RP2D Series Remote I/O User Manual V2.1
Contents
1. E i Te ce LD Y 51 86 4 3 3 i p o TIK Z Q OL LET OQ O Hk ELJ O O Q l RIJ O Nu H O O EL OL OL HJ ON OL HI O O HO RI O J o ET OQ B HTI O O ft H II z O j Pi E O O lO B gm d rH 5 Mo B mie 2 O HDI E O p Pp EE OQ ob DO 5p B 3 Y 20 User Manual RP2 Remote I O Kinco Automation Shenzhen Ltd Add 7 F Bldg 9th Software Park Keji Central Road 2nd Nanshan District Shenzhen China Tel 86 755 26585555 Fax 86 755 26616372 Http www kinco cn Email sales kinco cn 212. Significant Bit MSB e 1 The data byte is the data that will be downloaded Initiate Domain Download Bit 7 6 5 4 3 2 1 0 Client 0 0 1 Server 0 0 1 n e S Examples X Read the parameters send SDO messages Daten Identifier DLC 0 1 2 3 4151617 Send command Index of Subindex of 0x600 Node ID 8 00 word Object object Receive SDO message Daten Identifier DLC 0 1 2 3 41516017 Send command Index of Subindex of 0x580 Node ID 8 m word Object object four bytes of data at most X Note All the command word is 0x4 when SOD sends the message If data is one byte then the receiving command word is 0x4F If data is two bytes then the receiving command word is 0x4B If data is three bytes then the receiving command word is 0x43 X When modify the parameters Send the SDO message User Manual RP2 Remote I O Daten Identifier DLC 0 1 2 3 4 6 7 Send Index of Sub index of 0x600 Node ID 8 command ae Object object word four bytes of data at most Receive the SOD message Daten Identifier DLC 0 1 2 3 4 617 Send Index of Sub index of 0x580 Node ID 8 command E Object object word X Note All the command word is 0x60 when SOD receives the message If data is one byte then the sending command word is 0x2F
3. Bytel 10 User Manual RP2 Remote I O 0x000 CS Node ID Table 6 format of the NMT message When Node ID 0 all the slave devices of NMT are addressed CS is command word it can take values as below CS NMT service 0x01 Start Remote Node 0x02 Stop Remote Node 0x80 Enter Pre operational State 0x81 Reset Node 0x82 Reset Communication Table 7 the range of CS command word 3 8 Protection of NMT nodes By the means of nodes protection service the NMT master node can check each node s current state This service is especially meaningful when these nodes have no data to transmit The NMT Master nodes send remote frame no data as follows NMT Master NMT Slave COB ID 0x700 Node ID The NMT slave nodes send followings message to response NMT Master NMT Slave COB ID Byte0 0x700 Node ID Bit7 toggle Bit6 0 States The data part includes a trigger bit which must be set 0 or 1 alternately in each node protection The trigger bit is set 0 in the first request of node protection Bite 0 bite 6 means the state of nodes they can take values in following form State code Meanings of status code 0x00 Initializing 0x01 Disconnected 0x02 Connecting 0x03 Preparing 0x04 Stopped 0x05 Operational 0x7F Pre operational Form 8 description of the NMT node message Note Only the nodes that support the
4. upload User Manual RP2 Remote I O Request response Segmented expedited transfer The length of CAN frame data byte it is used for toggle bit of every segment SDO achieve five request response protocols 1 Initiate Domain Download 2 Download Domain Segment 3 Initiate Domain Upload 4 Upload Domain Segment 5 Abort Domain Transfer Download means the writing operations to the Object Dictionary Upload means the reading operations to the Object Dictionary The grammar and details of SDO command word the first byte in the SDO CAN message is explained as following means unrelated it should be 0 when reading the parameters use the protocol of Initiate Domain Upload when setting the parameters use the protocol of Initiate Domain Download Initiate Domain Download Bit 7 6 S 4 3 2 1 0 Client 0 0 1 n e Server 0 0 1 Description n means the byte number of insignificant data in the message The data from the 8 n byte to the 7th byte data are insignificant J n is effective when e 1 and s 1 or n 0 e Transmit normally when e 1 transmit speedy when e 0 s whether the length of the data is indicated when s 0 it means the data length is not indicated s 1 means the data length is indicated e 0 s 0 itis reverved by CiA e 0 s 1 data byte is byte calculator byte 4 is the Least Significant Bit LSB byte 7 is the most
