInputByte X X X X see chapter 14 3002 XBlInputWord X X X X 3004 to XBllnputDWordO to XBllnputDWord8 X X X X 300B 3020 XBlOutputByte X X X X 3022 XBlOutputByte X X X X 3024 to XBlOutputDWord0 to X X X X 302B XBlOutputDWord8 3040 XBIDiagByte X X X X 3042 XBIDiagWord X X X X 3044 to XBIDiagDWord0 to XBIDiagDWord8 X X X X 304B 3060 XBlParamByte X X X X 0301230 BLxx CANopen 0511 3 3 Object dictionary overview of all objects Table 15 Overview of all objects 2 a 4 i 2 o B
152. ects defined the values bit wise Each sub index for these objects is a Boolean value A total of 128 bits can be represented 128 digital input channels If more than 128 input channels are present then object 6021 is used If more than 256 input channels are present then object 6022 is used Since the number of digital input channels in a station is limited to 288 it is not possible to make use of the complete range of the array in object 6022 hex Table 67 Objects 6020 6021 6022 Feature Description Value Name Read Input Bit Object code ARRAY PDO mapping Yes Sub index 00 Data type Unsigned8 Access ro Default value BLxx No Sub index 01 to 80 Data type Boolean Access ro Default value BLxx No 0301230 BLxx CANopen 0511 5 5 Objects for digital input modules 5 2 3 Object 6100 Read Input 16 Bit hex The object presents the values for the digital input modules in 16 bit groups A total of 18 groups each 16 bit can be displayed 288 digital input channels Table 68 Feature Description Value Object 6100 Name Read Input 16 Bit Object code ARRAY PDO mapping Yes Sub index Data type Unsigned8 Access ro Sub index to 12 Data type Unsigned16 Access ro 5 2 4 Object 6120 hex Read Input 32 Bit The object presents the values for the digital input modules in 32 bit grou
153. ects for analog input modules Table 88 Feature Description Value Object 5420 Data type Unsigned16 Access rw Default value BLxx No The structure of the 2 bytes of parameter data depends on the module concerned A sub index is assigned for each channel The following explains the structure for each module type Analog input modules current Table 89 Byte Bit Parameters Value meaning Parameters analog input n 0 current mode 0 0 20 modules 1 4 20 mA current 1 Value representation 0 Integer 15 bit sign A ADefault 1 reserved setting 2 Diagnostic 0 release A 1 block 3 Channel x 0 activate A 1 2 deactivate 4to7 reserved Analog input modules voltage Table 90 Byte Bit Parameters Value meaning Parameter analog n 0 voltage mode 0 0 10VA input modules 1 10 10 V voltage 1 Value representation 0 Integer 15 bit sign ADefault 1 reserved setting 2 Diagnostic 0 release A 1 block 3 Channel x 0 activate 1 2 deactivate 4to7 reserved 8 4 0301230 BLxx CANopen 0511 General object overview for analog input modules analog input modules current voltage Industri A Table 91 Byte Bit Parameters Value meaning Parameter analog n 0 0 0 10 V 0 20 MA A input modules 1 10 10 V 4 20 mA current voltage 1 Value representation 0 Integer 15 bit sig
154. ed 12 12 0301230 BLxx CANopen 0511 General object overview for SWIRE modules Industri Table 191 Parameter Value Module name parameters Byte 4 Lifeguarding 0x02 OxFF Lifeguarding time of the SWIRE slaves 0x64 Setting of lifeguarding time of SWIRE slaves timeout time up to automatic reset of the slaves in the event of communication failure x 10ms Default 15 OxFF Lifeguarding off Byte 5 6 SDpicSx Input bit communication error slave x Slave diagnostics message from Byte 1 Bit 7 is accepted in the feedback interface as Bit 4 0 active SDpiagX is accepted 1 inactive SDoagsx is not accepted Byte 7 8 reserved Byte 9 to 24 Device ID TYPE setting for the LIN slave at position x on the SWIRE bus slave x 0x20 SWIRE DIL MTB OxFF OxFF Basic setting no slave Object 3064 Param Dword The object XBlParam Dword reads the first Param Dword byte 0 3 of a module on the module bus The sub index 1 to 74 corresponds to the module number of the module in the station Table 192 Feature Description Object 30641 Name XBlParam Dword Object code ARRAY PDO mapping No Data type Unsigned32 Access rw Default value No 0301230 BLxx CANopen 0511 12 13 Objects for SWIRE modules Object 3065 XBI Param Dword The object XBIParam Dword reads the first Param Dword byte 4 0 7 of a module on the module bus The sub index 1 to 74 cor
155. ee 897 to 1023 381 pex to 3FF Transmit PDO 3 Analog input 1024 400 free 1025 to 1151 401 to 47F Receive PDO Analog output 1152 480 free 1153 to 1279 481 to4FF Transmit PDO 4 Analog input 1280 500 free 0301230 BLxx CANopen 0511 BLxx and CANopen Industri A Table 2 Identifiers for basic objects COB ID Function Application ec hon 1281 to 1407 501 to 57F Receive PDO 4 Analog output 1408 580 free 1409 to 1535 58110 5FF Transmit SDO 1536 600 free 1537 to 1663 601 to 67F Receive SDO 166410 1772 680 to 6EC free 1793 to 1919 701 077 NMT Error Node Guarding Heartbeat Boot Up 1920 to 2014 800 to 7DE free 2015 to 2031 7DF to 7EF pes NMT LMT DBT Set up Node Guarding Protocol Further information on Node Guarding can be found in CiA DS 301 Node Guarding is the name for the monitoring of network nodes by a network manager You distinguish between active and passive Node Guarding In addition the CANopen network nodes check that their network manager is operating correctly and that the network is functioning reliably In the default state Node Guarding is inactive Active Node Guarding To activate the Node Guarding protocol for a node various parameters must be set for the Object Dictionary E 100C Guard time Given in milliseconds the query interval polling that is to be expected by the
156. ehavior is as defined per DS406 Special configuration settings are not necessary BL20 1CNT 24VDC The behavior of the BL20 counter module is only according to DS406 if the configuration and the operation mode is the following E Operation mode is set to count 2 The operation mode for DO1 is set to On when cnt value ref value1 11 42 D301230 BLxx CANopen 0511 General object overview for encoder modules 8 The operation mode for DO2 is set to On when cnt value The enable bits for DO1 and DO2 are set Please observe the following ref value2 Industri A 8 Object 6B10 CAM1 Low Limit corresponds to reference value2 of the BL20 counter module L 001 and DO2 BL20 E 2CNT 2PWM The both outputs DO1 and DO2 are assigned to the 2 reference values Object 6B20 CAM High Limit corresponds to reference value1 of the BL20 counter module Object 6800 1 State Register provides the result of the AND relation of the two outputs For this module the object behavior is as defined per DS406 Special configuration settings are not necessary The following applies STS_DBPx 1 at REG CNTx CMPO lt REG_CNTx_CNT lt CNTx CMP1 Structure of the data byte Sub index Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x00 lt n 2 0x47 Isb STAT n CNT1 0 X X X X X X X CAM1 STS _DBP1 STAT_ n 1 CNT2 0 X X X X X X X CAM2 S
157. elationship Hardware Objects Communication Objects between the analog output Default Default objects Mapping Communication according to CiA Fixed Draft Standard 1A01h 180h1 to 1A03h t DS401 Single A D 1 ENTRY 4 Mapi 1 2 p into Transmit CAN Analog WA Converter into 4 2 4 2 4 J M Input V 6401h 8 Byte 2 4 6424h EA A Upper Limit id gt ee AND ER TRUE 6425h Ee Dm Lower Limit i 1 E D Value Difference 6426h FA 6423h ot t Negative Positive Value 6427h 6428h Value Difference T true 1 up to 16 bit F false 2 Integer32 E enabled 3 Unsigned32 D diaabled 4 Integer16 left justified 8 2 1 Object 5420 Manu Spec Analog Input Range The object defines the parameters of the analog input channels Write accesses initiate a parameter update via the internal BLxx module bus The parameter is stored as a non volatile parameter in the gateway and is restored with every node reset The Sub indices 01 8E define the parameters for the analog input channel 1 to 142 Table 88 Feature Description Value Object 5420 Name Manu Spec Analog Input Range Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value BLxx No Sub index 01 bis 8E 0301230 BLxx CANopen 0511 8 3 Obj
158. els 12 to 15 5 group analog PDO14 8000 02A0 Node ID C000 02A0 Node ID input channels 1800 channels 16 to 19 6 group analog PDO15 88000 000 03A0 C8000 000 03A0 input channels 180E Node ID Node ID channels 20 to 23 7 group analog PDO16 8000 04A0 Node ID C000 04A0 Node ID input channels 180F channels 24 to 27 1 group RSxx PDO18 8000 0000 C000 0000 channel 0 1811 hex 1 group RSxx PDO19 8000 0000 C000 0000 channel 1 1812 0301230 CANopen 0511 CANopen Overview of the BLxx specific Default TPDOs not valid for BL compact Table 9 Meaning RPDOs COB ID RPDO Overview of the BLxx specific Default RPDOs 2 group digital input I Os bits 64 to 127 PDO5 8000 0240 Node ID 1404 group digital input I Os bits 128 to 191 PDO6 8000 0340 Node ID 1405 4 group digital input I Os bits 192 to 255 PDO7 8000 0440 Node ID 1406 5 group digital input I Os bits 256 to 319 PDO8 8000 0540 Node ID 1407 1 group encoders channel 0 1 PDO9 8000 0260 Node ID 1408 2 group encoders channel 2 4 3 PDO10 8000 0360 Node ID 1409 3 group encoders channel 4 5 PDO11 8000 0460 Node ID 140A ex 4 group encoders channel 6 7 PDO12 8000 0560 Node ID 140B 4 group analog I Os channels 12 to 15 PDO13 8000 0220 Node ID 140 5 g
159. ent then object 6252 is used Since the number of digital output channels in a station is limited to 288 it is not possible to make use of the complete range of the array in object 65221 It defines for each digital output channel whether or not the output should take on a substitute value in the event of an error The following applies 0 The output maintains its value if an error occurs 1 The output is set to a substitute value if an error occurs The substitute values for the digital output channels are defined by the Error state output objects e g 6260 6261 and 6262 Table 76 Feature Description Value Objected 6250 625 1 pare 6252 Name Error Mode Output Bit Object code ARRAY PDO mapping No Sub index 00 Data type Unsigned8 Access ro Default value BLxx No Sub index to 80 Data type Boolean Access rw Default value BLxx 1 6 8 0301230 BLxx CANopen 0511 General object overview for digital output modules Industri 6 2 6 Object 6260 Error State Output Bit 1 to 128 Object 6261 129 to 256 Object 6262 Error State Output Bit 257 to 288 Error State Output Bit The objects define the values bit wise Each sub index for these objects is a Boolean value A total of 128 bits can be represented 128 digital output channels If more than 128 output channels are present then object 6261 is used If more than 256 output chan
160. entation of process output data 12 4 Representation of diagnostic 12 6 Representation of parameter data esssscssssccsesssseccssecsssscsssccsssecssscesssecssccssecssusessneccsuscessecssscesseeesaccessceesseeesueessneessnecesseeesaeentee 12 10 Objects for RFID modules Dr 13 2 General object overview for RFID S modules eee eese eene eese eene eee eene stesse en eene snas eene esos tne eee 13 2 Object 5700 8 byte process input data eee ceres eere eene tette tn ento tn tns tn tassa teta tassa tasa essen tn enes 13 2 Object 5701 12 byte process input data eese eee esee ee sees en senten sensns tata sensa senses enes essens sene 13 3 Object 5702 8 byte process output data c cccscssscssssssesssscsecsssssssssessscssesssssesssessesssessesssessesssessesees 13 3 Object 5703 12 byte process output data 13 4 Object 5708 1 byte status 5 13 4 Object 5722 1 byte parameter s sssssssesssssssossssossssososscsossesossssssssossssossesossssosos ososesssse sssesossesosass sos c osessssse 13 5 Manufacturer specific objects GeMeral 14 2 Module related manufacturer specific 14 2 Slot related manufacturer specific objects
161. er of sub indices depends on the data length For larger projects it has to be calculated and entered by user At a data length of 8 bit 8 sub indices are needed to represent a total number of 64 bit At data length of 1 bit 64 sub indices are needed to represent a total number of 64 bit Objects 1600 to 1603 RPDO1 to RPDO4 references by default the values for the first 64 digital output channels and for the first 12 analog output channels provided that the values are represented by the objects 6200 digital values and 6411 ex analog values Table 39 Object description BLxx BLCCO Object 1600 to 161F ex INDEX 1600 to 161F 1600 to 1603 Name Receive PDO Mapping Parameters Object code RECORD Data type PDO mapping Value description Sub index 00 nex Description NumberOfMappedApplication Receive PDO Mapping Objects Parameters Access rw rw PDO mapping No No Value range BLxx 64 Default value BLxx see Table 16 Sub index 01 hex Description 1st Mapping Object Access rw PDO mapping No 4 24 D301230 BLxx CANopen 0511 Objects for the Transfer of Process Output Data Industri A Table 39 Object description BLxx BLCCO Object 1600 to 161 Fre Value range BLxx Unsigned32 Default value BLxx see Table 16 Sub index AD nox O3 nex Description 64th Mapping Object
162. erial Number 2010 Node ResetModifiers 2400hex System Voltages 2401hex System Currents ee 5420hex Manu Spec Analog Input Range 8 3 5440hex Manu Spec Analog Output Range 9 4 5600hex RS232 RS4xx Parameters 10 2 5601 5232 54 RxD 5602hex RS232 RS4xx TxD 6000hex Read Input 8 Bit 6020hex Read Input Bit 1 to 128 6021hex Read Input Bit 129 to 256 6022hex Read Input Bit 257 to 288 6100hex Read Input 16 Bit sss 6200hex Write Output 8 Bit 6206hex Error Mode Output 8 Bit 6207hex Error State Output 8 Bit i 6220hex Write Output 622 Thex Write Output 6222hex Write Output 6250hex Error Mode Output Bit 1 to 128 6251hex Error Mode Output Bit 129 to 256 6252 Error Mode Output Bit 257 to 288 6260hex Error State Output Bit 1 to 128 6261 Error State Output Bit 129 to 256 6262hex Error State Output Bit 257 to 288 6401hex Read Analog Input 16 Bit 641 1hex Write Analog Output 16 6421hex Analog Input Interrupt Trigger Selec
163. erwise STS_CMP1 simply indicates that the output is or was set STS_CMP1 is also set if DO1 SET_DO1 1 when the output is not released This bit must be reset by the RES_STS control bit STS_CMP2 Status comparator 2 This status bit indicates a comparison result for comparator 2 if the output DO2 is released with CTRL DO2 1 anda comparison is run via MODE DO2 01 100r 11 Otherwise STS CMP2 simply indicates that the output is or was set STS_CMP2 is also set if DO1SET 002 1 when the output is not released This bit must be reset by the RES_STS control bit STS_DN Status direction down STS DI The DI status bit indicates the status of digital input DI STS DO1 The DO1 status bit indicates the status of digital output DO1 STS_DO2 The DO2 status bit indicates the status of digital output DO2 STS GATE Counting operation running 11 62 0301230 BLxx CANopen 0511 Meaning of the process input bits of the Encoder modules Industri Table 176 Designation Value Description Meaning ofthe process input bits of BL20 1CNT 24VDG alphabetically sorted STS LOAD 1 Status of load function is set if the Load function is running STS ND 1 Status zero crossing Set on crossing zero in counter range when counting without main direction This bit must be reset by the RES STS control bit STS OFLW 1 Status upper count limit Set if the counter goes above the u
164. es The triggering event is defined for each input channel using a corresponding sub index of the object Table 97 Feature Description Value Object 6421 pex Name Analog Input Interrupt Trigger Selection Object code ARRAY PDO mapping No Sub index ex Data type Unsigned8 Access ro Default value BLxx No Sub index 01 pex bis Data type Unsigned8 Access rw Default value BL20 Firmware lt version 4 02 2 02 0 gt version 4 02 2 02 7 67 7 Table 98 Bit Trigger event Structure ofthe Sub Index 01 to 8Enex ATheupper lower 0 1 upper limit A exceeded A limit values and the value at the input has exceeded the upper limit the delta values are defined 1 1 Input below lower limit A using theobjects the value at the input is below the lower limit 6424 6425 6426 6427 2 1 Input changed by more than Delta and 6428 the value at the input has changed by a defined Delta value 3 1 Input reduced by more than negative delta A the value at the input has reduced by a defined Delta value 4 1 Input increased by more than positive delta the value at the input has increased by a defined Delta value 5 7 reserved Note Several bits can be set simultaneously so that the transmitting of the input process data can be triggered by several events 8 12 D301230 BLxx CANopen 0511 General object overview for a
