User manual - Efes otomasyon
Contents
1. Negative sorew criver Service Status Meaning C 04x25mm EDS ON Operational RUN Blinking Pre operational CANopen Single flash STOPPED OFF Device in RESET state ON BUS OFF Single flash Warning limit reached ERR Double flash Error Control Event e Triple flash_ Sync Error CANopen OFF No error Device working ON DIAG Error ST Blinking INIT and DIAG running Single flash Baud rate setting OFF Module OK and ready PWR ON Module Power Supply ON OFF Module Power Supply OFF VOLEDs Status Meaning IN 1 16 ON Input active e OFF input inactive Bit Rate and Node ID configuration Bit rate Node ID Baud rate Bus length Hi Lo Valid ID Node kbps m switch switch 20 2500 Yo Oth address 1 50 1000 DP _o2h address 2 100 500 v 125 500 7Fh address 127D 250 250 500 100 800 50 1000 25 Procedure for Node ID and Bit Rate configuration The HI and LO hexadecimal rotary swithches set the module s Bit Rate and CAN Node ID During the configuration the module must be off line and the CAN bus must be physically disconnected To configure the module follow the procedure 1 Turn the Power OFF 2 Set the HI switch to F 3 Select the desired Bit Rate value by setting the LO switch following the table e g 8 for 1 Mbps 4 Turn the Power ON 5 Shift the HI switch to E all2. VAR DigInput8_2 60000208 UNSIGNED32 RO 6003 ARRAY Filter Constant Input 8 bit UNSIGNED8 0 1A01 RECORD 2 Transmit PDO Mapping PDO Mapping 21h M 00h VAR N of entries 02 UNSIGNED8 RO 00h VAR N of mapped application obj 04 UNSIGNED8 RO Oih VAR _ FilterConst8_1 00 UNSIGNED8 RW Oih VAR Read Input Latch 1 8 20110108 UNSIGNED32 RO 02h VAR FilterConst8_2 00 UNSIGNED8 RW 02h VAR Read Input Latch 9 16 20110208 UNSIGNED32 RO 6005 VAR Global Interrupt Enable Digital TRUE BOOLEAN RW 0 03h VAR Read Input Wait 1 8 20120108 UNSIGNED32 RO 6006 ARRAY Interrupt Mask Any Change 8 bit UNSIGNED8 0 04h VAR Read Input Wait 9 16 20120208 UNSIGNED32 RO 00h VAR N of entries 02 UNSIGNED8 RO 2004 ARRAY Filter Constant UNSIGNED8 0 Oih VAR nterruptAnyChange 8_1 FF UNSIGNED8 RW 00h VAR N of entries 10 UNSIGNED8 RO 02h VAR nterruptAnyChange 8_2 RE UNSIGNED8 RW Oth VAR Filter Constant 1 00 UNSIGNED8 RW 6007 ARRAY Interrupt Mask Low to High 8 bit UNSIGNED8 0 02h VAR Filter Constant 2 00 UNSIGNED8 RW 00h VAR N of entries 02 UNSIGNED8 RO 03h VAR Filter Constant 3 00 UNSIGNED8 RW Oth VAR InterruptLowToHigh 8_1 00 UNSIGNED8 RW 04h VAR Filter Constant 4 00 UNSIGNED8 RW 02h VAR _ InterruptLowToHigh 8_2 00 UNSIGNED8 RW 05h VAR Filter Constant 5 00 UNSIGNED8 RW 6008 ARRAY Interrupt Mask High to Low 8 bit UNSIGNED8 0 06h VAR Filter Constant 6 00 UNSIGNED8 RW 00h VAR N of entries 02 UNSIGNED8 RO 07h VAR Filter Constant 7 00 UNSIGNED8 R
3. 1S09001 Certified mod 10 CB DI 16LV 00 CANopen 1 0 module weeeearuwc 16 Isolated WK User ere 6LV 00 a manual ne Contents Characteristics Functional Block Diagram PDOs used by the module 16 optoisolated digital inputs with special functions ASCON spa 20021 Bollate Italy Tel 39 02 333 371 Fax 39 02 350 4243 Latched inputs www ascon it Hardware Set up M table input sales ascon it Parameter configuration MBN GSAS INpUIS Commands Edge detect and interrupt P GHB i Emergency messages E E SSS 68M parameter Store Restore a ARRNENEN Object Dictionary APPLICABLE STANDARDS The DI 16LV module is suited for the CiA DS301 protocol 1 and implements the CiA DS401 standard Device Profile 2 A Warning The product described in this manual should only be installed operated and maintained by qualified application programmers and software engineers who are familiar with automation safety concepts and applicable national standards Characteristics Functional Block Diagram Technical data Number of channels 16 Polarity EN 61131 2 type 2 Sink PNP UL state 0 3 11 5 Vdc Transmit _ _ gt UT transition 5 11 Vdc UH state 1 11 30 Vdc Input impedance 5kQ Interrupt enable ON OFF delay 5 ms Max monostable time 65s Any ch