5. 5 2 RP2D 0016C1 16DO DC 24V The characteristics of the DI channel The input signal and internal signal is isolated by Photoelectric coupling technigue The rated voltage supply is 24V DC Each group has four routs output The rated output current of each rout is 500mA The highest output frequency 1 KH 00000 rn rm Sa Kin C Oo 10006 00000 3M Sir 10 11 12 13 4M AL 14 15 18 RP2D 0016C1 MO eng NYO 1M iLe 00 01 02 OF 2M 2L 04 05 06 OF GND 24 Q Digital output terminal Power indicator Q States indicator of I O Q System power Communication port CAN Q Baud rate and station No setting Q Digital output terminal States indicator of CPU Chart4 RP2D 0016C1 18 User Manual RP2 Remote I O Wiring diagram Real lineropecsetts sure Input T mora fecun dt epee 000000000000 M m T im 2M ND 2 DC 24V System power supply Chart 5 Wiring diagram of RP2D 0016C1 Object dictionary Object Dictionary index Object Name Data type aa mappable 1000H Var Device type number Unsigned32 FALSE 1001H Var Error Register Unsigned8 TRUE 1005H Var Identifier SYNC Message Unsigned32 FLASE 1008H Var Device description String FLASE 1009H Var Hardware Version String FLASE 100AH Var Software Version String FLASE 100CH Var Guard Time Unsigned16 FLASE 100DH Var Life Time Fa
6. expanding boot up can provide the state with x Notice that state 0 never appear in the node protection response because nodes don t response node protection message under this state Or a node can be configured to produce periodic message called Heartbeat message Suppose NODE ID 2 node monitor terminal COB ID 0 byte State of node 0x702 0x00 Then return the state is as follows 11 User Manual RP2 Remote I O State node Meanings of states code 0x00 Boot up 0x04 Stopped 0x05 Operational Ox7F Pre operational When a Heartbeat node start its Boot up message is its first Heartbeat message Heartbeat costumer usually is NMT Master node who sets a timeout for each Heartbeat and it take corresponding actions when time is out A node can not support Node guarding or Heartbeat protocol at the same time 3 9 The Emergency When hardware or software errors are detected by nodes in the network they can notify other nodes though the emergency any internal error will be encoded into error code that defined and then transmitted to other nodes if the errors are all corrected then node will send a message with no error The emergency of CANopen contain the following types of error Communication error Frequent error when transmitting message Error that the CAN controller is broken away from the bus Overflow of sending buffer Overflow of receiving buffer Missing of message of
7. the module Don t touch the conductive part or electronic components directly it may cause the fault or failure of the module S Before installing and removing the module make sure the internal power supply is cut off or it may damage the module or cause fault Don t touch the terminals when the power is on or it may damage the module or cause fault Please make sure the power is cut off before tightening the terminal screws or clearing the module and retightening the terminal screws User Manual RP2 Remote I O Catalogue I Instructions rotes e e met e petat te mee dei ban reda ana nang 4 1 1 An overview of the CANopen remote I O wo cece ceeeeeeceeceeesaecseeeeeeseeaesseeneeaeed 4 1 2 Standards and specifications about the product sese 4 1 3 Product category distinguish ooomoooWoooo mann 4 1 4 Kinco RP2 series remote I O products list oooooooooooooWoW 5 2 Techtucal characteristi6s2 un ee Ree EC ORC A ER E e n Ret te e 5 2 1 The characteristics of CANopen ooooooooWom oo oma 5 2 2 The configuration of Communication and device sess 6 2 3 Power environment conditions and shell 0 cccceccccccccccsssssssccceecceessssssceeececesssssseeeeeeeeess 6 3 The connection Settings of CAN bus module ooooooooWoooWoooWooWoWoWoW WWW 7 3 1 Node ID settings 1e et GEN GEN EN EN mm una aan 7 32 rhe baud tate 2 0 a
