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Manual IMPACT67-C

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1. DO r r N gt E c oN a 2 gt 3 d L 2 H o N E Es CN o I N oO m lt Kai N To lo 2 ol F S E To To O N S 8 N CN N gt Ees YJ R oe 63 40 5 20 0 5 0 79 0 02 in 2 48 20 02 in P 38 5 0 5 TS 1 52 0 02 in Fig 2 Dimensioning IMPACT67 CANopen User Manual 2 1 2 Spacing 23mm 0 12 in 23 mm 0 12 in Fig 3 Spacing Angled connectors from Murrelektronik require a mini mum spacing of 50 mm 14 Z IMPACT67 CANopen User Manual 2 1 3 Mounting IMPACT67 Modules The modules of the IMPACT67 Series can be fitted directly to an installation panel or a machine The module features two mounting holes for this purpose Make sure that the mounting surface is flat and level to prevent mechanical stress in the module hous ing Attach the module using two 6 mm diameter screws and two washers as per DIN 433 T1 T2 The tightening torque is 3 Nm Function Ground The PE connection is located at the bottom facing edge of the module housing To ensure proper functioning in compliance with the EMC regulations specified in the datashe
2. OV ES Pin 1 A 24V Ug max 9 A n c Pin 2 n c 24V Uy max 9A CAN_GND Pin3 CAN GND Adressierung Addressing Adressage Enderegamento Indirizzamento CAN HIGH Pin 4 CAN HIGH Direccionamiento NA NA x10 x1 CAN LOW Pin5 CAN LOW DR 0 1 2 3 4 5 6 7 8 9 Kbit s Auto 10 20 50 100 125 250 500 800 1000 Gewinde Thread AN Filet AN 7 Rosca 7 Filetto Rosca IMPACT67 CANopen User Manual 3 Configuration Notes 3 1 System Components 3 1 1 Product Designation Code The designation format of IMPACT67 system components explains their function Examples Name Description IMPACT67 C DIS DO8 I O channels D Digital Input O Output Function P Profibus node DN DeviceNet node C CanOpen node EC EtherCat node E EtherNet IP node PN ProfiNet node Product Family Tab 1 Example of product designation IMPACT67 CANopen User Manual 3 1 2 IMPACT67 Modules The purpose of the IMPACT67 system is the decentralized routing of signals at the I O level and the supply of this information over a Fieldbus network e g Profibus CAN open DeviceNet EtherCAT EtherNet IP The module and UO units are powered by a 5 pin
3. Fig 11 Bus and device status LEDs on the module front panel 91 IMPACT67 CANopen User Manual The functions corresponds to the DRP303 3 standard Name LED Status Description Device operating normally Device OK At least one of the error counters of the CAN Warning limit reached controller has reached or exceeded the warn ing level too many error frames red AutoBaud Auto Baud rate detection in progress Double flash Error Control Event A guarding error or a heartbeat was detected SYNC signal not received within SYNC inter Triple flash Sync error val On Bus Off CAN controller status Bus off AutoBaud RUN green Pre Operational Device in Pre Operational mode es KE EE ee ee eee Normal function Module and sensor power supply applied red Undervoltage Module and sensor power supply undervoltage Failure of actuator power supply Normal function Actuator supply OK Undervoltage Undervoltage actuator power supply red gree n Tab 84 Function of bus and device status LEDs on the device front panel IMPACT67 CANopen User Manual A distinction is made between the following indicator states LED on constant on LED off constant off LED flickering On off phase at a rate of approx 10 Hz on for approx 50 ms and off for approx 50 ms LED blinking On off phase at a rate of approx 2 5 Hz on for approx 200 ms followed by off for approx 200 ms LED single flash a sing
4. CANopen is a collection of profiles for CAN based systems with the following characteristics e Open IMPACT67 CANopen User Manual e Real time data transfer without protocol overhead e Modular and scalable e Devices are interoperable and interchangeable e Supported by many international manufacturers e Standardized network configuration e Access to all device parameters e Synchronization and e Cyclical and or event oriented process data traffic short system reaction time possible CANopen specifications are compiled by CAN in Automation CiA and partially available to the public Various suppliers provide source codes for master and slave devices All manufacturers with certified CANopen products on the market are normally members of the CiA As a result of our active member ship in the CiA Murrelektronik has profound CANopen know how for the development of components for this bus system You will find us and CiA at www can cia com and www murrelektronik com IMPACT67 CANopen User Manual 3 2 3 CAN Bus System Data The table below illustrates the most important system data Transmission medium Twisted shielded three wire line Can H Can L Can GND Network topology Linear bus structure Data rates Dependent on the cable length max 1000 Kbit s 1000 Kbit s 30m 800 Kbit s 50 m 500 Kbit s 100 m 250 Kbit s 250 m 125 Kbit s 500 m 50 Kbit s 1000 m Transfer duration 134 u
5. The table below depicts the assignment between M12 slots and I O labels M12 slot Channel Pin 4 Channel Pin 2 0 DO 00 DO 01 1 DO 01 2 DO 02 DO 03 3 DO 03 4 DO 04 DO 05 5 DO 05 6 DO 06 DO 07 7 DO 07 Tab 31 M12 slots to I O labels 3 4 5 2 3 Actuators Each output of the DO8 and DI8 DO8 variants is loadable to max 2 A Each output of the DO16 variant is loadable to max 0 5 A d The total current may not exceed 9 A due to the maximum current carry capacity of the 7 8 power connector If the actuator power supply is looped make sure that the total current of all modules does not exceed 9 A A The module may be damaged if the actuator power supply polarity is reversed The module may heat up depending on the load IMPACT67 CANopen User Manual a If an overload or a short circuit occurs at an output the output is shut down To reset the output it must first be reset using the control software B If an M12 slot I O channel is not used it must be fitted with an M12 blank plug in compliance with IP 67 specifications In order to achieve rapid short circuit cutoff times we recommend not to exceed the following lengths max 15 m feed line POWER IN 1 5 mm and max 1 5 m actuator line 0 75 mm max 10 m feed line POWER IN 1 5 mm and max 3 m actuator line 0 75 mm 3 4 6 Unused Connections 1 Unused sockets must be closed off with blank plugs Otherwise IP 67 pr
6. 4 3 Process Data PDO Description of Transmission Modes sssssnsssennnseennesennnnnennnnnenn rnnr en nn 50 4 3 1 Change of State PDO Transmission Asynchronous ssessssssssessresrresrrssrrssrissrresrresre 51 4 3 2 Remote Transmission Request PDO Transmission eeeseeeeeeseeereereerresresrresrnesresn 51 4 3 3 Synchronous PDO Transmission rnrrnrnrrnnnnvnnnnnvnnerrvnnnrnnnnnnnnenrennrrrennnrnnennnnrrrresrnrneennnenennee 51 4 4 Access to the Object Directory via SDO Access ssssssessessiessiesietriettttintttnttnnntnnntnnnnn enn nnt 52 4 4 1 Errors in SDO Access SDO Abort Codes ssessesesesesinesrresirssrnssrnssirssinsstrsstnssrnnsrnnnrnnnnnnt 52 4 5 Device Profile General Description 52 4 5 1 Implemented Minimal Device Configuration arrrrrrrnnnvrnnnnrnnenvennnr renn nvnnnnrnnrnrrennnrnennnnenennne 53 4 6 GANOpen Boot Up nmjniemneti ber metemredet skdvkknasen gade bd de tende ab REESEN badge 54 4 6 1 Reset AppliGation irisaren anan na SNA nakne RA 55 4 6 2 Reset Communication 55 46 3 H eeataabdecnsn 55 4 6 4 Pre Operatiomall sicscsac h scvecsccecdaces diva sasccbedles iy derzeaqdeedducad hanes sevea ans haddepenukasdadan fadagen anbedkadeesanadedet 55 4 6 5 Stopped avden sassanidene 55 4 6 6 Oprati nal ostsins aaa uge kge aka aa geeiert dat h nte 56 Bu SLAMUP EE 57 5 1 Terminating CAN Bus Geoments 57 5 2 System ee E ME 57 B21 RN UE 58 5 2 2 Addressing BEE 59 6 Object Direct
7. pertinent standards or who have a level of knowledge equivalent to professional training due to their many years of activity in a comparable field Only Murrelektronik technical personnel are allowed to execute work on the hardware and software of our devices if they are devices not described in this manual Unqualified tampering with the hardware or software or failure to observe the warn A ings cited in this manual may result in severe personal injury or damage to property 11 IMPACT67 CANopen User Manual 1 Description of IMPACT67 Fieldbus modules with IP67 protection are an important mod ule in machine installation and they replace complex wired and therefore high cost terminal boxes Fieldbuses replace conventional parallel wiring An increase in efficiency in installation systems was the prime motivator in developing IMPACT67 Concentration on what is important coupled with purposeful connectivity is our recipe for success to reduce your installation costs e Application specific compact and dense e Installation friendly well designed and pluggable e Economic minimized to what is important System Design Principle Fig 1 System design principle 12 IMPACT67 CANopen User Manual 2 Installation 2 1 Mounting 2 1 1 Dimensioning 22 0 5 0 87 0 02 in
8. CiA DS102 for bus connection and bus medium enables the realization of open CAN networks as a general industrial field bus The CiA standard is based on high speed bus interfacing according to ISO 11898 it also specifies a Sub D connector and a surge impedance terminated two wire lead cable with common return circuit as transfer medium The maximum cable length is 1000 meters The maximum length of spur lines at a data rate of 1000 Kbit s is 0 3 m The bus line used must be twisted and shielded Cable shielding is required because of the transmission technology For spur lines a cross section of 0 25 mm to 0 34 mm is usually sufficient Further CiA specified cables and connect ors are listed in DR303 1 SS The maximum length of spur lines at a data transfer rate of 1000 Kbit s is only 0 3 meters IMPACT67 CANopen User Manual The number of CAN Bus devices must be taken into consideration when selecting the conduc tor cross section The table below lists the limits Number of Cable length Core cross Cable resistance CAN Bus devices inm section inQ in mm 32 200 0 25 lt 21 360 0 50 550 0 75 64 170 0 25 lt 18 5 310 0 50 470 0 75 100 150 0 25 16 270 0 50 410 0 75 Tab 20 Cable cross sections as a function of cable length and the number of bus devices Gi Repeaters must be used for more than 30 CAN Bus participants IMPACT67 CANopen User Manual Further selection crit
9. Priority Binary Hex Dec EMERGENCY 0001 81H FFH 129 255 0 1 PDO tx 0011 181H 1FFH 385 511 1 2 PDO rx 0100 201H 27FH 513 639 2 PDO tx 0101 281H 2FFH 641 767 2 3 PDO rx 0110 301H 37FH 769 895 3 4 SDO tx 1011 581H 5FFH 1409 1535 6 SDO rx 1100 601H 67FH 1537 1663 6 7 Node Guarding 1110 701H 77FH 1793 1919 Tab 36 Objects of predefined master slave connection as seen from the slave IMPACT67 CANopen User Manual 4 6 CANopen Boot Up In the minimal device equipment a short boot sequence takes place This process is illustrated in the figure below power on Initialisation ae ee a Reset Communication Reset Node d es indication Reset aot Pe o v SEN indication 4 p Enter Pre Operational K x indication Stopped gt Start Remote Node indication A N AG Operational p Fig 8 Status diagram for a CANopen device with minimal device equipment IMPACT67 CANopen User Manual 4 6 1 Reset Application After a device start or NMT service Reset node the device is in a Reset application state The de vice profile is initialized in this condition All device profile entries objects 6000H 9FFFH are then set to the default When initialization is completed the device automatically assumes Reset commu nication state 4 6 2 Reset Communication This condition is assumed through N
10. SDO transmission initiate download response If the save operation fails the device replies with an SDO Transfer Error Message 06 0000h Signature MSB LSB ISO 8859 ASCII e v a s Hex 65 76 61 73 Tab 47 SDO If an incorrect signature was written the device does not save the parameters and replies with an SDO Transfer Error Message 0800 002xh In the event of a read access to a subindex the device return information via the supported memory function 32 bit as follows Bits Value Significance 31 2 0 Reserved 1 0 The device does not save the parameters automatically 1 The device saves the parameters automatically 0 0 The device does not save the parameters on command 1 The device saves the parameters on command Tab 48 Read access to a subindex 6 5 11 Object 1011H Restore Default Parameters CANopen uses this object to restore default parameters stored in the firmware Subindex Default Value Description 0 4 Largest subindex supported 1 Restore all parameter 2 Restore communication parameters 1000H 1FFFH 3 Restore application parameters 6000H 9FFFH 4 Restore application parameters in manufacturer specific object area 2000H 5FFFH Tab 49 Restore default parameters 71 IMPACT67 CANopen User Manual To save the default parameters load 6461 6F6C must be written in the related subindex Wh
11. Set of M12 torque wrenches SP 1 piece Tab 15 Torque wrench 3 1 3 11 MICO e Fire protection EN 60950 1 e Operating voltage protection EN 61131 2 e Operating state memory device EN 61131 1 Article Number Description Nominal operating branch circuit cur rent full load 9000 41034 0100400 MICO 4 4 4 chan each 4 A nels lt 9000 41034 0100600 MICO 4 6 4 chan each 6 A A A nels o000 1 9000 41034 0401000 MICO 4 10 4 chan each 10 A VERD nels vi ke E IMPACT67 CANopen User Manual 9000 41042 0100400 MICO 2 4 2 chan each4A nels 9000 41042 0100600 MICO 2 6 2 chan each 6 A nels 9000 41042 0401000 MICO 2 10 2 chan each 10 A nels Tab 16 Overview of MICO Variants Information on products and accessories are available in our catalog and our online mids ship at onlineshop murrelektronik com IMPACT67 CANopen User Manual 3 2 CAN Bus Descriptions 3 2 1 CAN Bus Protocol Description CAN Controller Area Network was originally developed only for information exchange within a motor vehicle The intention was to improve transmission shift operation for example by having the trans mission inform the engine management of a transmission shift request via CAN The CAN system was therefore conceived to transmit short messages under real time conditions This is also a typical task of machin