165. esse eee eee eee s esee 4 13 8 Object 5722 1 byte parameter eee esee 111 5 D301230 BLxx CANopen 0511 13 1 Objects for RFID modules 13 1 RFID S module BL20 The objects are used in the following modules Table 198 Product family Module BL20 RFID S BL20 BL20 2RFID S 13 2 General object overview for RFID S modules Table 199 Object Name page General object overview for 5700 8 byte process input data Seite 13 2 RFID S modules 5701 12 byte process input data Seite 13 3 5702 nex 8 byte process output data Seite 13 3 5703 nex 12 byte process output data Seite 13 4 5708 1 byte status messages Seite 13 4 5722 1 byte parameters Seite 13 5 13 3 Object 5700 8 byte process input data hex The first 8 bytes of the process input data of a BL ident channel are displayed in Object 5700 Thus the range of the read data is limited to 4byte The 8 byte transfer format consists of the following M 1 byte status messages 2 byte error code 8 1 byte reserved 4 byte read data Table 200 Feature Description Object 5700 RS232 RS4xx parameters Data type Unsigned32 Access rw Default value No PDO mapping Yes 13 2 0301230 BLxx CANopen 0511 Object 5701 12 byte process input data Industri 13 4 Object 5701 12 byte process input data The 12 byte of the Pro
166. esult of voltage variations This could occur under the following conditions The drop out and initialization of the gateway happen in the time between two Guarding Frames The gateway was already in the Pre Operational state beforehand The last state of the toggle bit was 1 If a Boot up message is sent out after a reset or initialization then the drop out mentioned above will also not be missed by the network manager 2 3 2 Parameterization through Service Data Objects SDO SDO Service Data Object is a confirmed CANopen service that is primarily used for parameterization and configuration of the CANopen slaves BLxx and less frequently for transmitting process data Confirmed means that an BLxx CANopen gateway SDO server that is addressed by this procedure must acknowledge it through a response In this way the SDO client obtains information about whether the BLxx gateway that it addressed was contacted and whether the access was achieved without any errors error code in the response from the SDO server SDO access means that the contents of the Object Dictionary entries for an SDO server can be read or written and that the settings for a BLxx station can be made in this way Four parallel SDO servers are supported There are three additional SDOs as well as the default SDO As a default these are inactive but can be parameterized and enabled through the Object Dictionary entries 1201 to 1203 The communication
167. eway changes to the state Guard Fail If output modules are fitted in the BLxx station then their outputs will be put into defined states depending on the objects Error mode output and Error state output or will retain the last state that was received Any RxPDOs that are received will still be processed and output again If the Guarding starts up again the gateway leaves the Guard Fail state but remains in the Pre Operational state A Start Node command must be generated by the network manager in order to restart the gateway see CiA DS 301 Passive Node Guarding If a Guard Time 0 is set see Object 100Chex Guard Time page 4 9 than passive guarding is activated This means that the gateway answers the Guard Remote Frames without itself starting a Guard Timer The gateway does not change to the Pre Operational state As an alternative to Node Life Guarding the Heartbeat mechanism see Object 1016hex Consumer Heartbeat Time page 4 13 and Object 1017hex Producer Heartbeat Time page 4 15 newly introduced with DS301 V4 0 is supported which unlike Guarding does not require Remote frames Boot up Message After initialization after Power On Reset Node and Reset Communication a Boot up message as per CiA 05 301 V4 0 is sent out This is in the form of a guard frame with the contents 00 Under certain circumstances a network manager may fail to detect a short drop out of an BL20 gateway for example as a r
168. formation information AI U voltage out of range 3003 bit 2 set Module number channel number for multi Wire break or the input voltage is outside of the see also channel modules Table 225 permissible range A Note i For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames page 15 2 D301230 BLxx CANopen 0511 15 7 Diagnostics Emergency Frames 15 3 4 Technology modules RS232 RS4xx modules Designation Byte0 1 Byte 2 Byte3 Byte4 Byte5 Meaning Meaning Error code Error register Additional modules 7000 ex Bit 8 set see module Channel 08 Parameter error also Table no number 225 always 1 10 4 Hardware failure 20 Handshake error Frame error 40 RX buffer overflow Note For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames page 15 2 SSI module Designation Byte 0 1 Byte 2 Byte3 Byte4 Byte5 Meaning Meaning Error code Error register Additional modules 7000 ex Bit 8 set see module Channel 01 hex SSI Diag also Table no number 225 always 1 0244 SSI Error 04 nex Overflow Error 081ex Underflow Error Parameter error Counter Encoder PWM Designation byte 01 Byte 2 Byte 3 Byte 4 Meaning Output current too Error code Error register Additional Additional information high information Current too high 2310 bit 1 set Mo
169. g output modules Industri A The following figure shows the relationship between the analog output objects for an 16 bit access Figure8 Relationship between the objects for analog output modules according to CiA Draft Standard 401 Communication Objects RPDO2 4 CAN Reception Hardware Objects Default Default Communication Mapping Parameter Parameter Fixed 1401h 1601h Relation to 1403h to 1603h 2 EARN Receive m gt 6411h Error Mode Switch 6443h gt IF Oh 1h i on Switch if Error Value w device 1 i 6444h EM c failure gt 0301230 BLxx CANopen 0511 D A Converter V A Single Analog Output 1 Integer32 2 Integer16 left justified with default value of 0 Objects for analog output modules 9 2 1 Object 5440 Spec Analog Output Range The object defines the parameters of the analog output channels Write accesses initiate a parameter update via the internal BLxx module bus The parameter is stored as a non volatile parameter in the gateway and is restored with every node reset The Sub indices 01 7 8E define the parameters for the analog output channels 1 to 142 Table 108 Feature Description Value Object 5
170. gnostics info field PKZ Sx As soon as a slave on the bus clears its PKZ bit this is indicated as an individual error depending on the parameter setting 0 active Single diagnostics is activated 1 inactive Single diagnostics is not activate 2 Group PKZ error field Activate slave diagnostics 2 55 As soon as a slave on the bus clears its PKZ bit this is indicated as an individual error depending on the parameter setting 0 active A Single diagnostics is activated 1 inactive Single diagnostics is not activate TYP Nro Configuration error field As soon as a slave on the bus does not match the set configuration and therefore cannot be started this is indicated as an individual error depending on the parameter set 0 active Single diagnostics is activated 1 inactive Single diagnostics is not activate TYP Egr Group configuration error field Activate slave diagnostics As soon as only one slave on the bus is incorrectly configured this is indicated as an error depending on the parameter setting 0 active A Group diagnostics is activated 1 inactive Group diagnostics is not activated U AUXERR Error message Voltage Activate system diagnostics U cas U auxerr Will generate an error message as soon as the power supply goes below a level at which the function of the relays is not guaranteed 0 active A Error message Unyxerr activated 1 inactive Error message U ca not activated Byte 3 reserv
171. he module BL67 1CNT ENC Object 6820 corresponds to object 6020 as per CiA 05406 contains the counter value of the module D301230 BLxx CANopen 0511 11 41 Objects for Encoder modules SSI CNT 11 2 33 Object 6B00 CAM State Register hex The object CAM State register indicates in accordance with DS406 whether the actual counter status is within the range defined by CAM1 Low limit and High limit object 6B10 and 6B20 This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BLxx 1SSI BL20 1CNT 24VDC BL20 E 2CNT 2PWM Table 158 Feature Description Object 6B00 Name CAM State Register Object code ARRAY Data type Access ro Default value No PDO mapping Yes Structure of the data byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 channel 1 X X X X X X X STAT 1 reserved Table 159 Designation Description Meaning of the data bits AObject6B02 STAT CAM1A 0 The counter value lies within the following range can be used to compare value2 lt counter value compare value invert the or values the conditions for activating this status message has not been fulfilled 1 The counter value lies out of the following range compare value2 lt counter value compare value BLxx 1SSI For this module the object b
172. i A Default PDOs and PDO mappings The 4 Transmit and 4 Receive PDOs which are specified by the Communication Profile CiA DS 301 are supported by The mapping of these PDOs and their Transmission types are specified by the 1 0 Device Profile CiA DS 401 Note BL67 BL20 The Default PDOs are only activated if the planned objects and sub indices actually exist for the corresponding PDO If in a station for example no analog I Os are used then the PDOs 2 to 4 are set to Invalid no mapping entries will be present In addition to the default PDOs which are standardized by the CiA DS 301 and DS 401 profiles other PDOs for a CANopen gateway may be provided with mapping entries and communication parameters These additional PDOs 5 to 16 will be set to Invalid as a default see Table 6 Overview Default TPDOs as per CiA DS 301 und DS 401 to Table 9 Overview of the BLxx specific Default RPDOs Default PDOs as per CiA DS 301 und DS 401 The TPDOs in the following table have the following characteristics The COB ID is part of sub index 01 pex 8 The PDO is active The first digit of the 8 digit hexadecimal COB ID number shows amongst others if the PDO is valid Active PDOs are marked by a hex digit 7 Normally the digit is 0 or 4 Description of the COB ID entry sub index 01hex page 4 29 D301230 BLxx CANopen 0511 2 17 CANopen Overview of the Default TPDOs as per CiA DS 301 and DS 401
173. in 5708 status messages DONE BUSY ERROR This byte contains all hex The 12 byte transfer format consists of the following Table 204 Feature Description Object 5708 Name RFID Status Object code ARRAY Data type Unsigned8 Access ro Default value No PDO mapping Yes 13 4 D301230 BLxx CANopen 0511 Object 5722 1 byte parameter Industri 13 8 Object 5722 1 byte parameter The Object 5722 displays the parameter Bypass time to a BL ident channel This parameter setting is only needed when the error message Dwell period of the tag in the detection range was not sufficient for successful command processing appears at start up Table 205 Feature Description Object 5722 RFID Bypass Time Parameter Object code ARRAY Data type Unsigned8 Access rw Default value No PDO mapping No D301230 BLxx CANopen 0511 13 5 Objects for RFID modules 13 6 0301230 BLxx CANopen 0511 Industri A 14 Manufacturer specific objects 14 1 1l Qj p P m H 2 14 1 1 Module related manufacturer specific objects 2 Address ASSIGMINGIN Sei p ec vei ELLA HC EB pa ka ese an heler 3 14 1 2 Slot related manufacturer specific objects 4 Address ASSIGHIMON 5 ar SEERE 5 14 1 3 Process input obJects iut RE em R
174. ion Sub index 00 Description Number of Entries Category Mandatory Access ro PDO mapping No Value range BLxx 1 Default value BLxx 1 Sub index 01 hex Description Consumer Heartbeat Time Category Mandatory Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx 0 0301230 BLxx CANopen 0511 Objects of the Communication Profile acc to CIA DS 301 Industri 4 1 13 Object 1017 Producer Heartbeat Time The object 1017 defines the cycle time for the Heartbeat If the cycle time 0 then Heartbeat will not be used The content of the object is interpreted as a multiple of 1 ms Table 31 Object description Object 1017 1017 Producer Heartbeat Time Object code VAR Data type Unsigned16 Value description Access rw PDO mapping No Value range BLxx Unsigned16 Default value BLxx 0 0301230 BLxx CANopen 0511 4 15 Device gateway objects 4 1 14 Object 1018 Identity Object Object 1018 contains general information about the gateway he Vendor ID Sub index pex is a unique ID which precisely identifies the manufacturer The manufacturer specific Product Code Sub index 02 identifies a specific device version The manufacturer specific Revision Number Sub index 03 consists of a major revision number and a minor revision number The major revision number defines a special CANopen functionality If
175. ion type the inhibit time and the event timer for TPDO1 to TPDO32 The priority is defined via the identifier COB ID see Identifier for the Standard Objects in sub index 01 With the highest bit of sub index 01 the further content can be defined valid invalid The respective highest exadecimal number is then gt 8 The transmission type is defined with the sub index 02 The inhibit time is defined in sub index 03 The maximum time between 2 transmissions the event timer is defined in sub index 05 Which data content is to be transferred with the RPDO1 to RPDO32 is defined with the objects 1 00 to BLCCO 1A00 to 1A03 Table 41 Object 1800 to 181F pex Object description BLxx BLCCO INDEX 1800 to 181F 1800 to 1803 Name Transmit PDO parameters Object code RECORD D301230 BLxx CANopen 0511 4 27 Device gateway objects Table 41 Object description BLxx BLCCO Object 1800 to 181 Fire Data type PDO CommPar Value description Sub index 00 Description Highest Sub Index Used Access ro PDO mapping No Value range 5 Default value No Sub index 01 nex Description COB ID of the PDO Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx Index 1800 0000 0180 Node ID Index 1801 0000 0280 Node ID Index 1802 0000 0380 Node ID Index 1803
176. is objects can only be found for compatibility reasons BLxx 1SSI BL20 1CNT 24VDC BL20 E 2CNT 2PWM Table 162 Feature Description Object 6802 Polarity Register Object code ARRAY PDO mapping No Sub index Unsigned8 Access ro Default value No Sub index 01 47 hex Data type Unsigned8 Access rw Default value Onex Structure of the data byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 channel 1 X X X X X X X POL CAM1 channel 2 X X X X X X X POL_ CAM2 X reserved Table 163 Designation Description Meaning of the data bits POL_CAM1 0 The status message of object 6B00 is not inverted The status message of object 6B00 hex is inverted 0301230 BLxx CANopen 0511 11 45 Objects for Encoder modules SSI CNT 11 2 36 Object 6B10 hex CAM1 Low Limit The object is the same as object 6310 in accordance with CiA 05406 which defines a lower switch limit for the count range This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons E BLxx 1SSl BL20 1CNT 24VDC BL20 E 2CNT 2PWM Table 164 Feature Description Object 6B10 Name Low Limit Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Defaul
177. it was reached MSG CNTx OFLW 1 The counter CNTx reports the upper count limit was reached MSG CNTx ND 1 The counter CNTx reports a zero crossing MSG CNTx FQE 1 The counter CNTx reports an error in frequency period duration measurement Error cause Max length of the no pulse period reached The value cannot be displayed correctly in the register for the pulses per integration time CNTx IPI due to a multiplicator which has been set too high in register REG CNTx MUL MSG_CNTx_SFKT 1 The event according to there parameterized special function CNTx_SFKT_DISABLE did occur MSG_CNTx_SW_LR 1 The function Latch Retrigger has been activated via bit CNTx_SW_LR 1 PWMx MSG_PWM1x_SW_LR 1 The function Latch Retrigger has been activated via bit PWMx_SW_LR 1 MSG_PWMx_NDDC 1 The counter PWMx reports a zero crossing MSG PWMx SFKT 1 The event according to there parameterized special function PWMx SFKT DISABLE did occur MSG PWMx DO ERR 1 One of the outputs Px Px DIAG or Dx Dx DIAG of the corresponding PWMx channel sent an error STS PWMx GENERAL 1 Function enabled with a change from 0 E 1 the channel is set EN to the initial state STS PWMx RUN 1 PWMx signal output active STS PWMx SFKT 1 Special function of Z enabled for PWMx STS PWMx LOGMSG 0 Status of MSG bits actual 1 Status of MSG bits are held 11 64 0301230 BLxx CANopen 0511 Meaning of the process input bits of the Encoder modules Industri Table 177 Bit Va
178. ital output modules The substitute values for the digital output channels are defined by the Error state output object e g 6207 pe Table 73 Feature Description Value Object 6206 Name Error Mode Output 8 Bit Object code ARRAY PDO mapping No Sub index 00 6 Data type Unsigned8 Access ro Default value BLxx No Sub index to 244 Data type Unsigned8 Access rw Default value BLxx FF 6 2 3 Object 6207 Error State Output 8 Bit The object defines values in 8 bit groups A total of 36 groups each 8 bit can be displayed 288 digital output channels A substitute value is assigned to each analog channel The substitute values will only be sent in case of an error object Error Mode Output 6206 is set to 1 for the respective channel Substitute values 0 The output will be switched off if an error occurs 1 The output will be switched on if an error occurs 6 6 0301230 BLxx CANopen 0511 General object overview for digital output modules Industri Table 74 Feature Description Value Object 6207 Name Error State Output 8 Bit Object code ARRAY PDO mapping No Sub index 00 Data type Unsigned8 Access ro Default value BLxx No Sub index 01 to 24 Data type Unsigned8 Access rw Default value BLxx 00 hex 6 2 4 Object 6220 Write Output Bit 1 to 128 Object 6221 Write Output Bit 129 to 256 Object 622
