Compact IO Modules (M8) for CANopen

Transcription

1 User s Manual Compact IO Modules (M8) for CApen BradControl from Woodhead Release April 2008 IP 67 CApen IO Bloc i

2 Although every effort has been made to ensure the accuracy of this document, all information is subject to change without notice. Woodhead L.P. takes no liability for any errors in this document or for direct, indirect, or consequential damage resulting from the use of this manual. Copyright tice Adresse a changer info@woodhead.com IP 67 CApen IO Bloc ii

3 Table of contents 1. General Introduction Hardware Characteristics...5 Mechanical Characteristics...6 Pin assignment...8 Baudrate assignment...9 Led assignment...10 Net Led assignment...11 Mod Led assignment...11 IO assignment Configuration...13 EDS file...13 de Id Address...13 CApen Objects description...14 Table of Objects...14 IO Mapping...38 Define a new IO configuration Pin assignment Appendix 1 : Classic Pin assignment...41 IP 67 CApen IO Bloc iii

4 1. General - Introduction IP67 Compact Block modules are robust CApen stations, for harsh environment, providing connectivity to you sensors/actuators through CApen network. The compact design allows space saving for direct machine mount application, with M8 connectors. Various combinations are possible with this format: - 8 Inputs - 8 Outputs - 4 Inputs / 4 Outputs - 6 Inputs / 2 Outputs. - 8 Universal & user configurable Input/output channels For each combination, the inputs format can be specified as NPN or PNP (see Part numbers). Part Numbers Table Part Number TBDCO-880P-804 TBDCO-862P-804 TBDCO-844P-804 TBDCO-808P-804 TBDCO-880N-804 TBDCO-862N-804 TBDCO-844N-804 TBDCO-8YYX-804 Product 8 inputs PNP 6 inputs PNP, 2 outputs sourcing 4 inputs PNP, 4 outputs sourcing 8 outputs sourcing 8 inputs NPN 6 inputs NPN, 2 outputs sourcing 4 inputs NPN, 4 outputs sourcing 8 Universal or User configurable input / output channels IP 67 CApen IO Bloc 4

5 2. Hardware Characteristics Technical Data 8I PNP 4I PNP, 4O 6I PNP, 2O 8 O Number of Inputs Number of Outputs CApen Input connector M12 (male) M12 (male) M12 (male) M12 (male) CApen Output connector M12 (female) M12 (female) M12 (female) M12 (female) IO Connector M8 (female) M8 (female) M8 (female) M8 (female) minal Voltage for Bus Power (L1) 24 VDC (13 28V) 24 VDC (13 28V) 24 VDC (13 28V) 24 VDC (13 28V) minal Voltage for Auxilliary power (L2) NA 24 VDC (13 28V) 24 VDC (13 28V) 24 VDC (13 28V) Output Current NA 2 A / channel = 4A Switching frequency NA 300 Hz 300 Hz 300 Hz Output type NA PNP PNP PNP Input Signal voltage ( 0 ) < 5V < 5V < 5V NA Input Signal voltage ( 1 ) 10V 28V 10V 28V 10V 28V NA Input filter 2.5 ms 2.5 ms 2.5 ms NA Input short circuit 600mA 600mA 600mA NA Input Type PNP PNP PNP PNP Operating temperature -20 c +70 c -20 c +70 c - 20 c +70 c -20 c +70 c Storage temperature -25 c +90 c -25 c +90 c -25 c +90 c -25 c +90 c Vibration resistance IEC IEC IEC IEC EMC EN EN EN EN MTBF h h h h Technical Data 8I NPN 4I NPN, 4O 6I NPN, 2O Universal Number of Inputs Configurable (Max 8) Number of Outputs Configurable (Max 8) CApen Input connector M12 (male) M12 (male) M12 (male) M12 (male) CApen Output connector M12 (female) M12 (female) M12 (female) M12 (female) IO Connector M8 (female) M8 (female) M8 (female) M8 (female) minal Voltage for Bus Power (L1) 24 VDC (13 28V) 24 VDC (13 28V) 24 VDC (13 28V) 24 VDC (13 28V) minal Voltage for Auxilliary power (L2) NA 24 VDC (13 28V) 24 VDC (13 28V) 24 VDC (13 28V) Output Current NA 2 A / channel = 4A Switching frequency NA 300 Hz 300 Hz Configurable Output type NA PNP PNP PNP Input Signal voltage ( 0 ) < 5V < 5V < 5V < 5V Input Signal voltage ( 1 ) 10V 28V 10V 28V 10V 28V 10V 28V Input filter 2.5 ms 2.5 ms 2.5 ms Configurable Input short circuit 600mA 600mA 600mA 600mA Input Type NPN NPN NPN Configurable (NPN or PNP) Operating temperature -20 c +70 c -20 c +70 c - 20 c +70 c -20 c +70 c Storage temperature -25 c +90 c -25 c +90 c -25 c +90 c -25 c +90 c Vibration resistance IEC IEC IEC IEC EMC EN EN EN EN MTBF h h h h IP 67 CApen IO Bloc 5