12. Through bit wise arbitration CSMA CA process based on the identifiers of transferred messages collision between several transmission ready stations is clearly resolved at the latest after 13 standard format or 33 bit times expanded format of any random time bus access Unlike message based arbitration according to the CSMA CD method this destruction free collision resolving method guarantees that no bus capacity is required without user information actually being transferred Linking bus access priority to message content has proven itself advantageous in bus overload situa tions as compared to the existing CSMA CD or token method Despite the low bus transport capacity all pending transfer requests are processed in the sequence of importance for the total system ac cording to message priority High system and configuration flexibility is achieved thanks to the above described content related method of addressing Stations can be easily integrated into the existing CAN network without the need for software or hardware changes to the existing stations if the new stations are solely recipi ents As the data transfer protocol does not stipulate any physical target addresses for individual com ponents the concept of modular electronics is supported as well as the possibility of multi reception broadcast multicast and the synchronization of distributed processes 3 2 2 CANopen Protocol Description When CAN based distributed syst
13. Transmission Asynchronous Change of state refers to the changing of an input value event control The data is transmitted on the bus immediately after having been modified The bus bandwidth is optimally used by the event control method as the entire process image is not constantly being transmitted but only the modifica tions of the same Short reaction times are also achieved as it is not necessary to wait for the next query by a master when an input value changes If the Change of state PDO transmission is selected one must remember that under certain circum stances multiple events may occur simultaneously and result in delays until a relatively low priority PDO can be transmitted on the bus Also a constantly changing input with high priority PDO must be prevented from blocking the bus babbling idiot For this reason event control is disabled for analog inputs according to CANopen specifications as a default condition and must be activated with object 0x6421 4 3 2 Remote Transmission Request PDO Transmission PDOs can also be polled by the master via data request telegrams Remote Frames so called RTR telegrams In this manner the input image in the case of event controlled inputs can also be brought to the bus without input changes e g if a monitor or diagnostics unit is fitted in the network during run time The IMPACT67 C modules do not support this transmission mode 4 3 3 Synchrono
14. Vendor ID 32 bit 4F 2 Product Code 32 Bit D726H 55078D 3 Revision Number 32 Bit 00010001H Tab 59 Identity Object IMPACT67 CANopen User Manual 6 5 16 Object 1200H Server SDO Parameter This object contains the COB ID for the communication between client and server in Subindex 1 and the COB ID in the opposite direction in Subindex 2 Index Subindex Description Default value 1200h 0 Number of entries 2 1 Client to Server 600H Node ID 2 Server to Client 580H Node ID Tab 60 Server SDO Parameters 6 5 17 Objects 1400H and 1405H Receive PDO Communication Parame ters Communication parameters for Receive PDOs are stored in these objects The parameters are PDO COB ID in Subindex 1 PDO transmission mode asynchronous cyclic synchronous and acyclic synchronous in Subindex 2 IMPACT67 CANopen User Manual Description of Subindex 1 32 bit Bit Number Value Significance 31 MSB 0 PDO valid 1 PDO not valid 30 0 RTR allowed 1 RTR not allowed 29 0 11 Bit ID CAN 2 0A 28 11 0 0 since Bit 29 0 10 0 Bit 10 0 of the identifier Tab 61 Receive PDO communication parameters Description of Subindex 2 8 bit Trans PDO transmission modes Comments mission Code Cyclical Acyclic Synchro Asynchro RTR nous nous only 0 X X Update data after the Sync message following the receipt of PDO 1
15. air 8 kV EN 61000 4 3 RF field nn 10 V m EN 61000 4 4 Burst nn EZ EN EN 61000 4 5 Surge ASYM SYym 500 V DC net input EN 61000 4 6 HF asymmetric nn IO V EN 55011 Interference field strength nn QP 40 dBu V m 30 230 MHz uke QP 47 dBu V m 230 1000 MHz class A Ambient Conditions Operating temperature nn OOC to 55 C Storage temperature e 20 C to 70 C Enclosure type according to TEC 60529 nn IP 67 Mechanical Ambient Conditions Oscillation according to EN 60068 Part 2 6 1 5 60 Hz constant amplitude 0 35 mm E E E E 60 150 Hz constant acceleration 5 g Shock according to EN 60068 Part 221 Amplitude 15 g 11 ms duration Miscellaneous Dimensions L x W x H 225 X 63 x 39 mm Attachment detance E 208 MM Weilgbtinsssnsauredradrntdisssmesrnindetrsinijsnri rd Approx 420 g Bus Data Transfer protocol nn CAN Layer 7 CANopen Transfer rates nn LO 20 50 100 125 250 500 800 1000 Kbit s EE E ee and automatic recognition Potential disconnectedness DOO V between bus and internal logic with optical EE EE SE EE Eeer Ee coupler and DC DC converter Modes A CYClic and acyclic synchronous PDOs 104 T IMPACT67 CANopen User Manual EE eege asynchronous PDOs Communication objects nn 2 IXPDOS EEE EE EN eeh 1 SDO E 1 emergency object Addressing nn L to 99 with two rotary switches adjustable CiA e V Vendor Ui 79Dec 4FHex Connection Possibilities Supply cable A
16. and via SDOs as well SS Configuration changes during Operational state may have unforeseen effects and should therefore be made only in the Pre Operational state IMPACT67 CANopen User Manual 5 Startup 5 1 Terminating CAN Bus Segments A terminating resistor 120 ohms must be fitted to the start and end of each segment 5 2 System Configuration After the initialization phase of all CAN Bus devices they have reported to the CAN Bus with one Boot Up Message each Based on the configuration the master creates a complete periphery map of the slaves in the PLC The user can assign the read in I O bytes to logical addresses in the controller This shows the schematic diagram of an CANopen network PLC CANopen Master CANopen Slaves Module Consumer Producer Impact67 DI16 Input Data Input Process Image Input Data Diagnostic Data O gt zZ D E Hi Output Data Impact67 D08 Input Data Output Data PLG Program o Diagnostic Data gt Diagnostic Data 2 Hi Output Process Image Parameter Data Impact67 DI8D08 Input Data Output Data Diagnostic Data Fig 9 Data transfer from the PLC Interface module CANopen Master to CANopen slaves IMPACT67 CANopen User Manual 5 2 1 EDS Files The EDS file is created explicitly for the device type I O Consequently each mo
17. available 6 5 2 Object 1001H Error Register ER The device can display internal errors with the 8 bit ER field If a device error occurs the correspond ing bit is set in the ER The following errors can be displayed Bit Significance Comments 0 Generic error 1 Current 2 Voltage 3 Temperature not supported 4 Communication error 5 Reserved not supported 6 Reserved not supported 7 Manufacturer specific Desina diagnostics Tab 40 Error register structure Object 1001H IMPACT67 CANopen User Manual 6 5 3 Object 1002H Manufacturer Status Register Diagnostic data are recorded in a 32 bit field The lower 8 Bit of the Manufacturer Status Register is contained in the EMCY message and is transmitted at the same time when the diagnostic event oc curs The following table indicates the assignment of the bytes Bit Significance Comments Sensor undervoltage Reserved Actuator undervoltage Reserved Sensor short circuit at M12 socket Actuator shutdown OI OI AJOJN to 31 Reserved Tab 41 Description of object 1002H Manufacturer Status Register only if outputs are parameterized IMPACT67 CANopen User Manual 6 5 4 Object 1003H Predefined Error Field PEF Additional Information is entered in this 32 bit error register when an error occurs in the LSW of the Error Code and in the MSW
18. from the sensor power supply GP The sensor supply voltage may not be of switched mode design It powers the mod ule electronics The 7 8 connector is designed to carry a maximum current of 9 A per pin This is taken into account when connecting the power supply to another circuit Power Supply Line Module supply cables must have VDE approval and a maximum core cross section of 1 5 mm All further power supply line characteristics depend on individual applications and are not covered in this manual C The maximum permitted core cross section is 1 5 mm Connecting to IMPACT67 1 2 Mounting the IMPACT67 module Attach PE cable to IMPACT67 module Hook up CAN Bus connection Connect power supply Q On IMPACT67 modules the power supply at Pin 4 of the power supply connector may not be routed through EMERGENCY STOP circuits since this voltage powers the en tire I O section and the sensors IMPACT67 CANopen User Manual Oo The actuator power supply Pin 5 may be designed as a switched mode device for EMERGENCY OFF circuits DO modules only Pin assignment of 5 pin power plug 7 8 mini style Connector Socket POWER IN POWER OUT 1 1 i S 3 OV Pin 1 OV OV Pin 2 OV AN Pin 3 Ps 24V Ug max 9A Pin 4 24V Us max 9A 24V Ua max 9A Pin 5 24V U max 9A Tab 25 Pin assignment of power plug IMPACT67 CANopen User Manual 3 4 5 C
19. in mind when selecting SYNC intervals The entry is made in a 32 bit field If unused the field content is zero If a value between 10 000 and 10 000 000 is listed the node must receive a SYNC signal within this stated time or the node assumes pre operational state The time differential is max 1 of the set value Time monitoring begins with the receipt of the first SYNC sig nal Some of the values are entered in the table below Object 1006H Decimal Hexadecimal SYNC interval in ms Default value 0 OH Minimum value 10 000 0000 2710H 10 25 000 0000 61A8H 25 250 000 0003 DO90H 250 1 000 000 000F 4240H 1 000 5 000 000 004C 4B40H 5 000 Maximum value 10 000 000 0098 9680H 10 000 Tab 45 Description of Object 1006H Communication Cycle Period IMPACT67 CANopen User Manual 6 5 7 Object 1008H Manufacturer Device Name MDN With the MDN device information can be stored in the form of an ASCII string The device designation is IMPACT67 C DI16 or IMPACT67 C DO8 or IMPACT67 C DO16 or IM PACT67 C DI8 DO8 6 5 8 Object 100AH Manufacturer Software Version MSV The software version is entered as an ASCII string in the MSV The signal SWx xx is transferred when this object is requested SW1 00 stands for software version 1 00 6 5 9 Object 100CH Guard Time and Object 100DH Life Time Factor Description of Node and Life Guarding Principle Object 100CH contains th
20. power plug 7 8 mini style Article Number Description 55075 IMPACT67 C DI16 55076 IMPACT67 C DI8 DO8 2A 55077 IMPACT67 C DO8 2A 55078 IMPACT67 C DO16 0 5A Tab 2 IMPACT67 C Modules 3 1 3 Accessories 3 1 3 1 Cables CANopen Article Number Description Straight connector Cable length straight connector 7000 40531 8030150 1 5m 7000 40531 8030300 3 0m 7000 40531 8030500 5 0m 7000 40531 8030750 7 5m 7000 40531 8031000 10 0m Tab 3 CANopen IMPACT67 CANopen User Manual CANopen Article Number Description Straight connector Cable length with nonterminated cable 7000 13105 8030150 eng 1 5m 7000 13105 8030300 3 0m 7000 13105 8030500 5 0m 7000 13105 8030750 7 5m 7000 13105 8031000 10 0 m Tab 4 CANopen Power cable 7 8 Article Number Description Straight socket Cable length Mu with nonterminated wire end 7000 78021 9610150 1 5m 7000 78021 96 10300 3m 7000 78021 9610500 5m 7000 78021 9610750 7 5m 7000 78021 9611000 10m Tab 5 Power cable 7 8 21 IMPACT67 CANopen User Manual Power cable 7 8 Article Number Description Straight connector Cable length straight socket 7000 50021 9610030 0 3m 7000 50021 9610060 S 0 6 m 7000 50021 9610100 1m 7000 50021 9610150
21. r 1 5m 7000 50021 9610200 2m Tab 6 Power cable 7 8 AA Most cables and connectors are available in angled style IMPACT67 CANopen User Manual 3 1 3 2 Connector for Self Connection Article Number 7000 13321 0000000 Description CANopen bus M12 connector A coded straight 7000 13401 0000000 7000 00000 8039999 Bus cable for CANopen 100 m collar 7000 78081 0000000 Power 7 8 straight connector 5 pin self connecting we 7000 78201 0000000 Power 7 8 socket straight 5 pin self connecting wy Tab 7 Connector for Self Connection IMPACT67 CANopen User Manual 3 1 3 3 Valve Connector Style A e Contact spacing 18 mm e Operating voltage 24 V AC DC pressure switch 24 V DC e Operating current max 4A Article Number Description 7000 41341 0000000 M12 top connection LED yellow protection circuit for valves 7000 41361 0000000 LED yellow green for pressure switch 7000 41461 0000000 M12 rear connection LED yellow protection circuit for valves 7000 41481 0000000 LED yellow green for pressure switch Tab 8 Valve connector Style A 3 1 3 4 Valve connector combination Style A e Contact spacing 18 mm e Operating voltage 24 V AC DC e Operating current max 4A Article Number Description M12 top connection Cable length 7000 41501 2260000 100 mm
22. supply 7 8 power in connector eee MAX 9 A Sensor supply 7 8 power in connector Max 9A Core Crosg SecHon MAX 1 5 mm Outputs Number of outputs A 8 Actuator current load approx 2 A per actuator Cable Jength A With 0 75 mm max 10 m Tea oE Eea RENEE REANO ERDRE EEEE OEE EE EE ANERER SSS with 0 34 mm max 5 m Core Crosgg secHon e MI max 0 75 mm Switching frequency approx 50 Hz 50 duty ratio Switching frequency inductive load e approx 10 Hz Lamp LO E AO W Inputs Number of mpute A H Input Characteristics nn EN 61131 2 Type 2 Supply for Sensors MAX 200 mA per socket Short circuit protection for Sensors Multifuse EE EES EE up to 100 mA load automatic startup eeoa eaa Ae NE EEEE nE aE EOE RASER ETENE EA EEE EN EEEREN from 100 mA load a reset is required Multifuse reaction time time to trip nn LS at IK gt I A and 23 C Derating Sensor Supply my 250 200 fo DO sg 0 I I I d bere ber Gs a 0 20 dD 40 5 60 TO 107 8 IMPACT67 CANopen User Manual 8 3 Art No 55077 IMPACT67 C DO8 General CANopen Slave according to DS301 V4 02 and DS401 V2 1 Housing IP67 with 8 outputs M12 slot Pin 4 gt 8 outputs EMC EN 61000 4 2 ESD A Contact 4 KV air 8 kV EN 61000 4 3 RF field An LO V m EN 61000 4 4 Burst A EZ EN EN 61000 4 5 Surge ASYM SYym 500 V DC net input EN 61000 4 6 HF asymmetric nn IO V EN 55011 Interference field strength n
23. 0 B BUS Zubeh r accessories accessoire acess rios accessori los accesorios Art No 7000 13461 0000000 Zubeh r accessories accessoire acess rios accessori los accesorios x10 Art No 58627 Fig 6 Example of assembly for IP67 17 Ha IMPACT67 CANopen User Manual 2 2 Connection Diagram of IMPACT67 C O IMPACT67 C DI16 M12 Pini 24V Us 0 2A 1 2 Pin2 DI 10 17 KD Pin3 OV B Pin4 DI 00 07 GG In a Pin 5 Q IMPACT67 C_DI8 DO8 M12 M12 0 1 2 3 M12 4 5 6 7 Pin1 n c Pin1 24V Us 0 2A 1 2 UE Pin2 DO04 07 Pin2 DI04 07 BD Pin3 OV Pin3 OV OS Pin4 DO00 03 Pin4 DI 00 03 a Pin 5 Pin 5 DO 8x 2A A IMPACT67 C DO8 M12 0 2 4 6 M12 1 3 5 7 1 e Pin1 ne a n c y Pin 2 in n c SP Pin3 OV Pin3 OV C26 Pin4 DO00 02 LPin4 DO 01 03 EZ DO 04 06 DO 05 07 Pin5 A Pind amp DO 8x 2A Q IMPACT67 C DO16 M12 Pin1 n c 13 2 Pin2 DO 10 17 KB Pin3 OV PG Din A DO 00 07 ZS Pin5 AN DO 16x 0 5A POWER IN POWER OUT 1 ov 4