4. D 1st Transmit PDO Comm Param PDO CommPar 20h M 00h VAR N of entries 02 UNSIGNED8 RO 00H VAR Largest subindex supported 05 UNSIGNED8 RO Oih VAR Read Input Latch 1 8 00 UNSIGNED8 RO Oth VAR COB ID used 180 NodelD UNSIGNED32 RW 02h VAR Read Input Latch 9 16 00 UNSIGNED8 RO 02h VAR Transmission type FF UNSIGNED8 RW 2012 ARRAY Read Input Wait UNSIGNED8 0 03h VAR nhibit time 0000 UNSIGNED16 RW 00h VAR N of entries 02 UNSIGNED8 RO 04h VAR Reseved UNSIGNED8 RW Oth VAR Read Input Wait 1 8 00 UNSIGNED8 RO 05h VAR Event timer 0000 UNSIGNED16 RW 02h VAR Read Input Wait 9 16 00 UNSIGNED8 RO 1801 RECORD 2 Transmit PDO Comm Param PDO CommPar 20h M 3000 VAR Node Address 7F UNSIGNED8 RO O 00h VAR Largest subindex supported 05 UNSIGNED8 RO 3001 VAR Node Baudrate 01 UNSIGNED8 RO O 01h VAR COB ID used 280 NodelD UNSIGNED32 RW 6000 ARRAY Read Input 8 bit UNSIGNED8 M 02h VAR Transmission type le UNSIGNED8 RW 00h VAR N of entries 02 UNSIGNED8 RO 03h VAR nhibit time 0000 UNSIGNED16 RW Oth VAR _ Diginput 8_1 00 UNSIGNED8 RO 04h VAR Reseved UNSIGNED8 RW 02h VAR _ Diginput 8_2 00 UNSIGNED8 RO 05h VAR Event timer 0000 UNSIGNED16 RW 6002 ARRAY Polarity Input 8 bit UNSIGNED8 0 1A00 RECORD 1st Transmit PDO Mapping PDO Mapping 21h M 00h VAR N of entries 02 UNSIGNED8 RO 00h VAR N of mapped application obj 02 UNSIGNED8 RO Oth VAR Polarity 8_1 00 UNSIGNED8 RW Oth VAR Diginput8_1 60000108 UNSIGNED32 RO 02h VAR Polarity 8_2 00 UNSIGNED8 RW 02h
5. IGNED8 RW 0 Oth VAR Value Time 1 0000 UNSIGNED16 RW 1010 ARRAY Store Parameters UNSIGNED32 0 02h VAR Value Time 2 0000 UNSIGNED16 RW 00h VAR Largest subindex supported 01 UNSIGNED8 RO 03h VAR Value Time 3 0000 UNSIGNED16 RW Oih VAR Save all parameters 03 UNSIGNED32 RW 04h VAR Value Time 4 0000 UNSIGNED16 RW 1011 ARRAY Restore Default Parameters UNSIGNED32 RW O 05h VAR Value Time 5 0000 UNSIGNED16 RW 00h VAR Largest subindex supported 01 UNSIGNED8 RO 06h VAR Value Time 6 0000 UNSIGNED16 RW Oih VAR Restore all default parameters 01 UNSIGNED32 RW 07h VAR Value Time 7 0000 UNSIGNED16 RW 1014 VAR COB ID EMCY 80 NodelD UNSIGNED32 RW O 08h VAR Value Time 8 0000 UNSIGNED16 RW 1015 VAR hibit Time EMCY 0000 UNSIGNED16 RW 0 09h VAR Value Time 9 0000 UNSIGNED16 RW 1017 VAR Producer heartbeat time 0000 UNSIGNED16 RW 0 OAh VAR Value Time10 0000 UNSIGNED16 RW 1018 RECORD Identity Object Identity 23h M OBh VAR Value Time 11 0000 UNSIGNED16 RW 00h VAR Number of entries 01 UNSIGNED8 RO OCh VAR Value Time 12 0000 UNSIGNED16 RW Oth VAR Vendor ID O00000E9 UNSIGNED32 RO ODh VAR Value Time 13 0000 UNSIGNED16 RW 1200 RECORD Server SDO Param OEh VAR Value Time 14 0000 UNSIGNED16 RW 00h VAR Number of entries 02 UNSIGNED8 RO 0 OFh VAR Value Time 15 0000 UNSIGNED16 RW Oth VAR COB ID Client gt Server 600 NodelD UNSIGNED32 RO 10h VAR Value Time 16 0000 UNSIGNED16 RW 02h VAR COB ID Server gt Client 580 NodelD UNSIGNED32 RO 2011 ARRAY Read Input Latch UNSIGNED8 0 1800 RECOR
6. W Oth VAR InterruptHighToLow8_1 00 UNSIGNED8 RW 08h VAR Filter Constant 8 00 UNSIGNED8 RW 02h VAR _ InterruptHighToLow8_2 00 UNSIGNED8 RW 09h VAR Filter Constant 9 00 UNSIGNED8 RW OAh_ VAR Filter Constant 10 00 UNSIGNED8 RW OBh VAR Filter Constant 11 00 UNSIGNED8 RW OCh VAR Filter Constant 12 00 UNSIGNED8 RW ODh_ VAR Filter Constant 13 00 UNSIGNED8 RW