6 Mechanical Characteristics Cable Orientation The orientation of the different cable is shown on the picture below. IP 67 CApen IO Bloc 6

7 Size and dimensions IP 67 CApen IO Bloc 7

8 Pin assignment CAN connectors ( M12) Female receptacle Male receptacle I/O connectors (M8) IP 67 CApen IO Bloc 8

9 Baudrate assignment Properties Specify with the dip switch placed into the window box allow to fix the baudrate on the CAN network. Requirements A change of Baudrate is only valid after the Brad Control module has been powered up (power ON). Baudrate Dip 1 Dip 2 Dip 3 Dip 4 Baudrate OFF OFF OFF OFF 20 k ON OFF OFF OFF 50 k OFF ON OFF OFF 100 k ON ON OFF OFF 125 k OFF OFF ON OFF 250 k ON OFF ON OFF 500 k OFF ON ON OFF 800 k ON ON ON OFF 1000 k (Factory Value) OFF OFF OFF ON See below the dip switch position. IP 67 CApen IO Bloc 9

10 Led assignment Net Led See net led assignment Mod Led See mod led assignment Channel LED Operating Overload or short circuit Auxilliary power Operating Bus power Operating IP 67 CApen IO Bloc 10

11 Net Led assignment Net Led Green The block is in OPERATIONAL state. Single Flash (Red) The block is in STOP state. Blinking The block is in PRE-OPERATIONAL state. Mod Led assignment Mod Led Green The block is in working condition. Single Flash (Red) At least one of error counters of the CAN controller has reached or exceeded the warning limit. Double Flash (Red) An error NMT guarding event has occurred. Triple Flash (Red) The Sync message has not been received in the communication period time out. IP 67 CApen IO Bloc 11

12 IO assignment 8 Out 8 In 4In / 4Out 6In / 2Out Out 1 In 1 In 1 In 1 Out 2 In 2 In 2 In 2 Out 3 In 3 In 3 In 3 Out 4 In 4 In 4 In 4 Out 5 In 5 Out 1 In 5 Out 6 In 6 Out 2 In 6 Out 7 In 7 Out 3 Out 1 Out 8 In 8 Out 4 Out 2 IP 67 CApen IO Bloc 12

13 3. Configuration EDS file Configure the Brad Control IP67 station via the EDS file. In this EDS file, the Brad Control device is implemented as standard slave in your system. You can download the EDS files under the Internet URL http// EDS filename for Bard control M12 30mm devices: Eds File TBDCO-880P-804.eds TBDCO-862P-804.eds TBDCO-844P-804.eds TBDCO-808P-804.eds TBDCO-880N-804.eds TBDCO-862N-804.eds TBDCO-844N-804.eds TBDCO-8YYX-804.eds Product 8 inputs PNP 6 inputs PNP, 2 outputs sourcing 4 inputs PNP, 4 outputs sourcing 8 outputs sourcing 8 inputs NPN 6 inputs NPN, 2 outputs sourcing 4 inputs NPN, 4 outputs sourcing 8 Universal or User configurable input / output channels de Id Address Properties Specify the de Id address under which the Brad Control station is accessed on CApen. Requirements The de Id address for Brad Control is set via rotary switches All de Id addresses must be unique. A change of de Id address is only valid after the Brad Control station has been powered up (power ON). The station number cannot exceed 100 (*) Ex : Station 39 X 10 X 1 - (*) If the rotary value is equal to 0 then the node Id value is 100. IP 67 CApen IO Bloc 13