24. 0 4 125 350 8 100 500 10 50 1000 20 20 2500 50 10 5000 100 Tab 22 Max permissible cable length as a function of data rate Installation is greatly simplified through the use of preterminated lines Wiring errors are avoided and setup is more rapidly successful Murrelektronik offers Fieldbus cables power supply cables sensor cables and accessories such as terminating resistors and T fittings Field assembled connectors and cables are also available In addition the specific signal runtime of the CAN Bus cable must be taken into consideration This factor lies in a range of 5 ns m in the case of electrical two wire cables a In the case of electrical two wire cables the signal run time is 5 ns m IMPACT67 CANopen User Manual 3 4 3 2 Maximum Bus Length and Position of Bus Terminating Re sistors If the distance from a branch in the main cable to its furthest removed module is greater than the dis tance to the next terminator this spur line length Drop B is calculated in the total cable length A sample network is depicted in the table below 50m gt 12m gt 5m 6m Node 1 Drop A Node 2 Drop B Node 3 Drop C Tab 23 Position of terminating resistors maximum bus length Drop A does not appear in the max cable length 1 5 m gt 1m Drop B is calculated into the max cable length 3 m lt 5 m Drop C does not appear in the max cable length 12 m gt
25. 2 X Connector 7 8 female male connector Data Cable A 2 X M12 connector 5 pin gh Sea ERE EEE EE ere female male connector A coded Inputs A Q X S pin M12 connector Maximum length of I O cable eee lt 30m Power Supply Voltage Us over 7 8 power in Conpechor eee 24 VDC Voltage U range nn 18 30 VDC Actuator supply 7 8 power in connector e Max 9 A Sensor supply 7 8 power in connector e MAX 9A Core Crosg Secton MAX 1 5 mm Inputs Number of input 0 0scssesssecseesssersoesonsepersessenseonessseesseovees LO Input characteristics nn EN 61131 2 Type 2 Supply for Sensors nn Max 200 mA per socket Short circuit protection for Sensors e Multifuse EE ENE E E up to 100 mA load automatic startup KEE from 100 mA load a reset is required Multifuse reaction time time to trip nn LS at IK gt 1 A and 23 C Derating Sensor Supply um 250 200 0 10 1 ss A 0 I I I VW FEET NTE 0 20 dD 40 5 60 TO 105 D IMPACT67 CANopen User Manual 8 2 Art No 55076 IMPACT67 C DI8 DO8 General CANopen Slave according to DS301 V4 02 and DS401 with 8 inputs and 8 outputs M12 slot 4 5 6 7 Pin 4 and Pin 2 gt 8 inputs M12 slot 0 1 2 3 Pin 4 and Pin 2 gt 8 outputs V2 1 Housing IP67 EMC EN 61000 4 2 ESD A Contact 4 KV air 8 kV EN 61000 4 3 RF field nn 10 V m EN 61000 4 4 Burst A EZ EN EN 61000 4 5 Surge ASYM SYym 500 V DC net input EN 61000 4 6 HF as
26. 240 X X Update data x Sync message following the receipt of PDO 241 251 Reserved 252 not supported 253 not supported 254 X Output data taken over on receipt of PDO such as 255 255 X Update data taken over on receipt of PDO indicates the number of SYNC objects that are necessary to transfer the PDOs Tab 62 Description of Subindex 2 Ha IMPACT67 CANopen User Manual 6 5 17 1 Art No 55075 IMPACT67 C DI16 gt does not support receive PDO therefore there are no communication parameters 6 5 17 2 Art No 55076 IMPACT67 C DI8 DO8 2A gt supports 1 receive PDO Index Subindex Description Default 1400h 0 Number of entries of the 1st Receive PDO 2 1 COB ID of PDO 32 bit 200H Node ID 2 Transmission mode 8 bit FFH Tab 63 PDO 6 5 17 3 Art No 55077 IMPACT67 C DOG 2A gt supports 1 receive PDO Index Subindex Description Default 1400h 0 Number of entries of the 1st Receive PDO 2 1 COB ID of PDO 32 bit 200H Node ID 2 Transmission mode 8 bit FFH Tab 64 PDO 6 5 17 4 Art No 55078 IMPACT67 C DO160 5A gt supports 1 receive PDO Index Subindex Description Default 1400h 0 Number of entries of the 1st Receive PDO 2 1 COB ID of PDO 82 bit 200H Node ID 2 Transmission mode 8 bit FFH Tab 65 PDO IMPACT67 CANopen User Manual 6 5 18 Objects 1
27. 4 1 CANopen Diagnostic Concept An emergency telegram EMCY telegram is always transmitted when an error occurs When an error has been corrected an EMCY telegram with NO ERROR content is transmitted The EMCY telegram structure is described in greater detail below 7 4 1 1 EMCY Telegram Structure The EMCY telegram consists of 8 bytes of data The channel diagnostics are displayed in the manu facturer specific section bytes 5 to 7 Byte 0 1 2 3 4 5 6 7 Content For Error Error regis Re Actuator Actuator short Group diag Code see ter Object served short circuit circuit Pin 4 nostic the table 1001h Pin 2 from from Object Manufacturer below Object 3000h 3000h status regis ter Object 1002h lower 8 bit Tab 91 EMCY telegram structure 100 2 IMPACT67 CANopen User Manual 7 4 1 2 Supported Error Codes EMCY Bytes 0 1 Error General field bus diagnostics Cause code 0x0000 ERROR RESET OR NO ERROR An error was corrected 0x1000 GENERIC ERROR Generic error 0x6101 SOFTWARE RX QUEUE OVERRUN Internal overflow in Rx software buffer 0x6102 SOFTWARE TX QUEUE OVERRUN Internal overflow in Tx software buffer 0x8100 COMMUNICATION Synchronization CAN controller in warning level Tx Rx y error counter gt 128 0x8130 LIFE GUARD ERROR Node guard error Heartbeat error Error Device specific diagnostics Cause Code 0x2100 CURRENT DEVICE INP
28. 5 m Core Crosgg secHon e MI max 0 75 mm Switching frequency e approx 50 Hz 50 duty ratio Switching frequency inductive load A approx 10 Hz duty ratio Lamp Joo naerenn nn DAX LOW 111 IMPACT67 CANopen User Manual Abbreviations CAL CAN Application Layer User layer ISO OSI layer 7 specified by the CiA CAN Controller Area Network CAN in Automation e V Organization of CAN Bus device manufacturers and users CiA Draft Standard 102 Description of physical CAN communication layer 2 for industrial appli cation CiA Draft Standard 301 Description of application and communications profile for industrial sys tems CiA Draft Standard 401 Description of device profile for generic input and output modules CMS CAN based message specification A service element available to the application layer for the manipulation of objects COB Communication Object Messages are transmitted in the network in COBs and viewed as communication objects COB ID COB Identifier Each communication object is unambiguously defined by the COB ID The COB ID marks the communication object s priority CSMA CA Carrier Sense Multiple Access Collision Avoidance DBT COB ID Distributor A service element of the application layer it assigns the COB IDs to the communication objects of the CMS services DI Digital Input DIN German standards institute DO Digital Output EN European Standard EC European Community 112 T IMPACT67
29. 600H and 1605H Receive PDO Mapping Parameters This object is used to assign received data to entries in the object directory The parameters are entered in a subindex The value is entered in a 32 bit field This field is divided into one 16 bit and two 8 bit areas The index of the assigned object is found in the 16 bit field The first 8 bit field carries the subindex while the second 8 bit field states the length of the assigned entry The table below depicts the relationship as an example MSB LSB Index 16 bit Subindex 8 bit Object length 8 bit 6200h Oth 08h Tab 66 Receive PDO mapping parameters 6 5 18 1 Art No 55075 IMPACT67 C DI16 gt no receive PDO 6 5 18 2 Art No 55076 IMPACT67 C DI8 DO8 2A Index Subindex Description Default value 1600H 0 Number of assigned objects 1st receive PDO 1 1 1st assigned object digital outputs Pin 4 Pin 2 6200 01 08h Tab 67 Receive PDO 6 5 18 3 Art No 55077 IMPACT67 C DO8 2A Index Subindex Description Default value 1600H 0 Number of assigned objects 1st receive PDO 1 1 1st assigned object digital outputs Pin 4 6200 01 08h Tab 68 Receive PDO IMPACT67 CANopen User Manual 6 5 18 4 Art No 55078 IMPACT67 C DO160 5A Index Subindex Description Default value 1600H 0 Number of assigned objects 1st receive PDO 2 1 1st assigned object digital outp
30. 6m Maximum bus length 5m 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 cable 1 Attention must be paid to ensure that the CAN Bus between CAN Hand CAN Lis correctly terminated 120 Q IMPACT67 CANopen User Manual 3 4 3 3 Connecting the CAN Bus Cable Cables The CAN Bus network requires cables that conform to ISO 11898 and DR 303 1 standards We rec ommend the use of out preterminated CAB Bus cables which are simple and reliable to install Please refer to the chapter on Accessories M Connecting to IMPACT67 1 2 a Every bus segment must be installed with a terminating resistor at start and end Connect function ground to FE terminal on housing Connect incoming bus cables to the incoming bus terminal Connect any expansion bus line to an expansion bus terminal or screw terminating resistor to expansion bus terminal M12 bus terminal pin assignment A coded Connector Socket BUS OUT Pin 1 EN n c Pin 2 n c CAN GND Pin3 CAN GND CAN HIGH Pin4 CAN HIGH CAN LOW Pin5 CAN LOW Gewinde Thread EN Filet EM 7 Rosca j Filetto Rosca Tab 24 Bus connector pin assignment IMPACT67 CANopen User Manual 3 4 4 Power Supplies WD OD We recommend the use of primary switched mode power supplies in applications with the IMPACT67 and to supply the se
31. 7 CANopen User Manual Event Timer Subindex 5 The event timer functions only in asynchronous transmission transmission mode 255 If data chang es before the event timer expires an interim telegram is sent If a value gt 0 is entered in this 16 bit field the TxPDO is always transmitted after the event timer ex pires The value entered in 1800 05 and 1805 05 is the event timer in ms Data transfer also takes place without data changes Object 1800 05 or 1805 05 oo00h 0 0000h 000Ah 0064h Tab 71 Event timer examples SIS The event timer functions only in asynchronous transfer transmission mode 255 SIS If inhibit time and event timer are used at the same time the inhibit time must be smaller than the event time Otherwise the event time would expire before the inhibit time and this would make the function illogical IMPACT67 CANopen User Manual 6 5 19 1 Art No 55075 IMPACT67 C DI16 Index Subindex Description Default value 1800H 0 Number of entries of 1st transmission PDO 5 1 COB ID of PDO 32 bit 180H Node ID 2 Transmission mode FFh 3 Inhibit time 16 bit 0000H 5 Event timer 16 bit 0000H 1805H O Number of entries of 2nd Transmit PDO 5 1 COB ID of PDO 32 bit 80000280h Node ID 2 Transmission mode FFh 3 Inhibit time 16 bit 0000H 5 Event timer 16 bit 0000H 6 5 19 2 Art No 55076 IMPACT67 C DI8 DO8 2A Tab 72 Transmit PDO Com
32. 7000 41521 2260000 150 mm 7000 41541 2260000 200 mm M12 rear connection Cable length 7000 41561 2260000 100 mm 7000 41581 2260000 150 mm 7000 41601 2260000 200 mm Other system accessories on request Tab 9 Valve connector combination Style A IMPACT67 CANopen User Manual 3 1 3 5 Power T fitting 7 8 5 pin Article Number 7000 50061 0000000 Description Power T fitting 7 8 5 pin Tab 10 Power fitting 7 8 5 pin 3 1 3 6 Terminating Resistor Article Number Description 7000 13461 0000000 Terminating resistor connector Dy CANopen vu Tab 11 Terminating resistor 3 1 3 7 Blank Plug Article Number 7000 41241 0000000 M12 diagnostic adapter for line monitoring to bridges Description 58 627 M12 plastic plug SP 10 pieces 55390 7 8 screw plug metal with chain SP 1 piece 55385 7 8 screw plug plastic SP 1 piece Tab 12 Blank plug IMPACT67 CANopen User Manual 3 1 3 8 Identification Labels Article Number 996067 Description IDENTIFICATION LABELS 20X8MM SP 10 pieces Tab 13 Identification labels 3 1 3 9 Grounding Strap Article Number Description 4000 71001 0410004 Grounding strap 4 mm 100 mm for M4 SP 1 piece Tab 14 Grounding strap 3 1 3 10 Torque Wrench Article Number Description 7000 99102 0000000
33. ANopen module The data rate is searched again every time the module is started up The detected data rate is not stored If the data rate re quires changing the IMPACT67 module must be restarted An NMT reset reset node or reset com munication is not sufficient to change the data rate SIS The data rate search is performed only when module power supply Us is applied The data rate setting is accepted only when the power supply is turned ON A power reset is required to change the data rate IMPACT67 CANopen User Manual 6 Object Directory Communication Profile CanOpen Modules 6 1 Art No 55075 IMPACT67 C DI16 Index Name Access Standard value 1000H Device Type read only 00010191H 1001H Error Register read only 0 1002H Manufacturer Status Register read only 0 1003H Predefined Error Field 1003 0 read amp write i 1003 1 x read only 1005H COB ID SYNC Message read only 80H 1006H Communication Cycle Period read only 0 1008H Manufacturer Device Name read only IMPACT67 C DI16 100AH Manufacturer Software Version read only SW1 00 100CH Guard time read only 0 100DH Life time factor read only 0 1010H Store parameters read only 1011H Restore default parameters read only j 1014H COB ID emergency read only 80H Node ID 1016H Consumer heartbeat time read only 1017H Producer heartbeat time read only 0 1018H Identity Object read only 1200H Server
34. CANopen User Manual EMC Electromagnetic Compatibility IEC International Electrotechnical Commission ISO International Standards Organization LED Light Emitting Diode LMT Layer Management Enables the setting of layer related parameters to a node NMT Network Management NMT provides services for initializing and monitor ing the nodes in a network MNS Module Network Status OSI Open Systems Interconnection PDO Process Data Object Object for process data exchange between various devices RTR Remote Transmission Request Request for data telegram with the same identifier used for data transmission SDO Service Data Object Objects for access and manipulation to data in the object directory PLC Programmable Logic Controller SYNG Synchronization Object 1137 IMPACT67 CANopen User Manual Legal Provisions Exclusion of Liability Murrelektronik GmbH has checked the contents of this technical documentation for conformity with the hardware and software described therein Deviations can not be excluded in individual cases For this reason Murrelektronik excludes the warranty for the correctness of its contents and any liability for errors in particular full conformity The limitation of liability shall not apply if the cause for damage is attributable to willful intent and or gross negligence or for all claims arising from the Product Liability Law Should a major contractual obligation be violated by criminal negligenc