179. ject 0602 0000 Object does exist the object dictionary 06040041 Object cannot be mapped to the 06040042 The number and length of objects exceeds length 2 12 D301230 BLxx CANopen 0511 BLxx and CANopen Industri A Table 3 Abort code Description Abort codes for errors in SDO transfer 06040043 General parameter incompatibility reason 06040047 General internal incompatibility in the device 06070010 Data type does not match wrong length 06070012 Data type does not match length too high 0607 0013 Data type does not match length too low 06090011 Sub index does not exist 06090030 Value range of parameter exceeded 06090031 Value range of parameter written too high 06090032 Value range of parameter written too low 06090036 Maximum value is less than minimum value 08000000 Other error 08000020 Data cannot be stored to the application 08000021 Data cannot stored to the app because of local control 08000022 Data cannot stored to the app because of device state Example Write a new COB ID for RxPDO 1 ID 258 Figure4 Client Example COB ID Byte 0 Byte 1 Byte2 Byte4 Byte5 Byte6 Byte7 22h 1400h th 258h COB ID 1537 Node ID 1 w Server B zu yteO Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 60h 1400h 1h reserved COB ID
180. ject 5931 hex PWM Latch Value The object reads the value of the PWMs latch register PWMT no 0x66 PWM2 no 0x76 Table 154 Object 5931 Feature Sub index Description Name PWM Latch Value Object code ARRAY PDO mapping Data type 0x00 Unsigned 8 0x01 to 0x47 Unsigned 32 Access 0x00 ro 0x01 to 0x47 ro Default value 0x00 0x01 to 0x47 0301230 BLxx CANopen 0511 11 39 Objects for Encoder modules SSI CNT 11 2 30 Object 6800 Operating Parameters hex hex Note i Object 6800 corresponds to object 6000 in accordance with DS406 has no meaning with BL20xx and only exists because it is a mandatory object in accordance with DS406 Table 155 Feature Description Object 6800 ex Name Operating Parameters Object code VAR Data type Unsigned16 Access rw Default value 00h PDO mapping No 11 2 31 Objekt 6810 Preset Values for Multi Sensor Devices The corresponds to object 6010 in accordance with 05406 and is used for zero point adaption of the system hex This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons E BLxx 1SSl BL20 1CNT 24VDC BL20 E 2CNT 2PWM BL67 1CNT ENC Table 156 Feature Description Object 6810 Position Value for Multi Sensor Devices Object code ARRAY Dat
181. ject overview for analog output modules cccsscscccccscccscesccnccesccsecssccnecssccnecssessecesessecssers 9 2 9 2 1 Object 5440 Manu Spec Analog Output RAN ge sssssesssssssssssssssessssssssssnsnsessssesssssesessesssssssssnsessssssssssesessessssssnseesseseseess 9 4 9 2 2 Object 6411 Write Analog Output 16 Bit 9 2 3 Object 6443 Analog Output Error Mode E 9 24 Object 6444 Analog Output Error Staten ccsssssssssssssessssesssssssssssssesssssnsessssessssssssessssesssssssnssssssssssssssesessssessnssessessssessnssess 10 Objects for RS232 RS4xx modules 10 1 RSxxx modules BLXX q S 10 2 10 2 Allgemeine Objekt bersicht f r RS232 RS4xx Module cccscsssecsesssesscsccscsecsescsscsesssscssessscssesssssscseers 10 2 10 2 1 Object 5600 5 RS232 RS4xx Parameters soedestadssnscoseentnoseusossesnvescautunsedeconnesssatasersaneronssaes 10 2 10 2 2 Object S601 15292 RR ese dre 10 4 10 2 3 Object 5602 RS232 RS4XX TXD nba inito itu at ibt bot puli ui un itd oen aree n ecd 10 7 11 Objects for Encoder modules SSI CNT 11 1 BLK q Y 11 4 11 2 General object overview for encoder 11 4 11 21 Object 5800 Encoder Basic evil kon 11 6 11 2 2 Object 5801 Enc
182. k Layer Layers 1 and 2 of the ISO OSI communication model 8 CiA 05 301 Application Layer and Communication Profile CANopen communication profile CiA 05 302 Framework for Programmable CANopen Devices CANopen Network Management NMT E CiA DS 401 Device Profile for I O modules CiA 05 406 Device Profile for Encoders CANopen device profile for counter modules mM CiA 05 102 CAN Physical Layer for Industrial Applications General application in the field sector connectors and bit rates on the basis of ISO 11898 2 1 2 Communication 2 2 The lower layers of CANopen are defined according to the ISO OSI model in the ISO 11898 standard Communication between the individual nodes is made by transmitting Telegrams 4 different types of telegram message are defined for CANopen 8 Network management messages 8 Service data objects SDO E Process data objects PDO E Predefined messages Network Management Messages Network management messages are used in the network to control the nodes and their operating states This type of message makes it possible for instance to configure the data transmission mechanism of a node The Network Management objects include Boot up message Heartbeat protocol and NMT message Boot up message Heartbeat and Node Guarding are implemented as single CAN frames with 1 byte data field The NMT message is mapped to a single CAN frame with a data length of 2 byte The CAN Identifier is 0 The first by
183. le s register interface For the frequency measurement and the rotation speed measurement the integration time is entered in 10 ms bit D301230 BLxx CANopen 0511 11 23 Objects for Encoder modules SSI CNT 11 2 12 Object 5821 hex Measuring Low Limit This object is used to set the module s lower limit in measurement mode This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BL20 1CNT 24VDC Table 136 Object 5821 re Feature Description Name Measuring Low Limit Object code ARRAY Data type Unsigned 32 Access rw Default value PDO mapping No 11 2 13 Object 5822 BL20 1CNT 24VDC The object takes effect on parameter byte 2 and 4 and serves for setting the lower limit in measurement mode Permissible value range to 16777214 i Tes The object is only valid if the counter module works in measurement mode hex Measuring High Limit This object is used to set the module s upper limit in measurement mode This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BL20 1CNT 24VDC Table 137 Feature Description Object 5822 2 Name Measuring High Limit Object code ARRAY Data type Unsigned 32 Access rw Default value PDO mapping No BL20 1CNT 24VDC 11 24 D301230 BLxx
184. log output modules current voltage Table 111 Byte Parameters Value meaning Parameters analog output n voltage 0000 10 10 V DC Std A modules 0001 0 10 V DC Std current voltage 0010 10 10 V DC PA NE 43 0011 20 10 V DC PA NE 43 ADefault 0100 10 10 V DC Ext range setting 0101 0 10 V DC Ext range current 1000 0 20 mA Std A 1001 4 20 mA Std 1010 0 20 mA PA NE 43 1011 4 20 mA PA NE 43 1100 0 20 mA Ext range 1101 4 20 mA Ext range deactivate 1111 Value representation 0 Integer 15 bit sign A 1 12 bit left justified Diagnostics 0 release 1 block Behavior on module bus 00 output substitute value error Ax 01 hold current value n 1 Substitute value A x LOW Byte n 2 Substitute value A x HIGH Byte 0301230 BLxx CANopen 0511 9 5 Objects for analog output modules 9 2 2 Object 6411 The object represents the values for the analog output modules with 16 bits for each channel Write Analog Output 16 Bit hex Table 112 Feature Description Value Object 6411 Write Analog Output 16 Object code ARRAY PDO mapping Yes Sub index Data type Unsigned8 Access ro Default value BLXx No Sub index 01 to 8E Data type Integer16 Access rw Default value BLxx 00 hex 9 6 0301230 BLxx CANopen 0511 General object overview for analog output modules
185. lowing applies 0 The output maintains its value if an error occurs 1 The output is set to a substitute value if an error occurs The substitute values for the digital output channels are defined by the Error state output object e g 6327 po Table 82 Feature Description Value Object 6326 Name Error Mode Output 32 Bit Object code ARRAY PDO mapping No Sub index 00 Data type Unsigned8 Access ro Default value BLxx No Sub index 01 to 0916 Data type Unsigned32 Access rw Default value BLxx FFFF FFFF io 0301230 BLxx CANopen 0511 Objects for digital output modules 6 2 12 Object 6327 hex Error State Output 32 Bit The object defines values in 32 bit groups A total of 9 groups each 32 bit can be displayed 288 digital output channels A substitute value is assigned to each analog channel The substitute values will only be sent in case of an error object Error Mode Output 6326 is set to 1 for the respective channel Substitute values 0 The output will be switched off if an error occurs 1 The output will be switched on if an error occurs Table 83 Feature Description Value Object 6327 Error State Output 32 Object code ARRAY PDO mapping No Sub index 00 Data type Unsigned8 Access ro Default value BLxx No Sub index 01 to 09 Data type Unsigned32 Access rw Default value BLxx 0000 0000 6 14
186. lue Meaning Meaning of the process input bits of BL20 E 2CNT 2PWM alphabetically sorted Communication Dx 0 Digital output is LOW 1 Digital output is HIGH STS DBPx 1 Status of the information defined through DBPx STS MODE STS CONFIG ERR 1 In REG_CONFIG_ERR an error is reported REG_RD_ABORT 0 The reading of the register defined in REG_RD_ADR has been accepted and executed The content of the register can be found in the user data REG_RD_DATA 1 Reading of the register defined in REG_RD_ADR has not been accepted The register content REG_RD_DATA is zero REG_WR_AKN 0 A change of register contents had been assigned through a process output 1 No change of register contents through a process output Write access REG_WR to the register interface is only possible if this bit was zero before handshake for data transfer to the registers REG_WR_ACEPT 0 Writing the user data from the control interface to the register addressed with REG_WR_ADR in the control interface could not be done 1 Writing the user data from the control interface to the register addressed with REG_WR_ADR in the control interface was successful REG_RD_ADR Oto 127 Address of the input register of which the content is shown in the user data REG_RD_DATA in the check back interface if REG_RD_ABORT 0 User data REG_RD_DATA 0 232 1 Content ofthe register of which the address is transferred in the process i
187. meterization 1 Disable the special function of input Zx depending on the parameterization PWMx SW LR 0 Not activated 1 A latch retrigger has to be executed at counter PWMx with a change from 0 1 REG RD ADR 0 127 Address of the register which has to be read If RD_ABORT 0 then the user data can be found in REG RD DATA inthe process input check back interface REG_WR 0 Initial state 1 Triggering a write command The register of which the address has been defined with REG_WR_ADR will be written with data from REG_WR_DATA REG_WR_ADR 0 127 Address of the register which has to be written with REG_WR_DATA see below REG WR DATA byte 0 222_1 Value which during write operation has be written to the 0 register selected with REG_WR_ADR see above REG_WR_DATA byte 3 SET_ Dx 0 Clearing of bit Dx Setting the bit Dx 0301230 BLxx CANopen 0511 11 57 Objects for Encoder modules SSI CNT Table 173 Bit Meaning ofthe process output bits of BL20 E 2CNT 2PWM alphabetically sorted Value Meaning SET Px Clearing of bit Px Setting the bit Px 11 3 4 Meaning of the process output bits of BL67 1CNT ENC Table 174 Bit Value Meaning Meaning of the process output bits of BL67 1 CNT ENC alphabetically sorted DOx 0 Digital output DOx 0 1 Digital output DOx 1 GATE 0 Counter inactive 1 Counter active depending on parameter Ga
188. mpair the automation functions Install automation devices and related operating elements in such a way that they are well protected against unintentional operation Suitable safety hardware and software measures should be implemented for the I O interface so that a line or wire breakage on the signal side does not result in undefined states in the automa tion devices Ensure a reliable electrical isolation of the low voltage for the 24 volt supply Only voltage supplies which meet the requirements of IEC 60 364 4 41 or HD 384 4 41 S2 VDE 0100 part 410 Deviations of the mains voltage from the rated value must not exceed the tolerance limits given in the specifications otherwise this may cause malfunction and dangerous operation Emergency stop devices complying with IEC EN 60 204 1 must be effective in all operating modes of the automation devices Unlatching the emergency stop devices must not cause restart Devices that are designed for mounting in housings or control cabinets must only be operated and controlled after they have been installed with the housing closed Measures should be taken to ensure the proper restart of programs interrupted after a voltage dip or failure This should not cause dangerous operating states even for a short time If neces sary emergency stop devices should be implemented Wherever faults in the automation system may cause damage to persons or property external measures must be implemented to ensur
189. munication Reset Node or Power ON Boot Up With BLxx0 it is possible to use a command to make a permanent save of the communication and or application parameters This is done through the Store parameters command Object 1010 sub index 1 to 3 The command is executed by using an SDO to write the data contents 6576 6173 save to one of the following entries E 1010 sub index 1 saves all parameters E 1010 sub index 2 saves all parameters mM 1010 sub index 3 saves all device parameters see CiA 05 301 V4 01 Table 13 Data contents 0x6576 6173 save MSB LSB ASCII e V a S hex 65 hex 76 hex 61 hex 73 Since in some circumstances it may not be possible to restore the original memory contents after a lot of alterations supports the Restore default Parameter command Object 1011 sub index 1 to 3 with the following data contents 6461 6F6C load Table 14 Data contents 0x6461 6F6C load MSB LSB ASCII d a hex 64 61 hex 6C The division of the Sub entries corresponds to that for the Store parameters command After the command Restore default parameters a Reset Node must be carried out followed by a Store parameters command The default values are only saved again when this last command is executed 2 24 D301230 BLxx CANopen 0511 Industri A 3 Object dictionary overview of all objects 3 1 Overview dlEIpgr c
190. must be acknowledged with the EXTF_ACK process output control bit ERR_DO 1 Short open circuit excess temperature at the output DO1 This diagnostics information must be acknowledged with the EXTF_ACK process output control bit D301230 BLxx CANopen 0511 11 61 Objects for Encoder modules SSI CNT Table 176 Designation Meaning ofthe process input bits of BL20 1CNT 24VDG alphabetically sorted Value Description ERR LOAD Error with load function Control bits LOAD DO PARAM LOAD_CMP_VAL2 LOAD_CMP_VAL1 LOAD_PREPARE and LOAD VAL must not be set at the same time during the transfer An incorrect value was transferred with the control bits Example The values for load load value directly or load load value in preparation have been chosen above the upper or below the lower count limit ERR_PARA The parameter definition is correct as per specification There is a parameter error ERR_PARA is a group diagnostics bit With the separate diagnostics message bits 3 to 6 describe the parameter errors in more detail RES_STS_A The last process output telegram contained RES_STS 0 Resetting of status bits running The last process output telegram contained RES STS 1 5 5 Status comparator 1 This status bit indicates a comparison result for comparator 1 if the output DO1 is released with CTRL_DO1 1 anda comparison is run via MODE_DO1 01 10 or 11 Oth
191. n A ADefault 1 reserved setting 2 Diagnostic 0 release A 1 block 3 Channel x 0 activate A 1 2 deactivate 4 Operation mode 0 voltage A 1 current 5107 reserved Analog input modules PT Ni Table 92 Byte Bit Parameters Value meaning Parameter analog n 0 Mains suppression 0 50 2 input modules 1 60Hz PT Ni 1 Value representation 0 Integer 15 bit sign A ADefault 1 reserved setting 2 Diagnostic 0 release A 1 block 3 Channel x 0 activate A 1 2 deactivate 4to7 Element 0000 Pt100 200 850 A 0001 Pt100 200 150 C 0010 Ni100 60 250 C 0011 Ni100 60 150 C 0100 Pt200 200 850 C 0101 Pt200 200 150 C 0110 Pt500 200 850 C 0111 Pt500 200 150 C 1000 Pt1000 200 850 C 1001 Pt1000 200 150 C 1010 Ni1000 60 250 C 1011 Ni1000 60 150 C 1100 resistance O 100 Q 1101 resistance 0 200 Q 1110 resistance 0 400 Q 1111 resistance 0 1000 Q 1 0 Measurement mode 0 2 wire 1 3 wire 0301230 BLxx CANopen 0511 8 5 Objects for analog input modules Analog input modules 2 1 Table 93 Byte Bit Parameters Value meaning Parameter analog n 0 Cold junction sensor 0 Pt1000 A input modules 1 Pt100 4Al TC 1 Value representation 0 Integer 15 bit sign A 1 reserved ADefault setting 2 Diagnostic 0 release 1 block 3 Channel x 0 ac
