Can Standards, Communication, Network | Schneider Electric IP67

	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 Book Related Documents Chapter Subject coveredTitle of Documentation Reference Number Whats in this Chapter? IntroductionPresentation Introduction Advantys FTB ConfigurableConnectors CANopen Overview of the Accessories Range Cables for Connecting the Bus to the Splitter BoxElement Reference Function Introduction Field bus Installation Overview Introduction Description Types of Screws Tightening Torques Installing the Unit Plastic Unit Dimensions Illustrations Installation Method Follow the steps belowStep Action Ground Electrode on Plastic Unit Field bus connectorGrounding of the Advantys FTB Splitter Box Risk of Unintended Equipment Operation Mounting Method for Plastic UnitsFollow the steps below to connect the ground to the unit Ground Electrode on Metal Unit Method for Metal Units Product Compliance e EMC Compatibility Connection that is as short as possible Grounding Loads ControlInductive Loads Inductive loads Installation 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 Characteristics Risk of Equipment Damage and NON-COMPLIANCE with IP67 Connecting the Actuators and SensorsDescription Characteristics of the Connections Pins Allocation M12 ConnectorsSplitter boxs Inputs, Outputs and diagnostics Connector Pin Number Power Supply Connection Calculation Power Supply Cable Cross-Section AssemblingRisk of Equipment Damage Assignment Supply Phaseo PowerOn the PWR in connector On the PWR OUT connector CANopen 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 Bus Topology 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 table Number Example3 ft Min interval 0.6 * 7 m 23 ft Min interval 4.2 m 13.8 ft Specific Choice of system cablesTransmission Speed Risk of Unintended Equipment Operation Pin Signal Meaning Connecting the Field BusField bus is connected via a 5-pin M12 connector Connection Cable Connector Unused 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 Address Switch position Transmission speed Adjustment of the Transmission Speed General Principles NetworkThis section contains the following topics About CANopen ProtocolPhysical Layer Certification Product Network Can StandardsCommunication On a CANopen Function Function code Resulting COB-ID Binary Hex Dec Device Profile NMT Network Management Telegram CANopen Boot-Up Depending on Reset Application Communication InitActive CANopen Objects Risk of Unintended Device Operation Pre- Operational Stopped Modes Process Data Object PDO TransmissionPDO For each PDO Change of state RTR mode SynchronousAsynchronous Equipment damage ChangeState modes Reducing traffic on the bus Inhibit Time Inhibit Time and Event TimerEvent Timer Status Event Timer is expressed in milliseconds Types of SDO Producer/ Consumer Model Access to Data by Explicit Exchanges SDO Node-Guarding and Life-Guarding Monitoring Protocols Phase Watchdog function Back into Pre-Operational modeMaster Can detect a master failure Meaning Heartbeat Error Monitoring ProtocolHeartbeat Mechanism CANopen IP67 splitter and the saving of different parameters Behavior of FTB CANopen Splitter boxes CANopen data with the default parameters Behavior at Power-upWith the Canopen BOOT-UP see CANopen Boot-Up, p Diagram Switching to Pre-Operational status Communication error has disappeared Behavior in the Case of Communication Error Saving / Restoring Parameters Discrete I/O ConfigurationList of Saved Parameters Profile Objects Application-Specific Functions Object List of ObjectsList Communication Objects Communication objects are listed in the following table Device 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/Os Channel Configured for Discrete Input Following table List of Advantys FTB 1CN08E08SP0 Splitter Box I/O ObjectsList of FTB 1CN08E08SPO Output Objects 1CN08E08SP0 Object Sub Bit Description Index 1CN12E04SP0 List of Advantys FTB 1CN12E04SP0 Splitter Box I/O Objects Object Sub Bit Description Index Application-Specific Functions Object Sub Bit Description Index FTB 1CN16EM0 ListFTB 1CN16EP0 Splitter boxes is given in the following table FTB 1CN16EP0 FTB 1CN16EM0 Object Sub-index Bit Description Table below presents the mapping of object 2001H FTB 1CN16CM0 FTB 1CN16CP0 Not 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 General Files PLC SetupInstallation Advantys Device Introduction Whats in this Section? Product Configuration Characteristics 