35. D 1016H Consumer heartbeat time read only 1017H Producer heartbeat time read only 0 1018H Identity Object read only 1200H Server SDO parameter read only 1400H Receive PDO Communication Parameter read only KR 1405H Receive PDO Communication Parameter read only 1600H Receive PDO Mapping Parameter read only 1605H Receive PDO Mapping Parameter read only KR 1800H Transmit PDO Communication Parameter read only j 1805H Transmit PDO Communication Parameter read only 1A00H Transmit PDO Mapping Parameter read only S 1A05H Transmit PDO Mapping Parameter read only R If no entry is configured under default the object index has other subindices whose contents are described in detail in the following sections IMPACT67 CANopen User Manual 6 5 Object Description of Communication Profile 6 5 1 Object 1000H Device Type DT This object describes the device type and its functionality The device description consists of two 16 bit fields The device profile number is written in one of these fields the other field contains additional information Bit MSW LSW Additional Information Device Profile Number 000XH 0191H Tab 39 Structure of Device Type Object 1000H Device Profile Number 401D 191H The device profile number 401D equals the number of the CIA standard for I O devices Additional Information 1st bit set Digital inputs available 2nd bit set Digital outputs
36. MT service Reset communication or after Reset Application All parameters default according to device configuration of the supported communication objects 1000H 1FFFH are written to the object directory After this the device automatically assumes the Init state 4 6 3 Init All necessary communication objects SDO PDO SYNC Emergency are defined during the Init state The assigned CAL services are set up and the CAN controller is configured accordingly while in this state With this device initialization is complete and the device assumes Pre Operational state 4 6 4 Pre Operational The device assumes Pre Operational state after a Reset or through NMT Service Enter Pre Operational In this state the device can be reconfigured according to its equipment Only the SDOs however are available to read and write device data The device waits for a network start after the configuration is complete 4 6 5 Stopped NMT service Node stop causes the device to assume the Stopped state The device cannot be configured in this condition No services are available to read and write device data SDO Only the slave monitoring Node Guarding function remains active IMPACT67 CANopen User Manual 4 6 6 Operational Full device functionality can be used if the CANopen network is brought into Operational state by NMT service Node start Communication can take place via PDOs
37. SDO parameter read only 1400H Receive PDO Communication Parameter read only S 1405H Receive PDO Communication Parameter read only 7 1600H Receive PDO Mapping Parameter read only i 1605H Receive PDO Mapping Parameter read only S 1800H Transmit PDO Communication Parameter read only R 1805H Transmit PDO Communication Parameter read only j 1A00H Transmit PDO Mapping Parameter read only S 1A05H Transmit PDO Mapping Parameter read only R If no entry is configured under default the object index has other subindices whose contents are described in detail in the following sections 61 IMPACT67 CANopen User Manual Q Note The correct defaults are contained in the EDS 6 2 Art No 55076 IMPACT67 C DI8 DO8 2A Index Name Access Standard value 1000H Device Type read only 0x30191H 1001H Error Register read only 0 1002H Manufacturer Status Register read only 0 1003H Predefined Error Field 1003 0 read amp write R 1003 1 x read only 1005H COB ID SYNC Message read only 80H 1006H Communication Cycle Period read only 0 1008H Manufacturer Device Name read only IMPACT67 C DI8DO8 100AH Manufacturer Software Version read only SW1 00 100CH Guard time read only 0 100DH Life time factor read only 0 1010H Store parameters read only i 1011H Restore default parameters read only S 1014H COB ID emergency read only 80H Node ID 1016H Consumer hea
38. The last error occurring is in Subindex 1 Existing errors shift to Subindex 2 the error from Subindex 2 shifts to Subindex 3 etc Errors can only be deleted as a group by writing 0x00 in object 1003 00 See Section 7 4 1 2 for a definition of the error codes Error correction does not delete the error Entry in the PEF An emergency telegram EMCY telegram is always transmitted when an error occurs When an error is rectified an EMCY telegram containing NO ERROR is sent Error Code 0x0000 Bit MSW LSW Additional Information Error Code 0000H 0000H Tab 42 Table Structure of the predefined error field Index Subindex Additional Information Error Code Description 1003H 0 Number of errors 8 bit 1 Error 32 bit Max 10 Tab 43 Table Structure of the predefined error field IMPACT67 CANopen User Manual 6 5 5 Object 1005H COB ID SYNC Message The communication parameters for the synchronization telegram are stored in this 32 bit field Bit number Value Meaning Remarks 31 MSB 0 Not relevant 30 0 Device creates no sync object 29 0 11 Bit ID CAN 2 0A 28 11 0 Not relevant 10 0 A Identifier Tab 44 Description of the SYNC COB ID entries 6 5 6 Object 1006H Communication Cycle Period This object describes the time interval between two SYNC signals in us The smallest time unit is 1 ms This must be kept
39. UT SIDE Sensor short circuit 0x2320 SHORT CIRCUIT AT OUTPUTS Actuator short circuit with GND 0x3120 INPUT VOLTAGE TO LOW Module and sensor power supply undervoltage lt 18V 0x3320 OUTPUT_VOLTAGE_TO_LOW Actuator power supply undervoltage lt 18 V Tab 92 Supported Error Codes EMCY Bytes 0 1 7 4 1 3 Error Register 1001H EMCY Byte 2 Bit Significance Comments 0 Generic error 1 Current 2 Voltage 3 Not used 4 Communication error 5 Not used 6 Not used 7 Manufacturer specific Tab 93 Error Register 1001H EMCY Byte 2 101 IMPACT67 CANopen User Manual 7 4 1 4 Channel wise Diagnostics EMCY Bytes 5 6 The data displayed in Bytes 5 and 6 are described by the fault cause described in Byte 7 manufactur er status register Module sensor power supply undervoltage Byte 5 6 7 Content 00H 00H 0x1H Tab 94 Channel wise diagnostics Actuator power supply undervoltage Byte 5 6 7 Content OOH 00H 0x4H Tab 95 Channel wise diagnostics Sensor short circuit Byte 5 6 7 Content OOH 00H 10H Tab 96 Channel wise diagnostics Actuator short circuit with GND Byte 5 6 7 Content Actuator short circuit Pin Actuator short circuit Pin 20H 2 channel diagnostics Object 3000 Subindex 4 4 channel diagnostics object 3000 subindex 3 Tab 97 Channel
40. V In this case the device shuts down IMPACT67 CANopen User Manual 7 3 Actuator Power Supply 7 3 1 Short Circuit or Overload In the event of an output short circuit or overload the following symptoms are observed on the IM PACT67 module e the diagnostic LEDs light up red on the associated M12 socket e the output status LED extinguishes e the respective diagnostic data are transferred over the bus to the master In order to reactivate an output after a short circuit or overload has been corrected the following pro cedure must be observed 1 The output must first be set to 0 2 and then to 1 again 7 3 2 Undervoltage There are two levels of undervoltage detection 1 UA lt 18V In this case the module is still working but e the POWER UALED lights up red e the respective diagnostic data are transferred to the master 2 UA lt 12V In this case the outputs have failed but bus communication still functions e the POWER UALED goes out e all outputs are reset to 0 IMPACT67 CANopen User Manual 7 4 Diagnostics vie the Fieldbus The following diagnostics are reported e Sensor short circuit group signal e Actuator shutdown by channel and group signal e Module power supply undervoltage the sensor power supply is smaller than 18 V e Actuator power supply undervoltage the actuator power supply is small than 18 V With CANopen the diagnostics are sent in separate diagnostic telegrams 7
41. beat time read only 1017H Producer heartbeat time read only 0 1018H Identity Object read only 1200H Server SDO parameter read only 1400H Receive PDO Communication Parameter read only KR 1405H Receive PDO Communication Parameter read only 1600H Receive PDO Mapping Parameter read only 1605H Receive PDO Mapping Parameter read only KR 1800H Transmit PDO Communication Parameter read only j 1805H Transmit PDO Communication Parameter read only 1A00H Transmit PDO Mapping Parameter read only S 1A05H Transmit PDO Mapping Parameter read only R If no entry is configured under default the object index has other subindices whose contents are described in detail in the following sections IMPACT67 CANopen User Manual 6 4 Art No 55078 IMPACT67 C DO16 0 5A Index Name Access Standard value 1000H Device Type read only 00020191H 1001H Error Register read only 0 1002H Manufacturer Status Register read only 0 1003H Predefined Error Field read only j 1005H COB ID SYNC Message read only 80H 1006H Communication Cycle Period read only 0 1008H Manufacturer Device Name read only IMPACT67 C DO16 100AH Manufacturer Software Version read only SW1 00 100CH Guard time read only 0 100DH Life time factor read only 0 1010H Store parameters read only 1011H Restore default parameters read only 1014H COB ID emergency read only 80H Node I
42. cable Signal and power supply cables to the terminal block should be sufficiently long to prevent pull stresses on the terminals 3 4 2 Preventing Interference Voltage The following points must be observed in order to reduce or prevent voltage interference when setting up a system 1 2 Shielding devices and cables where stipulated VDE 0113 and VDE 0829 etc Suitable location of the devices and cables Take appropriate interference suppression measures for devices emitting interference e g fre quency transformers valves contactors etc Make sure that device and shield grounding methods are massive and comprehensive IMPACT67 CANopen User Manual 3 4 3 Connecting the CAN Bus The selection of CAN Bus cables and the respective data transfer rate takes place in three steps 1 Determine the required cable core cross section depending on the number of CAN Bus devices and cable length 2 Then establish the specific conductor resistance and or core cross section in the AWG 3 Select the permissible data transfer rate ab Please use the 3 tables below for these 3 steps In exceptionally difficult situations it may not be possible to establish cable parameters and permissi ble data transfer rates with the procedure described In such cases please refer to the ISO 11898 CiA DS102 and CiA DR303 1 standards The following sections are excerpts from these standards 3 4 3 1 CAN Bus Cable Description The
43. cceceseceeeee cece eeeeaeeeeaaeeeeeeeeeaeeeseaeeeeaeeseeeeeseaeeeeaeeseeeeeaes 94 7 1 3 LED Display for e Ile le 95 7 2 Sensor Power SUPply TEE 97 7 2 1 Short circuit or overload ku 97 7 2 2 Sensor Power Supply Undervoltage ceccceceeeeeceeeeeeeeeeeeeeeeeeeesaeeeeaeeseeeeeseaeeeesaeeseneeeeaes 98 7 3 Actuator Power Supply 0 cccccceeececeeeeeeeeeeeeeaeeeeaeeeeeeeeceaeeecaaeeseaeeseeeeseaeeeseaesseeeeseeeeescaeeeeaeseeneeeed 99 7 3 1 Short Circuit or Overload mannvnnonvvnnnrrnnnnrnnnnnnnrerrvnnnrrnnnnvnnennenrnrrennrnennnnnnenrenrsrnesnnrneennnnnenne 99 7 3 2 Undervolt ge E 99 TA Diagnostics vie the Fieldbus cc ccacsccieislicade deciiel ein Eene EEEE ee acetates 100 7 4 1 CANopen Diagnostic Concert 100 7 4 2 Diagnostics under 2nd Transmit PDC 103 KC elle HR E 104 8 1 Art No 55075 IMPAC T67 C DI16 ririsak aaa a aE aaia aba 104 8 2 Art No 55076 IMPACT67 C DI8 DORAN 106 8 3 Art No 55077 IMPACT67 C DORAN 108 8 4 Art No 55078 IMPACT67 C DO 110 ee Ee 112 Legal Provisions cerno scent ciaceetes shored deaceetee dente tacdbees cece de SEENEN ENEE Ee 114 ia IMPACT67 CANopen User Manual Important Information Symbols and Icons This manual contains information and instructions you must comply with in order to maintain safety and avoid personal injury or damage to property They are identified as follows Notes indicate important information Warnings contain information that if you ignore
44. cted per M12 slot This protection is always self resetting The maximum current for the sensor power supply is 200 mA per M12 slot Note the derating in the drawing below Derating Sensor Power Supply 100 1 e Hy ppp pp te o 20 30 40 50 60 T C Fig 7 Derating sensor power supply ce IMPACT67 modules may be loaded to max 200 mA per M12 slot sensor current IMPACT67 CANopen User Manual od If an M12 slot I O channel is not used it must be fitted with an M12 blank plug in compliance with IP 67 specifications 3 4 5 2 Connecting Actuators The table below depicts all the general pin assignments for the M12 socket slots Function channel Channel Channel O Reference potential Function channel Channel Pins Cd Function ground Tab 29 General pin assignment of M12 slots 3 4 5 2 1 IMPACT67 C DO16 Pin1 n c Pin2 DO 10 17 Pin3 OV Pin4 DOO 7 Pin5 amp DO Ua 0 5A The table below depicts the assignment between M12 slots and I O labels M12 slot Channel Pin 4 Channel Pin 2 0 DO 00 DO 10 1 DO 01 DO 11 2 DO 02 DO 12 3 DO 03 DO 13 4 DO 04 DO 14 5 DO 05 DO 15 6 DO 06 DO 16 7 DO 07 DO 17 Tab 30 M12 slots to I O labels IMPACT67 CANopen User Manual 3 4 5 2 2 IMPACT67 C DO8 M12 0 2 4 6 Pin1 nc Pin5 amp M12 1 3 5 7 Pint n c Pin2 n c Pin 2 Pin3 OV Pin3 OV Din A DO0 2 4 6 Pin 4 1 1 3 5 7 Pin 5 DO U 2A
45. ctor e 24 VDC Voltage U U rmamnge 18 30 VDC Actuator supply 7 8 power in connector eee MAX 9 A Sensor supply 7 8 power in connector e Max 9A Core Crosgg Sechon MAX 1 5 mm Outputs Number of Outputs A 8 Actuator current load approx 2 A per actuator Cable Jength A With 0 75 mm max 10 m a EE E with 0 34 mm max 5 m Core Crosgg secHon M12 max 0 75 mm Switching frequency e approx 50 Hz Switching frequency inductive load e approx 10 Hz Eamp 010 EE a AO W 109 D IMPACT67 CANopen User Manual 8 4 Art No 55078 IMPACT67 C DO16 General CANopen Slave according to DS301 V4 02 and DS401 V2 1 Housing IP67 with 16 outputs M12 slot contact 4 gt 8 outputs M12 slot contact 2 gt 8 outputs EMC EN 61000 4 2 ESD A Contact 4 KV air 8 kV EN 61000 4 3 RF field An LO V m EN 61000 4 4 Burst A EZ EN EN 61000 4 5 Surge ASYM SYym 500 V DC net input EN 61000 4 6 HF asymmetric A A V EN 61000 4 8 Magnetic field 50 Hz nn 30 A M EN 55011 Interference field strength nn QP 40 dBu V m 30 230 MHz EEE NE OE QP 47 dBu V m 230 1000 MHz class A Ambient Conditions Operating temperature nn OPE to 55 C Storage temperature e AAL to 70 C Enclosure type according to IEC 60529 nn IP 67 Mechanical Ambient Conditions Oscillation according to EN 60068 Part 2 6 5 60 Hz constant amplitude 0 35 mm eege 60 150 Hz constant accelera
