Handbuch Manual Manuel. Cube67 BN-C. Art.-No

Transcription

1 Handbuch Manual Manuel Cube67 BN-C Art.-No

2 CUBE67 Bus System Manual CANopen Art. No Cube67 BN-C - For use in combination with SW Version Instruction Manual Art. No Version 1.6 Murrelektronik GmbH P.O. Box Oppenweiler Tel Falkenstrasse Oppenweiler Fax Internet :

3 Contents CONTENTS... 2 MANUAL SUPPLEMENTS / CORRECTIONS ABOUT THIS MANUAL Explanations About This Manual SAFETY INSTRUCTIONS Explanation of Symbols Use of Notes Use of Hazard Warnings Use of Numbers in Figures Use of Action Instructions Use of Footnotes Intended Purpose Qualified Personnel CONFIGURATION NOTES CANopen System Data Information for First-Time Users System Lines Description of CAN Bus Line Power Supply Line System Power Supply Electromagnetic Compatibility (EMC) Protection Against Electrostatic Discharge Grounding Cable Routing Power Failures and Dips Separate Power Supplies Interference Suppression of Inductive Loads Don't Let Limitations Limit You INSTALLATION AND WIRING Pin Assignment of 7/8 Power Supply Terminal Pin Assignment of Bus Terminal M12 (A-coded) Pretermination of CANopen Line Connecting a Terminating Resistor STARTUP... 29

4 5.1 EDS Files Assigning and Setting the CANopen Address Setting the Baud Rate Configuration Replaceability of DI Modules by DIO Modules Configuration Example Parameterization Setting Up the Object Folder Communication Profile h : Device Type h : Error Register h : Manufacturer Status Register h : Predefined Error Field h : COB ID SYNC Message h : Communication Cycle Period h : Manufacturer Device Name Ah : Manufacturer Software Version Ch : Guard Time Dh : Life Time Factor h : Store Parameters h : Restore Parameters h : COB ID Emergency Object h : Consumer Heartbeat Time h : Producer Heartbeat Time h : Identity Object h : Module List h : Server SDO Parameter h to 1404h : Receive PDO Configuration h to 1604h : Receive PDO Mapping Parameter h to 1804h : Transmit PDO Configuration A00h to 1A04h : Transmit PDO Mapping Parameter Manufacturer-specific Device Profile Configuration Objects Device-specific Objects Input and Output Objects Mapping of I/O Data Step by Step: Startup Example Mechanical Configuration Configuring the CANopen Network DIAGNOSTICS Diagnostics via EMCY Telegram Format of EMCY Telegram Emergency Error Code Diagnostic Displays on Bus Node Displays for CANopen Status...81

5 6.2.2 Displays of Internal System Connection Displays of the Digital I/O Modules LED Displays of the Digital I/O Modules Relationship between Signal-Logic Representation and LED Response Displays of Analog I/O Modules Bus IN LED Display M12 Sockets LED Diagnostic Display Displays on Power Distributor Displays on Valve DO16/DO8/DO32 and Cable DIO Bus IN LED Display DIAG LED Display Displays on Valve DO16 C K ACCESS TO I/O AND PARAMETER DATA OF I/O MODULES General Signal Delay Cube67 DIO16 C 8xM12 Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DIO16 E 8xM12 Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DI16 C 8xM12 Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Cube67 DI16 E 8xM12 Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Cube67 DO12 E 6xM12 Art. No Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DI16 E 8xM12 NPN Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Cube67 DIO8 C 4xM12 Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DIO8 E 4xM12 Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh

6 Parameter Data - Objects 20XXh Cube67 DI8 C 4xM12 Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Cube67 DI8 E 4xM12 Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Cube67 DI8 E 4xM12 NPN Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Cube67 DIO8 C 8xM8 Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DIO8 E 8xM8 Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DI8 C 8xM8 Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Cube67 DI8 E 8xM8 Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Cube67 DI8 E 8xM8 NPN Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Cube67 DIO8 E 4xM12 1A Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DIO16 C 8xM12 1.6A Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DO16 C Valve K3 Art. No Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DO16 E Valve Art. No Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DO8 E Valve Art. No XX Output Data - Objects 50XXh Parameter Data - Objects 20XXh...135

7 7.24 Cube67 DO32 E Valve Art. No Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DIO8 E Cable Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DIO16 E Cable 0.5A Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DIO8 E M16 0.5A Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DIO8 E Cable M12 ID Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DIO8/DI8 E TB Box Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 DIO8/DI8 E TB Rail Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 AI4 C 4xM12 (U) Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Analog Value Representation Cube67 AI4 E 4xM12 (U) Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Analog Value Representation Cube67 AO4 C 4xM12 (U) Art. No Output Data - Objects 50XXh Parameter Data - Objects 20XXh Analog Value Representation Cube67 AO4 C 4xM12 (I) Art. No Output Data - Objects 50XXh Parameter Data - Objects 20XXh Analog Value Representation Cube67 AI4 C 4xM12 (I) Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Analog Value Representation