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 File Building the Island New island window appears Island Configuration Follow the steps below Network ConfigurationSetting the Network Parameters Configuration of the network that has been drawn Select the file to be imported and click on Open Steps 109 Master Configuring the PDOs Otherwise, go directly to step 112 401 Device type Step Action Click on Object Configuration PLC Programming Integration and Use under PL7 Configuration Follow the steps below TSX 57353 Rack 0 Position Channel CANopen bus configuration Steps Actions Click on the Bus Configuration button TSX 57353 Rack 0 Position SDO Request from the Debug Screen 119 Variable Type Description Parameter updateExamples of SDO Requests Programmed SDO Request Example Endif 122 LED display or DiagnosticsOperations Analysis is done either by Description LED status Power Supply Diagnostics ERR LED Field Bus Status Diagnostics LEDDisplay On the left Plastic unit, on the right Metal unit LED Behavior LED Status Diagnostics for I/OStatus LED for I/ Os on the M12 Connectors LED Behavior according to Settings and Channel Status Byte CANopen Objects DiagnosticsStructure Via the network see table structure below Emcy bytes Error CodesTable below lists the error codes and their meanings Error Diagnostics Description Code Bit Description Comments Short-circuit / overload Power Supply for Splitter Boxes and Sensors Actuators Object Dictionary 132 Index Zone Function Documentation Index Ranges There are three zones in the object dictionary Objects of the Communication Profile 1000H to 1FFFH Decimal code Object 1000H Device TypeBit Valid if bit = Splitter box Bit Meaning Comments Object 1001H Error RegisterFollowing faults can be displayed Corresponding bit is therefore activated Assignment of Bits Object 1002H Manufacturer Status Register Characteristics Object 1003H Pre-defined Error Field Error Code Error Diagnostics Meaning CodeMeanings 80H Yes Sub-index Description Data type Default AccessObject 1005H COB-ID Sync Message Backed up Value Mapping Value Mapping When the first Sync signal is receivedObject 1006H Communication Cycle Period Must be a double word This object contains the device name Default value depends on the splitter box referenceSplitter box references Default values Object 1008H Manufacturer Device Name Object 100AH Manufacturer Software Version MSV Object 100CH Guard Time Life-Time Object 100DH Life Time Factor Object 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 Function Object 1011H Restore Default Parameters Restoration Behavior This object contains the Emcy emergency message identifier Object 1014H COB-ID Emergency Message Emcy Bit 31 to 23 to 15 to ContentObject 1016H Consumer Heartbeat Time Variable Is written in this object the Heartbeat mechanism is used Sub-index Description Data type Default value AccessObject 1017H Producer Heartbeat Time Produce the Hearbeat message Default 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 identifier Object 1405H 2nd Receive PDO Communication Parameter Bits 31 to 16 MSB 15 to To 0 LSB Object 1600H 1st Receive PDO Mapping Parameter Product 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-ID Value Inhibit Time in ms Value Event Timer in ms This object contains the Transmit PDO identifier Object 1805H 2nd Transmit PDO Communication Parameter 165 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 Parameter Object 2001H Input/Output Parameter Box Object 3000H Manufacturer Specific Diagnostic Hardware 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 Mapping Value Input type Sub Description Data type Default AccessObject 6102H Polarity Input This object is used to define the polarity of inputs Object 6103H Filter Constant Input 16 Bits This object is used to configure the mask for inputs This 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 outputs Value Output type Object 6302H Polarity Outputs 16 BitsThis object is used to define the polarity of an output Polarity Object 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 fault Object 6308H Filter Mask Output 16 Bits This object is used to configure the mask for outputs 186 Chapter Chapter Name IEC Symbols 189 AppendicesIntroduction Whats in this Appendix? 188 IEC Symbols Glossary of SymbolsDescribing wiring schematics Symbols CMS GlossaryCAL Can DIN CSMA/CADBT Desina LMT IECISO LED SDO NMT OSI PDO PLC String Ascii character string SyncSynchronization object 196 EDS Index 198