46. d by him If the technical documentation is integrated in part or in full in the customer s technical documentation the customer shall refer to the copyright of Murrelektronik GmbH Furthermore special attention shall be paid to compliance with the safety instructions Although the customer is obliged to make reference to the copyright of Murrelektronik GmbH provided the technical documentation of Murrelektronik GmbH is used the customer shall market and or use the technical documentation on his sole responsibility The reason is that Murrelektronik GmbH has no influence on changes or applications of the technical documentation and even minor changes to the starting product or deviations in the intended applications may render incorrect the specifications con tained in the technical documentation For this reason the customer is obliged to identify the technical documentation originating from Murrelektronik GmbH if and inasmuch as the documentation is changed by the customer The customer shall be obliged to release Murrelektronik from the damage claims of third parties if the latter are attributable to any deficits in the documentation This shall not apply to damages to the rights of third parties caused by deliberate or criminal intent The customer shall be entitled to use the company brands of Murrelektronik GmbH exclusively for his product advertising but only inasmuch as the products of Murrelektronik GmbH are integrated in the products marke
47. dressing NA 1 99 NA NA DR x10 x1 DR 0 9 O 9 NIAI NIA C SAAE gt Fig 10 Data rate and Node ID Switches ay There are two switches for setting the Node ID x10 decades and x1 single digits Addresses 1 to 99 are permitted The Node ID is only taken over when the module power supply is applied by the IMPACT67 module As a result a power reset must always be made after the Node ID is changed A Always make sure that the Node ID is unique for each device in the CANopen net work Address 0 is not allowed Data Rate Settings The data rate is set with a DR rotary switch Bit timing is according to CiA directives The following data rates can be set Switch Position Data Rate 0 Automatic recognition 10 Kbit s 20 Kbit s 50 Kbit s 100 Kbit s 125 Kbit s 250 Kbit s 500 Kbit s 800 Kbit s OoO o n oO oo AJOJN 1000 Kbit s Tab 38 Setting the Data Rate IMPACT67 CANopen User Manual Messages e g SYNC telegrams must be transferred on the CAN Bus for automatic data rate recog nition switch position 0 to take place The IMPACT67 module tries to recognize the data rate used and accepts this as a default While the IMPACT67 module is searching for the data rate the RUN and Err LEDs flash at a rate of 10 Hz When the data rate is finally detected the IMPACT67 module reverts to Pre Operational state and can be used as a C
48. dule of the IM PACT67 series has a separate EDS file with the extension eds plus an icon in the form of a bitmap with the extension ico assigned to it The EDS file contains a lot of information concerning the module e g Device type manufacturer Vendor ID article number software version hardware version etc A EDS files are module specific Only Murrelektronik technical personnel are allowed to perform application specific modifications EDS files are assigned as shown in the table below Module Name of EDS file Name of icon type IMPACT67 IMPACT67C_DI16_ 55075 E 1 1 eds IMPACT67C_DI16_55075_E_1_1 bmp C DH6 IMPACT67 IMPACT67C_DI8DO8 55076 E 1 1 eds IMPACT67C DI8DO8 55076 E 1 1 bmp C DI8 DO8 IMPACT67 IMPACT67C DO8 55077 E 1 1 eds IMPACT67C DO8 55077 E 1 1 bmp C DO8 IMPACT67 IMPACT67C DO16 55078 E 1 1 eds IMPACT67C DO16 55078 E 1 1 bmp C DO16 Tab 37 EDS files O The last character in the EDS file name stands for the EDS file language e g D Deutsch E English It is of no consequence to the function of the composite network what file is embed ded in the startup tool It only enhances the legibility of the variables Q The latest EDS files are retrievable over the internet at http www murrelektronik com in the download section under configuration files IMPACT67 CANopen User Manual 5 2 2 Ad
49. e the liability of Murrelektronik GmbH shall be limited to damages that typically arise Subject to technical changes and alternations in content We advise that you check at regular intervals whether this documentation has been updated since corrections that may become necessary due to technical advances are included by Murrelektronik GmbH at regular intervals We are gratefully for any suggestions for improvement Copyright It is prohibited to transfer or photocopy the documentation either in paper or in digital form reuse or divulge its contents unless otherwise expressly permitted by Murrelektronik GmbH or in conjunction with the production of documentation for third party products that contain products made by Murrelektronik GmbH Violations will result in liability for damages All rights reserved in particular in the event of the award of patents or granting of utility models Right of Use Murrelektronik GmbH grants its customers a non exclusive right revocable at any time and for an in definite period of time to use this documentation to produce their own technical documentation For this purpose the documentation produced by Murrelektronik GmbH may be changed in parts or amended or copied and transferred to the customer s users as part of the customer s own technical documentation on paper or on electronic media The customer shall then bear sole responsibility for the correctness of the contents of the technical documentation produce
50. e Guard Time in milliseconds Object 100DH contains the Life Time Factor Life Time is calculated as follows Life Time Guard Time x Life Time Factor If one of the two parameters is 0 default there is no master monitoring no life guarding In order to activate time monitoring set at least value 1 in Object 100DH and enter a time in ms in Object 100CH To guarantee reliable operation enter a life time factor of at least 2 otherwise the node will switch to pre operational state without the existence of an error in the event of a delay e g caused by high priority messages or internal processing of the Node Guarding Master In the guarding process the Master Remote Frame remote transmit request message request tele grams transmits to the guarding identifier of the monitored slaves The slaves respond with the guard ing message The message contains the slave status code and a toggle bit which must change after every message If the status or toggle bit fails to match the status expected by the NMT master or if there is no response the master assumes there is a slave error If the master requests guarding messages in a strict cycle the slave may detect the failure of the mas ter In this case the slave receives no message request from the master within the set life time guarding error and assumes that the master has failed watchdog function Then the slave sets its outputs to error state and reverts to pre operationa
51. e controls in automation technology The textile machine industry was amongst the CAN pioneers Back in 1990 a manufacturer equipped his weaving machines with modular control systems that communicate over the CAN network Since then numerous textile machine manufacturers have joined in a CAN Textfile Users Group In turn this group is a member of the international CAN in Automation CiA user and manufacturers association In the U S a number of corporations employ CAN in their production systems and machine tools as a system internal or machine internal bus sys tem to interconnect sensors and actuators These companies include Honeywell Allen Bradley Coca Cola and United Parcel Services Some users for example in medical technology have opted for CAN because of the extremely high safety requirements they must meet in this field Manufacturers of safety sensitive or high availability machines and systems e g robots and transport systems have similar problems to solve The extremely interesting technical characteristics of CAN coupled with its low price due to the vol ume of units used in the automotive industry have made CAN a worldwide accepted bus system in automation technology In the CAN system equal rights users control devices sensors and actua tors are interconnected by means of a serial bus The bus cable itself is a symmetrical or asymmet rical two wire cable that is either shielded or unshielded depending on the
52. eine initia ancain dade aie ae 28 3 2 1 CAN Bus Protocol Description 28 3 2 2 CANopen Protocol Description ceccceceeeeeceeeeeeeee cee eeceaeeeeaee sense ceaeeesaaeseeeeeseeessaeeseeeeeaes 29 3 2 3 GAN Bus System RT DE 31 3 2 4 GAN Bus Level ET 32 3 3 Information for First Time USE 0 cc cece snra ee eee ae ee ee tana ee enna nese ee EKRANA AAAA ANTARANE 33 34 CONNEC NG MEET 34 3 4 1 General Line Routing 0 0 2 2 cece cece ee ence eeeeeeeeeeeeeaae scence eaeeeeaaeeeeaaeseaeeesaaeeesaaesseeeeseaeeseaaeeseaeeeeaes 34 3 4 2 Preventing Interference Voltage 0 eee ceeeeeeeeeeeeeeeeeeeaeeeeeeeaeeeeeeaaeeeeeeaaeeeeeeaaeeeeeeaeeeeseaaes 34 IMPACT67 CANopen User Manual 3 4 3 Connecting the CAN Bus sssessenseensesnsssnsstnsstnsstnsstnnstnnstnnstnnstnnstensnnnnnennnnnnnnnntnnntnnntnnnennenn 35 3 4 4 Power SUPPIOS sr ccsancdesevnsasteesateasieagasteeesdant sy deszeaaleedancadianentetedans dadaa aia adaa aniani aiaiai 41 3 4 5 Connecting Sensors and Actuators 0 cccccccecceeeeeeeeceeeeeeeaeeeeaeeeeeeeeceaeeeeaaeeeeeeeseeeseaeeseaeeteaes 44 3 4 0 Unused Connections taisiin naa net eee tele en A E A EAA EER AEAEE ds 48 4 General Information ON CANopen 49 4 1 Object Directory Structure eccceceeeeenee cece ee eeaeeeeeee scenes ceaeeeeaaeeeeeeeseaeeeseaeeseaeeseeeeeseaeessaeeeeneeee 49 4 2 Communication Profile General Description cecceeeeceeeeeeeeeeeeee cee eecaeeeeaeeseeeeeseaeeesaeeneneeeea 50
53. ems are implemented engineers are rapidly confronted with re quirements not yet considered by Layer 1 and Layer 2 protocols The starting point for CAL CAN Ap plication Layer specifications was to provide a communication capability suitable for distributed sys tems in the form of a user layer Layer 7 based on Layer 2 protocol expanded communication capa bility CANopen originated from a subentity of CAL Through the definition of profiles it is even more specifically tailored for use in standard industrial components CANopen is a CiA standard CAN In Automation and has already found widespread acceptance shortly after its introduction In Europe CANopen can be regarded as the decisive standard for the implementation of CAN based industrial system solutions The CANopen profile family is based on a so called Communication profile which specifies the un derlying communication mechanisms and their description DS301 The most important device types being used in industrial automation technology such as digital and analog I O modules DS401 drives DS402 operating devices DSP403 regulators DSP404 programmable controllers DS405 encoders DS406 are described in so called Device profiles The device profiles define the functionality of standard devices of that particular type The configurability of devices via the CAN Bus serves as the basis for the manufacturer independence that the profile family aspires to provide
54. en the correct signature is received the device restores the parameters and then confirms this process by sending an SDO transmission initiate download response If the restore operation fails the device replies with an SDO Transfer Error Message 0606 0000h Signature MSB LSB ISO 8859 ASCII d a o l Hex 64 61 6F 6C Tab 50 SDO If an incorrect signature was written the device does not restore the parameters and replies with an SDO Transfer Error Message 0800 002xh The default values are taken over after a device reset NMT Reset Node for Subindex 1h 4h NMT Reset Communication for Subindex 2h or a power reset When a read access to a subindex occurs the device sends back information via the supported re store function 32 bit as follows Bits Value Significance 31 1 0 Reserved 0 0 The device does not restore the default parameters 1 The device restores the default parameters Tab 51 Read access to a subindex IMPACT67 CANopen User Manual 6 5 12 Object 1014H COB ID Emergency Message The value entered in this object is used as a COB ID for emergency node messages When changing the COB ID no value may be used that is being used in the node or in the network as a COB ID for another message The structure of the EMCY COB ID is shown in the table below Bit MSB LSB 31 30 29 28 11 10 0 CAN 2 0A 0 0 0 000000000000000000 11 bit identi
55. entered in Subindex 1 the Article Number of the IMPACT67 is in Subindex 2 and Subindex 3 contains the revision number that is divided into a main revision number and a secondary revision number If the CANopen functionality is expanded the main revision number is incremented The secondary revision number is incremented when there are software changes the device functionality is changed but there is no impact on CANopen functionality 6 5 15 1 Art No 55075 IMPACT67 C DI16 Index Subindex Description Default value 1018H 0 Number of entries 3 1 Vendor ID 32 bit 4F 2 Product Code 32 bit D723H 55075D 3 Revision Number 32 bit 00010001H Tab 56 Identity Object IMPACT67 CANopen User Manual 6 5 15 2 Art No 55076 IMPACT67 C DI8 DO amp 82A Index Subindex Description Default value 1018H 0 Number of entries 3 1 Vendor ID 32 bit 4F 2 Product Code 32 Bit D724H 55076D 3 Revision Number 32 Bit 00010001H Tab 57 Identity Object 6 5 15 3 Art No 55077 IMPACT67 C DO8 2 A Index Subindex Description Default value 1018H 0 Number of entries 3 1 Vendor ID 32 Bit 4F 2 Product Code 32 Bit D725H 55077D 3 Revision Number 32 Bit 00010001H Tab 58 Identity Object 6 5 15 4 Art No 55078 IMPACT67 C DO160 5A Index Subindex Description Default value 1018H 0 Number of entries 3 1
56. eria are the DC parameters listed in the table below The parameters listed in the previous table are for networks according to I5011898 2 In order to min imize voltage drop in the cable a larger bus terminating resistor than those specified in I5011898 2 should be selected for long cable lengths In the system configuration the DC connector parameters must also be taken into consideration For each connector 5 mQ to 20 mQ must be added to the ca ble resistance a The ground potential difference at CAN_GND terminals of all CAN Bus devices Tab 21 DC Cable Parameters should not exceed 2 V Cable length Specific cable Core cross section Maximum inm resistance in mm data rate in mQ m in Kbits s 0 to 40 70 0 25 to 0 34 1000 at 30 m AWG23 AWG22 40 to 300 lt 60 0 34 to 0 6 500 at 100 m AWG22 AWG20 300 to 600 lt 40 0 5 to 0 6 100 at 500 m AWG20 600 to 1000 lt 26 0 75 to 0 8 50 at 1000 m AWG18 cD Plug connectors have a typical DC resistance of 5 m Q to 20 mQ In approximation the following is valid for bus termination Attention must be paid to ensure that the CAN Bus between CAN_H and CAN Lis correctly terminated with 120 Q IMPACT67 CANopen User Manual The max permitted line length as a factor of data rate is listed in the table below Data rate Cable length Nominal bit time in Kbits s inm in us 1000 30 1 800 50 1 25 500 100 2 250 25
