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Schneider Electric IP67 manual CANopen Boot-Up, NMT Network Management Telegram

Models: IP67

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CANopen Network Interface

CANopen "Boot-Up"

Procedure for The minimum configuration of the equipment specifies a shortened boot procedure.

"Boot-Up"This procedure is illustrated in the following diagram:

1

Initialisation

				Reset Application



				Reset Communication



					Init
					2
		7		Pre-Operational							6
							5
							4
				4	3					Stopped		6
				4	3
					3
					5
		7		Operational							6
Legend		7		Operational							6
Legend

Number		Description

1		Device power-up

2		After initialization, the device automatically goes into the PRE-OPERATIONAL
		state

3		NMT service indication: START REMOTE NODE

4		NMT service indication: ENTER PRE-OPERATIONAL

5		NMT service indication: STOP REMOTE NODE

6		NMT service indication: RESET NODE

7		NMT service indication: RESET COMMUNICATION

NMT : Network Management Telegram

1606218 02 08/2006

53

Image 53

Schneider Electric IP67 manual CANopen Boot-Up, NMT Network Management Telegram

Contents

1606218 02 eng 1606218 02 08/2006 Table of Contents Software Tools DiagnosticsApplication-Specific Functions Object Dictionary At a Glance Appendix a IEC SymbolsGlossary of Symbols Important Information Safety InformationProcedure Safety Information At a Glance About the BookTitle of Documentation Reference Number Related DocumentsChapter Subject covered Presentation IntroductionIntroduction Whats in this Chapter?Connectors ConfigurableCANopen Advantys FTBElement Reference Function Overview of the Accessories RangeCables for Connecting the Bus to the Splitter Box Introduction Field bus InstallationOverview Introduction Description Types of Screws Tightening Torques Installing the UnitPlastic Unit Dimensions IllustrationsInstallation Step Action MethodFollow the steps below Grounding of the Advantys FTB Splitter Box Field bus connectorRisk of Unintended Equipment Operation Ground Electrode on Plastic UnitFollow the steps below to connect the ground to the unit Method for Plastic UnitsGround Electrode on Metal Unit Method for Metal Units MountingProduct Compliance e EMC CompatibilityConnection that is as short as possible GroundingInductive Loads ControlInductive loads LoadsInstallation Chapter? Splitter Box Characteristics WiringWhats in this Environment Properties Characteristic Description Reference standardAdvantys FTB Splitter Box Environment Properties Splitter Box Characteristics Electrical CharacteristicsInput Characteristics Output CharacteristicsDescription Characteristics of the Connections Connecting the Actuators and SensorsPins Risk of Equipment Damage and NON-COMPLIANCE with IP67Splitter boxs Inputs, Outputs and diagnostics M12 ConnectorsConnector Pin Number AllocationRisk of Equipment Damage Power Supply ConnectionCalculation Power Supply Cable Cross-Section Assembling Assignment On the PWR in connector Phaseo PowerOn the PWR OUT connector SupplySection Topic CANopen Network InterfaceThis chapter contains the following sections CANopen Network Interface Wiring on the CANopen Bus Description Function See Introduction to Wiring on the CANopen BusNumber Description TopologyArchitecture Parameters Lmax is the maximum length of a tap Tap LengthValues to use are given in the following table Speed Lmax ΣLImax Min. interval ΣLGmax 6xΣL local3 ft ExampleMin interval 0.6 * 7 m 23 ft Min interval 4.2 m 13.8 ft NumberTransmission Choice of system cablesSpeed SpecificRisk of Unintended Equipment Operation Field bus is connected via a 5-pin M12 connector Connecting the Field BusConnection Cable Connector Pin Signal MeaningPin SUB-D Unused M12 connectors must not be left unprotectedSignal Meaning M12 pin Pin M12 Illustration Rotary Switches Configuring the Address and Transmission SpeedData Node Address RateSwitch position Transmission speed Adjustment of the Transmission SpeedThis section contains the following topics General PrinciplesNetwork Physical Layer About CANopenProtocol Certification ProductCommunication Can StandardsOn a CANopen NetworkFunction Function code Resulting COB-ID Binary Hex Dec Device ProfileNMT Network Management Telegram CANopen Boot-UpActive CANopen Reset Application Communication InitObjects Depending onRisk of Unintended Device Operation Pre- Operational StoppedPDO Process Data Object PDO TransmissionFor each PDO ModesChange of state Asynchronous RTR modeSynchronous State modes ChangeReducing traffic on the bus Equipment damageEvent Timer Inhibit Time and Event TimerStatus Event Timer is expressed in milliseconds Inhibit TimeTypes of SDO Producer/ Consumer Model Access to Data by Explicit Exchanges SDONode-Guarding and Life-Guarding Monitoring Protocols Phase Master Back into Pre-Operational modeCan detect a master failure Watchdog functionHeartbeat Heartbeat Error Monitoring ProtocolMechanism MeaningCANopen IP67 splitter and the saving of different parameters Behavior of FTB CANopen Splitter boxesWith the Canopen BOOT-UP see CANopen Boot-Up, p Diagram Behavior at Power-upSwitching to Pre-Operational status CANopen data with the default parametersCommunication error has disappeared Behavior in the Case of Communication