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Handbuch Manual Manuel MVK-MC

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1. 49 Table 518 Network statis REO p ERE ees ettam are eR E eee aie 53 Table 7 19 Structure of EMCY COB ID entry object 1014H sess 53 Table 7 20 Consumer Heartbeat Time object 1016H sss eee 54 Table 7 21 Structure of Consumer Heartbeat Time object 1016 54 Table 7 22 Structure of Producer Heartbeat Time object 1017H sss 54 Table 7 23 Description of object 1018H for a DI8 56 Table 7 21 Description of object 1018H for a DIO8 module 56 Table 7 22 Description of object 1018H for a DIO8 module 56 Table 7 23 Description of object 1200H Server SDO 56 Table 7 24 Structure of COB ID entry of the Receive PDO communication parameters 57 Table 7 25 Description of PDO COB ID entries nennen enne nns 57 Table 7 26 Description of PDO transmission modes 57 Table 7 27 Receive PDO communication parameters for a 018 58 Table 7 28 Receive PDO communicati
2. 45 7 2 1 MVK MC DI8 018 Art No 55304 sse 45 7 22 MVK MC DIO8 DI8 Art No 55305 eene enne nnns nnne nennen 46 7 2 8 MVK MC DIO8 0108 Art No 55306 46 7 3 Manufacturer specific device profile Overview cessisse ener 46 7 3 1 MVK MC DI8 018 Art No 5530 46 7 3 2 MVK MC 0108 018 Art No eee enne 46 7 89 8 MVK MC DIO8 0108 Art No 55306 47 7 4 Communication profile DS 301 V4 01 object description 47 7 4 1 Object 1000H Device Type DT 47 7 4 2 Object 1001H Error Register ER ssesssssssssseseenenee nennen nennen nnns 47 7 4 8 Object 1002H Manufacturer Status Register essen 48 7 4 4 Object 1003H Pre defined Error Field PEF essent 48 7 4 5 Object 1005H COB ID SYNC message sse nennen nnne nennen 49 7 4 6 Object 1006H 49 7 4 7 Object 1008H Manufacturer Device Name
3. 31 5 3 1 Contact assignments of power connector 7 8 31 5 3 2 Connecting the power supply cable to the MVK MC module 32 54 Connecting the PE cable to the MVK MC module 33 5 5 Connections for sensors 33 5 6 Actuator connections 34 5 7 Unused connections leeeeeeeeeee eiie sienne eene en merae nennen sese nn er nnmnnn nnmnnn nnmnnn 35 6 CANOPEN ttt itd ee Se 36 6 1 Object directory 36 6 2 Communication profile General 36 6 3 Process data PDO Description of transmission modes 37 6 3 1 Change of state PDO transmission 37 6 3 2 Remote transmission request PDO transmission 38 6 3 3 Synchronous PDO transmission sssssssssseseseeeee eene enne nnne nennen 38 6 4 Access
4. IEC 1131 2 Type 2 Delay time for signal change Approx 3ms Outputs can be individually parameterized N m ber c PE max 8 Actuator current load Max 1 6 A per actuator max 8A Cable length esses enne With 0 75 mm max 10 m LP With 0 34 mm max 5 m Core 5 SOCIO MT dta diu sed iar Max 1 5 Max cycle frequency 20Hz Diagnosis inputs Function inputs can be individually parameterized IN rmib6r ed e e ente n eod 8 Input filter delay time Approx 1 ms Input characteristic IEC 1131 2 type 2 Delay time for signal change Approx 3ms 88 Via MVK MC User s Manual FW MURR mh m ELEKTRONIK 9 3 3 MVK MC DIO8 DIO8 Article No 55306 Power supply Module and sensor supply rated voltage 24 V DC must always be connected Actuator supply M12 sockets 4 to 7 rated voltage 24 V DC Operating voltage range 18 30 V DC Total current load of module power plug 8A Current consumption without sensor supply Approx 80 mA Sensor supply iade S a d Max 200 mA at each
5. 21 3 6 3 Power supply lines tco ee UI e etl e bI rh eu 22 3 7 System power 22 3 8 System configuration 2 ire tede 23 3 8 1 CRI c M 24 3 8 2 Addressing ii iet ce t ote ei ek ec te e 25 3 8 3 Data 26 FW MURR MVK MC User s Manual B S ELEKTRONIK UMSO 27 3 9 1 Setup example eo e A ado 27 4 INSTALLATION INFORMATION 28 43 MVK MC Installation 28 AID O o C G 29 4 2 1 amp 29 42 2 5 cnr ice 29 4 2 3 2 M E 29 424 Prevention of interference voltage nennen nnne nens 29 5 MVK MC MODULE CONNECTION TECHNIQUE 30 5 1 Connection overview eeclesie 30 52 BUS COMMOCUON eee 31 5 2 1 Contact assignments of bus connection M12 31 53 Power supply connection