192. n 0511 Objects for network management not valid for BLCCO Industri A Table 48 Object description Object 1F81 Sub index 3Fh Description Slave with Node ID 63 Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx No Note i Each sub index corresponds to the slave with the respective Node ID The sub index with the Node ID of the NMT Master will be ignored Table 49 Byte Bit Value Meaning Structure of the object 1F81 Slave Assignment 0 0 0 The node with this ID is not slave 1 The node with this ID is not a slave After configuration the node will be put into the Operational state 1 0 An error event or other event detection by a slave during boot up leads to information from the application 1 An error event or other event detection by a slave during boot up leads to information from the application and to automatic start of Error Control Services 2 0 An error event or other event detection by a slave during boot up does not lead to information from the application or automatic start of Error Control Services 1 An error event or other event detection by a slave during boot up leads to the start of Start Boot Slaves 3 0 Optional slave the network can also be started if this node is not connected 1 Mandatory slave the network will not be started if this node is not connected during the slave boot up 4 0 The
193. nalog input modules Industri A Note The transmitting of the analog input data TPDOs by means of an interrupt signal is triggered repeatedly with every change of the analog input value if the value stays above the upper limit or below the lower limit If another triggering event occurs at the same time e g increase by Delta value the repeated transmitting is aborted 8 2 4 Object 6422 Analog Input Interrupt Source The object indicates if an analog input channel has fulfilled a condition for triggering an interrupt signal The conditions were defined with object 6421 If a condition for triggering an interrupt signal on a channelis fulfilled the corresponding bit is set to 1 The corresponding bits for channels 0 to 31 are set in sub index 01 and the bits for channels 32 to 63 in sub index 02 etc The bits can be read using a SDO The reading causes a bit reset to O Table 99 Feature Description Value Object 6422 Analog Input Interrupt Source Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value BLxx No Sub index 01 to 08 Data type Unsigned32 Access ro Default value BLxx 00 D301230 BLxx CANopen 0511 8 13 Objects for analog input modules 8 2 5 Object 6423 Analog Input Global Interrupt Enable With this object the possibility of generating an interrupt signal will be enabled
194. nd signals the presence of a node and its state The Heartbeat message is a periodic message of the node to one or several other nodes It indicates that the sending node is still working properly A device sends the Boot up message to indicate to the NMT master that it has changed from Initialization tot he state Pre operational This occurs whenever the device initially boots up but also after a power out during operation The Boot up message has the same identifier as the Heartbeat object however its data content is zero Service Data Objects SDOs A Service Data Object SDO reads from entries or writes to entries of the Object Dictionary The SDO transport protocol allows transmitting objects of any size The first byte of the first segment contains the necessary flow control information including a toggle bit to overcome the problem of doubly received CAN frames The next three bytes of the first segment contain index and sub index of the Object Dictionary entry to be read or written The last four bytes of the first segment are available for user data The second and the following segments using the very same CAN identifier contain the control byte and up to seven bytes of user data The receiver confirms each segment or a block of segments so that a peer to peer communication client server takes place Process Data Objects PDOs Process Data Objects PDOs are mapped to a single CAN frame using up to 8 bytes of the data field to
195. nels are present then object 6262 is used Since the number of digital output channels in a station is limited to 288 it is not possible to make use of the complete range of the array in object 6262 A substitute value is assigned to each analog channel The substitute values will only be sent in case of an error object Error Mode Output object 62506250 6251 and 6252 is set to 1 for the respective channel hex hex Substitute values 0 The output will be switched off if an error occurs 1 The output will be switched on if an error occurs Table 77 Feature Description Value Objected 6260 poy 6261 pare 6262 hoy Name Error State Output Bit Object code ARRAY PDO mapping No Sub index Unsigned8 Access ro Default value BLxx No Sub index 01 to 80 Data type Boolean Access rw Default value BLxx 0 0301230 BLxx CANopen 0511 6 9 Objects for digital output modules 6 2 7 Object 6300 hex Write Output 16 Bit The object presents the values for the digital output modules in 16 bit groups A total of 18 groups each 16 bit can be displayed 288 digital output channels Table 78 Feature Description Value Object 6300 Name Write Output 16 Bit Object code ARRAY PDO mapping Yes Sub index 00 Data type Unsigned8 Access ro Default value BLxx No Sub index to 12 4 Data type Unsigned16 Access rw Def
196. network slave Default 0 1000 Lifetime factor This factor multiplied by the Guard time is the time that should elapse after a Node Guarding protocol error before the network slave generates an error message via EMCY In this way a temporary communication problem such as may be caused by heavy bus loading can be bridged without a Guarding Error Default 0 8 Guard ID This is fixed and cannot be changed Guarding is initiated with the first Guard Remote frame Guarding RTR from the CANopen network manager The Guarding Frame of the network manager has the COBID 1793 1 Node ID and does not have a data field D301230 BLxx CANopen 0511 2 9 CANopen Furthermore the RTR bit in the message header must be set and the Data Length code 1 The node answers the telegram sent out by the network manager within the preset time Guard time in the Operational state with the data contents 5 The gateway answers the next polling query with the contents 133 The following response from the gateway is with 5 again and so on This means that the gateway changes the state of the most significant bit after every query i e the bit is toggled Ifthe node is in the Pre Operational state then the value of the data contents of the response telegram toggles between 127 and 255 Ifthe node is in the Stop state the value toggles between 4 and 132 Ifthere is no query from the network manager within the preset time then the gat
197. nformation in byte 0 SCS 4 means that no length information is present D301230 BLxx CANopen 0511 2 11 CANopen Write Write to Object Dictionary Figure3 Client Write ByteO 1 Byte2 Byte3 Byte4 5 Byte7 Write to Object E 2 Dictionar CCS Index icti y xh Sub Index Data Isb msb COB ID 1537 Node ID 1 w Server Byte0 Byte Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Index 9 5 Sub Index reserved 60h ib msb COB ID 1409 Node ID 1 Client LSB Least Significant byte lowest value byte MSB Most Significant byte highest value byte SCS Server Command Specifier CCS Client Command Specifier see CiA DS 301 The stated COB ID refers to the default SDO server Note The information in byte 0 SCS can optionally contain the length information for the transmitted data bytes see CiA DS 301 The information in byte 0 SCS 60h means that no length information is present i Attention If an incorrect data length is given the error code Abort SDO Transfer Service will be generated see CiA DS 301 Table 3 Abort code Description Abort codes for errors in SDO transfer 0503 0000 ex Toggle bit altered 0504 0001 Client server command specifier not valid or unknown 0601 0000 Unsupported access to object 06010001 Attempt to write read only object 06010002 Attempt to read write only ob
198. nication with the encoder D301230 BLxx CANopen 0511 11 53 Objects for Encoder modules SSI CNT 11 3 2 Meaning of the process output bits of BL20 1CNT 24VDC Table 172 Designation Meaning of the process output bits of BL20 1CNT 24VDC alphabetically sorted Value Description CTRL DOx CTRL SYN The output DOx is blocked The output DOx is released Release synchronization A rising edge at the physical DI input enables the counter value to be set synchronized once periodically to the load value Error acknowledgement The error bits must be acknowledged with the control bit EXTF_ACK after the cause of the fault has been rectified This control bit must then be reset again Any new error messages are not set while the EXTF_ACK control bit is set Hysteresis value 255 The reference value 1 2 can be assigned a hysteresis value order to generate a response at DO1 DO2 with hysteresis This will prevent the excessive on and off switching of DO1 DO2 if the count value fluctuates too quickly around the reference value Pulse duration Oto 255 unit ms If the DO1 DO2 outputs are set to indicate counter status reference value1 2 a longer pulse is some times required to indicate equal values LOAD CMP VALx 1 Parameterization reference value x The value in bytes 0 to 3 is accepted as a reference value x LOAD DO PARAM 0 1 P
199. nnnn 4 21 Object 1600 to 161F ex Receive PDO Mapping Parameter ssssssssssecssssssessessssseessssssesssssssnsessessssneesssssseessessseeessses 4 24 Objects for the Transfer of Process Input Data 4 27 Object 1800 10 181F Transmit PDO Parameters essent tttenntteenntttennntte netiis 4 27 Objects 1A00 to Transmit PDO Mapping 4 30 Objects for network management not valid for eese eene eee ense 4 33 ObjectAAF80 NM Startup vsscintcccatactetectcestetosensnssssbetesntccnrattesonnetassbetiossessngnayavenststorssccestelpagnsisseagndcanbscspnrhasonetossbectersecscenhae 4 33 Object TFS Tie Slave Assignment ettet 4 34 Object 1F82 Request NM Tieni rda 4 36 Object F83 Request Guarding eb e eret aede 4 38 Overview about the objects of the Device Profile acc to CIA 05 401 406 Object 67FF ex Device Type Object 6FFF Device Type Manufacturer specific device Objects cccccccccsssessescsscscsccscscsscscsscescssccsssssccsessscsseseecsncsencsesesscssessneees Object 2000 Serial Number ennt tnnt ttes tta totos
200. not accepted and is therefore not enabled for data exchange The diagnostics LED of the slave flashes 0 OK No configuration error is present and the slave is in data exchange mode or diagnostics function has been deactivated via the parameter setting 1 incorrect No configuration error present and the slave is NOT in data exchange mode Byte 5 6 SDeppSx Communication slave x Info field for the individual indication of the release of the slave diagnostics as error message If the 50 is set for single diagnostics this bit field indicates the error as soon as the slave diagnostic message of the slave Sx is triggered 0 OK No error is present or diagnostics function has been deactivated via the parameter setting 1 Offline A diagnostics message is present 12 8 0301230 BLxx CANopen 0511 General object overview for SWIRE modules Industri Design Status Comment Byte 7 8 Overcurrent protective circuit breaker slave x Info field for the individual indication of the tripping a motor protective circuit breaker PKZ as error message If the 7 is set for single diagnostics this bit field indicates the error as soon as the PKZ of the slave Sx has tripped 0 OK The PKZ of the slave has not tripped or diagnostics function has been deactivated via the parameter setting 1 tripped The PKZ of the slave has tripped D301230 BLxx CA
201. nput data REG RD ADR if REG ABORT 0 If not If not If not REG RD DATA 0 AUX REGx RD DATA 0 222 1 Value which is read from the register with the address defined in the parameterization in ADR AUX REGx RD DATA D301230 BLxx CANopen 0511 11 65 Objects for Encoder modules SSI CNT 11 4 4 Meaning of the process input bits of BL67 1CNT ENC Table 178 Bit Value Meaning Meaning ofthe process input bits of BL67 alphabetically sorted A B Z 0 Digital input A BorZ 0 1 Digital input A 2 1 AUX_RD_DATA 0 to 222 1 Content of the register which has been defined via parameter byte 14 see Abschnitt Meaning of the parameter bits of BL67 1CNT ENC DIO to DI3 0 Digital input Dix 0 1 Digital input Dlx 1 ERR_PARA 0 The last change in parameters is valid 1 Faulty inconsistent parameter data REG_ACT_RD_ Oto 127 Address of the actually read input register ADR REG_RD_ABORT 0 REG_RD_ADR valid The reading of the register defined in REG_RD_ADR has been accepted and executed The content of the register can be found in the user data REG_RD_DATA byte 0 3 1 REG_RD_ADR error Reading the register defined in REG_RD_ADR not accepted The value in the user data area REG_RD_DATA byte 0 3 is zero REG_RD_DATA 222 1 Content of the register selected by RD ADR If RD ABORT 0 if not REG RD DATA 0 REG WR ACCEPT 0 REG WR ADR error
202. nsfer of Process Input Data Leere eee eee eee eene sees esee e ose se sees osse osse osse osse sese ss ssese 27 4 4 1 Object 1800 to 181F Transmit PDO Parameters sese 27 mile e HH 30 mimic m 30 4 4 2 Objects 1A00 to 1A1F44 Transmit PDO Mapping 30 4 5 Objects for network management not valid for BLCCO eee e ee eene e eene esse essens eee 33 4 5 1 Object NMT Stat UP dne cete cerita eiut tecti deuten ite 33 4 5 2 Object 81 Slave Assignment retener ret beraten th EXE Du ten didum te toa an a 34 4 5 3 Object 2 Request NMT 36 4 5 4 Object 8 Request Guarding sine Een er 38 4 6 Overview about the objects of the Device Profile acc to CIA 05 401 and 406 39 4 6 1 Object 67 FF DVI HIT 39 4 6 2 Object Device TYPO er Dee elg 40 4 7 Manufacturer specific device objectS sscsecccoeccccccccecccccccccccccocccceccccccccocccccccccccccccccccccccsscsocccccceese 40 4 7 1 Object 2000 6 Serial cci cisccccacssiesssscaesestseacctsucseoenesiensececnnasscacessecispanetanueasasstiensasesveadannaseis 40 4 7 2 Object 2010 Node 41 4 7 3 Object 2400 System Voltages onl
203. nsor pulse per to revolution 65535 Main count direction 00 None 01 Up 10 Down Hysteresis OAto255 Unsigned8 Pulse duration DOx OAtO 255 n 2ms Unsigned8 integration time 1 to 1000 n 10ms 10 A Measurement mode 100000 Frequency measurement A 100001 Revolutions speed measurement 100010 Period duration measurement Upper limit 1 to 16777215 x 10 Upper limit HWORD OAto255 Unsigned8 Upper limit LWORD OAto 65535 Upper count limit 0 to 2147483647 22 1 Upper count limit 0 to Unsigned16 HWORD 32767 Upper count limit Oto Unsigned16 LWORD 65535 A D301230 BLxx CANopen 0511 Parameter interface of the Encoder modules Industri Table 180 Designation Value Description Meaning of the parameter bits of BL20 1CNT 24VDC alphabetically sorted direction input B OA normal 1 inverted group diagnostics OA release 1 block sensor A OA normal 1 inverted Sensor input filter x OA 2 5 us 200 kHz 1 25 us 20 kHz Signal evaluation 00 A pulse and direction B 01 rotary sensor single 10 rotary sensor double 11 rotary sensor fourfold Synchronization OA single action 1 periodical Gate function OA abort count procedure 1 interrupt count procedure Lower limit 0 to 16 777 214x 10 Lower limit HWORD 255 Unsigned8 Lower limit OAto
204. nteger X X X X 67F Frex Device Type X X X X see chapter 4 I O module objects according to CiA DS 406 6800 Operating parameters X X X X see chapter 11 6810 Preset Value for Multi Sensor Devices X X X X 6820 hex Position Value for Multi Sensor Devices X X X X 6B00 CAM State Register X X X X 6B00 CAM Enable Register X X X X 6B00 CAM Polarity Register X X X X 6B10 Low Limit X X X X 6B20 CAM High Limit X X X X 67F Frex Device TypeDS401 X X X X 6FFF Device TypeDS406 X X X X 0301230 BLxx CANopen 0511 3 7 Object dictionary overview of all objects 3 8 D301230 BLxx CANopen 0511 Industri A 4 Device gateway objects 4 1 Objects of the Communication Profile acc to CIA DS 301 cccccccccscscsccssccsscccsccccccccsccscccccccccccses 2 4 1 1 Object 1000 Device Typ68 i ni pice teet ended Rene alacant eres 5 4 1 2 Object 100 1 ErfOr eglster uu cocer eene iter cad 5 4 1 8 Object 1005 SYNC COB ID ttti rne cte eren ore Een lac cedes ce eese rana 6 4 1 4 Object 1008 a Device Names ic 2 on ode tenete sce 7 4 1 5 Object 1009 Manufacturer Hardware Version 8 4 1 6 Object 100A Manufacturer Software Version 8 4 1 7 Object 100GC Guard ette nn eere ipea a tpe oan basin ka doing Pasay 9 4 1