57. et we recommend the use of our grounding strap It is not included in the as delivered state of the module You must therefore purchase it separately AA Please refer to the chapter on Accessories Q Connect the PE terminal on the housing at low impedance to the function ground refer to EMC information gt 2 5 mm Zubeh r accessories accessoire los accesorios accessori acessd rios 2 Art No 4000 71001 0410004 02 O am m ee Nm 7 18 Ibf in 0 1 M6 Q 3 Nm 26 54 Ibf in Fig 4 Mounting IMPACT67 CANopen User Manual 2 1 4 Addressing 99 Fig 5 Data rate and Node ID switches Node ID switch x10 NA x10 Node ID switch x1 NA x1 Data rate switch DR D Further information on addressing is contained in the chapter on Startup Ei 16 IMPACT67 CANopen User Manual 2 1 5 IP67 ce IP67 protection is only guaranteed when all sockets are wired up or provided with blank plugs 1 52 Nm 718 SEA 13 27 Ibf in Zubeh r accessories accessoire acess rios accessori los accesorios Art No 55385 plastic or Art No 55390 metal M12 5 31 9 Ibf in 0 6 Nm Zubeh r accessories accessoire acess rios accessori los accesorios Art No 7000 99102 000 000
58. fier Tab 52 Structure of EMCY COB ID entry object 1014H 6 5 13 Object 1016H Consumer Heartbeat Time The Consumer Heartbeat Time defines the expected heartbeat cycle time and should be configured higher than the corresponding Producer Heartbeat Time of the device that sends the heartbeat Monitoring starts after the reception of the first heartbeat If the entry of the Consumer heartbeat time is 0 it is not used The entered time is multiplied by 1 ms Subindex PDO Mapping Access Default Value Description 0 No Ro Oth 1 No Rw 0 Consumer heartbeat time Tab 53 Heartbeat Structure of Consumer Heartbeat Time entry 32 bit MSB LSB Bits 31 24 23 16 15 0 Value Reserved Node ID Heartbeat Timer Coded as Unsigned8 Unsigned16 Tab 54 Consumer Heartbeat Time entry IMPACT67 CANopen User Manual 6 5 14 Object 1017H Producer Heartbeat Time The Producer Heartbeat Time defines the cycle time of the heartbeat transmitted If the entry is 0 the Producer Heartbeat Time is not used and the node sends no heartbeat The time has to be a multiple of 1 ms Subindex PDO Mapping Access Default Value Description 0 No Rw 00h Tab 55 Producer Heartbeat Time 6 5 15 Object 1018H Identity Object Object 1018H contains general information about the device The Vendor ID manufacturer identification number issued by CiA is
59. gnostics IMPACT67 CANopen User Manual 7 2 Sensor Power Supply Power supply for the sensors is provided at the M12 sockets between pin 1 24V and Pin 3 OV 7 2 1 Short circuit or overload The sensor power supply is protected by a self resetting multifuse each slot The maximum current draw for the sensor power supply is 200 mA per M12 slot Note the derating in the drawing below Derating Sensor Power Supply ma 250 200 150 100 1 50 O gt T C Fig 13 Derating sensor power supply In the event of a short circuit or overload in the sensor supply the following symptoms are observed on the IMPACT67 module e The diagnostic LEDs light up red on the associated M12 socket e The respective diagnostic data are transferred over the bus to the master e All other inputs function correctly When an overload or short circuit is rectified or the sensor supply is connected the LEDs and diag nostic data are reset IMPACT67 CANopen User Manual 7 2 2 Sensor Power Supply Undervoltage There are two levels of undervoltage detection 1 Us lt 18 V In this case the module is still working but e the POWER Us LED lights up red e the respective diagnostic data are transferred via the bus to the master 2 Us lt 12V In this case the outputs have failed but bus communication still functions e the POWER UALED goes out e all outputs are reset to 0 3 Us lt 6 5
60. h 0800 0022h Ge cannot be transferred or stored to the application because of the present device Tab 34 Abort codes during SDO access errors 4 5 Device Profile General Description The device profile contains the functionality description of the device All application objects functions and parameters of a device are defined in the device profile It forms a standardized interface for de vice functionality Entries in the object directory are identified through the index Access to entries is accomplished by means of SDO services which permit entries to be read or written IMPACT67 CANopen User Manual 4 5 1 Implemented Minimal Device Configuration The following device configuration is available after the device internal initialization Minimal device configuration without dynamic ID distribution ID assignment is illustrated in the tables below Static mapping of application objects to PDOs Synchronous asynchronous cyclic and acyclic PDO transmission with master monitoring during synchronous PDO transmission Emergency telegrams when an error occurs CANopen Boot Up procedure per NMT services and Node guarding and heartbeat Object Function code Resulting COB ID CMS Priority Binary Hex Dec NMT 0000 0 0 0 SYNC 0001 80H 128 0 Tab 35 Broadcast object of predefined master slave connections Object Function code Resulting COB ID CMS
61. hort circuit Pin 4 Tab 78 Transmit PDO mapping parameters IMPACT67 CANopen User Manual 6 5 20 4 Art No 55078 IMPACT67 C DO160 5A Actuator short circuit Pin 2 Index Subindex Description Default value 1A05H 0 Number of assigned objects 1st Transmit PDO 4 1 1st assigned object group diagnostic 3000 01 08H 2 2nd assigned object 3000 02 08H Reserved 3 ard assigned object 3000 03 08H Actuator short circuit Pin 4 4 4th assigned object 3000 04 08H Tab 79 Transmit PDO mapping parameters IMPACT67 CANopen User Manual 6 6 Manufacturer Specific Device Profile CanOpen Modules 6 6 1 Object 6000H Read Input 8 Bit Reading of an input value with 8 inputs to be stored in one byte Addresses are generated using index and subindex whereby the subindex 0 contains the number of entries The table below shows the assignment of subindices to inputs Subindex Bit No Input Description 1 0 Input 00 Status 1 if input 1 ca 1 Input 01 Status 1 if input 1 2 Input 02 Status 1 if input 1 3 Input 03 Status 1 if input 1 4 Input 04 Status 1 if input 1 5 Input 05 Status 1 if input 1 6 Input 06 Status 1 if input 1 7 Input 07 Status 1 if input 1 2 0 Input 10 Status 1 if input 1 ile ER 1 Input 11 Status 1 if input 1 2 Input 12 Status 1 if input 1 3 Input 13 Status 1 if input 1 4 Input 14 Status 1 if input 1 5 Input 15 Stat
62. igh and the dominant level 0 low When there is no bus transmission traffic the bus level is recessive Every CAN Bus device must be able to implement the output level variances Vdiff VCAN_H VCAN_L shown in the table below A transmission output current of gt 25 mA must be possible Dominant bus level Vdiff gt 0 9 V Recessive bus level Vdiff 0 5 V to 0 5 V VCAN_H dominant nominal 3 5 V VCAN_L dominant nominal 1 5 V Bus idle operation VCAN_H VCAN_L 2 5 V Tab 18 CAN Bus Level IMPACT67 CANopen User Manual 3 3 Information for First Time Users CANopen is a Fieldbus system for industrial use Its advantages lie in its application In particular the various types of process data transmission permit a host of different applications To make the system even easier and safer for first time users to use we recommend proceeding as outlined in the table below Work phase Question Note Planning How many I Os are required This determines if one or more CANopen networks in total are required Planning How high is the system Important for the selection of a suitable system pow power requirement er supply unit Planning How large is the entire Important for selecting the CAN Bus cable and data scope of the system rate Configuration How are the NODE IDs of To avoid addressing errors create an assignment the modules to be assigned sche
63. l state These two monitoring mechanisms are of special importance in CANopen since the modules do not report in event controlled mode at regular intervals IMPACT67 CANopen User Manual Q The master remote request also generates a reply without entries in the Guard Time or Life Time Factor objects Time monitoring is only activated if values greater than 0 are entered in the two objects Typical Guard Time values range from 250 ms to 2 se conds 6 5 10 Object 1010H Save Parameters Using this object module parameters can be saved in a nonvolatile memory flash and reloaded automatically from there after a voltage reset Subindex Default Value Description 0 4 Largest subindex supported 1 Save all parameters 2 Save communication parameters 1000H 1FFFH 3 Save application parameters 6000H 9FFFH 4 Save application parameters in manufacturer specific object area 2000H 5FFFH Tab 46 Save Parameters To save the parameters save 6576 6173 must be written in the related subindex A Please remember that no outputs are set for Save all parameters Subindex 1 or Save application parameters Subindex 3 Saving is not permitted in this state and the device replies with an SDO Transfer Error Message 0800 0022h IMPACT67 CANopen User Manual When the correct signature is received the device saves the parameters and then confirms this pro cess by sending an
64. le flash approx 200 ms followed by a long off phase approx 1000 ms LED double flash a sequence of two short flashes approx 200 ms the interval between two flashes is approx 200 ms This sequence ends with a long off phase approx 1000 ms LED triple flash a sequence of three short flashes approx 200 ms the interval between the three flashes is approx 200 ms This sequence ends with a long off phase approx 1000 ms on flickering red red f 50 ms on flickering green off on blinking 200 200 green ms ms off ingle on Tach 1000 red of ms ms i on S E i green off double On 200 200 200 1000 ia z ms ms ms ms o triple on 200 200 200 200 200 1000 e e ms ms gt ms gt ms gt ms ms o Fig 12 Status of bus displays and flash rates IMPACT67 CANopen User Manual 7 1 2 I O Status LEDs at M12 Slots Each input and output is assigned a separate status display They are labeled with 00 to 07 and 10 to 17 The displays are located directly next to the corresponding M12 socket This makes it easy to identify the status of peripheral components such as sensors and actuators LED Display of Digital Inputs Input with Voltage at Input Logic value LED display NO contact function OV 0 off 24V 1 yellow Tab 85 LED display of digital inputs LED Display of Digital Outputs Output Logic value Voltage at LED dis
65. m n ELEKTRONIK stay connected Manual IMPACT67 C Installation Configuration Notes General Information on CANopen Startup Object Directory Diagnostics Technical Data IMPACT67 CANopen User Manual Publishing Data User Manual for IMPACT67 C DI16 Article Number 55075 IMPACT67 C DI8 DO8 Article Number 55076 IMPACT67 C DO8 Article Number 55077 IMPACT67 C DO16 Article Number 55078 Version 1 2 Edition 08 12 EN Article Number 55365 Murrelektronik GmbH Falkenstrasse 3 D 71570 Oppenweiler Tel 49 7191 47 0 Fax 49 7191 47 130 info murrelektronik de r IMPACT67 CANopen User Manual Service amp Support Website www murrelektronik com In addition our Customer Service Center CSC will be glad to assist you Our Customer Service Center can support you throughout your project planning and the conception of customer applications configuration installation and startup We also offer competent consulting or in more complex cases we even provide direct onsite support The Customer Service Center provides support tools It performs measurements for Fieldbus systems such as Profibus DP DeviceNet CanOpen and AS interface as well as energy heat and EMC measurements Our coworkers at the Customer Service Center provide their competence know how and years of experience They are knowledgeable about hardware and software and compatibility wi
66. me Carefully label all addressed modules ac cordingly Installation Where will the modules be Depends on the module enclosure type Either in a installed switch cabinet or terminal box Place modules with IP 67 protection close to sensors and actuators to achieve greater efficiency Setup How will the system configu The modules can be configured with a suitable soft ration be executed ware via the imported EDS file Setup Have all CAN Bus devices When all CAN Bus devices have reported slave on the bus reported after configuration can begin Power ON Setup How can a simple I O func Quick and straightforward with special easy to use tion test be performed setup tools such as the CANopen Master Simulator Alternatively the I O test can also be performed via PLC software Tab 19 Planning and configuration procedure IMPACT67 CANopen User Manual 3 4 Connecting 3 4 1 General Line Routing Cable routing is a very important criterion for interference free operation of the equipment When rout ing cables be sure to observe the following 1 Do not route bus cables parallel to high voltage cables where applicable route in separate bun dles or cable troughs or channels The PE cable connection must be star shaped Prevent potential differences by connecting equipotential bonding conductors CAN Bus cable shields must be attached to the connectors All analog signals should be carried by shielded
67. munication Parameters Index Subindex Description Default value 1800H 0 Number of entries of 1st transmission PDO 5 1 COB ID of PDO 32 bit 180H Node ID 2 Transmission mode FFh 3 Inhibit time 16 bit 0000H 5 Event timer 16 bit 0000H 1805H 0 Number of entries of 2nd Transmit PDO 5 1 COB ID of PDO 32 bit 80000280h Node ID 2 Transmission mode FFh 3 Inhibit time 16 bit 0000H 5 Event timer 16 bit 0000H Tab 73 Transmit PDO Communication Parameters IMPACT67 CANopen User Manual 6 5 19 3 Art No 55077 IMPACT67 C DO8 2A Index Subindex Description Default value 1805H 0 Number of entries of 1st transmission PDO 5 1 COB ID of PDO 32 bit 80000280H Node ID 2 Transmission mode FFh 3 Inhibit time 16 bit 0000H 5 Event timer 16 bit 0000H 6 5 19 4 Art No 55078 IMPACT67 C DO160 5A Tab 74 Transmit PDO Communication Parameters Q The COB ID of the PDO with Index 1805H is deactivated by default i e the PDO is not transmitted Index Subindex Description Default value 1805H 0 Number of entries of 1st transmission PDO 5 1 COB ID of PDO 32 bit 80000280H Node ID 2 Transmission mode FFh 3 Inhibit time 16 bit 0000H 5 Event timer 16 bit 0000H Tab 75 Transmit PDO Communication Parameters IMPACT67 CANopen User Manual 6 5 20 Objects 1A00H and 1A05H Transmit PDO Mapping Pa