6. object 3000 sub index 7 object 3000 sub index 7 Byte 5 6 7 CONTENT 00H 00H OxH Sensor short circuit Byte 5 6 7 sensor short circuit sensor short circuit CONTENT channel diagnosis channel diagnosis 10H object 3000 sub index 2 object 3000 sub index 2 Actuator short circuit Byte 5 6 7 Actuator shutdown pin4 Actuator shutdown pin2 CONTENT channel diagnosis channel diagnosis 20H object 3000 sub index 3 object 3000 sub index 3 Actuator warning Byte 5 6 7 Actuator warning pin4 Actuator warning pin2 CONTENT channel diagnosis channel diagnosis 40H object 3000 sub index 5 object 3000 sub index 6 Desina diagnosis Byte 5 6 7 desina inputs desina inputs CONTENT channel diagnosis channel diagnosis 80H 8 1 5 Manufacturer Status Register EMCY Byte 7 Following table shows the structure of EMCY byte 7 Signification under voltage sensor no voltage sensor under voltage actuator no voltage actuator sensor short circuit at M12 actuator short circuit shut down actuator warning Desina diagnosis 8 31 reserved Table 8 4 Manufacturer Status Register 1002H or 3000H Sub Index 5 only if output paramized only if output paramized 78 User s Manual MURR mh m ELEKTRONIK 8 2 Diagnostics through PDO telegram If active the 2 PDO sends
7. 75 D TETN OS N l O 76 8 1 Diagnostics through EMCY telegram 76 8 1 1 EMC Y telegram Structure det iieii 76 8 1 2 Supported error codes EMCY Byte 0 1 77 8 1 3 Error Register 1001H EMCY Byte 2 77 8 1 4 Channel wise diagnosis EMCY Byte 5 6 sssssssssssesesenennnneen rennen nenne 78 8 1 5 Manufacturer Status Register EMCY Byte 7 eene 78 8 2 Diagnostics through PDO telegram 79 8 2 1 Structure of the 2nd transmit 79 8 3 Diagnostic nenne nnne nnn eee ENERE AE 80 8 3 1 I O status LEDs at the M12 Sockets a i irt aeia a a aaaea aaaea 80 8 3 2 Bus and device status LEDs the module sese 81 8 4 lt SUP V a ae 83 8 4 1 Short circuit or 83 8 4 2 Undervoltage no voltages eene nnne trt nnne rte 83 E TMNE Tellier 84 8 5 1 Short circuit or overloagd aee tete 84 8 5 2 Undervoltage
8. ease aane 97 V1 1 mh m ELEKTRONIK Additions corrections to the manual MVK MC User s Manual Version Chapter Additions Corrections Date Name V0 0 Initial version 27 02 04 ERW VO 1 7 4 18 Static PDO mapping parameters remark deleted 26 03 04 ERW 7 4 20 V1 0 Update in accordance with German version V1 0 03 08 04 THF 55388 hdb d 10 V1 1 7414 Update in accordance with German version V1 1 02 03 2010 ri us 55388 hdb d 10 Object 1017H new figure Legal Provisions Notes V1 1 MVK MC User s Manual FW MURR mh m ELEKTRONIK 1 Concerning this manual The text illustrations diagrams and examples used in this manual serve solely for the purpose of explanation operation and usage of Input Output modules of the MVK MC series If you should have any further reaching questions regarding the installation and set up of the equipment described in this manual please don t hesitate to contact us We would be glad to assist you any time Murrelektronik reserves the right to make technical changes or modifications to this manual without prior notice 1 1 A quide through the manual The Safety information section must be read without fail prior to working with the products and the System This section contains information required for safe installation and handling The Configuration information section describes the MVK MC module in terms of system and com
9. 50 7 4 8 Object 100AH Manufacturer Software Version MSV sse 50 7 4 9 Object 1010H Store parameters 50 7 4 10 Object 1011H Restore default 51 7 4 11 Object 100CH Guard Time und object 100DH 52 7 4 12 Object 1014H COB ID emergency message 53 7 4 13 Object 1016H Consumer Heartbeat 54 7 4 14 Object 1017H Producer Heartbeat 54 7 4 15 Object 1018H Identity Object sssini caen ariana aaa naaraana eaaa a araa eaan aeaa aa ena 56 7 4 15 1 MVK MC DI8 DI8 Article No 55304 56 7 4 15 2 MVK MC DIOS 018 Article No 55305 56 7 4 15 3 MVK MC DIOS 0108 Art No 55306 56 7 4 16 Object 1200H Server SDO Parameter sse 56 7 4 17 Object 1400H and 1405H Receive PDO Communication parameters 57 7 4 17 1 MVK MC DI8 DI8 Article No 55304 58 7