14 CApen Objects description Communication Segment Manufacturer specific Segment Device Profile Segment Table of Objects Device Type Error Register Pre-defined Error Field COB-ID SYNC Manufacturer Device Manufacturer Hardware Version 100A - Manufacturer Software Version 100C - Guard Time 100D - Life Time Factor COB-ID EMCY Inhibit Time Emergency Identity Object Server SDO Parameter Receive PDO Communication Parameter Receive Parameter Transmit PDO Communication Parameter 1 1A00 - T Parameter IO_Save_Configuration IO_Configuration_Type IO_Behavior IO_STATUS Read State 8 Input Lines Polarity 8 Input Lines Filter Constant 8 Input Lines Enable Digital Input Interrupts Input Interrupt Mask 8 - any change Write State 8 Output Lines Polarity 8 Output Lines IP 67 CApen IO Bloc 14

15 Communication Segment Object 1000h: Device Type The device type specifies the kind of device. The lower 16 bit contains the device profile number and the upper 16 bit additional information. Object INDEX 1000 Entry Device Type Variable UNSIGNED32 CONST FFFFFF Object 1001h: Error Register The error register is a field of 8 bits, each for a certain error type. If an error occurs the bit has to be set. Bit Meaning 0 generic error 1 current 2 voltage 3 temperature 4 communication error (overrun, error state) 5 device profile specific 6 reserved 7 manufacturer specific Object Entry INDEX 1001 Error Register Variable RO IP 67 CApen IO Bloc 15

16 Object 1003h: Pre-defined Error Field This object holds errors that have occurred on the device and have been signalled via Emergency Object. It is an error history. Writing to sub index 0 deletes the entire error history. Object INDEX 1003 Entry Pre-defined Error Field Array Sub-Index 000 UNSIGNED32 Number of Errors Sub-Index FE Standard Error Field UNSIGNED32 RO FFFFFF IP 67 CApen IO Bloc 16

17 Object 1005h: COB-ID SYNC COB-ID of the Synchronization object. The device generates a SYNC message if bit 30 is set. The meaning of other bits is equal to the other communication objects. Object INDEX 1005 Entry COB-ID SYNC Variable UNSIGNED32 0x FFFFFF Object 1008h: Manufacturer Device Contains the device name. Object Entry INDEX Manufacturer Device Variable VISIBLE_STRING CONST Brad_M8_CApen Object 1009h: Manufacturer Hardware Version Contains the device hardware version. Object INDEX 1009 Entry Manufacturer Hardware Version Variable VISIBLE_STRING CONST IP 67 CApen IO Bloc 17

18 Object 100Ah: Manufacturer Software Version Contains the device software version. Object INDEX Entry 100A Manufacturer Software Version Variable VISIBLE_STRING CONST Object 100Ch: Guard Time This entry contains the guard time in milliseconds. It is 0, if not used. Object INDEX Entry Unit 100C Guard Time Variable UNSIGNED x0 FF ms IP 67 CApen IO Bloc 18

19 Object 100Dh: Life Time Factor The life time factor multiplied with the guard time gives the life time for the device. It is 0, if not used. Object Entry INDEX 100D Life Time Factor Variable x0 Object 1014h: COB-ID EMCY COB-ID used for emergency message (Emergency Server). Object INDEX 1014 Entry COB-ID EMCY Variable UNSIGNED32 RO FFFFFF Object 1015h: Inhibit Time Emergency Inhibit Time used for emergency message (Emergency Server). The time has to be a multiple of 100 msec. Object Entry INDEX 1015 Inhibit Time Emergency Variable UNSIGNED x0 FF IP 67 CApen IO Bloc 19