8. CAN message SYNG GUARD Hearttbeat it is the red LED ERROR numbers LED state descriptions 1 OFF No error Device is in working status 13 User Manual RP2 Remote I O UNS At least one of the error counters of t 2 Single flash ip aM the CAN controller has reached or reached exceeded the warning level too many error frames The auto bitrate detection is in AutoBitrate progress or LSS services are in 3 Flickering LSS progress alternately flickering with run LED A guard event NMT slave or Error control 4 Double flash NMT master or a heartbeat event events heartbeat consumer has occurred The sync message has not been received within the configured 5 Tripple flash Sync error 2 communication cycle period time out see object dictionary entry 1006H 6 ON BUS off CAN controller is bus off Form 10 Status of error LED CANopen Run LED CANopen runs the state that LED indicate CANopen LED Number RUN LED status descriptions The auto bitrate detection is in progress 1 Flickering AutoBitrate LSS or LSS services are in progress alternately flickering with error LED 2 Single flash STOPPED The device is in state STOPPED uu The device is in the state 3 Blinking PRE OPERATIONAL PRE OPERATIONA 4 ON OPERATIONAL The device is in state OPERATIONAL Form 12 States of RUN LED 5 Digital IO module 5 1 RP2D 1608C1 16DI 8DO
9. DC 24V The characteristics of DI channel 00020 99 The characteristics of DO channel Signal on site and internal signal is isolated by Photoelectric coupling technique A group of four channels use one common terminal two common terminals are isolated from each other A group of four channels can use both NPN and PNP input The range of input level 12 24VDC input current gt 4mA Response time of input 10ms Each channel has its independent state indicator 14 network state institutions it is the green User Manual RP2 Remote I O Signal on site and internal signal are isolated by Photoelectric coupling technigue The rated voltage supply is 24V DC Each group has four channels outputs The rated output current of each channel is 500mA The maximum output frequency 1 KH 000020 Kinco ge 00 02 03 M A 25 oT apv RP2D 1608C1 0000 00000 Q 2 200000000000leejin Digital input terminal Power indicator States indicator of VO System power Q communication port CAN Baud rate and station No setting O Digital output terminal States indicator of CPU Chart3 RP2D 1608C1 15 User Manual RP2 Remote I O Wiring diagram 00000000000 000000000 0 0 01 02 0 3 COMO 0 4 0 5 0 6 07 COM11 0 1 1 12 1 3 COM2 1 4 1 5 1 6 1 7 COM3 IM 1L 0 0 0 1 02 0 3 2M 2L 0 4 0 5 0 6 0 7 GND 24V DO OB 9909 90 Real line represents source input pc 24y Broken line rep
10. Heartbeat or Life guarding CRC error when transmit in the SDO module Application error Application error refers to short circuit underpressure beyond the temperature limit code or RAM error etc Emergency message contains 8 bytes the first and second bytes contains information that defined in the device specification the third byte contains content of the error buffer the remaining 5 bytes contains error information that defined by the device manufacture Error information code of emergency state is stored at 1003h of Object dictionary index errors will be written in the index according to time The oldest error will occupy the highest position of sub index The format of emergency object message is as follows LRA UR Byte 0 1 2 3 4 5 6 7 Error register content Code error bi Error area the manufacturer defined object This module will support the error code as follows Error code Description of error code 0x0000 Reset error or no error 0x1000 General error 0x3110 Input voltage is too high 0x3120 Input voltage is too low 0x3210 Internal voltage is too high 0x3220 Internal voltage is too low 0x5000 Errors of device hardware 0x6100 Errors of internal software of device 0x8110 CAN Overrun 12 User Manual RP2 Remote I O 0x8120 Error Passive 0x8130 Life guard or Heartbeat error 0x8140 Recovered from bus off PDO have n