205. oder Config 11 2 3 Object 5802 Encoder Status 1124 Object 5803 Encoder P M 11 2 5 Objekt 5804 Encoder a R 11 2 6 Object 5805 Encoder Native Status ssssssssssossssssssssssssssssssssssssesssssssossesssssssesssssssesessnsssessssnessseesssssssssssssssssssassossssessesseese 11 2 7 Object 5806 a Optional Encoder Status cssssssssssssessssssnsoseosssssssossssssooosessnsssssssssnssosessnssseessssssssesssnssseseesosseessnssseossssnssseesen 11 2 8 Object 5808 Encoder 11 2 9 Object 5810 Encoder Load Prepare Value 11 2 10 Object 5811 Encoder Pulse Width 11 2 11 Object 5820 Measuring Integration Time 11 212 Object 5821 Measuring Low ana a iai 0301230 BLxx CANopen 0511 iii 11 2 13 Object 5822 Measuring High LiIMit sssrinin i iia 11 25 11 2 14 Object 5823 Measuring Units Per Revolution cssessscssssssssesescsesssssnsesesssssssssssssessesesssssnsssesssssssssssesessesssssssseessssssesseses 11 25 11 2 15 Object 5824 Measuring DivisOr 11 2 16 Object 5825 Measuring Factor 11 2 17 Object 5827 Measuring Timeout 11 2 18 Object 5830 Measuring Value s 11 2 19 Object 5831 Encoder Latch 11 29 T1 2
206. of the parameter bits of 20 1 24 69 Meaning of the parameter bits BL20 E 2CNT 2PWM 72 Meaning of the parameter bits 67 1 74 Diagnostic interface of the Encoder modules ccccccccccsscccsscscccccccccccccccssssscccccccccsccesessseccccces 77 Meaning of the diagnostic bits of BLxx 1SSl 77 Meaning of the diagnostic bits of 20 1 24 nennen nnn nena 77 Meaning of the diagnostic bits of BL20 E 2CNT 2PWM 79 Meaning of the diagnostic bits of BL67 1CNT ENC 79 D301230 BLxx CANopen 0511 11 3 Objects for Encoder modules SSI CNT 11 1 Encoder module BLxx The objects are used in the following modules Table 123 Product family Module BLxx Encoder modules BL20 BL20 1CNT 24VDC BL20 1SSI BL20 E 2CNT 2PWM BL67 BL67 1SSI BL67 1CNT ENC BLC miscellaneous 11 2 General object overview for encoder modules Table 124 Object Name Page General object overview for encoder modules 5800 Encoder Basic Mode Seite 11 6 5801 pex Encoder Config Seite 11 7 5802 ex Encoder Status Seit
207. onding COB IDs The Transmission type of these PDOs is generally 255 Overview of the BLxx specific Default TPDOs not valid for BL compact Note i The COB ID definition for the TPDOs depends on the gateway used in the application see EDS file for the gateways 2 18 D301230 BLxx CANopen 0511 BLxx and CANopen Industri A Table 8 BL20 GW CO BL67 GW CO Overview or the BL20 GWBR CANopen BLxx specific Default TPDOs Meaning TPDOs COB ID TPDO COB ID TPDO 2 group digital PDO5 8000 01C0 Node ID 8000 01C0 Node ID input channels 1804 bits 64 to 127 group digital PDO6 8000 02C0 Node ID 8000 02C0 Node ID input channels 1805 bits 128 to 191 4 group digital PDO7 8000 03C0 Node ID C000 03C0 Node ID input channels 1806 bits 192 to 255 5 group digital PDO8 8000 0400 Node ID C000 04CO Node ID input channels 1807 bits 256 to 319 1 group encoders PDO9 8000 01E0 Node ID 01E0 Node ID channels 0 1 1808 2 group encoders PDO10 8000 02E0 Node ID C000 02E0 Node ID channels 2 3 1809 3 group encoders PDO11 8000 03E0 Node ID 03E0 Node ID channels 4 5 180A 4 group encoders PDO12 8000 04E0 Node ID C000 04E0 Node ID channels 6 7 180B 4 group analog PDO13 8000 01A0 Node ID 01A0 Node ID input channels 180 chann
208. only in applications prescribed in this manual or in the respective technical descriptions and only with certified components and devices from third party manufacturers 1 2 2 Notes concerning planning installation of this product Danger All respective safety measures and accident protection guidelines must be considered care fully and without exception 1 2 D301230 BLxx CANopen 0511 Description of symbols used Industri A 1 3 Description of symbols used A Danger This sign can be found next to all notes that indicate a source of hazards This can refer to dan ger to personnel or damage to the system hardware and software and to the facility This sign means for the operator work with extreme caution A Attention This sign can be found next to all notes that indicate a potential hazard This can refer to possible danger to personnel and damages to the system hardware and soft ware and to the facility Note This sign can be found next to all general notes that supply important information about one or more operating steps These specific notes are intended to make operation easier and avoid unnecessary work due to incorrect operation D301230 BLxx CANopen 0511 1 3 About this manual 1 4 0301230 BLxx CANopen 0511 Industri A 2 CANopen 2 1 CANopen P 2 2 1 1 GONG LA 2 2 1 2 ComtiunicatiOD
209. or analog output modules eere eee e teens eee eene eee ette noon eese eese se 2 9 2 1 Object 5440 Manu Spec Analog Output Range eeeeeenenen nennen 4 Analog output modules current 4 Analog output modules voltage etre EE Rer serene ter 5 analog output modules current voltage nnne nennen 5 9 2 2 Object 6411 Write Analog Output 16 Bit 6 9 2 3 Object 6443 Analog Output Error Mode 7 9 2 4 Object 6444 Analog Output Error 8 D301230 BLxx CANopen 0511 9 1 Objects for analog output modules 9 1 Analog output modules BLxx The objects are used in the following modules Module BL20 xAO I 0 4 20MA BL20 2AO U 10 0 10VDC BL20 E 4AO U I BL20 2AOH I BL67 2AO l BL67 2AO V BL67 4AO V Table 106 Product family BLxx analog output modules BL20 BL67 BLC miscellaneous 9 2 Generalobject overview for analog output modules Table 107 Object Name page General object Avera for 5440 Manu Spec Analog Output Range page 9 4 analog output 6411 hx Write Analog Output 16 Bit page 9 6 modules 64431 Analog Output Error Mode page 9 6 6444 Analog Output Error State page 9 8 9 2 0301230 BLxx CANopen 0511 General object overview for analo
210. or encoder modules Industri A BL67 1CNT ENC The object reads process input byte 0 of the BL67 1CNT ENC module Bit 7 Bit 6 Bit5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 reserved A B Z DI3 DI2 DIO Note i Please find a detailed description of the status bits in the process input in table Meaning of the process input bits of BL67 1CNT ENC page 11 66 11 2 8 Object 5808 Encoder Control Object 5808 writes and reads the different bytes of the modules control interface and therefore serves for influencing the module during operation This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BLxx 1SSI BL20 1CNT 24VDC BL20 E 2CNT 2PWM BL67 1CNT ENC Table 132 Feature Description Object 5808 Name Encoder Control Object code ARRAY Data type Unsigned8 Access rw Default value No PDO mapping Yes BLxx 1SSI The object writes or reads byte 0 of the control interface of the SSI module At the moment only bit 7 STOP is used Note i Please find a detailed description of the control bits in the process output in table Meaning of the process output bits of 1551 page 11 53 D301230 BLxx CANopen 0511 11 19 Objects for Encoder modules SSI CNT BL20 1CNT 24VDC The object Encoder Control writes or reads byte 4 of the module s control interface
211. owing chapter Sub indices 01 ff of the objects 1 00 to BLCCO 1A00 to 1A03 ex contain the object number the sub index and the length of the data that have to be transferred via the respective TPDO A TPDO can transfer a maximum number of 8 bytes 64 bit The number of sub indices depends on the data length For larger projects it has to be calculated and entered by user Ata data length of 8 bit 8 sub indices are needed to representa total number of 64 bit At a data length of 1 bit 64 sub indices are needed to represent a total number of 64 bit 4 30 0301230 BLxx CANopen 0511 Objects for the Transfer of Process Input Data Industri Objects 1600 to 1603 RPDO1 to RPDO4 references by default the values for the first 64 digital output channels and for the first 12 analog output channels provided that the values are represented by the objects 6000 digital values and 6401 analog values Table 44 Object description BLxx BLCCO Object 1A00 to INDEX 1A00 to 1A1Fh 1A00 to 1A03h Name Transmit PDO Mapping Parameters Object code RECORD Data type PDO mapping Value description Sub index Description Number of Mapped Application Transmit PDO Mapping Objects in the PDO Parameters Access rw PDO mapping No Value range BLxx 0 deactivated 1 to 64 activated Default value BLxx see Table 38 Sub index
212. parameters for the default SDO follow the Predefined Connection Set and cannot be modified see CiA DS 301 V4 01 D301230 BLxx CANopen 0511 BLxx and CANopen Industri A In the following representations of the messages the identifier of the CANopen message that is to be sent can be found below the frame and the contents of the data byte to be transmitted are within the frame The following representations use the Expedited SDO Transfer i e a maximum of 4 bytes of user data can be transferred within one telegram Note CANopen also offers the possibility of segmented SDO transfer of data with data length of more than 4 bytes Read Read from Object Dictionary Figure2 Read Read from Object Dictionary Client Byte 0 Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 2 Index Sub Index 0 0 0 0 40h Isb msb COB ID 1537 Node ID 1 New wee Byte0 Byte Byte2 Byte3 Byte4 Byte5 Byte6 Byte Index 505 Index Data 4xh COB ID 1409 Node ID 1 Client x depending on the length of data read LSB Least Significant byte lowest value byte MSB Most Significant byte highest value byte SCS Server Command Specifier CCS Client Command Specifier see DS 301 The stated COB ID refers to the default SDO server Note The information in byte 0 SCS can optionally contain the length information for the transmitted data bytes see CiA 05 301 Page 9 21 ff The i
213. ping Yes BLxx 1SSI The bits STS OFLW STS UFLW are volatile status bits for the SSI module Writing the object with any value will reset the markers FLAG CMP1 and FLAG CMP2 Exception if the relevant condition for setting a marker is still fulfilled this marker will continue to remain set Structure of the data byte BL20 1CNT 24VDC The object reads byte 6 of the check back interface of the counter module This byte sends the stored status of some module flags The flags are reset by writing this object with any value Exception Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 reserved STS SIS FLAG FLAG reserved UFLW OFLW CMP2 CMP1 Note Please find a detailed description of the status bits in the process input in table Meaning of the process input bits of 1551 page 11 59 if the relevant condition for setting a marker is still fulfilled this marker will continue to remain set Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 STS_ND STS_ STS_ STS_ STS_ reserved STS_SYN UFLW OFLW CMP2 CMP1 0301230 BLxx CANopen 0511 11 13 Objects for Encoder modules SSI CNT Note i Please find a detailed description of the status bits in the process input in table Meaning of the process input bits of BL20 1CNT 24VDC page 11 61 BL20 E 2CNT 2PWM Sub index Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x00 l
214. ping entries Sub index 0 for a PDO must be set to 0 8 The mapping entries Sub index 1 to 64 can be written 8 The number of mapping entries Sub index 0 must now be set to the valid number of mapped objects 8 Alternatively the new mapping can be saved in non volatile memory Store Communication parameters The following abort codes Abort Domain Protocol may be sent back by the gateway in case of an error Table 12 Abort code Description as per Possible cause Abort code CiA DS 301 0604 0041 Object cannot be mapped Invalid object index transferred while writing the mapping entries 0604 0042 Number or length of the Attempted to map too many or excessively objects exceeds the PDO long objects to a PDO This will be returned on length writing to the sub index 0 0301230 BLxx CANopen 0511 2 23 CANopen Table 12 Abort code Abort code Description as per Possible cause CiA DS 301 06090011 Sub index does not exist A sub index gt 64 was addressed 0800 0022 Access not possible in this Write access is only possible in the Pre node state operational node state Write access to Sub indices 1 to 64 is only possible if sub index 0 is written with value 0 hex 2 3 7 Commands for Parameter Save and Restore Defaults Parameter changes that are made through SDO access are only stored in volatile memory All alterations that are made by the user will be replaced by default values at the next Reset Com
215. pper count limit This bit must be reset by the RES_STS control bit STS UFLW 1 Status lower count limit Set if the count value goes below the lower count limit This bit must be reset by the RES_STS control bit STS_UP 1 Status direction up STS_SYN 1 Status synchronization After synchronization is successfully completed the STS_SYN status bit is set This bit must be reset by the RES_STS control bit 11 4 3 Meaning of the process input bits of BL20 E 2CNT 2PWM Table 177 Bit Value Meaning Meaning of the process input bits of BL20 E 2CNT 2PWM alphabetically sorted CNTx STS_CNTx_GENERAL 1 Function enabled _EN STS_CNTx_RUN 1 CNTx Counter ready to count STS_CNTx_SFKT_EN 1 Special function of Z disabled for CNTx STS_CNTx_LOGMSG 0 Status of MSG bits actual 1 Status of MSG bits are held STS_CNTx_DIR 0 CNTx Counter counts down 1 CNTx Counter counts up D301230 BLxx CANopen 0511 11 63 Objects for Encoder modules SSI CNT Table 177 Bit Value Meaning Meaning of the process input bits of BL20 E 2CNT 2PWM alphabetically sorted Ax Bx Zx 0 Digital input is 1 Digital input is HIGH MSG_CNTx_CMPO 1 The counter CNTx reports that the compare value CMPO was reached MSG_CNTx_CMP1 1 The counter CNTx reports that the compare value CMP1 was reached MSG_CNTx_UFLW 1 The counter CNTx reports the lower count lim
216. pping No Data type Unsigned32 Access rw Default value No Object 3069 Dword6 The object XBIParam Dword6 reads the first Param Dword byte 20 24 of a module on the module bus The sub index 1 to 74 corresponds to the module number of the module in the station Table 197 Feature Description Object 3069 Value Name XBIParam Dword6 Object code ARRAY PDO mapping No Data type Unsigned32 Access rw Default value No 0301230 BLxx CANopen 0511 12 15 Objects for SWIRE modules 12 16 0301230 BLxx CANopen 0511 Industri A 13 Objects for RFID modules 13 1 RFID S modulle Y 2 13 2 General object overview for RFID S modulles cccccccoccccccscscsscccccccccccccccsccccccescccsccccscccccccccccees 2 13 3 Object 5700 8 byte process input data esssseccccccccocccccccccccccccoccocccccccccocccocccccccccoococccccccccccocccocceee 2 13 4 Object 5701 12 byte process input data eese eee eere esse sees sees sees osse eaae eee 3 13 5 Object 5702 8 byte process output data sees osos osse eaae eee eee 3 13 6 Object 5703 12 byte process output data eese eee etae teen osos esaet eo soos esas esee 4 13 7 Object 5708 1 byte status messages 1 ee e eene eene eee eee tn sns nae a esse
217. ps A total of 9 groups each 32 bit can be displayed 288 digital input channels Table 69 Feature Description Value Object 6120 Read Input 32 Object code ARRAY PDO mapping Yes Sub index 00 Data type Unsigned8 Access ro Sub index 01 to 09 Data type Unsigned32 Access ro 5 6 0301230 BLxx CANopen 0511 6 6 1 6 2 6 2 1 6 2 2 6 2 3 6 2 4 6 2 6 6 2 7 6 2 8 6 2 9 6 2 10 6 2 11 6 2 12 Industri A Objects for digital output modules Digital output modules BLxx ccccccccccccccccscccccccccsscccscccssssccccscsssscccccssccceccccecccecccsccccscccscccscccssccssccse 2 General object overview for digital output modules ccce ecce eee eee eee eee eese esses eese sees sse soseesooo 3 Object 6200 Write Output 8 Bit erre tetti nte ie Hen e ale inedia duas 4 Object 6206 Error Mode Output 8 5 Object 6207 Error State Output 8 6 Object 6220 7 Write Output Bit 1 to 128 Object 6221 Write Output Bit 129 to 256 Object 6222 Write Output Bit 257 10 288 7 Object 6250 Error Mode Output Bit 1 to 128 Object 6251 Error Mode Output Bit 129 to 256 Object 6252 Error Mode Output Bit 257 to 288 8 Object 6260 Error State Output Bit 1 to 128 Object
218. put data is transferred from the connected SWIRE BUS to the SWIRE module The process input data is the data that is transferred by the SWIRE module via a gateway to the PLC The transfer is carried out in 8 byte format 4 bits are reserved for each SWIRE slave The following information can be transferred 2 Contactor coil on off Motor protective circuit breaker off or tripped on E Status of the slave o k diagnostics message present Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 SWIRE Slave 2 SWIRE Slave 1 Byte 1 SWIRE Slave 4 SWIRE Slave 3 Byte 2 SWIRE Slave 6 SWIRE Slave 6 Byte 3 SWIRE Slave 8 SWIRE Slave 7 Byte4 SWIRE Slave 10 SWIRE Slave 9 Byte 5 SWIRE Slave 12 SWIRE Slave 11 Byte 6 SWIRE Slave 14 SWIRE Slave 13 Byte 7 SWIRE Slave 16 SWIRE Slave 15 The data of SWIRE slave 1 is the data of the first physical slave on the SWIRE bus The remaining slaves are assigned in consecutive order accordingly The meaning of the data of an SWIRE slave depends on the product concerned Meaning of the 4 bit process input data on an SWIRE DIL device Bit 7 Bit 6 Bit 5 Bit 4 SDx free free PKZSTx SIx D301230 BLxx CANopen 0511 12 3 Objects for SWIRE modules The following table shows the meaning of the data bits Table 189 Meaning ofthe data bits Designatio Status Comment n Six Switch status relay x SIx supplies the swit
