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Schneider Electric IP67 manual Can Standards, Communication, On a CANopen, Network

Models: IP67

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	CANopen Network Interface

CAN Standards	CANopen specifications are defined by the CiA group and can be accessed (subject
	to some restrictions) on the group site at www.can-cia.de. The source codes for
	master and slave devices are available from the various suppliers.

	Note: To find out more about CANopen standard specifications and mechanisms,
	please visit the CiA home page (http//www.can-cia.de).
Communication

	The communication profile is based on CAL (CAN Application Layer) services and
on a CANopen	protocols.
Network	It provides the user with access to two types of exchange: SDO and PDO.

	On power up, the device enters an initialization phase then goes into "Pre-
	operational" state. At this stage, only SDO communication is authorized. After
	receiving a startup command, the device switches to the "Operational" state. PDO
	and SDO communications are both authorized when the device is in the
	"Operational" state.

1606218 02 08/2006

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Schneider Electric IP67 manual Can Standards, Communication, On a CANopen, Network

Contents

1606218 02 eng 1606218 02 08/2006 Table of Contents Diagnostics Application-Specific FunctionsSoftware Tools Object Dictionary Appendix a IEC Symbols Glossary of SymbolsAt a Glance Safety Information ProcedureImportant Information Safety Information At a Glance About the BookRelated Documents Chapter Subject coveredTitle of Documentation Reference Number Whats in this Chapter? IntroductionPresentation IntroductionAdvantys FTB ConfigurableConnectors CANopenOverview of the Accessories Range Cables for Connecting the Bus to the Splitter BoxElement Reference Function Introduction Field bus InstallationOverview Introduction Description Types of Screws Tightening Torques Installing the UnitPlastic Unit Dimensions IllustrationsInstallation Method Follow the steps belowStep Action Ground Electrode on Plastic Unit Field bus connectorGrounding of the Advantys FTB Splitter Box Risk of Unintended Equipment OperationMounting Method for Plastic UnitsFollow the steps below to connect the ground to the unit Ground Electrode on Metal Unit Method for Metal UnitsProduct Compliance e EMC CompatibilityConnection that is as short as possible GroundingLoads ControlInductive Loads Inductive loadsInstallation Splitter Box Characteristics Wiring Whats in thisChapter? Characteristic Description Reference standard Advantys FTB Splitter Box Environment PropertiesEnvironment Properties Output Characteristics Electrical CharacteristicsSplitter Box Characteristics Input CharacteristicsRisk of Equipment Damage and NON-COMPLIANCE with IP67 Connecting the Actuators and SensorsDescription Characteristics of the Connections PinsAllocation M12 ConnectorsSplitter boxs Inputs, Outputs and diagnostics Connector Pin NumberPower Supply Connection Calculation Power Supply Cable Cross-Section AssemblingRisk of Equipment Damage Assignment Supply Phaseo PowerOn the PWR in connector On the PWR OUT connectorCANopen Network Interface This chapter contains the following sectionsSection Topic CANopen Network Interface Wiring on the CANopen Bus Description Function See Introduction to Wiring on the CANopen BusTopology ArchitectureNumber Description Speed Lmax ΣLImax Min. interval ΣLGmax 6xΣL local Tap LengthParameters Lmax is the maximum length of a tap Values to use are given in the following tableNumber Example3 ft Min interval 0.6 * 7 m 23 ft Min interval 4.2 m 13.8 ftSpecific Choice of system cablesTransmission SpeedRisk of Unintended Equipment Operation Pin Signal Meaning Connecting the Field BusField bus is connected via a 5-pin M12 connector Connection Cable ConnectorUnused M12 connectors must not be left unprotected Signal Meaning M12 pin Pin M12Pin SUB-D Rate Configuring the Address and Transmission SpeedIllustration Rotary Switches Data Node AddressSwitch position Transmission speed Adjustment of the Transmission SpeedGeneral Principles NetworkThis section contains the following topics About CANopen ProtocolPhysical Layer Certification ProductNetwork