11. If data is two bytes then the sending command word is 0x2B If data is three bytes then the sending command word is 0x23 3 6 Process data object PDO PDO is used to transmits process data among nodes such as reading and setting I O state of I O module collection and output of analogue and so on Considering the slaver limit this protocol supports 4 groups of PDO each group include a RPDO and a TPDO we take RP2D 1608C1 I O module for example to give some explains Assuming the I O module has16 input points and 8 output points the 16 inputs are transmitted to the monitor terminal or other nodes via TPDO the 8 outputs are set by controlling terminal via RPDO 0x180 NODE ID RPDO 0x2004 NODE ID two bytes are enough used to express the value of 16 I O so sending and receiving PDO can be expressed as belows assume NODE ID 1 1 VO node monitor terminal TPDO COB ID 0 byte 1 byte Data input the I O state variable Input Digital2 Ox181 Input Digitall 2 YO node monitor terminal RPDO COB ID ozi led Data output the I O state variable 0x201 m Output Digitall Output Digital2 3 7 NMT module control Only NMT Master nodes can transmit NMT Module Control message All the slave devices must support the NMT module control service The message needn t respond in NMT Module Control The format of the NMT message is as follows NMT Master gt NMT Slave s COB ID Byte0
12. RP2D Series Remote I O User Manual V2 1 User Manual Revision history RP2 Remote I O Date Version 2010 04 08 V1 0 published 2011 02 10 V2 0 published 2011 02 16 V2 1 published User Manual RP2 Remote I O Safety precautions Please read this manual and the related data which mentioned in this manual carefully before using the product Make sure the safety of proper operation The instructions given in this manual are all about the product Icons defined Warning Be careful Nonprofessionals Avoid operational risk Be careful when operating forbid operating and installing A Before installation and wiring make sure the power supply of the system be cut off or it may result in electric block and the damage of the product Keep any foreign matters metal broken foil and wiring fragments e g from the model internal these foreign matters may cause fire fault Make sure the Communication cables and power cables are laid in the cable though or are clamped A The operating environment should satisfy the condition that mentioned in the user manual or it may cause shock fire fault and might damage the product make the product can t reach the expected effect etc Install the module properly or it may cause fault failure or falling of the module Before installing and removing the module make sure the internal power supply is cut off or it may damage
13. X 86 4 X 51 Weight about 130g User Manual RP2 Remote I O 3 The connection Settings of CAN bus module 3 1 Node ID settings 1 Use the red dial switches bit1 bit7 to set the station number the node ID can not be the same in a same CANopen network its range is from 1 to 127 DIP1 DIP2 DIP3 DIP4 DIP5 DIP6 DIP7 Node ID Bit0 Bitl Bit2 Bit3 Bit4 Bit5 Bit6 ON OFF OFF OFF OFF OFF OFF 1 OFF ON OFF OFF OFF OFF OFF 2 ON ON OFF OFF OFF OFF OFF 3 OFF ON ON ON ON ON ON 126 ON ON ON ON ON ON ON 127 Form 2 The code table of node ID 3 2 The baud rate Use the red dial switches bit8 bit10 to set communication speed the module s communication speed must be the same in a same CANopen network DIP8 DIP9 DIP10 BitO Bitl Bit2 ee OFF OFF OFF 10K ON OFF OFF 20K OFF ON OFF 50K ON ON OFF 125K OFF OFF ON 250K ON OFF ON 500K OFF ON ON 800K ON ON ON 1M Form 3 The code table of the baud rate Note Cut off the power and restart the I O module after you ve set the node ID and commutation speed 3 3 Terminal resistances There is no terminal resistances inside the module so you should set a 120 ohms terminal resistances at the two sides of the network when you use it 3 4 Connection of CAN bus The PIN name of the commutation bus terminal User Manual RP2 Remote I O lee a 115 N C GND O AH Do CANL CAN H
14. ctor Unsigned8 FLASE 1014H Var Identifier Emergency Unsigned32 FLASE 1016H Array Consumer Heartbeat Time Unsigned32 FALSE 1017H Var Producer Heartbeat Time Unsigned16 FALSE 1018H Record Identity Object Identity FALSE 1029H Array Error Behavior Unsigned8 FALSE 1200H Record 1st Server SDO Parameter SDO Parameter FALSE 1400H Record RPDO1 Communication parameter PDOComPar FALSE 1401H Record RPDO2 Communication parameter PDOComPar FALSE 1600H Record RPDO1 Mapping parameter PDOMapPar FALSE 1601H Record RPDO2 Mapping parameter PDOMapPar FALSE 1A01H Record TPDO2 Mapping parameter PDOMapPar FALSE 6200H Array Write Output 8Bit Unsigned8 FALSE 6206H Array Error Mode Output 8Bit Unsigned8 FALSE 6207H Array Error Value Output 8Bit Unsigned8 FALSE Form 14 Object dictionary of RP2D 0016C1 19 User Manual RP2 Remote I O 6 Installation dimension Please observe the installation direction of I O terminal or it may cause failure There should be prescriptive space between IO terminal and cabinet or other machines or it may cause failure The Installation dimension of RP2D 1608C as the following chart RP2D 0016C1 and RP2D 1608C is the same dimension