219. raffic for the analog input values is not started until the object 6423 is switched from the default setting FALSE to TRUE Attention he possibility of 12 bit value representation left justified is not useful for CANopen since all reference values upper limit lower limit must be defined with 16 bits 8 10 D301230 BLxx CANopen 0511 General object overview for analog input modules Industri A Table 96 Feature Description Value Object 6401 pex Name Read Analog Input 16 Bit Object code ARRAY PDO mapping Yes Sub index 00 Data type Unsigned8 Access ro Default value BLxx No Sub index 01 bis Data type Integer16 Access ro Default value BLxx No 8 2 3 Object 6421 Analog Input Interrupt Trigger Selection Note Objects 6421 6428 can be used to control the event triggered transmission of the process input data As well as these event triggered control objects the transmission frequency of the process input data is also controlled by means of objects 1800 to 181F Attention Object 6423 Analog Input Global Interrupt Enable page 8 14 must be used in order to enable the possibility of transmitting the process input data using an interrupt signal The object defines which eventisto triggerthe transmitting of the analog input data TPDOs by means of an interrupt signal D301230 BLxx CANopen 0511 8 11 Objects for analog input modul
220. rameter data 11 10 Parameterization through SDOS se 2 10 PDO MAPPING 2 23 R Receive PDO Mapping Parameters 4 23 S SDO muda standard objects storage inler T Transmission Type sese 2 14 Transmit PDO Mapping Parameter 4 29 Transmit PDO Parameters esee 4 26 transport appropriate 1 2 16 2 0301230 BLxx CANopen 0511 Industrial Automation www turck com Hans Turck GmbH amp Co KG 45472 M lheim an der Ruhr Germany WitzlebenstraBe 7 Tel 49 0 208 4952 0 Fax 49 0 208 4952 264 E Mail more turck com Internet www turck com D301230 0511
221. rdware Objects Communication Objects between the digital digital input modules Default Default according to CiA Mapping Communication Standard DS401 Parameter Parameter Fixed 2 isoon DB Relation Single Entry Ma Digital ino gt my LL HE ae can Input 1 0 6000h TPDO1 Transmission Unsigned 8 Byte TPDO1 0301230 BLxx CANopen 0511 5 3 Objects for digital input modules 5 2 1 Object 6000 hx Read Input 8 Bit The object presents the values for the digital input modules in 8 bit groups A total of 36 groups each 8 bit can be displayed 288 digital input channels PDO mapping of this object is always executed by default and automatically for the first 8 sub indexes This corresponds to 64 input channels If more than 64 input channels are present then the PDO mapping must be carried out by the user Table 66 Feature Description Value Object 6000 Name Read Input 8 Bit Object code ARRAY PDO mapping Yes Sub index Data type Unsigned8 Access ro Default value BLxx No Sub index 01 nex to 24 Data type Unsigned8 Access ro Default value BLxx No 5 4 0301230 BLxx CANopen 0511 General object overview for digital input modules 5 2 2 Object 6020 Object 6022 hex hex Read Input Bit 1 to 128 Object 6021 Read Input Bit 257 to 288 Industri Read Input Bit 129 to 256 hex The obj
222. reasons BL20 1CNT 24VDC BL20 E 2CNT 2PWM Table 167 Object 6C00 Feature Description Name Area State Register Object code ARRAY PDO mapping No Sub index 00 Data type Unsigned8 Access ro Default value No Sub index OT hex 47 hex Data type Unsigned8 Access ro Default value No BL20 1CNT 24VDC Structure of the data byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 X X X X X STS_ STS_ X UFLW OFLW HH Please find a detailed description of the status bits in the process input in table Meaning of the process input bits of BL20 1CNT 24VDC page 11 61 0301230 BLxx CANopen 0511 11 49 Objects for Encoder modules SSI CNT BL20 E 2CNT 2PWM Structure of the data byte Sub index Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x00 lt n2 0x47 Isb MSG_ MSG_ n CNT1 0 X X X X X CNT1_ CNT1_ X UFLW OFLW MSG_ MSG_ n 1 CNT2 0 X X X X X CNT2 CNT2_ X UFLW OFLW Note i Please find a detailed description of the status bits in the process input in table Meaning of the process input bits of BL20 E 2CNT 2PWM page 11 63 11 2 40 Object 6C01 Work Area Low Limit Object 6C01 ex corresponds to 6401 ex acc to CIA 05406 defines the value for the lower count limit hex In case of an underflow bit 2 in object 6C00 and bit 6 object 5803 are set This object i
223. rer specific device name Table 21 Object 1008 Object description INDEX 1008 Name manufacturer specific device name Object code VAR Data type Visible String Value range Access const PDO mapping No Value range BLxx Default value depends on the gateway module 0301230 BLxx CANopen 0511 4 7 Device gateway objects 4 1 5 Object 1009 Manufacturer Hardware Version Object 1009 contains the designation for the Hardware Version Table 22 Object description Object 1009 1009 Hardware version Object code VAR Data type Visible String Value range Access const PDO mapping No Value range BLxx Default value depends the gateway module 4 1 6 Object 100A Manufacturer Software Version Object 100A contains the device s software version hex Table 23 Object description Object 100A INDEX 100A Name Software version Object code VAR Data type Visible String Value range Access const PDO mapping No Value range BLxx 4 8 0301230 CANopen 0511 Objects of the Communication Profile acc to CIA DS 301 Industri 4 1 7 Object 100 Guard Time Object 100C ex contains the Guard time in milliseconds The product of Lifetime factor Object 100Drex and Guard time is the Lifetime for the
224. responds to the module number of the module in the station Table 193 Feature Description Object 3065 je Name XBIParam Dword2 Object code ARRAY PDO mapping No Data type Unsigned32 Access rw Default value No Object 3066 XBlParam Dword3 The object XBIParam Dword3 reads the third Param Dword byte 8 11 of amodule on the module bus The sub index 1 to 74 corresponds to the module number of the module in the station Table 194 Feature Description Object 3066 Name XBIParam Dword3 Object code ARRAY PDO mapping No Data type Unsigned32 Access rw Default value No Object 3067 XBlParam Dword4 The object XBlParam Dword4 reads the fourth Param Dword byte 12 15 of a module on the module bus The sub index 1 to 74 corresponds to the module number of the module in the station Table 195 Feature Description Object 3067 Name XBIParam Dword4 Object code ARRAY PDO mapping No Data type Unsigned32 Access rw Default value No 12 14 0301230 BLxx CANopen 0511 General object overview for SWIRE modules Industri A Object 3068 Dword5 The object XBIParam Dword5 reads the fifth Param Dword byte 16 19 of a module on the module bus The sub index 1 to 74 corresponds to the module number of the module in the station Table 196 Feature Description Object 3068 Name XBIParam Dword5 Object code ARRAY PDO ma
225. ro SD SDwro Byte reserved Byte4 Life guarding time Byte 5 SDp4c 8 SDpacS7 SDpyagS6 SDgacS 5 SDpac 4 SDga4cS 3 SDp4c 2 50 1 Byte 6 SDpac 16 SDpacS15 SDpa4g 14 50513 5 912 SDgac 11 SDp4cS10 5059 Byte7 reserved Byte 8 reserved Byte 9 24 Type designation slave 1 16 12 10 0301230 BLxx CANopen 0511 General object overview for SWIRE modules Industri A The following table shows the meaning of the parameter bits Table 191 Parameter Value Module name parameters Byte 1 ADefault Disable Cfg Disabling of the acceptance of the physically present configuration as ACTUAL setting configuration on manual pushbutton actuation 0 inactive The physically present configuration of the SWIRE bus is only accepted as the ACTUAL configuration by pressing the CFG button The comparison with the SET configuration is then carried out 1 active The physically present configuration is automatically accepted as the ACTUAL configuration and then compared with the SET configuration Configuration PLC configuration check The configuration check parameter enables a comparison of the set and actual configuration based on the device ID 0 active Configuration check based on device ID Only SWIRE slaves with a device ID completely matching the set configuration are accepted on the bus 1 inactive All slaves are mapped in 4Bit INPUT 4Bit OUTPUT without checking the devic
226. roup analog I Os channels 16 to 19 PDO14 8000 0320 Node ID 1400 6 group analog 1 channels 20 to 23 PDO15 8000 0420 Node ID 140E 7 group analog I Os channels 24 to 27 PDO16 8000 0520 Node ID 140F 1 group RSxx channel 0 PDO18 8000 0000 1411 hex 1 group RSxx channel 1 PDO19 8000 0000 ex 1412 Attention The COB ID for the RSxxx Module must be defined by the user 2 20 D301230 BLxx CANopen 0511 BLxx and CANopen Industri Example not valid for BLCCO The own Node ID of an BLxx CANopen gateway is 1 There are more than 12 analog input channels As result appropriate mapping entries are set up for TPDO13 Object 1A0C and the COB ID Object 180C Sub Index 1 is pre loaded with the value 8000 01A1 This PDO can only be enabled without alteration if a node with the Node ID 33 own Node ID 32 does not exist or at least its TPDO1 is not used The following table illustrates the systematic relationship Table 10 PDO Node ID Original PDO fea assigned to this COB ID in the Default assigned to this COB ID in the Node ID and Master Slave Connection Set E ult Master Slave Connection BL20 specific PDOs PDO5 own Node ID 64 40 PDO1 PDO6 own Node ID 64 4046 PDO2 PDO7 own Node ID 64 40 PDO3 PDOs own Node ID 64 40 PDO4 PDO own Node ID 96 60 PDO1 PDO10 own Node ID 96 60 PDO2 PDO11 own Node ID 96 60
227. rs and serves for configuration setting Write accesses initiate a parameter update via the internal module bus The parameter is stored as anon volatile parameter in the gateway and is restored with every node reset This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons 8 BLxx 1SSI BL20 1CNT 24VDC D301230 BLxx CANopen 0511 11 7 Objects for Encoder modules SSI CNT BL20 E 2CNT 2PWM BL67 1CNT ENC Table 126 Feature Description Object 5801 re Name Encoder Config Object code ARRAY Data type Unsigned32 Access rw Default value No PDO mapping No BLxx 1SSI The Object Encoder Config takes effect on parameter bytes 0 3 of the BL20 SSI module Structure of the data bytes 0 to 3 for the SSI module Bit 7 Bit 6 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 DIS_ERR_ Status reserved SSI reserved Byte 1 INVALID_BITS_MSB INVALID_BITS_LSB Byte 2 reserved SSI BIT RATE Bytes CODES reserved SSI FRAME LENGTH G D Note Please find a detailed description of the parameters in the table Meaning of the parameter bits of BLxx 1SSI page 11 68 11 8 0301230 BLxx CANopen 0511 General object overview for encoder modules Industri A BL20 1CNT 24VDC The Object Encoder Config takes effect on parameter bytes 12 15 of the counter module
228. s Data type 0x00 Unsigned 8 0x01 to 0x47 Unsigned 16 Access SDO 0x00 ro 0x01 to 0x47 rw Access PDO 0x01 to 0x47 r Default value 0x00 0x01 to 0x47 Note By means of this access the messages are reset automatically after reading 11 36 D301230 BLxx CANopen 0511 General object overview for encoder modules Structure of the data byte Industri A 0301230 BLxx CANopen 0511 Sub index Byte Bit7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x00 lt n gt 0x47 Isb PWM1 PWM1_ js B x PWM1_ PWM1_ pte SINGLE SW LR DISABLE LOGMSG ENABLE DISABLE n PWM1 Bit 15 Bit14 Bit13 Bit12 Bit11 Bit 10 Bit9 Bit 8 1 msb X X X X X X SET P1 SET 01 4 x PWM2 SI PWM2 pesce 7 PWM2_ PWM2_ ERNEUT NGLE SW_LR LOGMSG ENABLE DISABLE n 1 PWM2 Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit 9 Bit 8 1 msb X X X X X X SET SET D2 Note Please find a detailed description of the status bits in the process input in table Meaning of the process output bits of BL20 E 2CNT 2PWM page 11 56 11 37 Objects for Encoder modules SSI CNT 11 2 26 Object 5910 hex PWM Load Prepare Value This object is used in the following modules E BL20 E 2CNT 2PWM BL20 E 2CNT 2PWM The object contains the load value load value register PWM1 no 0x64 PWM2 no 0x74 for the prepared loading of the counters Setting the count valu
229. s no ene STONES estne sense 1 3 CANopen CANOPEN LR 2 2 EINE eI A EEE EE 2 2 Communication E T E A 2 2 EDS file Electronic data sheet essssssssssseoooosssssecossosoocccosceececcsoscesecoeoeseseosooosscsesesssssooososossesessssssooccooseeseess 2 5 BLXX and CANOP ER E A E E E T E E 2 5 Setting up comMunic tion Parameterization through Service Data Objects SDO ee eee Transmission of Process Data Objects PDO EVERT Mapping Objects PDOS eterne Commands for Parameter Save and Restore Defaults Object dictionary overview of all objects Overview Of all 3 2 Device gateway objects Objects of the Communication Profile acc to CIA DS 301 e ssessssosssosscessesosscososesossosesosoessoesosssosseseosseosso 4 2 Object 1000 a Device Hb Object 1901 Object eec dleqopm c L Object 1008 Device
230. s pending at channel short circuit HW ERR 0 No diagnostic message 1 Hardware error Display of common errors of the module s hardware e g CRC error adjustment error Change of device necessary 11 6 4 Meaning of the diagnostic bits of BL67 1CNT ENC Table 186 Diagnostic message Values Meaning Meaning of the diagnostic bits of BL67 1CNT ENC alphabetically sorted STS OFLW 0 no overflow 1 Counter value exceeded upper limit of counter range STS UFLW 0 no underflow 1 Counter value below lower limit of counter range DIA DOx 0 output OK Short circuit or overload at output x 0301230 BLxx CANopen 0511 11 79 Objects for Encoder modules SSI CNT Table 186 Diagnostic message Values Meaning of the diagnostic bits of BL67 1CNT ENC alphabetically sorted Meaning ERR_PARA 0 The last change in parameters is valid Faulty inconsistent parameter data 11 80 0301230 BLxx CANopen 0511 Industri A 12 Objects for SWIRE modules 12 1 12 2 12 2 1 12 2 2 12 2 8 12 2 4 Motor starter modules BL20 eee e eee esee sees esse sees es esee ee eee eee ee eee eese esee esee esee 2 General object overview for SWIRE ee eee esee e eee 2 Representation of process input 3 PrOGESS DID ELLO LLLI 3 Representation of process output
231. s used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BL20 1CNT 24VDC BL20 E 2CNT 2PWM Table 168 Feature Description Object 6 1 Work Area Low Limit Object code ARRAY PDO mapping No Sub index 00 Data type Unsigned8 Access ro Default value No Sub index 01 5 47 hex Data type Unsigned32 Access rw Default value No 11 50 D301230 BLxx CANopen 0511 General object overview for encoder modules Industri A BL20 1CNT 24VDC Note i The object 6B30 is only valid if the counter module works in count mode BL20 E 2CNT 2PWM The object writes or reads register 24 e channel 1 or respectively register 44 channel 2 of the module s register interface 11 2 41 Object 6 02 Work Area High Limit Object 6C02 corresponds 6402 acc to CIA 05406 defines the value for the upper count limit In case of an overflow bit 1 in object 6C00 and bit 56 object 5803 in are set In all other encoder modules this objects can only be found for compatibility reasons BL20 1CNT 24VDC BL20 E 2CNT 2PWM Table 169 Feature Description Object 6C02 Name Work Area High Limit Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value No Sub index 01 4 47 4 Data type Unsigned32 Access rw Default value
232. scsesssssseccscccsscccssccesuecessecsnsccsnscessscessscesseesssccssncceneeceaeesneeeets 11 4 Meaning of the process input bits of the Encoder modules eere eee eee e eene eene ee entente 11 59 11 4 1 Meaning of the process input bits of BLXX 1SSI Leeeee eee ee eese eee eee eee eee ee eee ete eee ette e eee tees esee eese eese eee eee 11 59 11 4 2 Meaning of the process input bits of 20 1 24 11 61 11 4 3 Meaning of the process input bits of BL20 E 2CNT 2PWM cessssssssssecsssccssscsssccessecsnsccsssccssscesseccesccessecesscceseecessecsnseesnesees 11 63 11 4 4 Meaning of the process input bits of BL67 1CNT ENC 11 66 11 5 Parameter interface of the Encoder modules eee eee eee e eese eee eene eene en seen aetas etes stesse tasses seno 11 67 11 5 1 Meaning of the parameter bits of BLxx 1SSl ee eee eee enn s rsio 11 67 11 5 2 Meaning of the parameter bits of BL20 1 CNT 24VDC ssssssssssscsssssccsssceesssccessssecesusccesssecesnssecsnsnecesssesesnecessnsseesnaeseesnesees 11 69 11 5 3 Meaning of the parameter bits of BL20 E 2CNT 2PWM eren eee nnne nnne 11 71 11 5 4 Meaning of the parameter bits of BL67 1 CNT ENC ssssssssccssssscssssecsnsscecsssccesssecssssecesnscecsnssecsnsceesussecsnssseesneeesanssessnsesees 11 74 11 6 Diagnostic interface of the Encoder modules 4 eere