8 7.36 Cube67 AI4 C 4xM12 RTD Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Analog Value Representation Cube67 AI4 C 4xM12 TH Art. No Input Data - Objects 40XXh Parameter Data - Objects 20XXh Analog Value Representation Cube67 CNT2 C 4xM12 Art. No Input Data- Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Communication Driver Data Cube67 DIO4 RS485 E 3xM12 Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh Cube67 Logic 4xM12 Art. No Input Data - Objects 40XXh Output Data - Objects 50XXh Parameter Data - Objects 20XXh FAILSAFE DEFINITION Occurrence of a CANopen Error Occurrence of an Internal Bus Error COMMUNICATION DRIVER (COMDRV) Bit Assignments of I/O Data Input Data - Objects 40XXh Output Data - Objects 50XXh SAP Format Setting up COMDRV Communication Writing Data in the Module Reading Data to the Module Example LIST OF FIGURES LIST OF TABLES

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10 Manual Supplements / Corrections Version Chapter/ Supplement / Correction Date/Name Section 1.0 Author THF Chapter "Access to I/O and Parameter Data of I/O Modules" added Change to "Device Type" THF 1.1 Overview of Chapters added for new Chapter New chapter layout THF Table 7-85 corrected Table 8-2 corrected THF It is no longer possible to switch to "Operational" with a nonconformant configuration Object 0x2100 changed New object 0x THF Cycle time added Table corrected Table corrected , 56760, added ERW 1.6 New module M.H./Hi Notes:

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12 1 About this Manual Read this instruction manual carefully before you put Cube67 into operation. The instruction manual should be kept in a safe place accessible to all users at all times. Instruction manuals for the Cube67 product line are divided into 3 parts: Cube67 System Manual Art. No Cube67 Technical Data Art. No Cube67 Bus System Manual Profibus Art. No DeviceNet Art. No CANopen Art. No Ethernet Art. No DeviceNet Art. No Profinet Art. No The texts, figures, charts and examples used in this manual serve only to explain the operation and use of input/output modules of the Cube67 product line. If you have any further queries regarding the installation and startup of devices described in this manual, please contact us. We will be pleased to assist you at any time. Murrelektronik GmbH P.O. Box Oppenweiler Tel Falkenstrasse Oppenweiler Telefax Internet : Murrelektronik reserves the right to change technical specifications or contents in this manual at any time without notice. 1.1 Explanations About This Manual Read the chapter "Safety Instructions" carefully before you use the products and the system. It contains important information on safe setup and handling. The chapter "Configuration Notes" describes the Cube67 BN-C module based on system and component specifications. It is intended for system designers and provides important information for successful configuration. The chapter "Installation Instructions" and "Cube67 BN-C Connectivity" provide information on mechanical and electrical installation. It is directed specifically towards trained electricians responsible for the assembly and installation of system components. The chapter "Object Description" and "Diagnostics" are intended for startup technicians. It contains information and instructions on easy ways to start up individual modules and the overall system. V1.6 11

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14 2 Safety Instructions 2.1 Explanation of Symbols Use of Notes References to important information are specially indicated. They are represented as follows: Informative text Use of Hazard Warnings Hazard warnings are additionally placed in a frame. CAUTION: Failure to observe safety precautions can result in damage to devices and other physical assets. WARNING: Failure to observe the appropriate safety precautions represents a danger to the life and health of the user Use of Numbers in Figures Numbers in figures are represented by white numbers in black circles. Example: Text 1... Text 2... Text 3... Explanations are given in tables under the same number, and refer directly to the preceding figure Use of Action Instructions An action instruction describes a sequence of operations which must be strictly adhered to, such as installation, startup, operation and maintenance. Numbering is continuous in ascending order by black numbers in white circles. Example : Text 1... Text 2... Text Use of Footnotes Additional information is marked by superscript digits (Example: Text Text 1) Text Text). They are explained in the form of footnotes below tables, or at the foot of the page in the case of running text. V1.6 13

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16 2.2 Intended Purpose The devices described in this manual are used as decentralized input/output modules for connection to a CANopen network. The products described in this manual have been developed, manufactured, quality-controlled and documented in accordance with the applicable safety standards. These products do not normally represent a danger to persons or property if the handling specifications described for system planning and design, assembly, operation with the intended purpose, and safety instructions are observed. meet the requirements specified in the EMC Directive (89/336/EEC) PLC Standard EN are designed for use in industrial applications. A feature of the industrial environment is that consumers are not directly connected to the public low-voltage power network. Extra precautions are required for use in residential, business and commercial applications. Warning This equipment has a Class A rating and can cause radio-frequency interference in residential areas. In such cases, the operator can be asked to take appropriate precautions. Troublefree and safe functioning of the product can only be assured through proper transportation, storage, installation, assembly and operation with proper care and attention. Use of the device for its intended purpose is only assured if the housing is fully mounted. The power supply must correspond to SELV or PELV standards. Power supplies conforming with EN (transformers) or EN (switched-mode power supply) meet this requirement. System configuration, installation, startup, maintenance and testing of devices may only be performed by an accredited, trained electrician familiar with automation technology safety standards. The safety and accident prevention regulations valid for specific applications must be observed during the configuration, installation, startup, maintenance and testing of devices. Only cables and accessories may be installed, provided they conform with the requirements and regulations for safety, electromagnetic compatibility and, where applicable, telecommunications terminal equipment, as well as the specifications. Information regarding cables and accessories approved for installation may be obtained from the Murrelektronik subsidiary in your region, and may also be found in this manual. V1.6 15