68. n QP 40 dBu V m 30 230 MHz EE eebe QP 47 dBu V m 230 1000 MHz class A Ambient Conditions Operating temperature nn UU to 55 C Storage temperature e AAL to 70 C Enclosure type according to TEC oni IP 67 Mechanical Ambient Conditions Oscillation according to EN 60068 Part 2 6 1 5 60 Hz constant amplitude 0 35 mm erte ere 60 150 Hz constant acceleration 5 g Shock according to EN 60068 Part 2 27 00 eee Amplitude 15 g 11 ms duration Miscellaneous Dimensions L x WH 225 X 63 x 39 mm Attachment distance e 208 MM KE Ee 4209 Bus Data Transfer protocol nn CAN Layer 7 CANopen Transfer rates nn LO 20 50 100 125 250 500 800 1000 Kbit s EE and automatic recognition Potential disconnectedness DOO V between bus and internal logic with optical EE coupler and DC DC converter Modes A CYClic and acyclic synchronous PDOs EEE SEE NE asynchronous PDOs Communication objects nn I TXPDOS I RxPDO EEE EE REN cb Gye takes 1 SDO 108 D IMPACT67 CANopen User Manual SETZE EES e 1 emergency object Addressing nn I to 99 with two rotary switches adjustable CiA e V Vendor Ui 79Dec 4FHex Connection Possibilities Supply cable A 2 X Connector 7 8 female male connector Data cable A 2 X M12 connector 5 pin dee EE female male connector A coded Outputs A Q X S pin M12 connector Maximum length of I O cable eee lt 30m Power Supply Voltage U U over 7 8 power in Gonpne
69. ncy Message 73 6 5 13 Object 1016H Consumer Heartbeat Time 73 6 5 14 Object 1017H Producer Heartbeat Time 74 6 5 15 Object 1018H Identity Object oo ec eee ceceee cece ee eeeeeeeaeeeeeeeeeaeeeeaaeeeeaeeseeeeeseaeeseaeeseaeeeeaes 74 6 5 16 Object 1200H Server SDO Parameier nnt 76 6 5 17 Objects 1400H and 1405H Receive PDO Communication Parameters sssseeenseaae 76 6 5 18 Objects 1600H and 1605H Receive PDO Mapping Parameters rsrnnrnrnnrnrrvnnnrnnnnnnnnnnnne 79 6 5 19 Objects 1800H and 1805H Transmit PDO Communication Parameters ssssneeseseeeee 81 6 5 20 Objects 1A00H and 1A05H Transmit PDO Mapping Parameters srrronrnnnnrrnnnnvnnnnnvnnnnnn 85 6 6 Manufacturer Specific Device Profile CanOpen Modules s sssssssessressrnssrrssrrsrnssrnssrnssrnssrnssns 88 6 6 1 Object 6000H Read Input 9PBn tnt 88 6 6 2 Object 6200H Write Output 8 Bit rrrannrnnonrvnrorrrnnnrrnnnnrnnrnvnnrnrrennnrnrnnnnnnrnrenrrrnennnrnesnnnenennne 89 6 6 3 Object 3000H Manufacturer Specific Diagnostic Bytes esseesseesseesee esenee sene eeee reens ene 90 Te RE nee 91 7 4 LED Eepleugeehgegeset ueggeheegn Dinge ehEegn ek rerrerereerrerceeerrertrrereererrerrere eereere ree reerereerece ett den 91 7 1 1 Bus and Device Status LEDS seeseeeseeeeeeersseresrtestnesrtesrensrtnstnnsrtnsrnnstennrnnnnnnntnnttnnntnnnennnnt 91 r IMPACT67 CANopen User Manual 7 1 2 VO Status LEDS at M12 Slots ccccccc
70. nsors and actuators The power at Pin 4 of the power supply connector must never be switched OFF dur ing operation otherwise the IMPACT67 module can no longer participate in CAN Bus communication IMPACT67 modules require a DC power supply in the range of 18 to 30 V System related limit values regarding system power supply must be strictly observed if maximum func tional safety and fault free operation are to be ensured A Always ensure that the system power measured at the device furthest from the pow er supply does not drop below 18 VDC A load current related voltage drop in the power supply cable occurs due to the central power supply of IMPACT67 modules including all their connected sensors O gt In critical cases voltage drop optimization is obtainable by changing the location of the power supply unit within the overall system and by using power supply cables with a larger conductor cross section Calculating the required conductor cross sections is dependent on installation specific configuration data and is therefore not discussed in this manual The power supply module may be damaged if power supply is polarity reversed For this reason we recommend the use of our preterminated 7 8 cables 41 IMPACT67 CANopen User Manual 3 4 4 1 Connecting the Power Supply to the Module The auxiliary power is required to power the actuators and sensors The electronics of the IMPACT67 are powered
71. onnecting Sensors and Actuators The table below depicts all the general pin assignments for the M12 socket slots 3 4 5 1 Connecting Sensors Pin 1 24V Sensor supply Pin 2 Function channel Channel Pin 3 OV Reference potential Pin 4 Function channel Channel Pin 5 Function ground Tab 26 General Pin Assignment of M12 Slots 3 4 5 1 1 IMPACT67 C DI16 Pin1 24V Us 0 2A Pin2 DI 10 17 Pin3 OV Pin4 DI0 7 Pin5 amp The table below depicts the assignment between M12 slots and I O labels M12 slot Channel Pin 4 Channel Pin 2 0 DI 00 DI 10 1 DI 01 DI 11 2 DI 02 DI 12 3 DI 03 DI 13 4 DI 04 DI 14 5 DI 05 DI 15 6 DI 06 DI 16 7 DI 07 DI 17 Tab 27 M12 slots to I O labels IMPACT67 CANopen User Manual 3 4 5 1 2 IMPACT67 C DI8 DO8 M12 M12 0 1 2 3 M12 4 5 6 7 Pin1 ne Pin1 24V Us 0 2A Pin2 DO4 7 Pin2 DI4 7 Pin3 OV Pin3 OV Pin4 DO0 3 Pin4 DI0 3 Pind amp Pin5 DO U 2A The table below depicts the assignment between M12 slots and I O labels M12 slot Channel Pin 4 Channel Pin 2 0 DO 00 DO 04 1 DO 01 DO 05 2 DO 02 DO 06 3 DO 03 DO 07 4 DI 00 DI 04 5 DI 01 DI 05 6 DI 02 DI 06 7 DI 03 DI 07 Tab 28 M12 slots to I O labels 3 4 5 1 3 Sensor Power Supply Sensors can be powered directly via pins 1 24 V and 3 0 V of the M12 slots The sensor power supply is prote
72. orm error signal flow Application objects assignable to communication objects The communication profile also establishes system initialization The CANopen communication model differentiates between four dif ferent types of messages objects Administrational Messages management messages These encompass layer management LMT network management NMT and identifier distribution DBT Implementation is managed by CAL management services Service Data Messages Service Data Objects SDO are used for reading and writing entries in the device object directory The SDOs are implemented by means of CAL application layer services Each CANopen device supports at least one SDO server Process Data Messages PDO Process Data Object transfer is the most rapid means of transferring data as transmission takes place without an additional protocol A differentiation is made between synchronous and asynchronous transfer PDOs are implemented by CAL application services Predefined Messages There are three predefined communication objects SYNC Time Stamp and Emergency Object Support of these objects is not mandatory Implementation is via CAL application services 4 3 Process Data PDO Description of Transmission Modes CANopen offers various possibilities for transferring process data A more detailed description of PDO transmission modes is provided below IMPACT67 CANopen User Manual 4 3 1 Change of State PDO
73. ory Communication Profile CanOpen Modules nen 61 6 1 Art No 55075 IMPACT67 C Dip 61 6 2 Art No 55076 IMPACT67 C DI8 DO8 28 62 r IMPACT67 CANopen User Manual 6 3 Art No 55077 IMPACT67 C DO8 2A i nrrnnrvrenennvverrrnavvrrrrnnvserrrnnrnerrrnnrrerrrnnrnrrrrnnnnrerrnnnveerrnnrnesrennnn 63 6 4 Art No 55078 IMPACT67 C DO16 0 5A i rrrrrnnvvvrrrnnvverrrnnvverrrnnvvrrrrnnrverrrnarsrerrnnnnesrrnnrverrrnnrneerrnnnn 64 6 5 Object Description of Communication Profile 65 6 5 1 Object 1000H Device Type DT 65 6 5 2 Object 1001H Error Register ER 65 6 5 3 Object 1002H Manufacturer Status Register rurnrvnannvnnnnvvnrnrrennnrrnnnnvnnenvnnrnrrvnnnrnnennennennn 66 6 5 4 Object 1003H Predefined Error Field DEET 67 6 5 5 Object 1005H COB ID SYNC Message ssnssesssseessesreesrsesriesrinsrtesrenstnnnnnntnnnnnnnnnnnnnt 68 6 5 6 Object 1006H Communication Cycle Period 68 6 5 7 Object 1008H Manufacturer Device Name MDN ssssssessseesseessssssessssssrssrresrsnsrsnnrennennns 69 6 5 8 Object 100AH Manufacturer Software Version MV 69 6 5 9 Object 100CH Guard Time and Object 100DH Life Time Factor rrrrnrrrrrrnnrrrrrrnnrnrrrrnnnnn 69 6 5 10 Object 1010H Save Parameters rrrnannrnnonvvnrnrvvnnnrrvnnnvnnrnvnnrnrrennnrnnnnnnnnenrenrrrrennnrnesnnnnnennne 70 6 5 11 Object 1011H Restore Default Parameters rrrnrnnrnnnrrnnrnarnrnnrnnnnrnrrnsnnrnrrrsnnrnrrrsnnrrrrrrnnnne 71 6 5 12 Object 1014H COB ID Emerge
74. otection is not guaranteed IMPACT67 CANopen User Manual 4 General Information on CANopen 4 1 Object Directory Structure CANopen assigns a basic functionality to each device It is possible to assign further functions that however must conform to the specifications in the device and communication profile The device characteristics are specified in the object directory The object directory is created in the device s range of application The object directory structure is depicted in the table below Communication pro file data is located in the range between 1000H and 1FFFH highlighted gray below and the device profile data between 6000H and 9FFFH Index Object _ 0260 OFFF Reserved for further use Tab 32 Object Directory Structure Use the index to access entries in the object directory The index addresses the entire data format A given element can be selected from the data structure by means of the subindex An example of the addressing structure is illustrated in the table below Index Subindex Description 6000H lo Number of entries here 2 1 lnputs0to7 i O 2 Inputs10to17 Tab 33 Use of index and subindex IMPACT67 CANopen User Manual 4 2 Communication Profile General Description The communication profile is based on the services and protocols provided by CAL It contains func tions for distributed synchronous operation provides a common time base and defines a unif
75. play output 0 oV off 1 24 V yellow Tab 86 LED display of digital outputs IMPACT67 CANopen User Manual 7 1 3 LED Display for Diagnostics 7 1 3 1 IMPACT67 DI16 modules Error LED at M12 socket LED designation Socket No x Us Channel Channel 1x Ox Module power supply undervoltage red Short circuit sensor supply both red Tab 87 LED display for diagnostics 7 1 3 2 IMPACT67 DI8 DO8 modules Error LED at M12 socket LED designation Socket No x Ua Us Channel Channel 1x Ox Module power supply undervoltage red I O power supply undervoltage red No actuator supply off actuator shutdown red red Short circuit sensor supply both red Tab 88 LED display for diagnostics IMPACT67 CANopen User Manual 7 1 3 3 IMPACT67 DO8 modules Error LED at M12 socket LED designation Socket No x Ua Us Channel Channel 1x Ox Module power supply undervoltage red I O power supply undervoltage red No actuator supply off Actuator shutdown red Tab 89 LED display for diagnostics 7 1 3 4 IMPACT67 DO16 modules Error LED at M12 socket LED designation Socket No x Ua Us Channel Channel 1x Ox Module power supply undervoltage red I O power supply undervoltage red No actuator supply off Actuator shutdown red red Tab 90 LED display for dia
76. r a specific application must be observed for the configuration installation setup maintenance and testing of the devices The power supply must 10 IMPACT67 CANopen User Manual comply with SELV or PELV Power sources in accordance with EN 61558 2 6 transformer or EN 60950 1 switched mode power supply meet these requirements Only use cables that meet the requirements and regulations for safety electromagnetic compatibility and if necessary telecommunications terminal equipment specifications Q Information on the cables and accessories that are suitable for use with this product are contained in the Appendix to this manual Qualified Personnel Only qualified trained electricians knowledgeable in the safety standards of automation systems may configure install set up maintain and test the devices The requirements concerning qualified per sonnel are dependent on the requirements profiles described in ZVEI and VDMA For this reason electricians must know the contents of the manual Weiterbildung in der Automatisierung Further Training in Automation Systems published by ZVEI and VDMA published by Maschinenbau Verlag Post Box 710864 60498 Frankfurt Germany before installing and maintaining the devices They are therefore electricians who are capable of assessing the work executed and any possible dangers aris ing from this due to their professional training knowledge experience and their knowledge of the
77. rameters 6 5 20 1 Art No 55075 IMPACT67 C DI16 Index Subindex Description Default value 1A00H 0 Number of assigned objects 1st Transmit 2 PDO 1 1st assigned object digital inputs Pin 4 00 6000 01 08H to 07 2 2nd assigned object digital inputs Pin 2 10 6000 02 08H to 17 1A05H 0 Number of assigned objects 2nd Transmit 2 PDO 1 1st assigned object Common diagnosis 3000 01 08H 2 2nd assigned object Reserved 3000 02 08H Tab 76 Transmit PDO mapping parameters IMPACT67 CANopen User Manual 6 5 20 2 Art No 55076 IMPACT67 C DI8 DO8 2A Pin 2 Index Subindex Description Default value 1A00H 0 Number of assigned objects 1st Transmit 1 PDO 1 1st assigned object digital inputs Pin 4 2 6000 01 08H 00 to 07 1A05H 0 Number of assigned objects 2nd Transmit 4 PDO 1 1st assigned object group diagnostic 3000 01 08H 2 2nd assigned object Reserved 3000 02 08H 3 ard assigned object Actuator short circuit 3000 03 08H Pin 4 4 4th assigned object Actuator short circuit 3000 04 08H Tab 77 Transmit PDO mapping parameters 6 5 20 3 Art No 55077 IMPACT67 C DO8 2A Index Subindex Description Default value 1A05H 0 Number of assigned objects 1st Transmit PDO 3 1 1st assigned object group diagnostic 3000 01 08H 2 2nd assigned object 3000 02 08H Reserved 3 ard assigned object 3000 03 08H Actuator s
78. requirements The electri cal parameters of physical transmission are defined in ISO 11898 CAN features immunity to high temperatures and interference fields due to its robust protocol and chips Another of its distinguishing features is its highly robust network performance hamming dis tance 6 Low device connection costs per user in addition to high transmission reliability are often a decisive argument in favor of CAN The availability of CAN chips from different manufacturers is also decisive for price critical applications All are naturally compatible with the specifications and OSI standard Layers 1 and 2 Not the least of arguments in its favor is the compactness of the controller chips e g in the area of low voltage switchgear In CAN data transfer it is not stations that are addressed but messages These addresses also referred to as identifiers are marked by a network wide unique identifier In addition to identifying con tent the identifier also establishes message priority This is essential for bus assignment when several stations compete for access rights To be able to process all transmission requests in a CAN network while complying with latency condi tions at possibly low data rates the CAN protocol must implement a bus assignment method arbitra IMPACT67 CANopen User Manual tion This method guarantees that simultaneous bus access by several stations always leads to de fined bus assignment