15. ete at Bea einn eite Ares 7 3 5 Ferminal fesistances ote te cette eter tere nich u 7 3 5 Service Data Objects SDQOY i iit ete aa NN NN nan 8 3 6 Process Data Object DO 2 ree itte ana na nan ana ende deret er eene 10 37 NMT module contt l tet ette ete AE eed eed rete pueden ge 10 3 6 Protection oE NM T nodes uo e eee eee 11 3 9 Th Emergency 4 NN ANE Se NN nuhun 12 4 Explain for LED indicate light tete tere tet epe tete tr eee tee dde 13 9 Digital IO module ie rr eet aa Ea ae 14 3 1 RP2D 1608C1 16DI 4 8DO DE 24V u nee ee aan 14 3 2 RP2D 0016C 1 T6DO DC 24V an a les ake ees be OE RES be ak 18 6 Installation dimensi n sepiro esiri 2 2 2 een gence yen Ne S a EE E 20 User Manual RP2 Remote I O 1 Instructions 1 1 An overview of the CANopen remote I O Remote I O is a kind of I O system that provides fieldbus interface it composed of various extension modules and bus interface modules the protection grade is IP20 and it can be installed in the distribution cabinets or at the site for use RP2 series CANopen I O can communicate with other CANopen devices and it accords with the CIA 301 and CIA 302 protocol standards This module is suitable for I O extension application of HMI PLC which has CANopen function for example machine control in factory automation field and small scale process control This module can satisfy the demands of the following application fields But not limited to these applicatio
16. ns Packing machinery Textile machinery Building materials machinery Food machinery Plastic machinery CNC machine Printing machinery Central air conditioning Environmental protection equipment Single process control devices 1 2 Standards and specifications about the product Standard Scope i protection class of the IEC60529 Shell protection class product IEC 61131 2 Programmable controllers Part 2 Equipment All the products reguirements and tests RoHS the Restriction of the use of certain hazardous N Material of the product substances in electrical and electronic equipment CIA DS401 Device Profile for Generic I O Modules CIA DS301 Electronic data sheet specification for CANOpen CANOpen 1 3Product Category distinguish The product name of the Kinco remote I O module is used to express the main functions and use of the product The product name is not unique it is a generic terms of one kind of products The product name can be defined according to the following principles User Manual RP KINNCO remote IO series product S Protection class is IP20 Protection class is IP67 Digital input and output Analogue input and out put 6 D A M Hybrid input output RP2 Remote I O RP2D 1608C1 u IET Version CANopen protocol Profibus protocol Drvice protocol P M Modbus p
17. o O NE a OT ND N 6G 6 9 J o N C 24V 0 PE foe Figure 2 The PIN of commutation bus terminal Descriptions of each pin s function Serial name descriptions number 1 N C NC 2 CAN L Differential Signal of CAN 3 GND Low level power for CAN 4 N C NC 5 N C NC 6 GND Low level power for CAN 7 CAN H Differential Signal of CAN 8 N C NC 9 24V 24V power for CAN Form 4 Description of the CAN bus terminal s pins Note It must be connected to external 24V power supply when it works 3 5 Service Data Objects SDO We use SDO to visit the Object Dictionary of a device Visitors are called client The CANOpen device which the Object Dictionary is visited by and provide request service is called server The client s CAN message and server s response CAN message always includes 8 bytes data Though not all the data byte is significative A client request must have response from server In the CANopen protocol we can use SDO to change the content of the Object Dictionary Following is the structure of the SDO command and standards that it follows The basic structure of SDO Client Server Server Client Byte0 Byte1 2 Byte3 Byte4 7 SDO a Index of Object Sub index of Object do Command specifier C four bytes of data at most Form 5 The basic structure of the SDO SDO command word contains the following information Download