17 2.3 Qualified Personnel The requirements for qualified personnel are based on requirements profiles defined by ZVEI and VDMA. Weiterbildung in der Automatisierungstechnik (Advanced Training in Automation Technology) Publisher : ZVEI and VDMA Maschinenbau Verlag P.O. Box Frankfurt Only electricians who are familiar with the contents of this manual are authorized to install and maintain the described products. These are persons who are able to assess the work to be done and identify potential hazards on the basis of their specialist training, knowledge, experience and their knowledge of the applicable standards. based on years of experience working in a comparable field of activity, have an equivalent level of knowledge to a person with specialist training. The hardware and software of our products may only be modified by specialist personnel of Murrelektronik if such modifications are not described in this manual. Warning Unqualified tampering with hardware or software or failure to observe the warnings in this manual may result in severe personal injury or damage to property. 16 V1.6

18 3 Configuration Notes 3.1 CANopen System Data The table Table 3-1 below shows the key system data. Transmission medium Network topology Baud rates Transmission time Number of bus users Transmit output current Number of I/O points Addresses Access Useful data Terminating resistors Error detection Tap line length 1 Twisted shielded 2-wire line Bus structure Dependent on line length (max Kbit/s) 1000 Kbit/s 30m 800 Kbit/s 50m 500 Kbit/s 100m 250 Kbit/s 250m 125 Kbit/s 500m 50 Kbit/s 1000m 134 µs for an 8 byte telegram at 1000 Kbit/s max. 30 with no repeaters, over 200 with repeaters > 25 ma Standard CAN: bytes (PDO data) One specific address within the range per bus user Multimaster, messages with priorities 8 bytes per telegram 120 Ω, at each end of data line Identification of errored messages, automatic repetition Baud rate: 1000 Kbit/s: Max. tap line length: 0.3 m Accumulated tap line length: 1.5 m 500 Kbit/s Max. tap line length: Accumulated tap line length: 6.0 m 30 m Table 3-1 : CAN bus system data In order to minimize the impact of reflected waves on signal quality, the tap lines should be no longer than 0.3 m at a baud rate of 1 Mbit/s. 1 Calculating max. tap line lengths is not included in this manual. For more information, see CiA-DR V1.6 17

19 3.2 Information for First-Time Users CANopen is an industrial field bus system with many advantages. In particular, the numerous transmission type options allow a wide range of applications. To make first-time use much simpler and safer, we advise you to follow the procedure in the Table 3-2. Work Stage Questions Answers Planning Stage What is the total number of This helps to decide whether one or several inputs and outputs required? CANopen networks are required. Planning Stage What is the system power This is important to select the right size of system requirement? power supply unit. Planning Stage What is the total system Important for selecting the CAN bus line and baud expansion size? rate. Configuration How are the NODE IDs A plan should be made to avoid assignment errors. assigned to the modules? Label the configured modules with great care. Installation How are the modules installed? Depends on the module protection degree. Either in the switch cabinet or in the terminal box. For the purposes of achieving maximum rationalization, place modules with IP 67 protection degree as close to sensors and actuators as possible. Startup What is the system Using suitable software, the modules are configuration? configurable using the scanned EDS file. Startup Have all CAN bus users When all CAN bus users have signalled in, slave signalled in after power on? configuration can be started. Startup Easy-to-use startup tools, e.g. CANopen Master How is a simple I/O function Simulator 2 ). Alternatively, the I/O test can be carried test carried out? out using the PLC software. Table 3-2 : Configuration procedure checklist 2 Art. No.: (DIN supply), (PS2 supply) 18 V1.6