Can StandardsCommunication On a CANopenFunction Function code Resulting COB-ID Binary Hex Dec Device ProfileNMT Network Management Telegram CANopen Boot-UpDepending on Reset Application Communication InitActive CANopen ObjectsRisk of Unintended Device Operation Pre- Operational StoppedModes Process Data Object PDO TransmissionPDO For each PDOChange of state RTR mode SynchronousAsynchronous Equipment damage ChangeState modes Reducing traffic on the busInhibit Time Inhibit Time and Event TimerEvent Timer Status Event Timer is expressed in millisecondsTypes of SDO Producer/ Consumer Model Access to Data by Explicit Exchanges SDONode-Guarding and Life-Guarding Monitoring Protocols Phase Watchdog function Back into Pre-Operational modeMaster Can detect a master failureMeaning Heartbeat Error Monitoring ProtocolHeartbeat MechanismCANopen IP67 splitter and the saving of different parameters Behavior of FTB CANopen Splitter boxesCANopen data with the default parameters Behavior at Power-upWith the Canopen BOOT-UP see CANopen Boot-Up, p Diagram Switching to Pre-Operational statusCommunication error has disappeared Behavior in the Case of Communication ErrorSaving / Restoring Parameters Discrete I/O ConfigurationList of Saved Parameters Profile ObjectsApplication-Specific Functions Object List of ObjectsList Communication Objects Communication objects are listed in the following tableDevice profile objects are listed in the following table Description of the Discrete Inputs Description of Discrete Outputs Channel Configured for Discrete Output Description of Configurable Discrete I/OsChannel Configured for Discrete Input Following table List of Advantys FTB 1CN08E08SP0 Splitter Box I/O ObjectsList of FTB 1CN08E08SPOOutput Objects 1CN08E08SP0Object Sub Bit Description Index 1CN12E04SP0 List of Advantys FTB 1CN12E04SP0 Splitter Box I/O ObjectsObject Sub Bit Description Index Application-Specific Functions Object Sub Bit Description Index FTB 1CN16EM0 ListFTB 1CN16EP0 Splitter boxes is given in the following tableFTB 1CN16EP0 FTB 1CN16EM0 Object Sub-index Bit Description Table below presents the mapping of object 2001HFTB 1CN16CM0 FTB 1CN16CP0Not assigned if channel 17 configured for input Channel 17 output fallback mode if channel 17 configured for List of Advantys FTB 1CN08E08CM0 Splitter Box I/O Objects 1CN08E08CM0 Channel 17 diagnostics input masking if channel Bit Not assigned Object Sub Bit Description Index Application-Specific Functions Software Tools Software Tools Premium Twido Device Configuration Network PLC setup and programmingIntroduction to Software Tools GeneralFiles PLC SetupInstallation Advantys DeviceIntroduction Whats in this Section? Product ConfigurationCharacteristics of an EDS File Existing EDS File for CANopen Advantys FTB Splitter Box EDS FileType of splitter box EDS file name Image name Introduction Creating a New EDS and DCF Configuration File Creating a New EDS and DCF Configuration FileBuilding the Island New island window appearsIsland Configuration Follow the steps below Network ConfigurationSetting the Network Parameters Configuration of the network that has been drawnSelect the file to be imported and click on Open Steps109 Master Configuring the PDOsOtherwise, go directly to step 112 401 Device type Step Action Click on Object ConfigurationPLC Programming Integration and Use under PL7 Configuration Follow the steps belowTSX 57353 Rack 0 Position Channel CANopen bus configuration Steps Actions Click on the Bus Configuration buttonTSX 57353 Rack 0 Position SDO Request from the Debug Screen119 Variable Type Description Parameter updateExamples of SDO Requests Programmed SDO Request ExampleEndif 122 LED display or DiagnosticsOperations Analysis is done either byDescription LED status Power Supply DiagnosticsERR LED Field Bus Status Diagnostics LEDDisplay On the left Plastic unit, on the right Metal unitLED Behavior LED Status Diagnostics for I/OStatus LED for I/ Os on the M12 Connectors LED Behavior according to Settings and Channel StatusByte CANopen Objects DiagnosticsStructure Via the network see table structure belowEmcy bytes Error CodesTable below lists the error codes and their meanings Error Diagnostics Description CodeBit Description Comments Short-circuit / overload Power Supply for Splitter Boxes and Sensors ActuatorsObject Dictionary 132 Index Zone Function Documentation Index Ranges There are three zones in the object dictionaryObjects of the Communication Profile 1000H to 1FFFH Decimal code Object 1000H Device TypeBit Valid if bit = Splitter boxBit Meaning Comments Object 1001H Error RegisterFollowing faults can be displayed Corresponding bit is therefore activatedAssignment of Bits Object 1002H Manufacturer Status RegisterCharacteristics Object 1003H Pre-defined Error FieldError Code Error Diagnostics Meaning CodeMeanings 80H Yes Sub-index Description Data type Default AccessObject 1005H COB-ID Sync Message Backed up Value MappingValue Mapping When the first Sync signal is receivedObject 1006H Communication Cycle Period Must be a double wordThis object contains the device name Default value depends on the splitter box referenceSplitter box references Default values Object 1008H Manufacturer Device NameObject 100AH Manufacturer Software Version MSV Object 100CH Guard Time Life-Time Object 100DH Life Time FactorObject 1010H Store Parameters Written to the corresponding sub-indexRead result of a sub-index is always 0000 0001H Bit 32 to Back-up Behavior Storage FunctionObject 1011H Restore Default Parameters Restoration Behavior This object contains the Emcy emergency message identifier Object 1014H COB-ID Emergency Message EmcyBit 31 to 23 to 15 to ContentObject 1016H Consumer Heartbeat Time VariableIs written in this object the Heartbeat mechanism is used Sub-index Description Data type Default value AccessObject 1017H Producer Heartbeat Time Produce the Hearbeat messageDefault Value Object 1018H Identity ObjectSub-index Object 1200H Server SDO Parameter Mode Sub Description Data type Default value AccesObject 1400H 1st Receive PDO Communication Parameter This object contains the receive PDO identifierObject 1405H 2nd Receive PDO Communication Parameter Bits 31 to 16 MSB 15 to To 0 LSB Object 1600H 1st Receive PDO Mapping ParameterProduct references Sub-index Default value Object 1605H 2nd Receive PDO Mapping Parameter FTB 1CN08E08SP0 FTB 1CN12E04SP0 Object 1800H 1st Transmit PDO Communication Parameter Bit No Value Meaning COB-IDValue Inhibit Time in ms Value Event Timer in msThis object contains the Transmit PDO identifier Object 1805H 2nd Transmit PDO Communication Parameter165 If there is no change to data Object 1A00H 1st Transmit PDO Mapping Parameter Data FieldBits 31 to 15 to FTB 1CN08E08CM0 FTB 1CN12E04SP0 Object 1A05H 2nd Transmit PDO Mapping Parameter FTB 1CN16E0 3000 0108H 3000 0208H Manufacturer-specific Zone Objects 2000H to 5FFFH Sub-index bit value Diagnostics input functionFunction Input channel is configured by the 2001H object Object 2000H Input / Diag ParameterObject 2001H Input/Output Parameter Box Object 3000H Manufacturer Specific DiagnosticHardware Profile Objects 6000H to 9FFFH Object 6000H Read Inputs 8 Bits Meaning of each bit is given in the following tableBit No Sub-index Bit No Sub Description Data type Default value AccessObject 6100H Read Input 16 Bits Backed up Index MappingValue Input type Sub Description Data type Default AccessObject 6102H Polarity Input This object is used to define the polarity of inputsObject 6103H Filter Constant Input 16 Bits This object is used to configure the mask for inputsThis object is used to command outputs per byte Sub Description Data type Default value Access PDO MappingObject 6200H Write Outputs 8 Bits Object 6300H Write Outputs 16 Bits This object is used to command the state of discrete outputsValue Output type Object 6302H Polarity Outputs 16 BitsThis object is used to define the polarity of an output PolarityObject 6306HFallback Mode 16 Bits Before error occurrence maintain modeValue State of value Object 6307H Fallback Value 16 Bits Value Output value in the event of a faultObject 6308H Filter Mask Output 16 Bits This object is used to configure the mask for outputs186 Chapter Chapter Name IEC Symbols 189 AppendicesIntroduction Whats in this Appendix? 188 IEC Symbols Glossary of SymbolsDescribing wiring schematics Symbols CMS GlossaryCAL CanDIN CSMA/CADBT DesinaLMT IECISO LEDSDO NMT OSI PDO PLCString Ascii character string SyncSynchronization object 196 EDS Index198