7. ange A t High to low Pa gt 10R Close if TRUE Low to high 4 J General PDOs used by the module 3 way isolation Channel to Channel No TPDO Properties Mapped objects Index Sub index Channel to Logic 800 Vp TPDO 1 COBID 180h NodelD Read digital input 1 8 6000h 01h Logic to Serial Bus 800 Vp Transmission Type FFh Read digital input 9 16 6000h 02h Power Supply to Logic 800 Vp TPDO 2 COBID 280h NodelD Read Input Latch 1 8 2011h_ 01h Power supply 24 Vdc 15 25 Transmission Type FFh Read Input Latch 9 16 2011h 02h Power consuption 3W Read Input Wait 1 8 2012h Oth Overvoltage protection 40 Vdc Read Input Wait 9 16 2012h 02h Dimensions L 76 H 110 W 65 NN Weight 220 g Note The transmission type is configurable FFh is the default value Safety regulations Isolation class Il 50Vrms EN61010 1 Installation cathegory II Pollution degree 2 CE marking EN61131 2 3 way isolation diagram Fieldbus toe cg Power supply 800Vp Environment Operating Storage Temperature 10 4 65 C 40 85 C Relative 5 95 non condensing 5 95 non condensing Humidity Appropriate measures must For a short period slight be taken against humidity condensation may appear gt 85 on the housing Mounting Vertical free air Protection IP20 Vibrations 10 57Hz 0 0375mm 3 axes 57 150Hz 0 5g Shock 3 axes 15g 11ms half sine Hardware Set up Hexadecimal rotary switches service and I O LEDs
8. is necessary to connect it to a PC with the CAN interface and the superivisory software installed The configuration can be obtained by writing the desired values to the module s variables listed in the Object Dictionary Object Dictionary structure Index Sub Object Name Default Type Acc MO Index Sub Object Name Default Type Acc MO hex Index hex Attr hex Index hex Attr 1000 VAR Device Type 00010194 UNSIGNED32 RO M OEh VAR Filter Constant 14 00 UNSIGNED8 RW 1001 VAR Error Register 00 UNSIGNED8 RO M OFh VAR Filter Constant 15 00 UNSIGNED8 RW 1003 ARRAY Predefined error field 00000000 UNSIGNED32 RO EO 10h VAR Filter Constant 16 00 UNSIGNED8 RW 1005 VAR COB ID SYNC 00000080 UNSIGNED32 RW O 200C VAR Operating Mode 01 UNSIGNED8 RW 0 1006 VAR Communication cycle period 00000000 UNSIGNED32 RW 0 200E ARRAY Reset Input Latch UNSIGNED8 0 1007 VAR Synchrounous window length 00000000 UNSIGNED32 RW 0 00h VAR N of entries 02 UNSIGNED8 RO 1008 VAR Manufacturer Device Name 16LV Vis String const O Oth VAR Reset Input Latch 1 8 00 UNSIGNED8 RW 1009 VAR Manufacturer Hardware Version 1 00 Vis String const 0 02h VAR Reset Input Latch 9 16 00 UNSIGNED8 RW 100A VAR Manufacturer Software Version 1 00 Vis String const 0 2010 ARRAY Value Time UNSIGNED16 0 100C VAR Guard Time 0000 UNSIGNED16 RW O 00h VAR N of entries 10 UNSIGNED8 RO 100D VAR Life Time Factor 00 UNS
9. matically assigned by the devi 4 FFh ce and the operating mode value is read only when e an attempt is made to execute an unexpected command This value causes an exit from the error state after 5 00h the error condition is acknowledged The only transition is to the ready state 00h Emergency messages The module automatically sends emergency messages including error codes The communication errors are descrided in CiA DS301 1 The error codes are expres sed as a DEVICE SPECIFIC ERROR type of code The codes indicating a specific con dition are also inserted following the table below Error code Error 0000000000 No error This code is generated when exiting an error conti dion to notify the end of one of the error states 0000000007 Error Wrong Command An attempt to execute a command from an illegal state 0 1 2 3 4 5 om Emergency Oih FFn 21h 00h OOh OOh OOh Oyh Message COB ID entry 1014h NodelD Error code This module allows parameters to be saved in a non volatile memory In order to avoid storing parameters by mistake storage is only executed when a specific signature is written to the appropriate subindex The signature is save Similarly the default values of parameters according to the communication or device profile are restored On receipt of the correct signature in the appropriate subindex the device restores the default