20 3.3 System Lines The CAN bus line and the associated baud rate is selected in three steps: Refer to Table 3-3, based on the number of CAN bus users and the line length, determine the required line cross-section. Refer to Table 3-4 and read off the specific line resistance and/or line cross-section in AWG. Refer to Table 3-5 and read off the permitted baud rate. In difficult exceptions, the procedure described here may be insufficient to determine the line parameters and the permitted baud rate. In this case, please refer again to Standards ISO 11898, CiA-DS102 and CiA-DR The chapters and sections below are extracts from these standards Description of CAN Bus Line The CiA-DS102 for bus interface and physical medium is designed as a universal industrial fieldbus to set up open CAN networks. The CiA standard is based on a high-speed bus interface in compliance with ISO This standard also specifies a SubD plug and a 2-wire line terminated at line impedance with a common return line used as transmission medium. The maximum line length is 1000 m. The maximum length of tap lines is 0.3 m at a baud rate of 1000 Kbit/s. The bus cable used may be twisted or shielded. The cable requires shielding due to the applied transmission technology. The suitable cross-section for tap lines is usually 0.25 mm² to 0.34 mm². For further lines and connectors specified by CiA, please refer to DR The maximum length of tap lines at a baud rate of 1000 Kbit/s is only 0.3 m. The number of CAN bus users must be considered when selecting the line cross-section. The limits are listed In Table 3-3. Number of CAN bus users Line length in m Line cross-section in mm² Line resistance in Ω <21 < Table 3-3 : Line cross-sections dependent on line length and number of bus users Repeaters must be used if there are more than 30 CAN bus users. V1.6 19

21 Further selection criteria involve DC parameters, see Table 3-4. Line length in m Specific line resistance in mω/m < < <26 Table 3-4 : DC line parameters Line cross-section in mm² AWG23, AWG AWG22, AWG AWG AWG18 Maximum baud rate in Kbit/s 1000 at 30 m 500 at 100 m 100 at 500 m 50 at 1000 m The parameters listed in Table 3-4 must be taken into consideration for networks conformant with ISO To minimize voltage drop across the line, the bus terminating resistor for long lines should be greater than specified in ISO During system configuration, the DC parameters of the connectors must also be reviewed. A factor of 5 mω to 20mΩ must be added to the line resistance for each connector. The potential difference at the CAN_GND terminals of all CAN bus users should not be greater than 2 V. Connectors have a DC resistance of typ. 5 mω to 20 mω. The following applies approximatively for the bus terminating resistance: It must be ensured that the CAN bus is correctly terminated with 120 Ω between CAN_H and CAN_L. The maximum permissible baud rate is listed in Table 3-5. Baud rate in Kbit/s Line length in m Table 3-5 : Max. perm. line length dependent on the baud rate Nominal bit time in µs 20 V1.6

22 Use of preterminated cables makes installation much easier. Wiring errors are avoided and the startup procedure can be completed more quickly. The Murrelektronik product range includes fieldbus cables, power cords and sensor cables as well as accessories, such as terminating resistors and T-pieces. Connectors and cables for on-site termination are also available. In addition, the specific signal delay time of the CAN bus line must be considered. For electrical 2-wire lines, this is typ. 5 ns/m. The signal delay time for electrical 2-wire lines is 5 ns/m Position of Bus Terminating Resistors/Maximum Bus Length If the distance from a tap in the main line to the device furthest away is greater than the distance to the nearest terminating resistor, then this tap line length (Drop B) is included in the calculation for the total cable length. Figure 3-1 depicts a typical network. 3m 1,5 m 50m 12m 1m 5m 6m Network node 1 (Drop A) Network node 2 (Drop B) Network node 3 (Drop C) Fig. 3-1: Position of terminating resistors/maximum bus length Drop A: not included in the max. bus length 1.5 m > 1 m Drop B: included in the max. bus length 3 m > 5 m Drop C: not included in the max. bus length 12 m > 6 m Maximum bus length: 5 m + 50 m + 12 m = 67 m In the above example, the bus terminating resistors are installed at the end of Drop B and at the end of the 12 m line. It must be ensured that the CAN bus is correctly terminated between CAN_H and CAN_L (120 Ω ). V1.6 21

23 3.3.2 Power Supply Line The required line cross-section must be calculated depending on system-specific calibration data. As a result, this is not part of the scope of this manual System Power Supply The Cube67 BN-C modules require a DC power supply at a voltage within the range of 18 V and 30 V. It is recommended to draw the power for sensors and actuators from different power supplies in order to achieve greater immunity from interference and decoupling. We recommend the use of primary switched-mode power supplies both for the CANopen bus and for sensors and actuators. If linear regulated power supplies are used, make sure that the power supply unit shuts down with a sufficiently long delay in the event of a fault (short-circuit, etc.). The power rating of the power supply units is dependent on the number and power demand of the connected loads. Maximum function reliability and associated troublefree operation are dependent on systematic compliance with system supply voltage and limits on the system side. Caution: In all cases, it must be ensured that the system voltage does not undershoot 18 VDC measured at the furthest user, viewed from the system power supply. Maximum function reliability and associated troublefree operation are dependent on systematic compliance with system supply voltage and limits on the system side. The central power supply of CANopen users, together with the sensors connected to the power supply from the CANopen system power supply unit, produce a voltage drop across the system cable dependent on the load current. The power supply to the Cube67 BN-C is fed via a 7/8 socket. The bus node electronics and the Cube67 I/O modules are powered by the sensor power supply. In critical cases, the voltage drop can be optimized either by repositioning the power supply within the overall system or by using power supply lines with a larger crosssection. The required line cross-section must be calculated depending on system-specific calibration data. As a result, this is not part of the scope of this manual. 22 V1.6