20 Object 1018h: Identity Object This object contains general information about the device. Sub-Index 1 contains a unique value allocated each manufacturer. Sub-Index 2 identifies the manufacturer specific product code (device version). Sub-Index 3 contains the revision number. Bit is the major revision number and Bit 15-0 the minor revision number. Sub-Index 4 identified a manufacturer specific serial number. Object Entry INDEX 1018 Identity Object Record IDENTITY Sub-Index 000 number of entries RO 0x4 0x1 0x4 Sub-Index 001 Vendor Id UNSIGNED32 RO 0x20 0x0 FFFFFF Sub-Index 002 Product Code UNSIGNED32 RO Depend on IO Part Number 0x0 FFFFFF Sub-Index 003 Revision number UNSIGNED32 RO IP 67 CApen IO Bloc 20

21 x0 FFFFFF Sub-Index 004 Serial number UNSIGNED32 RO 0x1234 0x0 FFFFFF IP 67 CApen IO Bloc 21

22 Object 1200h: Server SDO Parameter 1 The object contains the parameters for the SDOs for which the device is the server. Object Entry INDEX 1200 Server SDO Parameter 1 Record Sub-Index SDO_PARAMETER Number of Entries RO 0x02 0x02 Sub-Index 001 COB-ID Client -> Server UNSIGNED32 RO xBFFFFFFF Sub-Index 002 COB-ID Server -> Client UNSIGNED32 RO xBFFFFFFF IP 67 CApen IO Bloc 22

23 Object 1400h: Receive PDO Communication Parameter 1 It contains the communication parameters of the current PDO the device is able to receive. Sub-index 0 contains the number of PDO-parameters implemented. Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled. The transmission mode is defined by sub-index 2. An inhibit time can be defined on sub-index 3 in 100 us. At the 5th sub-index can be defined a event time for asynchron pdos. Object INDEX 1400 Entry Receive PDO Communication Parameter 1 Record Sub-Index 000 PDO_COMM_PAR Number of Entries RO 0x02 0x02 0x05 Sub-Index 001 COB-ID UNSIGNED FFFFFF Sub-Index 002 Transmission Type IP 67 CApen IO Bloc 23

24 Object 1600h: Receive Parameter 1 The sub-indices contain the indices, the sub-indices and the lengths of the mapped sub-indices. Their structure is as follows: index (16bit) sub-index (8bit) length (8bit) Object INDEX 1600 Entry Receive Parameter 1 Record Sub-Index 000 PDO_MAPPING Number of Entries 0x1 0x0 0x40 Sub-Index 001- Mapping Entry 1 UNSIGNED32 Sub-Index x x0 FFFFFF Mapping Entry 2-8 UNSIGNED x0 FFFFFF IP 67 CApen IO Bloc 24

25 Object 1800h: Transmit PDO Communication Parameter 1 It contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0 contains the number of PDO-parameters implemented. Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled. The transmission mode is defined by sub-index 2. An inhibit time can be defined on sub-index 3 in 100 us. At the 5th sub-index can be defined a event time for asynchron pdos. Object INDEX 1800 Entry Sub-Index 000 Transmit PDO Communication Parameter 1 Record PDO_COMM_PAR Number of Entries RO 0x02 0x02 0x06 Sub-Index 001 COB-ID UNSIGNED32 Sub-Index FFFFFF Transmission Type IP 67 CApen IO Bloc 25