233. slave can be reset by the NMT Reset Communication command depending on its state 1 The NMT Master does not have to send an NMT Reset Communication command for this slave if the slave is in the Operational state D301230 BLxx CANopen 0511 4 35 Device gateway objects Table 49 Byte Bit Value Structure ofthe object 1F81 ex Slave Assignment Meaning Verification of the application software version is not required for this node Verification of the application software version is required for this node Automatic update of the application software download is not permitted Automatic update of the application software download is permitted Reserved set to 0 8 bit value for the Retry Factor 2to3 0 16 bit value for the Guard time 4 5 3 Object 1F82 Request Object 1F82 describes as per CIA DSP 302 all the slaves that can present queries to the Network Management NMT Table 50 Object description Object 82 1 82 Query Object code ARRAY Data type Unsigned8 Access ro rw Value description Sub index 00 Description Supported Number of Slaves Access ro PDO mapping No Value 128 Sub index 1 Description Request NMT Service for slave with Node ID 1 Access rw 4 36 0301230 BLxx CANopen 0511 Objects for network management not valid for BLCC
234. ss output bits of BL67 1CNT ENC page 11 58 11 20 0301230 BLxx CANopen 0511 General object overview for encoder modules Industri 11 2 9 Object 5810 The object Setting the counter s count value to this value is event driven This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BL20 1CNT 24VDC BL20 E 2CNT 2PWM BL67 1CNT ENC Encoder Load Prepare Value hex Table 133 Feature Description Object 5810 Name Encoder Control Object code ARRAY Data type Unsigned8 Access rw Default value No PDO mapping Yes BL20 1CNT 24VDC The object takes effect on the function Load in preparation LOAD PREPARE in the module s control interface BL20 E 2CNT 2PWM The object writes or reads register 23 channel 1 or respectively register 43 channel 2 of the module s register interface BL67 1CNT ENC The object writes or reads register 2 44 of the module s register interface D301230 BLxx CANopen 0511 11 21 Objects for Encoder modules SSI CNT 11 2 10 Object 5811 Encoder Pulse Width The object serves for setting the pulse duration hex This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BL20 1CNT 24VDC BL20 E 2CNT 2PWM Table 134 Feature Description Object 5811 Name
235. ss output objects Object 3020 XBlOutputByte Table 211 Feature Description Value Object 3020 XBlOutputByte Object code VAR Data type Unsigned8 Access rww PDO mapping Sub index 0 No Sub index 1 and 2 Yes 14 6 0301230 BLxx CANopen 0511 General Object 3022 XBlOutputWord Table 212 Feature Description Value Object 3022 Name XBlOutputWord Object code VAR Data type Sub index 0 Unsigned8 Sub index 1 and 2 Unsigned16 Access rww PDO mapping Sub index 0 No Sub index 1 and 2 Yes Object 3024 XBlOutputDWordO to Object 302B XBlOutputDWord8 Table 213 Feature Description Value Object 3024 to 302B Name XBlOutputDWordx Object code VAR Data type Sub index 0 Unsigned8 Sub index 1 and 2 Unsigned32 Access rww PDO mapping Sub index 0 No Sub index 1 and 2 Yes 0301230 BLxx CANopen 0511 Industri 14 7 Manufacturer specific objects 14 1 5 Diagnosis objects object 3040 XBIDiag Byte The object reads the module s first diagnostic byte on the module bus The sub index 1 to 74 corresponds to the slot number of the module in the BLxx station Table 214 Feature Description Object 3040 Name XBlDiagByte Object code ARRAY PDO mapping No Data type Unsigned8 Access ro Default value
236. station configuration after a device reset The BLxx CANopen gateway supports the non volatile storage of parameters A network configuration tool or an CANopen Manager can use object 1020 to test the station configuration after a reset and so check whether a reconfiguration is necessary The configuration tool saves the time and date simultaneously in object 1020 and the corresponding DCF file After a reset the most recent configuration and the signature will be restored either automatically on request If the configuration values are altered by some other command then the object will be set to 0 The Configuration Manager compares the signature and the configuration with the values from the DCF file If it discovers any deviations a reconfiguration will be necessary D301230 BLxx CANopen 0511 4 17 Device gateway objects Table 33 Object description Object 102046 INDEX 1020 Name Verify Configuration Object code ARRAY Data type Unsigned16 Value description Sub index nex Description Number of entries Access rw PDO mapping No Default value BLxx O2nex Sub index Description Configuration date Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx No Sub index 02 nex Description Configuration time Access rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx No Note i The configuration dat
237. ster 1 A modification of the register contents by a process output was initiated which means REG WR 1 Abschnitt Meaning of the process output bits of BLxx 1SSI A write job would not be accepted with the next telegram of process output data REL CMPx 0 A comparison of the register contents has produced the following result SSI POS CMP1 1 A comparison of the register contents has produced the following result REG SSI POS 2 REG CMP1 REL CMPx 0 A comparison of the register contents has produced the following result REG SSI POS REG CMPx 1 A comparison of the register contents has produced the following result REG SSI POS REG CMP2 SSI DIAG 0 No enabled status signal is active SSI STSx 0 1 At least one enabled status signal is active 551 STSx 1 SSI STSx 0 These four bits transfer the status bits of the SSI encoder with the 7 status messages of the SSI module With some SSI encoders the status bits are transferred together with the position value STS 0 A comparison of the register contents has produced the following result REG SSI POS REG CMP1 1 A comparison of the register contents has produced the following result REG SSI POS REG CMP1 STS CMP2 0 A comparison of the register contents has produced the following result REG SSI POS z REG CMP1 1 A comparison of the register contents has prod
238. t n gt msb Isb 0x47 MSG MSG MSG MSG MSG MSG_ MSG MSG _ n CNT1 CNT1 ND CNT1_ CNT1_ CNT1_ CNT1_ CNT1 SW CNT1_ CNT1 UFLW OFLW CMP1 CMPO LR SFKT FQE MSG MSG _ MSG _ MSG _ MSG _ MSG_ MSG _ MSG n 1 CNT2 CNT2 ND CNT2_ CNT2_ CNT2_ 2 CNT2SW CNT2 CNT2_ UFLW OFLW CMP1 CMPO LR SFKT FQE Note H Please find a detailed description of the status bits in the process input in table Meaning of the process input bits of BL20 E 2CNT 2PWM page 11 63 BL67 1CNT ENC The flags are reset by writing this object with any value Exception if the relevant condition for setting a marker is still fulfilled this marker will continue to remain set Bit7 Bit 6 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 Bit 0 STS ZC STS_ STS_ reserved UFLW OFLW Note i Please find a detailed description of the status bits in the process input in table Meaning of the process input bits of BL67 1CNT ENC page 11 66 11 2 5 Objekt 5804 Encoder Diag This object reads the diagnostic byte of the encoder module This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BLxx 1SSI 8 BL20 1CNT 24VDC BL20 E 2CNT 2PWM 11 14 D301230 BLxx CANopen 0511 General object overview for encoder modules Industri A BL67 1CNT ENC Table 129 Feature Description Object 5804
239. t value No Sub index O1 47 hex Data type Unsigned32 Access rw Default value No BLxx 1SSI Object CAM1 Low Limit corresponds to the reference value2 CmpVal2 of the SSI module BL20 1CNT 24VDC The object corresponds to the reference value2 of the counter module The logical output DO2 whose behavior can be configured in manifold ways is assigned to reference value 2 and thus to object CAM1 Low Limit If reference value2 serves as lower limit depends on the configuration of DO2 In order to achieve a CAM function as per 05406 a special configuration is necessary see description of Object 6800 CAM State Register page 11 42 BL20 E 2CNT 2PWM The object corresponds to the reference value CMPO of the counter module The object writes or reads register 26 e channel 1 or respectively register 46 channel 2 of the module s register interface 11 46 D301230 BLxx CANopen 0511 General object overview for encoder modules 11 2 37 Object 6B20 hex CAM1 High Limit Industri A The object is the same as object 6320 in accordance with CiA 05406 which defines an upper switch limit for the count range This object is used in the following modules In all other encoder modules this objects can only be found for compatibility reasons BLxx 1SSI BL20 1CNT 24VDC BL20 E 2CNT 2PWM Table 165 Object 6B20 Feature Description Name CAM1 High Limit Object code ARRAY PD
240. ta type Unsigned8 Access ro Default value BLxx No Sub index 01 to 8E Data type Unsigned16 Access rw Default value BLxx 0000 0000 hex 9 8 0301230 BLxx CANopen 0511 Industri A 10 Objects for RS232 RS4xx modules 10 1 RSxxx modules BLXX 2 10 2 Allgemeine Objekt bersicht f r RS232 RS4xx Module ccccccscsssssssscccccccccssccceeesseccccccccscssseeesoocs 2 10 2 4 Object 5600 RS232 RS4xx 2 10 2 2 Object 5601 RS232 RS4xx 4 10 2 3 Object 5602 232 54 EXD 7 D301230 BLxx CANopen 0511 10 1 Objects for RS232 RS4xx modules 10 1 RSxxx modules The objects are used in the following modules Table 115 Product family Module BLxx RSXxx modules BL20 BL20 1RS232 BL20 1RS485 422 BL67 BL67 1RS232 BL67 1RS485 422 BLC miscellaneous 10 2 Allgemeine Objekt bersicht f r RS232 RS4xx Module Table 116 Object Name page General object overviewTor 600 ex RS232 RS4xx parameters page 10 2 5232 854 5601 RS232 RS4xx RxD page 10 4 modules 5602 RS232 RS4xx TxD page 10 7 10 2 1 Object 5600 RS232 RS4xx Parameters The parameter setting of the BL20 1RSxxx module enables communication with different data terminal devices The handshake procedure software hardware can be selected The number of data bits embedded in
241. te After the last valid bit a ZERO test of the data cable is not carried out Invalid bits LSB Oto 15 Number of invalid bits on the LSB side of the position value supplied by the SSI encoder The meaningful word width of the position value transferred to the module bus master is as follows SSI FRAME LEN INVALID BITS MSB INVALID BITS LSB The invalid bits on the LSB side are removed by shifting the position value to the right starting with the LSB INVALID BITS MSB INVALID BITS LSB must always be less than SSI FRAME LEN Default 0 bit Ope A Number of invalid bits MSB 0to7 Number of invalid bits on the MSB side of the position value supplied by the SSI encoder The meaningful word width of the position value transferred to the module bus master is as follows SSI FRAME LEN INVALID BITS MSB INVALID BITS LSB The invalid bits on the MSB side are zeroed by masking the position value INVALID BITS MSB INVALID BITS LSB must always be less than SSI FRAME LEN Table 179 Designation Meaning of the parameter bits of BLxx 1SSI alphabetically sorted ADefault DIS ERR SSI setting INVALID BITS LSB INVALID BITS MSB 11 68 0301230 BLxx CANopen 0511 Parameter interface of the Encoder modules Industri Table 179 Designation Value Description Meaning of the parameter bits of BLXX 1SSI alphabetically sorted
242. te contains the command specifier and the second contains the Node ID of the device that must perform the command in the case of Node ID 0 all nodes have to perform the command The NMT message transmitted by the NMT master forces the nodes to transit to another NMT state CANopen defines the following statsus Initialization Pre Operational Operational and Stopped D301230 BLxx CANopen 0511 CANopen Industri A After a power on each CANopen devices is in the status Initialization and automatically changes to the Pre Operationalstatus In this state the transmission of SDOs is allowed If the NMT master has set one or more nodes into the state Operational they are allowed to transmit and to receive PDOs In the state Stopped no communication is allowed except that of NMT objects The state Initialization is devided into 3 sub states in order to enable a complete or partial reset of a node In the sub state Reset Application the parameters of the manufacturer specific profile area and the standardized device profile area are set to their power on values In the sub state Reset Communication the parameters of the communication profile area are set to their power on values The third sub state is initializing which a node enters automatically after power on Power on values are the last stored parameters The Heartbeat protocol and Node Guarding see Set up Node Guarding Protocol page 2 9 are for error control purposes a
243. te function REG RD ADR 0 10 127 Address of the register which has to be read If RD_ABORT 0 the user data can be found in REG RD DATA in the status interface bytes 4 7 RES STS During the change from 0 to 1 the counter status bits STS UFLW and STS OFLW are reset REG WR 0 Initial state 1 Command write register Request to overwrite the content of the register with address REG_WR_ADR with REG_WR_DATA REG_WR_ADR Oto 127 Address of the register which has to be written with REG_WR_DATA REG_WR_DATA 0 to 222 1 Value which during a write operation has to be written to the register selected with REG WR ADR SYNC REQ 1 Synchronization request The bit SYNC AKN of the status interface is reset 11 58 0301230 BLxx CANopen 0511 Meaning of the process input bits of the Encoder modules Industri 11 4 Meaning of the process input bits of the Encoder modules 11 4 1 Meaning of the process input bits of BLxx 1SSI Table 175 Designation Value Description Meaning of the process input bits of BLxx 155 alphabetically sorted ERR 0 The parameter set of the module has been accepted 1 Operation of the module is not possible with the present parameter set ERR SSI 0 SSI encoder signal present 1 SSI encoder signal faulty e g due to a cable break FLAG_CMPx 0 Default status i e the register contents have not yet matched REG 551 POS REG CMPXx since the last reset 1 The contents of
244. that is transmitted from the connected field device via the BL20 1RSxxx module to the communication partner e g PLC The data received from the device by the BL20 1RSxxx module is entered in a 128 byte receive buffer and then transferred in segments to the communication partner via the module bus and the gateway The transmission is realized in a 8 byte format which is structured as follows E bytes or 7 bytes are used to contain the user data M 1 byte contains the diagnostics data depending on the parameter setting 8 1 status byte is required to ensure trouble free transmission of the data Table 119 Feature Description Object 5601 ne Name RS232 RS4xx RxD Object code ARRAY Data type Unsigned64 Access ro Default value No PDO mapping Yes 10 4 0301230 BLxx CANopen 0511 Allgemeine Objektubersicht fur RS232 RS4xx Module Industri A Structure of the data bytes with DisableReducedControl 1 in object 5600 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 STAT TX CNT ACK RX CNT RX BYTE CNT Status Byte 1 BufOfl Frame HndShEr Hw PrmErr X X X Diag Err Failure Byte 2 data byte 0 Byte 7 data byte 5 Structure of the data bytes with DisableReducedControl 0 in object 5600 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 STAT TX_CNT_ACK RX_CNT RX_BYTE_CNT Status Byte 1 data byte 0 Byte 7 data byte 6 Table 120 Design
245. the CANopen functionality is expanded then the major revision number must be incremented The minor revision number identifies various versions that have the same CANopen functionality MSB LSB Bits 31 to 16 15to 0 Value Major Revision Number Minor Revision Number Table 32 Object description Object 1018 INDEX 1018 Name Device Specification Object code RECORD Data type Identity Value description Sub index 00 Description Number of Entries Category Mandatory Access ro PDO mapping No Default value BLxx 4 Value description Sub index O1 hex Description Manufacturer ID Category Mandatory Access ro PDO mapping No Value range BLxx Unsigned32 Default value BLxx 0000 009 0301230 BLxx CANopen 0511 Objects of the Communication Profile acc to CIA DS 301 Industri Table 32 Object description Object 1018 Sub index 026 Description Product Code Category Option Access ro PDO mapping No Value range BLxx Unsigned32 Sub index O3nex Description Revision number Category Option Access ro PDO mapping No Value range BLxx Unsigned32 Default value BLxx No Sub index 04 Description Serial number Category Option Access ro PDO mapping No Value range BLxx Unsigned32 4 1 15 Object 1020 Verify Configuration Object 1020 is used to check the
246. the separate parameter data The default setting for DOx is to display the value of SET_DOx SW_GATE 0 1 Counting is started release 120 Counting is stopped D301230 BLxx CANopen 0511 11 55 Objects for Encoder modules SSI CNT 11 3 3 Meaning of the process output bits of BL20 E 2CNT 2PWM Table 173 Bit Value Meaning Meaning of the process output bits of BL20 E 2CNT 2PWM alphabetically sorted AUX_REGx_WR_DAT 0 222 1 Value which is written to the register with the address defined A Byte 0 in ADR AUX REGx WR DATA in the parameterization AUX_REG1_WR_DAT A byte 3 AUX REG1 WR 0 Disabling the writing of register data with the register contents E in AUX REGx WR DATA his option avoids an unintentional AUX REG3 WR EN writing to the registers in the register interface during a module power up 1 Writing of the Register interface with the register contents in AUX REGx WR DATA is enabled CNTx ENABLE 0 Not activated 1 Enable counter CNTx SW gate CNTx GENERAL 0 Count function unit CNTx is generally enabled DISABLE 1 Counter function unit is generally disabled CNTx LOGMSG 0 The messages in the MSG bits in the process input check back interface are active 1 With a change from 0 1 the MSG data are held and actual incoming messages are stored to the register CNTx LOGMSG Before switching to REG CNTx LOGMSG this register is set to 0 With