24 When a power reset is carried out, there must be a delay time of approx. 5 s before power-on so that capacitors can discharge. If the module power supply drops to < 13 V, the bus node performs its initialization time (red/green "power lamp" of the Us and Ua LEDs). No I/O data may be transmitted in this state. V1.6 23

25 3.4 Electromagnetic Compatibility (EMC) This device meets the requirements specified in EC Directive 89/336/EEC "Electromagnetic compatibility". Caution: This equipment complies with Class A and B ratings. The responsibility for conformance with EMC requirements of the overall system is borne by the system constructor alone. Each of the devices described in this manual meets the EMC requirements specified in the relevant standards. However, this does not guarantee their electromagnetic compatibility when used in a system. For this reason, the user is urgently advised to comply with the following instructions to obtain installations conformant with EMC standards. It can only be assumed that the overall system is in compliance with the applicable EMC requirements if these conditions are met and if individually CEmarked components are used. The system constructor alone is responsible for ensuring that the overall system complies with the applicable EMC requirements Protection Against Electrostatic Discharge The products described in this manual contain complex semiconductor components which can be destroyed or damaged by electrostatic discharge (ESD). Damage will not necessarily result in an immediately detectable failure or malfunction. Failures or malfunctions can occur with a delayed effect or sporadically. Caution: Do not plug or unplug connectors live. The generally accepted safety precautions for ESD-sensitive devices must be observed when handling the devices. The following precautions in particular must be taken: Caution: Before handling the devices, operatives must discharge themselves from any electrostatic charge. This can be done by touching a grounded part of the system or by carrying an ESD static-dissipative grounding tape connected to ground. Caution: Unused sockets must be provided with a blank plug. 24 V1.6

26 3.4.2 Grounding A low-impedance connection of the shortest possible length between the ground terminal and reference ground is required in order to dissipate interference voltages between the device and reference ground. The inductance of standard FE 3 conductors is a high impedance for high-frequency interference voltages. For this reason, the use of grounding straps is advised. If this is not possible, a fine-wire FE conductor should be selected with the largest possible cross-section, and the connection to ground should be kept as short as possible Cable Routing A frequent cause of EMC problems is nonobservance of elementary cable routing rules. The fieldbus cable must be routed as far away as possible from power lines. A minimum distance of 10 cm must be maintained. Data and power lines may only cross at right angles. It is recommended that data and power lines be laid in separate, shielded ducts. The interference potential of other devices or cables must be taken into account during cable laying. The greatest possible distance must be maintained to frequency inverters, motor lines and other devices or cables that emit high-frequency interference Power Failures and Dips The power supply to the electronics is buffered by integrated capacitors in such a way that short-term voltage cutoffs do not normally impair operation. This does not apply to power supply to the sensors and actuators connected to Cube67. Their high power demand cannot be protected by capacitors that are integratable in the device. An interruption in sensor power supply < 1 ms does not cause any change to the input status signalled to the bus master via the integrated input filter. Longer interruptions in sensor power supply may lead to changes in the inputs. Interruptions in actuator power supply may lead directly to undesired switching processes Separate Power Supplies The sensors and actuators can be supplied via a common power supply unit. However, a separate supply is recommended in order to maximize the electromagnetic compatibility of the overall system. 3 FE function ground V1.6 25

27 3.4.6 Interference Suppression of Inductive Loads The outputs of the devices described in this manual have an integrated protective circuit that provides safety against high-energy interference voltages, such as those which occur when switching inductive loads. Varistor Inductive load (e.g. solenoid valve) The varistor ensures rapid dissipation of the energy stored in the magnetic field of the inductive load. The high voltages on shutdown of inductive loads result in strong electromagnetic fields in the cables, which may cause faults in adjacent circuits or devices. For this reason, we recommend additional switching of inductive loads if there are greater distances between module output and load, or if there are other reasons. As a result, the voltage peak produced by the inductive load will be short-circuited directly at source. Murrelektronik GmbH can supply you with a wide selection of interference suppression products for this purpose Don't Let Limitations Limit You There are system configurations where the requirements for interference emission or immunity from interference can only be met by additional measures, or cannot be met at all, because the EMC within the system is also dependent on the individual components of other manufacturers. Mains filters are a suitable means of reducing line-conducted interference. Various manufacturers supply optical-fiber converters. Data transmitted across optical fibers is generally immune to interference. However, this does not apply to the necessary conversion electronics. Therefore, the use of optical fibers cannot solve all EMC problems. If you have any further queries regarding EMC, or if you are seeking advice on how to ensure compliance of your systems with the EMC Directive, please contact our accredited test centre. MURRELEKTRONIK Test Centre Grabenstr. 27 D Oppenweiler Tel.: Fax: Pruefzentrum@murrelektronik.de 26 V1.6