79. rer status register 00H lower 8 bit gt all modules 2 Reserved 00H 3 Actuator short circuit with GND Pin 4 channel diag 00H nostics gt only modules with outputs 4 Actuator short circuit with GND Pin 2 channel diag 00H nostics gt only modules with outputs Tab 83 Manufacturer specific diagnostic bytes IMPACT67 CANopen User Manual 7 Diagnostics Diagnostic information is an important basis for easy setup and quick troubleshooting Clear information from the I O module and its connected periphery components such as sensors and actuators identify rectify and therefore minimize downtimes 7 1 LED Displays All modules of the IMPACT67 series have separate and clearly arranged displays for bus status de vice status and I O status These displays are located on the front of the device 7 1 1 Bus and Device Status LEDs The LEDs on the front of the module are clearly marked for identification Display is achieved through static illumination or flashing of the LEDs The figure below depicts LED layout and the table lists the functions O RUN ERR BA opp 28
80. rtbeat time read only j 1017H Producer heartbeat time read only 0 1018H Identity Object read only i 1200H Server SDO parameter read only 1400H Receive PDO Communication Parameter read only R 1405H Receive PDO Communication Parameter read only 7 1600H Receive PDO Mapping Parameter read only 7 1605H Receive PDO Mapping Parameter read only 1800H Transmit PDO Communication Parameter read only 1805H Transmit PDO Communication Parameter read only 7 1A00H Transmit PDO Mapping Parameter read only 1A05H Transmit PDO Mapping Parameter read only i If no entry is configured under default the object index has other subindices whose contents are described in detail in the following sections IMPACT67 CANopen User Manual 6 3 Art No 55077 IMPACT67 C DO8 2A Index Name Access Standard value 1000H Device Type read only 00020191H 1001H Error Register read only 0 1002H Manufacturer Status Register read only 0 1003H Predefined Error Field read only j 1005H COB ID SYNC Message read only 80H 1006H Communication Cycle Period read only 0 1008H Manufacturer Device Name read only IMPACT67 C DO8 100AH Manufacturer Software Version read only SW1 00 100CH Guard time read only 0 100DH Life time factor read only 0 1010H Store parameters read only 1011H Restore default parameters read only 1014H COB ID emergency read only 80H Node ID 1016H Consumer heart
81. s for an 8 byte telegram at 1000 Kbit s Number of bus devices 127 Transmitter output current gt 25 mA Number of I O points Standard CAN 16384 bytes PDO data Addresses One specific address per device in the range from 0 to 128 Access Multi master messages with priorities User data 8 bytes per telegram Terminating resistors 120 Q always at each end of the data cable Error recognition Identification of faulty messages automatic repetition Spur line length Data rate 1000 Kbit s Max spur line length 03m Cumulative spur line length 1 5m Data rate 500 Kbit s Max spur line length 6 0m Cumulative spur line length 30m a To limit the influence of the reflected wave on signal quality spur lines should be Tab 17 CAN Bus System Data limited to max 0 3 m at a data rate of 1 Mbit s 1 Calculation of the max spur line length is not part of the scope of this manual For further information see CiA DR303 1 31 IMPACT67 CANopen User Manual 3 2 4 CAN Bus Level In CAN bus levels are differentiated as dominant and recessive The dominant bus level overwrites the recessive one If various bus stations transmit both dominant and recessive bus levels simultane ously the dominant level establishes itself on the bus The recessive level can establish itself only if it is transmitted by all bus devices simultaneously The recessive level is 1 h
82. ted by the customer The customer shall refer to the brands of Murrelektronik GmbH in an adequate manner if the brands of Murrelektronik GmbH were used 114 7 Sa neon stay connected Murrelektronik GmbH Falkenstrafse 3 D 71570 Oppenweiler P O Box 1165 D 71567 Oppenweiler Phone 49 7191 47 0 Fax 49 7191 47 130 info murrelektronik com www murrelektronik com The information in this manual has been compiled with the utmost care Liability for the correctness completeness and topicality of the information is restricted to gross negligence
83. th products made by various manufacturers You can contact the Customer Service Center at telephone number 49 7191 47 424 or by email at csc murrelektronik de IMPACT67 CANopen User Manual About the User Manual and its Structure IMPACT67 CANopen User Manual Here are links to the bus user manuals HN CANopen www can cia or IMPACT67 CANopen User Manual Table of Contents Publishing Data RE 2 elle asken nesten 3 About the User Manual and its Structure ccccceccceceeeeeeeeeceeeee cee eecaaeeecaeeeeeeeesaaeeesaaeseeeeeseeessaeeseaeeeeaes 4 Table IC 6 Important INPOFMALION EE 10 1 Description of MATENEEN 12 Et EE 13 SN MOUMUUIAG EE 13 2 11 DIMENSIONING EE 13 2 1 2 Sp acing EE 14 2 1 3 Mounting IMPACT67 Modules rnnrnnnnrnnnnrrnnnnrnnnnnnnnerrnnnnrnnnnnnnnenvennrrrennnnnnennenrrrresnnrnesnnnnnenne 15 2 14 Addr SSInNg EE 16 2151P07 atte cece cers ea giec cae tg bac se ee Eege 17 2 2 Connection Diagram of IMPACT67 CA 18 3 Gontiguration Notes vnmntedannnndenemdemstnnen derav vnapsdavgednmesee 19 3 1 Systeni Gomponents eriin aiana aii eaaa sheets daaa aa anai eaaa aaea dee See 19 3 1 1 Product Designation Code cccccecceeececeeeeeeeeeeeeeeeceaeeecaaeeeeaeeseeeeesaaeeesaaeseeeeeseeeeseaeeseeeeeaes 19 3 1 2 IMPAC T67 Modules uante endnu apvatenea fee 20 31 3 ACCOSSOMOS eseu Eeetegeed EES EeedE Eege Eegen 20 3 2 CAN Bus Descriptions sic cac dai dete d
84. this information may cause damage to equipment or other assets or if you fail to comply with safety precautions may constitute a danger to the user s health and life These instructions are recommendations issued by Murrelektronik r Intended Purpose Before starting the devices read this manual carefully Keep it in a location that is accessible to all users at all times The products that are described in this manual were developed manufactured tested and document ed in compliance with the relevant safety standards In normal cases these products do not constitute any danger to persons or objects provided the handling specifications and safety instructions de scribed in this manual are observed They conform to the requirements of e EMC Directive 2004 108 EC The products are designed for industrial use An industrial environment is defined as one in which loads are not connected directly to the public low voltage power grid Additional measures must be taken if the products are used in private business or trade environments The safe troublefree functioning of the products requires proper transportation storage mounting and installation and careful operation Operation of the devices for their intended purposes is only guaranteed when the enclosures are fully mounted If aggressive media are used check their material resistance depending on the application Current safety and accident prevention laws valid fo
85. tion 5 g Shock according to EN 60068 Part 2 27 sessen Amplitude 15 g 11 ms duration Miscellaneous Dimensions L x WH 225 X 63 x 39 mm Attachment distance A 208 MM EE e 420 9 Bus Data Transfer protocol nn CAN Layer 7 CANopen Transfer rates nn LO 20 50 100 125 250 500 800 1000 Kbit s E E dE and automatic recognition Potential disconnectedness JOO V between bus and internal logic with optical E coupler and DC DC converter Modes A CYClic and acyclic synchronous PDOs ke asynchronous PDOs Communication objects nn I TXPDOS I RxPDO 110 T IMPACT67 CANopen User Manual EEE EEE EEE EN hee 1 SDO ee 1 emergency object Addressing nn L to 99 with two rotary switches adjustable CiA e V Vendor Ui 79Dec 4FHex Connection Possibilities Supply cable A 2 X Connector 7 8 female male connector Data Cable A 2 X M12 connector 5 pin O AIRE AE I N AE E Ee female male connector A coded Outputs A Q X S pin M12 connector Maximum length of I O cable eee lt 30 M Power Supply Voltage U U over 7 8 power in connector 24 VDC Voltage U U rmamnge LH 30 VDC Actuator supply 7 8 power in connector eee MAX 9 A Sensor supply 7 8 power in connector e Max 9A Core Crosgg SecHon MAX 1 5 mm Outputs Number of outputs nn 16 Actuator current load approx 0 5 A per actuator Cable Jength A With 0 75 mm max 10 m Taa oea RENEE REEERE ERDER EEEE OENE EEEE AN REEERE SS with 0 34 mm max
86. us PDO Transmission It is not only in drive applications that it makes sense to synchronize reading the incoming information with setting the outputs CANopen supplies the SYNC object for this purpose This is a high priority CAN telegram with no user data When it is received it is used by the synchronized nodes as a trigger to read inputs or set outputs 51 IMPACT67 CANopen User Manual 4 4 Access to the Object Directory via SDO Access 4 4 1 Errors in SDO Access SDO Abort Codes If an access error occurs the IMPACT67 module transmits a reply with the object to which an access attempt was made Byte 0 command specification contains the value 80H Bytes 4 to 7 in the SDO comprise the Abort Code as described in the table below This is an excerpt from CiA DS301 Abort Code Description 0503 0000h Toggle bit not alternated 0601 0000h Unsupported access to an object 0601 0002h Attempt to write a read only object 0602 0000h Object does not exist in the object dictionary 0604 0041h Object cannot be mapped to the PDO 0604 0043h General parameter incompatibility reason 0604 0047h General internal incompatibility in the device 0607 0010h Data type does not match length of service parameter does not match 0609 0011h Subindex does not exist 0609 0030h Value range of parameter exceeded only for write access 0609 0031h Value of parameter written too hig
87. us 1 if input 1 6 Input 16 Status 1 if input 1 7 Input 17 Status 1 if input 1 Tab 80 Read Input 8 bit Tab 81 IMPACT67 CANopen User Manual 6 6 2 Object 6200H Write Output 8 Bit The output values for outputs can only be written byte wise Addresses are generated using index and subindex whereby subindex 0 contains the number of entries The table below shows the assignment to outputs Subindex Bit No Output Default value Description 1 0 Output 00 0 Output 1 if status 1 Pin 4 1 Output 01 0 Output 1 if status 1 2 Output 02 0 Output 1 if status 1 3 Output 03 0 Output 1 if status 1 4 Output 04 0 Output 1 if status 1 5 Output 05 0 Output 1 if status 1 6 Output 06 0 Output 1 if status 1 7 Output 07 0 Output 1 if status 1 2 0 Output 10 0 Output 1 if status 1 Pin 2 1 Output 11 0 Output 1 if status 1 2 Output 12 0 Output 1 if status 1 3 Output 13 0 Output 1 if status 1 4 Output 14 0 Output 1 if status 1 5 Output 15 0 Output 1 if status 1 6 Output 16 0 Output 1 if status 1 7 Output 17 0 Output 1 if status 1 Tab 82 Write Output 8 Bit IMPACT67 CANopen User Manual 6 6 3 Object 3000H Manufacturer Specific Diagnostic Bytes The function of this object is to request the diagnostic of each channel Subindex Description Default value 0 Number of entries 02H 04H gt Module dependent 1 Group diagnostics manufactu
88. uts Pin 4 6200 01 08h 2 2nd assigned object digital outputs Pin 2 6200 02 08h Tab 69 Receive PDO IMPACT67 CANopen User Manual 6 5 19 Objects 1800H and 1805H Transmit PDO Communication Parame ters Communication parameters for Transmit PDOs are stored in these objects The parameters are e COB ID of the PDO e PDO transmission mode asynchronous cyclic synchronous and acyclic synchronous e Inhibit time or an e Event timer Every parameter is entered in a subindex The entries for Subindex 1 and 2 are equivalent to those in Section 6 5 17 Receive PDO Communi cation Parameters Inhibit Time Subindex 3 In the case of Transmit PDOs the inhibit time for PDO transmission can be entered in this 16 bit field After a data change the system checks before sending the PDO whether the inhibit time has expired since the last transmission A new PDO transmission can take place only when the inhibit time has elapsed The inhibit time is useful in asynchronous transmission transmission mode 255 in order to avoid CAN Bus overloads Inhibit Time is a multiple of 100 us and can be entered in Object 1800 03 1805 03 The table below lists calculated inhibit times 0000H Object 1800 03 or 1805 03 Inhibit Time in ms 0000H 10 0064H Tab 70 Inhibit time examples cD After a data change the TxPDO is transmitted again only when the inhibit time has expired even if synchronous operation is set 81 IMPACT6
89. wise diagnostics 102 IMPACT67 CANopen User Manual 7 4 1 5 Manufacturer Status Register EMCY Byte 7 Structure of Byte 7 Bit Significance Comments Sensor undervoltage Reserved Undervoltage actuator supply Reserved Actuator shutdown Sensor short circuit at M12 socket OI OI Slab to 31 Reserved Tab 98 Manufacturer status register EMCY Byte 7 7 4 2 Diagnostics under 2nd Transmit PDO In addition to the emergency telegram it is also possible to transfer diagnostic data in the activated 2nd transmit PDO 7 4 2 1 Structure of 2nd Transmit PDO The 2nd transmit PDO consists of 4 bytes The table below shows the structure of the 2nd transmit PDO Byte 0 Byte 1 Byte 2 Byte 3 Sum diagno Channel diagnostics sis Manufacturer Reserved Actuator Actuator status regis 0x00 short circuit short circuit ter Object Pin 4 Pin2 1002h lower object 3000 Object 3000 8 bit subindex 3 Subindex 4 Object 3000 Subindex 1 Tab 99 Structure of 2nd transmit PDO 3 only if outputs are parameterized 103 D IMPACT67 CANopen User Manual 8 Technical Data 8 1 Art No 55075 IMPACT67 C DI16 General CANopen Slave according to DS301 V4 02 and DS401 V2 1 Housing IP67 with 16 inputs M12 slot Pin 4 gt 8 inputs Wa ENDE M12 slot Pin 2 gt 8 inputs EMC EN 61000 4 2 ESD A Contact 4 KV
90. ymmetric nn JUN EN 55011 Interference field strength nn QP 40 dBu V m 30 230 MHz Ambient Conditions Operating temperature Storage temperature Enclosure type according to IEC 60529 Mechanical Ambient Conditions Miscellaneous Dimensions L x W x H Attachment distance Bus Data Transfer protocol Transfer rates QP 47 dBu V m 230 1000 MHz class A 0 C to 55 C 25 C to 70 C IP 67 5 60 Hz constant amplitude 0 35 mm 60 150 Hz constant acceleration 5 g Amplitude 15 g 11 ms duration 225 x 63 x 39 mm 208 mm approx 420 g CAN Layer 7 CANopen 10 20 50 100 125 250 500 800 1000 Kbit s and automatic recognition 500 V between bus and internal logic with optical coupler and DC DC converter cyclic and acyclic synchronous PDOs asynchronous PDOs 2 TxPDOs 1 RxPDO 1 SDO 106 IMPACT67 CANopen User Manual SETZE EES e 1 emergency object Addressing nn I to 99 with two rotary switches adjustable CiA e V Vendor Ui 79Dec 4FHex Connection Possibilities Supply cable A 2 X Connector 7 8 female male connector Data cable A 2 X M12 connector 5 pin NE EEE ENDE EE EA anes female male connector A coded Inputs A X S pin M12 connector Outputs A X S pin M12 connector Maximum length of I O cable eee lt 30m Power Supply Voltage U Ua over 7 8 power in connector 24 VDC Voltage U U rmamnge LH 30 VDC Actuator

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