26 Object 1A00h: T Parameter 1 Contains the mapping for the PDOs the device is able to transmit. The type of the PDO mapping parameter is at index 21h. The sub-index 0h contains the number of valid entries within the mapping record. This number of entries is also the number of the application variables which shall be transmitted with the corresponding PDO. The sub-index from 1h to number of entries contain the information about the mapped application variables. These entries describe the PDO contents by their index, subindex and length. All three values are hexadecimal coded. The length entry contains the length of the object in bits (1..40h). This parameter can be used to verify the overall mapping length. It is mandatory. Object Entry INDEX 1A00 T Parameter 1 Record PDO_MAPPING Sub-Index 000 Number of Entries 0x2 0x0 Sub-Index 001 Mapping Entry 1 UNSIGNED32 Sub-Index 002 0x FFFFFF Mapping Entry 2 UNSIGNED32 0x Sub-Index FFFFFF IP 67 CApen IO Bloc 26

27 Mapping Entry 3-8 UNSIGNED FFFFFF IP 67 CApen IO Bloc 27

28 Manufacturer Segment Object 2400h: IO_Save_Configuration Write 1 in this object to save a new IO configuration in flash. To write in this object, the module has to be in PRE-OPERATIONAL state. Only the TBDCO-8YYX-804 part number reference has a Write access in this object. Object Entry INDEX 2400 IO_Save_Configuration Variable IP 67 CApen IO Bloc 28

29 Object 2500h: IO_Configuration_Type It contains the parameters to configure each IO Pin in input, output or universal. The sub-index 1 to 8 allow to configure the IO pin. 0 means input. 1 means output. 1 means Universal. To write in this object, the module has to be in PRE-OPERATIONAL state. Only the TBDCO-8YYX-804 part number reference has a Write access in this object. The others parts numbers have a Read-Only object. Object Entry INDEX 2500 IO_Configuration_Type Array Sub-Index 000 Number of Entries 0x08 Sub-Index Configuration_Port1-8 Depend on IO Part Number IP 67 CApen IO Bloc 29

30 Object 2600h: IO_Behavior It contains the parameters to configure the IO Pin behavior. The sub-index 1 configures all inputs in pnp or npn mode. 0: PNP. 1: NPN. The sub-index 2 configures the input filter. 0: no filter. 1: 1 ms. 2: 2.5 ms. 3: 5 ms. To write in this object, the module has to be in PRE-OPERATIONAL state. Only the TBDCO-8YYX-804 part number reference can write in this object. The others parts numbers can just read the object. Object INDEX 2600 Entry IO_Behavior Array Sub-Index 000 Number of Entries 0x02 Sub-Index 001 PNP_NPN_Mode Depend on IO Part Number Sub-Index 002 Input_Filter 0x03 Depend on IO Part Number IP 67 CApen IO Bloc 30

31 Object 2700h: IO_STATUS It informs on the short circuit and the overload of each IO pin. IO Pin 1 IO Pin 2 IO Pin 3 IO Pin 4 IO Pin 5 IO Pin 6 IO Pin 7 IO Pin 8 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 0 : short circuit or overload 1 : Short circuit or overload on the IO pin. An emergency voltage message is sent when a short circuit is occurred. The first byte data of this message informs which IO pin are is in short-circuit or overload. Object Entry INDEX 2700 IO_STATUS Variable RO Yes IP 67 CApen IO Bloc 31

32 Device Profile Segment Object 6000h: Read State 8 Input Lines Reads a group of 8 input lines as a byte of information. Object INDEX 6000 Entry Read State 8 Input Lines Array Sub-Index 000 Number of Elements RO 1 0x01 Sub-Index 001 digital Inputs 1-8 RO Yes IP 67 CApen IO Bloc 32

33 Object 6002h: Polarity 8 Input Lines Defines the polarity of a group of 8 input lines. Object Entry INDEX 6002 Sub-Index 000 Polarity 8 Input Lines Array Number of Elements RO 0x1 0x01 Sub-Index 001 Polarity for digital Inputs 1-8 IP 67 CApen IO Bloc 33

34 Object 6003h: Filter Constant 8 Input Lines Filter constant for input modules. This defines that an additional configurable filter constant can be enabled or disabled. This behavior of this object is not implemented, it s reserved for future use. Object Entry INDEX 6003 Filter Constant 8 Input Lines Array Sub-Index 000 Number of Elements RO 0x2 0x01 0xFE Sub-Index 001 Enable Filter for digital Inputs 1-8 0x0 0 Sub-Index 002 Enable Filter for digital Inputs x0 0 IP 67 CApen IO Bloc 34