28 4 Installation and Wiring This chapter only contains information on wiring the bus terminal to the bus node. For other bus node wiring options, please refer to the "Technical Data" manual. 4.1 Pin Assignment of 7/8 Power Supply Terminal Connector POWER Contact No. Signal 1 0 V 0 VDC power supplies 2 0 V 0 VDC power supplies 3 FE Ground 4 US Sensor and bus power supply 5 UA Actuator power supply Thread FE Ground Fig. 4-1: Pin assignment of power supply 4.2 Pin Assignment of Bus Terminal M12 (A-coded) Plug Socket BUS IN BUS OUT Fig. 4-2: Bus pin assignments Contact No. Signal 1 Shield Bus shield 2 V+ Not connected 3 CAN_GND Ground 4 CAN_H CAN_HIGH 5 CAN_L CAN_LOW Thread FE Ground V1.6 27

29 4.2.1 Pretermination of CANopen Line Bus cable Braided shield CAN_H CAN_L GND 7 mm Fig. 4-3: Preterminating the CANopen bus line Connecting a Terminating Resistor The CANopen network must be terminated by a terminating resistor at both ends. Art. No. Designation Terminating resistor connector 28 V1.6

30 5 Startup Before startup, make sure that the fieldbus is configured in accordance with system requirements and is tested by professional service technicians. Each device type has an EDS file (*.eds) and a symbol image (*.ico). 5.1 EDS Files The EDS file is generated explicitly for a particular device type (I/O). In the case of Cube67, this has the consequence that there is a separate EDS file with the extension *.eds and an image in the form of an icon with the extension ".ico. The EDS file contains important device information, e.g.: device type, manufacturer, vendor ID, article number, software version, hardware version, etc. Caution: EDS files are module-specific. Application-specific changes may only be carried out by Murrelektronik specialists. Name of EDS file Name of image : Cube67BNC_56504_ES_1_4.eds : Cube67BNC_56504_ES_1_4.ico You will find the latest EDS file on the web at in the download section under Configuration Files. V1.6 29

31 5.2 Assigning and Setting the CANopen Address The CANopen address is set directly on the Cube67 bus node by means of two rotary switches. Permitted values range from 1 to 99. It is not permitted to set address 0. In the case of Cube67, therefore, we recommend that you set the address to 1 or higher. The node ID of the Cube67 BN-C module is set as a decimal value using two rotary switches. To set the node ID, there are two switches: x10 (tens) and x1 (ones). Addresses 1 to 99 are permitted. Caution: Make absolutely sure that the node ID setting is unique in the CANopen network. Do not use Address 0. The set address is scanned after the power supply is applied. The address cannot be changed without removing the hood. We urgently advise you to use the existing labels to write the address and baud rate. 30 V1.6

32 5.3 Setting the Baud Rate The baud rate is set using the DR rotary switch. The following baud rates are settable: Switch Setting Baud Rate 0 Automatic detection 1 10 Kbit/s 2 20 Kbit/s 3 50 Kbit/s Kbit/s Kbit/s Kbit/s Kbit/s Kbit/s Kbit/s Table 5-1 : Setting the baud rate using the rotary switches To make use of the automatic baud rate detection function (switch setting 0), messages must be transmitted on the CAN bus (e.g. SYNC telegrams). The Cube67 BN-C module attempts to analyze the actual baud rate and accepts it as default. While the Cube67 BN-C module is analyzing the baud rate, the MS and NS LEDs flash at a rate of 10 Hz. Only when the baud rate is detected does the Cube67 BN-C module revert to the Pre-Operational state and can be used as a CANopen module. The baud rate is detected each time the module is reset. The baud rate detected is not saved. If the baud rate is changed, the Cube67 BN-C module must be restarted. An NMT reset (Reset Node or Reset Communication) is not sufficient to change the baud rate. The baud rate detection function is only carried out when the UB module power supply is applied. The baud rate setting is only accepted after the power supply is applied. A power reset is required when the baud rate is changed. In a CANopen network, a fixed baud rate must be set at least on one module, e.g. CANopen Master. This ensures that the automatic baud rate detection function is operational. V1.6 31

33 5.4 Configuration As a rule, the Cube67 system should be configured using a configuration tool supplied by the PLC manufacturer. In this case, you can skip the technical details described in this chapter. A configuration example is contained in chapter 5.10 Step by Step: Startup Example Replaceability of DI Modules by DIO Modules There are two digital I/O module variants available: DIO : Every channel is parameterizable as an input or output DI : Every channel is an input Since a DIO module includes the functionality of the associated DI module, the DIO module can also be operated instead of a DI module. No change in Profibus configuration is needed. Replaceability means that you can simplify initial spare parts inventory management without losing the cost benefits of DI modules. When you replace an installed and configured DI module by a DIO module, the bus node recognizes the DIO module. The integrated replacement algorithm makes sure that the DP master and the application respond like a DI module. DI Module Replaceable By DIO Module Art. No. Designation Art. No. Designation DI16 C 8xM DIO16 C 8xM DI16 E 8xM DIO16 E 8xM DI8 C 4xM DIO8 C 4xM DI8 E 4xM DIO8 E 4xM DI8 C 8xM DIO8 C 8xM DI8 E 8xM DIO8 E 8xM8 32 V1.6