247. the highest priority For communication between 2 nodes the COB ID of the transmit PDO must be the same as the COB ID of the receive PDO Note As delivered each BLxx gateway has a maximum number of 8 active PDOs 0 to 8 are possible with COB IDs that are taken from the Predefined Master Slave Connection Set The compact modules of the BLCCO product line provide up to four active PDOs All other PDOs are inactive This state can be seen from the invalid bit bit 31 of the COB ID see also The COB ID entries in the tables on page 2 17 ff D301230 BLxx CANopen 0511 BLxx and CANopen Industri Transmission The Transmission type determines under which circumstances be transmitted or received The following PDO Transmission types are supported by BLxx 8 Type 0 sync acyclic 8 Type 1 sync cyclic 8 Type 253 Remote Request E Type 255 Event Driven Table 4 Transmission Type PDO transmission Overview of PDO Transmission Types cyclic acyclic synchr asynchr only with RTR 0 x x 1 x x 253 x x 255 x Typeo The PDO will always be transmitted TPDO or evaluated RPDO if this is permitted by a Sync Frame transmitted by the SYNC producer and the mapped contents of the BLxx CANopen gateway have changed since the last transmission Type 1 Immediately after receiving each Sync Frame the BLxx CANopen gateway puts out the mapped contents as a PDO on the network
248. the module Industri A Sub index Byte Bit 7 Bit 6 Bit5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x00 lt n gt 0x47 0 1 1 71 STS CNT1 STS CNT1 STS CNTI STS CNT1 EE DIR _LOGMSG SFKT EN RUN _EN 1 MSG CNT1 MSG CNT1 MSG CNT1 MSG CNT1 MSG CNT1 MSG CNT1 MSG CNTT1 MSG CNTI1 SW LR _SFKT _FQE _ND _OFLW _UFLW _CMP1 _CMPO 2 A2 B2 72 STS 2 STS 2 STS CNT2 STS CNT2 ET n4 1 CNT2 DIR LOGMSG SEKT EN RUN EN 3 MSG_CNT2 MSG_CNT2 MSG_CNT2 MSG_CNT2 MSG_CNT2 MSG_CNT2 MSG_CNT2 MSG_CNT2 _SW_LR _SFKT _FQE _ND _OFLW _UFLW _CMP1 _CMPO Note Please find a detailed description of the status bits in the process input in table Meaning of the process input bits of BL20 E 2CNT 2PWM page 11 63 BL67 1CNT ENC The object reads the module s process input bytes 1 and 2 Writing the object with any value will reset the non volatile flags STS ZC STS OFLW and STS UFLW Byte Bit 7 Bit 6 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 Bit 0 1 ERR PARA SYNC AKN reserved direction REG WR REG WR 2 ACEPT AKN reserved STS_ZC STS_OFLW STS UFLW Note 0301230 BLxx CANopen 0511 Please find detailed description of the status bits the process input table Meaning the process input bits of BL67 1CNT ENC page 11 66 11 17 Objects for Encoder modules SSI CNT
249. tion 8 10 6422hex Analog Input Interrupt Source 8 12 6423hex Analog Input Global Interrupt Enable 8 13 6424hex Analog Input Interrupt Upper Limit Integer sneen onen Edson 8 13 6426hex Analog Input Interrupt Delta Unsigned 8 14 6427hex Analog Input Interrupt Negative Delta Unsigned 8 15 6428 Analog Input Interrupt Positive Delta Unsigned 8 15 6443hex Analog Output Error Mode 9 7 6444hex Analog Output Error State 9 8 67FFh Device Type eerte 4 38 6D00hex Operating Status se 11 51 6D01hex SingleTurn Resolution 11 51 6D02hex Number of Distinguishable Revolutions 11 51 6FFFhex Device Type 4 39 11 51 Analog input modules entente 8 1 analog output modules eee 9 1 16 1 Index Digital combi modules eee 7 1 digital input modules 5 1 Digital output modules eren 6 1 general I O objects eerte 14 1 Manufacturer Hardware Version 4 8 RSxxx modules 10 1 SSI modules 11 1 operati n safe aini 1 2 Pa
250. tivate A 1 2 deactivate 6to4 Element 0000 Type K 270 1370 C 0001 Type B 100 1820 C 0010 Type E 270 1000 C 0011 Type J 210 1200 C 0100 Type N 270 1300 C 0101 Type R 50 1760 C 0110 S 50 1540 C 0111 Type 270 400 C 1000 50 mV 1001 100 mV 1010 500 mV 1011 1000 mV 1100 Type J 454 2498 F 1101 Type J 346 2192 F 1110 0 2320 C 1111 Type 0 2320 C 7 reserved 8 6 0301230 BLxx CANopen 0511 General object overview for analog input modules Analog input modules 4AI TC Industri A Table 94 Byte Bit Parameters Value meaning Parameter analog input modules n 0 Mains suppression 0 50HZA 1 60 Hz THERMO 1 ADefault setting Value representation 0 Integer 15 bit sign A 1 reserved Diagnostic 0 release A 1 block Channel x 0 activate A 1 deactivate 6to4 Element 0000 Type K 270 1370 C 0001 Type B 100 1820 C 0010 Type E 270 1000 C 0011 Type J 210 1200 C 0100 Type 270 1300 C 0101 Type R 50 1760 C 0110 Type S 50 1540 0111 Type T 270 400 C 1000 50 mV 1001 100 mV 1010 500 mV 1011 1000 mV 0301230 BLxx CANopen 0511 reserved 8 7 Objects for analog input modules Analog input modules 8AI U I APT NI 8 8 0301230 BLxx CANopen 051
251. tput control interface of the Encoder modules 11 3 1 Meaning of the process output bits of BLxx 1SSI Table 171 Designation Value Description Meaning of the process output bits of BLxx 1951 alphabetically sorted CLR CMPx 0 Default status i e reset of FLAG CMPx not active 1 Reset of FLAG CMPx active EN CMPx 0 Default status i e the data bits REL CMPx STS CMPx and FLAG CMPx always have the value 0 irrespective of the actual SSI encoder value 1 Default status i e the data bits REL CMPx STS CMPx and FLAG CMPx always have a value based on the result of the comparison with the SSI encoder value REG RD ADR 0 63 Address of the register to be read If the read operation is successful REG_RD_ABORT 0 the user data is located in REG_RD_DATA of the process input data bytes 0 to 3 REG_WR 0 Default status i e there is no request to overwrite the content of the register with the address stated at REG_WR_ADR with REG WR DATA Bit REG_WR_AKN seeAbschnitt Meaning of the process input bits of BLxx 1SSI is reset 0 if necessary 1 Request to overwrite the content of the register with address REG WR ADR with REG WR DATA REG WR ADR 0 63 Address of the register which has to be written with REG WR DATA REG WR DATA 0 232 1 Value which has to be written to the register with the address WR ADR STOP 0 Request to read the SSI encoder cyclically 1 Request to interrupt commu
252. transmit application objects Each PDO has a unique identifier and is transmitted by only one node but it can be received by more than one producer consumer communication PDO transmissions may be driven by an internal event by an internal timer by remote requests and by the Sync message received PDO transmissions Event or timer driven An event specified in the device profile triggers message transmission An elapsed timer additionally triggers the periodically transmitting of PDO messages even if no event has ocurred 8 Remotely requested RTR Another device may initiate the transmission of an asynchronous PDO by sending a remote transmission request remote frame 8 Sync Master Synchronous transmission In order to initiate simultaneous sampling of input values of all nodes a periodically transmitted Sync message is required Synchronous transmission of PDOs takes place in cyclic and acyclic transmission mode Cyclic transmission means that the node waits for the Sync message after which it sends its measured values Acyclically transmitted synchronous PDOs are triggered by a defined application specific event The device transmits it s input values Further transmission is only done if a further Sync messages occurs 0301230 BLxx CANopen 0511 2 3 CANopen 2 4 Special Function Objects CANopen also defines three specific protocols for synchronization emergency indication and time stamp transmission S
253. ubstitute values 0 The output will be switched off if an error occurs 1 The output will be switched on if an error occurs Table 80 Feature Description Value Object 6307 Name Error State Output 16 Bit Object code ARRAY PDO mapping No Sub index 00 6 Data type Unsigned8 Access ro Default value BLxx No Sub index 01 to 126 Data type Unsigned16 Access rw Default value BLxx 0000 0301230 BLxx CANopen 0511 6 11 Objects for digital output modules 6 2 10 Object 6320 hex Write Output 32 Bit The object presents the values for the digital output modules in 32 bit groups A total of 9 groups each 32 bit can be displayed 288 digital output channels Table 81 Feature Description Value Object 6320 Name Write Output Bit Object code ARRAY PDO mapping Yes Sub index Data type Unsigned8 Access ro Default value BLxx No Sub index 01 to 09 Data type Unsigned32 Access rw Default value BLxx 0000 0000 ex 0301230 BLxx CANopen 0511 General object overview for digital output modules 6 2 11 Object 6326 hex Industri Error Mode Output 32 Bit The object defines values in 32 bit groups A total of 9 groups each 32 bit can be displayed 288 digital output channels It defines for each digital output channel whether or not the output should take on a substitute value in the event of an error The fol
254. uced the following result SSI POS CMP2 11 60 D301230 BLxx CANopen 0511 Meaning of the process input bits of the Encoder modules Industri Table 175 Designation Value Description Meaning of the process input bits of BLxx 1551 alphabetically sorted STS DN 0 The SSI encoder values are incremented or the values are constant LED DN 1 The SSI encoder values are decremented STS OFLW 0 A comparison of the register contents has produced the following result REG_SSI_POS lt REG_UPPER_LIMIT 1 A comparison of the register contents has produced the following result REG_SSI_POS gt REG_UPPER_LIMIT STS_UFLW 0 A comparison of the register contents has produced the following result REG_SSI_POS gt REG LOWER LIMIT 1 A comparison of the register contents has produced the following result REG_SSI_POS lt REG LOWER LIMIT STS_UP LED UP 0 The SSI encoder values are decremented or the values are constant 1 The SSI encoder values are incremented STS_STOP 0 The SSI encoder is read cyclically 1 Communication with the SSI encoder is stopped as STOP 1 process output or ERR PARA 1 11 4 2 Meaning of the process input bits of BL20 1CNT 24VDC Table 176 Designation Value Description Meaning ofthe process input bits ofBL20 1CNT 24VDC alphabetically sorted ERR 24Vdc 1 Short circuit sensor supply This diagnostics information
255. value 8000 correspond to the identifiers for the particular module types e g M1Modulelnfo ProductName Generic BLxx BR PF 0301230 BLxx CANopen 0511 Device gateway objects 4 2 Objects for the Transfer of Service Data 4 2 1 Objects 1200 to 1203 Server SDO Default Parameters Objects 1200 to 1203 define the priority for the transmission of 5001 to SDO4 The priority of the data is defined through the Identifier COB ID Table 35 Object description Object 1200 to 1203 INDEX 1200 to 1203 Name Server SDO Parameters Object code RECORD Number of Elements Data type SDO parameters Value description Sub index 00 nex Description Number of entries Access ro PDO mapping No Default value BLxx O2nex Sub index 01 Description COB ID Client Server rx Access Index 1200 Index 1201 to 1203 rw PDO mapping No Value range BLxx Unsigned32 Default value BLxx Index 1200 0000 0600 Node ID Index 1201 to 1203 rwNo Sub index O2nex Description COB ID Server Client rx Access Index 1200 Index 1201 to 1203 PDO mapping No Value range BLxx Unsigned32 4 20 0301230 BLxx CANopen 0511 Objects for the Transfer of Process Output Data Industri Table 35 Object description Object 1200 to 1203 Default value BLxx Index 1200 0000
256. vice CANopen network is the Node ID he CANopen slaves can be assigned the Node IDs 1 to 127 The maximum number of Node IDs to be set may vary depending on the BLxx product COB ID Communication Object Identifier The identifier for each communication object ina CANopen network is the COB ID The COB IDs for the standard objects digital input digital output analog input analog output are assigned automatically The ranges for the COB IDs are defined by the Predefined Master Slave Connection Set Each range for the COB IDs has 127 numerical values The COB IDs are calculated according to the following rule COB ID Base ID Node ID Base ID 128 384 512 640 768 896 1024 1152 1280 1408 1536 1792 Node ID max 1 to 127 Table 2 Identifiers for basic objects 2 8 COB ID Function Application dec nos 0 000 Network Management NMT Broadcast object 01 to 127 001 to 0O7F free 128 080 Synchronization Sync Broadcast object 129 to 255 081 to OFF ex Emergency Message 256 100 Timestamp Broadcast object 257 to 384 101 tO 180 free 385 to 511 181 to TFF Transmit PDO 1 Digital input 512 200 free 513 to 639 201 pex to 27F Receive PDO 1 Digital output 640 280 free 641 to 767 281 to 2FF Transmit PDO 2 Analog input 768 300 free 769 to 895 301 to 37F Receive PDO 2 Analog output 896 380 fr
257. x x 1 uu 0 x 0 x EN BEES Index Name a 3062 XBIParamWord X X X X see chapter 14 3064 to XBIParamDWord0 to XBlParamDWord8 X X X X 306B 3081 hex XBlReferenceModuleType X X X X 3084 XBiReferencelnputSize X X X X 3085 XBlReferenceOutputSize X X X X 308 XBlReferenceDiagSize X X X X 3087 hex XBlReferenceParamSize X X X X 3090 XBlCurrentModuleld X X X X 3091 hex XBICurrentModuleType X X X X 3094 XBiCurrentinputsize X X X X 3095 hex XBiCurrentOutputsize X X X X 3096 XBICurrentDiagSize X X X X 3097 hex XBICurrentParamSize X X X X 5420 ex Analog Input Mode X X X X see chapter 8 5440 ex Analog Output Mode X X X X see chapter 9 5600 ex RS232 RS4xx parameters X X X X see chapter 10 5601 RS232 RS4xx RxD X X X X 5602 RS232 RS4xx TxD X X X X 5801 Encoder Config X X X X see chapter 11 5802 Encoder Status X X X X 5803 hex Encoder Flags X X X X 5804 Encoder Diag X X X X 5805 Encoder Native Status X X X X 5806 Encoder Optional Encoder X X X X 5808 Encoder Control X X X X 5810 Encoder Load Prepare Value X X 3 4 0301230 BLxx CANopen 0511 Overview of all objects Industri A Table 15 Overview of all objects 2 a 4 2 2 o 5 B i 9 x gt 1 0 x 1 x Index Name a 5811 pex Encoder Pulse
258. y 67 45 4 7 4 Object 2401 System Currents only 67 45 0301230 BLxx CANopen 0511 4 1 Device gateway objects 4 1 Objects of the Communication Profile acc to CiA 05 301 The following table provides an overview of the supported entries in the object directory which are defined through the Communication Profile CiA DS 301 The column Object shows the object type The column Name shows the predefined symbolic name of the entry The column Typ shows the entry s data type predefined in CiA DS 301 The column Access shows the access options for the entry These are E rw read write ro read only const constant a read only constant The column M O C indicates if the entry is Mandatory Optional or Conditional depending on the Device Type e g modular or compact device Table 16 Object over view for the communication Profile CiA DS 301 4 2 Index hex Object Name Type Access M O C 1000 4 5 Unsigned32 const M 1001 ARRAY Error Register page 4 5 Unsigned8 ro M 1005 hex VAR SYNC COB ID page 4 6 Unsigned32 rw 1008 VAR Device Name page 4 7 Vis String const 1009 Manufacturer Hardware Version Vis String const 4 8 100A ex VAR Manufacturer Software Version Vis String const 4 8 100C VA
259. ynchronization object Sync The Sync Object is broadcast periodically by the Sync Producer This object is a central timer The Sync Object is broadcast periodically by the Sync Producer The time period between Sync messages is defined by the Communication Cycle Period which may be reset by a configuration tool to the application devices during the boot up process There can bea time jitter in transmission by the Sync Producer due to some other objects with higher prior identifiers or by one frame being transmitted just before the Sync message The Sync message is mapped to a single CAN frame with the identifier 128 by default Emergency object Emcy The Emergency message is triggered by the occurrence of a device internal error situation and are transmitted from an Emergency producer on the concerned application device This makes them suitable for interrupt type error alerts An Emergency message is transmitted only once per error event As long as no new errors occurs on a device no further Emergency message can be transmitted Zero or more Emergency consumers may receive these The reaction of the Emergency consumer is application specific CANopen defines several Emergency Error Codes to be transmitted in the Emergency message which is a single CAN frame with 8 data byte Time stamp object Time By means of Time Stamp a common time frame reference is provided to application devices It contains a value of the type Time of Day This

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