35 Object 6005h: Enable Digital Input Interrupts Globally enable or disable input interrupts. Object INDEX 6005 Entry Enable Digital Input Interrupts Variable BOOLEAN 1 0x0 0x1 Object 6006h: Input Interrupt Mask 8 - any change Determines which input port lines activate an interrupt. Done for groups of 8 lines and for any change of a digital input line. By default, every input activates an interrupt. Object INDEX 6006 Entry Sub-Index 000 Input Interrupt Mask 8 - any change Array Number of Elements RO 0x2 0x01 0xFE Sub-Index 001 Input Interrupt Mask any change for digital Inputs 1-8 Sub-Index 002 Input Interrupt Mask any IP 67 CApen IO Bloc 35

36 change for digital Inputs 9-16 Object 6200h: Write State 8 Output Lines Sets a group of 8 output lines as a byte of information. Object Entry INDEX 6200 Write State 8 Output Lines Array Sub-Index 000 Number of Elements RO 1 0x01 Sub-Index 001 digital Outputs 1-8 W Yes IP 67 CApen IO Bloc 36

37 Object 6202h: Polarity 8 Output Lines Defines the polarity of a group of 8 output lines. Object Entry INDEX 6202 Sub-Index Polarity 8 Output Lines Array Number of Elements RO 0x01 Sub-Index 001 Polarity for digital Outputs 1-8 Unit IP 67 CApen IO Bloc 37

38 IO Mapping The inputs and output are mapped respectively in the object 6000h and 6200h. NOTE: The universal configuration type (define a Pin as an Input AND an Output) allows the user to not define a specific behavior of the I/O pin. You can then connect a sensor (PNP) or an actuator. Each pin defined as an IN/OUT, appears in both process image (input and output). 1 If the pin is used for an actuator, the output state is mirrored in the corresponding Input bit in the Input Process image. 2 If the pin is used with a sensor, do not write in the corresponding output bit of the process image, as it can conflict with the current state of the sensor. Mapping Detail for object 6000h One bit is reserved by Pin. If the IO pin is configured as input then the input value is read. If the IO pin is configured as output then the output mirror value is read. Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7 PORT Mapping Detail for object 6200h One bit is reserved by Pin. If the IO pin is configured as output then the value written drive the IO pin. If the IO pin is configured as input then there is no effect on the IO pin. te: If a Pin is configured as an universal, no protection are defined and a conflict can occur if you write in the corresponding bit, in case of using a sensor. Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7 PORT IP 67 CApen IO Bloc 38

39 Define a new IO configuration Pin assignment The module offers the possibility to change each IO pin as Input, Output or Universal. This functionality is available only for the part number TBDCO-8YYX-804. For others parts numbers, it s just possible to read the information contained into the 2500h & 2600 in order to know the IO configuration if need it. Set the Module in PRE-OPERATIONNAL State. (In using the NMT command) Change IO configuration by writing Into the object 2500h Change IO behavior by writing Into the object 2600h Save IO configuration by writing Into the object 2400h Set the Module in OPERATIONNAL Mode (In using the NMT command) IP 67 CApen IO Bloc 39

40 At the power up, the module is configured with default PDO mapping. One TPDO is configured with the Input and status and one RPDO is configured to receive the output value. This configuration is always the same for all reference even if 8 outputs are configured then 8 inputs will be mapped. In this case, inputs are mirror of outputs. See below a mapping sample: TPDO COBID: Value = 0x180 + deid RPDO COBID: Value = 0x200 + deid IP 67 CApen IO Bloc 40

41 Appendix 1 : Classic Pin assignment See below, others classics pin assignment used. 9-Pin D-SUB M23 connector IP 67 CApen IO Bloc 41

42 Open style connector IP 67 CApen IO Bloc 42