34 5.5 Configuration Example The figure below shows a typical configuration. Fig. 5-1: Configuration example for IDs Bus node Cube67 DIO8C 4xM12 in Line 0 Cube67 DIO8 C 8xM8 in Line 1 Cube67 DIO16 C 8xM12 in line 2 Cube67 DIO8 C 4xM12 in line 3 Internal system connection CANopen Power Table 5-2: Example of list contents Module Internal System Connection Art. No. Line Number Cube67 BN-C Cube67 DIO8 C 4xM12 Socket Cube67 DIO8 C 8xM8 Socket Cube67 DIO 16 C 8xM12 Socket Cube67 DIO8 C 4xM12 Socket V1.6 33

35 5.6 Parameterization Setting Up the Object Folder CANopen prescribes a basic functionality for each device. Additional functions can be integrated. However, they must comply with the specifications in the device and communication profile. The device properties are specified in the object folder. The object folder is set up in the device application area. The object folder format is contained in Table 5-3. The communication profile data are located within the range from 1000H to 1FFFH (highlighted in grey), and the device profile data from 6000H to 9FFFH. Index Object 0000 Not used F Static Data Types F Complex Data Types F Manufacturer-Specific Data Types FFF Reserved for further use FFF Communication Profile Area FFF Manufacturer-Specific Profile Area FFF Standardized Device Profile Area A000 - FFFF Reserved for further use Table 5-3 : Format of the object folder Object folder entries are accessed by means of the index that addresses the entire data format. An element is selectable from the data format using the subindex. Table 5-4 shows the addresses by means of an example. Index Subindex Description 4001H 0 Number of entries (here: 2) 1 Input byte 1 of Module 1 2 Input byte 2 of Module 1 Table 5-4 : Use of index and subindex General Description of Communication Profile The communication profile is based on the services and protocols provided by CAL. It contains functions for distributed synchronous operations, provides a common time base, and defines a uniform error signalling system. Application objects can be assigned to communication objects. The communication profile also defines system initialization. The CANopen communication model contains four message types (objects): Administration Messages: They include layer management (LMT), network management (NMT) and identifier issuing (DBT). Implementation is by means of CAL management services. Service Data Messages: Service Data Objects (SDO) are used to read and write entries in the device object folder. SDOs are implemented by CAN Application Layer (CAL) application services. Each CANopen device supports at least one SDO. 34 V1.6

36 Process Data Messages: The transmission of Process Data Objects (PDO) is the fastest way of transmitting data since transmission takes place without any additional protocol. A distinction is made between synchronous and asynchronous transmission. PDOs are implemented by CAL application services. Predefined Messages. There are three predefined communication objects: SYNC, Time Stamp and Emergency Object. There are no specifications to support these objects. Implementation is by means of CAL application services. Description of Process Data Object (PDO) Transmission Types CANopen offers numerous possibilities to transmit process data. Fig. 5-1 provides an overview of the possible operating modes in CANopen. 1. Change of state producer consumer(s) 2. Remote transmission Request producer Remote Frame consumer(s) SYNC 3. Synchronous (cyclic, acyclic) producer consumer(s) Fig. 5-1: Overview of the PDO transmission types The PDO transmission types are explained in greater detail below: Change of State PDO Transmission (asynchronous) A change of state is a change in input value (event control). Data is transmitted immediately after a change on the bus. Event control ensures optimal utilization of the bus bandwidth, since only the change in the process map is transmitted, not always the entire process map. At the same time, this results in short response times since the system does not need to wait for the next poll by a master when an input value changes. When the PDO transmission change of state is selected, however, it must be considered that many events may occur simultaneously, and it may take some time until a relatively low-priority PDO can be sent on the bus. A continuously changing input with high-priority PDO (babbling idiot) must also be prevented from blocking the bus. For this reason, event control for analog inputs is disabled by default in compliance with CANopen specifications and must be enabled by object 0x6421. V1.6 35