18. ot be dealt with because of 0x8210 length error 0x8220 Too long 0x9000 External error Form 9 error code 4 Description of LED indicate light We suggest two indicator lighter will be supported one is red ERR LED the other id green RUN LED we can differentiate the following state by indicator s state and flashing frequency States Description ON The LED shall be constantly on OFF The LED shall be constantly off Shall indicate the iso phase on and off with a frequency Flickering of approximately 10Hz on for approximately 50ms and off for approximately 50ms Shall indicate the iso phase on and off with a frequency Flickering of approximately 2 5Hz on for approximately 200ms followed off for approximately 200ms Single Shall indicate one short flash approximately 200ms flash follows by a long off phase approximately 1000ms Shall indicate a sequence of two short flashes Double approximately 200ms separated by an off phase flash approximately 200ms The sequence is finished by a long off phase approximately 1000ms Shall indicate a sequence of three short flashes Triple approximately 200ms separated by an off phase flash approximately 200ms The sequence is finished by a long off phase approximately 1000ms Form 10 state of indictor light CANopen Error LED The error LED of CANopen indicates the CAN physical layer s condition and indicate the error that caused the missing of
19. resents sink input System power supply Chart 5 Wiring diagram of RP2D 0016C1 16 User Manual RP2 Remote I O Object dictionary Object Dictionary index Object Name Data type E mappable 1000H Var Device type number Unsigned32 FALSE 1001H Var Error Register Unsigned8 TRUE 1005H Var Identifier SYNC Message Unsigned32 FLASE 1008H Var Device description String FLASE 1009H Var Hardware Version String FLASE 100AH Var Software Version String FLASE 100CH Var Guard Time Unsigned16 FLASE 100DH Var Life Time Factor Unsigned8 FLASE 1014H Var Identifier Emergency Unsigned32 FLASE 1016H Array Consumer Heartbeat Time Unsigned32 FALSE 1017H Var Producer Heartbeat Time Unsigned16 FALSE 1018H Record Identity Object Identity FALSE 1029H Array Error Behavior Unsigned8 FALSE 1200H Record Ist Server SDO Parameter SDO Parameter FALSE 1400H Record RPDOI1 Communication parameter PDOComPar FALSE 1401H Record RPDO2 Communication parameter PDOComPar FALSE 1600H Record RPDO1 Mapping parameter PDOMapPar FALSE 1601H Record RPDO2 Mapping parameter PDOMapPar FALSE 1A01H Record TPDO2 Mapping parameter PDOMapPar FALSE 6200H Array Write Output 8Bit Unsigned8 FALSE 6206H Array Error Mode Output 8Bit Unsigned8 FALSE 6207H Array Error Value Output 8Bit Unsigned8 FALSE Form 13 Object dictionary of Wiring diagram of RP2D 1608C1 17 User Manual RP2 Remote I O
20. rotocol D 08 Number of output port 16 ae of input Chart 1 Name principles of RP2D 1 4 Product list of Kinco RP2 series remote I O products Type Name Descriptions of function Digital IO RP2D 1608C1 DC 24V power supply DI 16xDC24V DO 8xDC24V DO is Transistor output rated output current for each channel is 0 5 A module RP2D 0016C1 DC 24V power supply DO 16xDC24V DO is Transistor output rated output current for each channel is 0 5 A Form1 Product list of RP2D series 2 Technical characteristics 2 1 The characteristics of the CANopen Emergency Producer Minimum start capacity slave Communication norm accord with CiA 301 V4 02 Device norm accord with CiA 401 V2 1 status indication norm accord with CiA 303 3 V1 0 2 TPDO and 2 RPDO SDO Server Life guarding Node guarding Heartbeat Producer User Manual RP2 Remote I O 2 2 The configuration of Communication and device The CAN bus driver is Non Current coupling It can support 100 CAN nodes at one bus at most Set the node ID and baud rate by hardware switches The Bit Rate of the CAN bus from 10kBit s to 1Mbit s High quality interface lockable When the error occurred it can send Emergency Messages 2 3 Power environment conditions and shell Working voltage 24V 1070 Current consumption 70mA Working temperature 20 C to 65 C Storage temperature 20 C to 90 C Dimention LxWxH in mm 139 2
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