ErrorSaving / Restoring Parameters List of Saved Parameters ConfigurationProfile Objects Discrete I/OApplication-Specific Functions List Communication Objects List of ObjectsCommunication objects are listed in the following table ObjectDevice 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 List of FTB List of Advantys FTB 1CN08E08SP0 Splitter Box I/O Objects1CN08E08SPO Following tableOutput 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 1CN16EP0 ListSplitter boxes is given in the following table FTB 1CN16EM0FTB 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 Introduction to Software Tools Device Configuration Network PLC setup and programmingGeneral Premium TwidoInstallation PLC SetupAdvantys Device FilesIntroduction Whats in this Section? Product ConfigurationCharacteristics of an EDS File Type of splitter box EDS file name Image name Existing EDS File for CANopen Advantys FTB Splitter BoxEDS File Introduction Creating a New EDS and DCF Configuration File Creating a New EDS and DCF Configuration FileBuilding the Island New island window appearsIsland Configuration Setting the Network Parameters Network ConfigurationConfiguration of the network that has been drawn Follow the steps belowSelect 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 Examples of SDO Requests Parameter updateProgrammed SDO Request Example Variable Type DescriptionEndif 122 Operations DiagnosticsAnalysis is done either by LED display orDescription LED status Power Supply DiagnosticsDisplay Field Bus Status Diagnostics LEDOn the left Plastic unit, on the right Metal unit ERR LEDStatus LED for I/ Os on the M12 Connectors LED Status Diagnostics for I/OLED Behavior according to Settings and Channel Status LED BehaviorStructure CANopen Objects DiagnosticsVia the network see table structure below ByteTable below lists the error codes and their meanings Error CodesError Diagnostics Description Code Emcy bytesBit 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 Bit Valid if bit = Object 1000H Device TypeSplitter box Decimal codeFollowing faults can be displayed Object 1001H Error RegisterCorresponding bit is therefore activated Bit Meaning CommentsAssignment of Bits Object 1002H Manufacturer Status RegisterCharacteristics Object 1003H Pre-defined Error FieldMeanings Error CodeError Diagnostics Meaning Code Object 1005H COB-ID Sync Message Sub-index Description Data type Default AccessBacked up Value Mapping 80H YesObject 1006H Communication Cycle Period When the first Sync signal is receivedMust be a double word Value MappingSplitter box references Default values Default value depends on the splitter box referenceObject 1008H Manufacturer Device Name This object contains the device nameObject 100AH Manufacturer Software Version MSV Object 100CH Guard Time Life-Time Object 100DH Life Time FactorRead result of a sub-index is always 0000 0001H Object 1010H Store ParametersWritten to the corresponding sub-index 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 EmcyObject 1016H Consumer Heartbeat Time ContentVariable Bit 31 to 23 to 15 toObject 1017H Producer Heartbeat Time Sub-index Description Data type Default value AccessProduce the Hearbeat message Is written in this object the Heartbeat mechanism is usedSub-index Default ValueObject 1018H Identity Object Object 1200H Server SDO Parameter Object 1400H 1st Receive PDO Communication Parameter Sub Description Data type Default value AccesThis object contains the receive PDO identifier ModeObject 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 Bits 31 to 15 to Object 1A00H 1st Transmit PDO Mapping ParameterData Field FTB 1CN08E08CM0 FTB 1CN12E04SP0 Object 1A05H 2nd Transmit PDO Mapping Parameter FTB 1CN16E0 3000 0108H 3000 0208H Manufacturer-specific Zone Objects 2000H to 5FFFH Function Input channel is configured by the 2001H object Diagnostics input functionObject 2000H Input / Diag Parameter Sub-index bit valueObject 2001H Input/Output Parameter Box Object 3000H Manufacturer Specific DiagnosticHardware Profile Objects 6000H to 9FFFH Bit No Sub-index Object 6000H Read Inputs 8 BitsMeaning of each bit is given in the following table Object 6100H Read Input 16 Bits Sub Description Data type Default value AccessBacked up Index Mapping Bit NoObject 6102H Polarity Input Sub Description Data type Default AccessThis object is used to define the polarity of inputs Value Input typeObject 6103H Filter Constant Input 16 Bits This object is used to configure the mask for inputsObject 6200H Write Outputs 8 Bits This object is used to command outputs per byteSub Description Data type Default value Access PDO Mapping Object 6300H Write Outputs 16 Bits This object is used to command the state of discrete outputsThis object is used to define the polarity of an output Object 6302H Polarity Outputs 16 BitsPolarity Value Output typeValue State of value Object 6306HFallback Mode 16 BitsBefore error occurrence maintain mode 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 Introduction Whats in this Appendix? Chapter Chapter Name IEC Symbols 189Appendices 188 Describing wiring schematics IEC SymbolsGlossary of Symbols Symbols CAL GlossaryCan CMSDBT CSMA/CADesina DINISO IECLED LMTSDO NMT OSI PDO PLCSynchronization object String Ascii character stringSync 196 EDS Index198