37 Remote Transmission Request PDO Transmission PDOs can also be polled by the master by means of remote transmission requests (remote frames, socalled RTR telegrams). In this way, input process maps for event-controlled inputs can be inserted on the bus without any change of input, e.g. when a monitor or diagnostic device is hot-plugged in the network Synchronous PDO Transmission Synchronization is not only practical for drive applications, but also to read input data and set outputs. In this case, CANopen provides the SYNC object, a high-priority CAN telegram containing no useful data. When the synchronized node receives this object, it is used as a trigger to read the inputs or set the outputs. Fig. 5-2 shows the time response for synchronized PDO transmission. SYNC Actual Input Data SYNC Communication cycle period Reference Output Data SYNC Synchronous time window Read inputs Set outputs at SYNC at next SYNC Fig. 5-2: Synchronized PDO transmission Synchronous window length 36 V1.6

38 Access to Object Folder via SDO Accesses The format of the SDO telegram is presented in Fig. 5-3: Byte 0 Bytes 1-3 Bytes 4-7 Start of Telegram Frame Command Specification 8-bit 3 bytes Object Identifier 16-bit 8-bit 4 bytes Object Data 32-bit End of Telegram Frame (see Table 5-5) Index Data type UNSIGNED 16 Subindex Data type UNSIGNED 8 Fig. 5-3: SDO format The values in Table 5-5 must be entered in Byte 0 (command specification): Data length Command Specifier SDO Download Request SDO Download Response SDO Upload Request 8-bit 2FH 60H 40H 4FH 16-bit 2BH 60H 40H 4BH 32-bit 23H 60H 40H 43H Table 5-5 : SDO Command Specifier SDO Upload Response Below are two examples of SDO accesses: Ex. 1: Life Time Factor Object 100DH is read out. The Cube67 BN-C module replies with value 2H telegram format in hex code: Upload Request: 40 0D Upload Response: 4F 0D Ex. 2: Life Time Factor Object 100DH is written with value 1H. Telegram format in hex code: Download Request: 2F 0D Download Response: 60 0D The Communication Object Identifier (COB IDs) for SDO accesses are entered in Object 1200H (Subindexes 1 and 2). V1.6 37

39 SDO Access Failures / SDO Abort Codes In the event of an access failure, the Cube67 BN-C module sends a reply containing the object to which an access attempt was made. Byte 0 (Command Specifier) contains value 80H. Bytes 4-7 of the SDO contain the abort code as listed in the table below. This is an excerpt from CiA-DS301. Table 5-6 : Abort codes in the event of SDO access failures Abort Code Description h Toggle bit not alternated h Unsupported access to an object h Attempt to write a read-only object h Object does not exist in the object dictionary h Object cannot be mapped to the PDO h General parameter incompatibility reason h General internal incompatibility in the device h Data type does not match, length-of-service parameter does not match h Subindex does not exist h Value range of parameter exceeded (only for write access) h Value of parameter written too high h Data cannot be transferred or stored to the application because of the present device state 38 V1.6

40 Device Profile - General Description The device profile contains a description of the device functionality. All application objects (functions and parameters) in a device are defined in the device profile and it forms a standardized device functionality interface. The entries in the object folder are identified by the index. Entries are accessed by SDO services. They can read or write entries. Minimum Device Configuration / Predefined Connection Set The device configuration below is available after device-internal initialization: 1. COB ID assignment: See table below. 2. Mapping application objects to PDOs Synchronous, asynchronous, cyclic and acyclic PDO transmission with master monitoring for synchronous PDO transmission. 4. Emergency telegrams in the event of an error. 5. CANopen bootup procedure by means of NMT services, and 6. Node guard and life guard. Table 5-7 : Broadcast object of predefined master-slave connections Object Function Code Resulting COB ID Communication Parameters (binary) (hex) (dec) in the Index NMT SYNC h 1006h Table 5-8 : Objects of predefined master-slave connections (viewed from slaves) Object Function Code Resulting COB ID Communication Parameters (binary) (hex) in the Index EMERGENCY FF PDO1 (tx) FF PDO1 (rx) F PDO2 (tx) FF PDO2 (rx) F PDO3 (tx) FF PDO3 (rx) F PDO4 (tx) FF PDO4 (rx) F SDO (tx) FF SDO (rx) F NMT Error Control F Specification: All PDOs are empty and not available. Object 2100/00 must have the value "1" for automatic mapping of the PDO (see Object 2100h : Predefined Connection Set) V1.6 39

41 CANopen Bootup The short bootup procedure takes place in minimum device equipment. This procedure is presented in Fig Initialisation power-on Reset Application Reset Communication Reset Communication indication Init Pre-Operational Reset Node indication Enter Pre-Operational indication Start Remote Node indication Operational Stopped Fig. 5-4: State diagram of a CANopen device with minimum device equipment Reset Application After device start or the NMT service "Reset Node", the device is in Reset Application state. The device profile is initialized in this state. Then all device profile entries are set to default. When initialization is terminated, the device goes automatically to the Reset Communication state Reset Communication This state is assumed by the NMT service "Reset Communication" or after "Reset Application". This is where all the parameters (defaults corresponding to the device equipment) of the supported communication objects (1000H - 1FFFH) are entered in the object folder. Finally, the device reverts automatically to the "Init" state. 40 V1.6