10. parameters and then confirms the SDO transmission The signature is load The new configuration becomes active after a reset i e after a Power OFF Power ON cycle or an NMT Reset Node message Byte 0 1 2 8 4 5 6 7 Store 22h 10h 10h Oth 73h 61h 76h 65h Parameter s a v e COB ID 600h NodelD Restore 22h 11h 10h oth 6Ch 6Fh 6th 64h Parameter l 0 a d COB ID 600h NodelD The entries of a device Object Dictionary are accessed trough SDO Service Data Object messages The basic SDO messages are as follows as based on the Client Server request and response model Byte 0 1 2 3 a le 6 x Read Request lt ha a a Read Response NED hs ae 7 mane Write Request TEA A ea SOE ANODE Write Response ee chs p SAC NASTERE List of CiA documents to which the user should refer 1 CiA DS301 CANopen Application Layer and Communication Profile 2 CiA DS401 CANopen Device Profile for generic 1 0 modules Power Supply 45W 24Vdc 2A AP S2 AL DR45 24 Power Supply 120W 24Vdc 5A AP S2 AL DR120 24 Additional Terminal Block 2x11 AP S2 TB 211 1 Female Plug 11 Screw clamp AP S2 SPINA V11 Female Plug 11 Spring clamp AP S2 SPINA M11 RJ45 terminated cable 14cm AP S2 LOCAL BUS76 RJ45 terminated cable 22cm AP S2 LOCAL BUS152 CAN Bus termination Adapter AP S2 TERM CAN A In order to configure the module it
11. roprie tary input function options Below is an explanation of the added functions e Input Latch Available for all inputs Index 2011h Read Input Latch contains the value of the staticised inputs Index 200Eh Reset Latch commands the resetting of a single latched input on a bit basis writing 1 to the n th bit resets the n th input channel The lat ching function acts after the filtering and polarity settings e Input monostable Available for all inputs The input active value is maintained for a duration of time configurable with the Index 2010h Time Value 16 element ARRAY time base 5ms The state of the inputs are kept in Index 2012h Read Input Wait Module specific parameters Index 3000h Node Address Current Module Node ID Index 3001h Baudrate Current Module Bit rate Commands Index 200Ch Operating mode The device has its own internal state machine It is possible to move through this by sending appropriate values to the Index 200Ch following the table below Transition Operating Behaviour mode value Init At Power Up the Device is in the ready state Transition 1 is also executed if Index 200Ch Operating Mode contains the default value 1 1 Oth Operating mode RUN is activated Return to the initialisation ready state The transition is performed e following an operator s command e after assigning a configuration parameter 2004h 2010h The error state is auto
12. the module service LEDs should flash 6 Turn the Power OFF Now configure Node ID 7 Set the HI and LO switches to the desired valid Node ID following the table 8 Turn the Power ON Alternatively at step 7 set the value 00h Then at the next Power ON the last valid stored value will be resumed as Node ID The default values are Bit Rate 20 kbps Node ID 127D Parameter configuration Configuring the Input Channels The functional block diagram for the Inputs is consistent with the standard profile CiA DS401 2 The digital signal is first filtered Index 6003h Filter Constant Input 8 bit and Index 2004 Filter Constant then polarised Index 6002 Polarity Input 8 bit and finally assigned to the variable that contains its value Index 6000h Read Input 8 bit The information is now ready to be transmitted on the CAN network via the TPDO1 Other entries determine the trigger condition Index 6006h Interrupt Mask Any Change 8 bit detection of any input level change Index 6007h Interrupt Mask Low to High 8 bit detection of a Low to High edge Index 6008h Interrupt Mask High to Low 8 bit detection of a High to Low edge Index 6005h Global Interrupt Enable the actual PDO transmission is performed if two initial conditions are met the variable in Index 6005h should be TRUE and the PDO transmission type should be 255 In addition to the expected functions the module provides a number of p
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