10. Max 1 5 Max cycle 20 Hz Diagnosis inputs can be individually parameterized erben eee max 8 Input filter delay time Approx 1 ms Input characteristic IEC 1131 2 type 2 Delay time for signal change Approx 3ms FW MURR MVK MC User s Manual mh m ELEKTRONIK 10 Accessories 10 1 General accessories 338008 M12 diagnosis adapter line monitoring to straps 55 468 4 pcs M12 blind cap black 338155 1 piece M12x1 diagnosis blind cap Self connecting connectors 27626 CANopen Bus M12 plug A encoded straight type 27621 CANopen Bus M12 socket A encoded straight type 55774 CANopen cable per metre 27663 Power 7 8 plug straight type 27661 Power 7 8 socket straigth type Power T piece 7 8 14881 Plug Socket Socket iE Desina Sensor Nominal operating distance 2 mm flush protected 0 to 1 6 mm Operating voltage 10 to 30 V DC Current carrying capacity 200 mA Short circuit proof and polarity protected Switching frequency 800 Hz 17259 M12 x 1 Desina Sensor Valve connector type A Contact gap 18 mm Operating voltage 24 AC DC pressure switch 24 DC Max operating current max 4 A 3513850 Mie connection pent Yellow LED protecti
11. 500V between bus and internal logic with opto coupler and DC DC converter Operating modes Cyclic and acyclic synchronous PDOs Asynchronous PDOs Addressirig 1 to 99 selectable with two rotary switches CIA e V Vendor ld 79ps Connection possibilities Function and diagnosis inputs and outputs 8 x 5 pin M12 socket CAN Bus connection 5 pin 7 8 Mini style connector SUPP se 4 7 8 Mini style connector Miscellaneous Dimensions LxWxH in mm 220 x 63 x 48 Mounting dimensions in mm 208 5 0 5 Weight EE approx 735 g 86 Via MVK MC User s Manual FW MURR mA S ELEKTRONIK 9 3 Product specific data 9 3 1 MVK MC DIG DI8 Article No 55304 Power supply Module and sensor supply rated voltage 24 V DC must always be connected Operating voltage range 18 30 V DC Total module current load power plug 8A Current consumption without sensor supply approx 80 mA Sensor SUpply tr tet Max
12. confirm response Y Node Guarding Event life Guarding Event p gt Indication Indication if guarding error Fig 7 1 Node and Life Guarding Guarding protocol The toggle bit t transferred in the first guarding telegram has the value 0 Afterward the bit changes toggles in each guarding telegram thereby signalling if a telegram has been lost The node indicates its network status s in the remaining 7 bits Network status Reply telegram Stopped 0x04 or 0x84 Pre operational 0x7F or OxFF Operational 0x05 or 0x85 Table 7 18 Network status Example The Guarding message at node 27 0x1B must be queried via a remote frame with the identifier 0x71B 1819 When the node is OPERATIONAL the first data byte of the reply message toggles between 0x05 and 0x85 In PRE OPERATIONAL state it changes between 0x7F and OxFF 7 4 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 Table 7 19 below MSB CAN 2 0A 0 0 000000000000000000 11 Bit Identifier Table 7 19 Structure of EMCY COB ID entry object 1014H V1 1 53 FW MURR MVK MC User s Manual mh m ELEKTRONIK 7 4 13 Object 1016H Co
13. 0s Pin 2 M12 socket 2 Digital input Yellow 3 L1 Pin2 M12socket3 Diagnostic input Red _0__ Pin 2 M12 socket 3 Digital input Yellow 4 1 2 M12 socket 4 Diagnostic input Red 0 Pin 2 M12 socket 4 Digital input Yellow 5 Pin2 M12socket5 Diagnosticinput_ Red _0__ Pin 2 M12 socket 5 Digital input Yellow 1 2 M12 socket 6 Diagnostic input Red 0 Pin 2 M12 socket 6 Digital input Yellow z Pin2 M12 socket 7 Diagnostic input 0 Pin2 Mi2socket7 Digitalinpt Yellow Table 7 61 Description of object 2000H Parameter input diagnosis of pin 2 Parameterisation of manufacturer specific device profiles must precede parameter assignment of device profiles 74 V1 4 MVK MC User s Manual FW MURR mh m ELEKTRONIK 7 6 2 Object 2001H Input Output parameter This object allows user to configure Pin 2 and Pin 4 as digital input or output in case of configurable module The MVK MC can be parametered again and again Table 7 61 shows the Sub index assignment Functionality input output pin 4 Functionality input output pin 2 Table 7 62 Description of object 2001H input output parameter Description input Parameterisation of manufacturer specific device profiles must precede parameter assignment of device profiles 7 6 3 Object 3000H Manufacturer specific diagnosis bytes This ob
14. 12 242 5 e Cette nc 12 2 4 3 EMG Standards tede fe fet dote fete 12 244 Safety standards 2 12 2 4 5 Mechanical ambient conditions nennen nemen nne n nnne nnn nnns 13 2 5 Explanation of 13 2 5 1 Use of attention Signs iiie Llega tta gata 13 2 5 2 Use of danger signs su tet Mer dee ide ee PL be ER o dg ee dde Ha duda des 13 2 5 38 Use of numbering in illustrations nennen 13 2 5 4 Use of handling information 13 2 5 5 Wseof NOteS Re ede ntt uera 14 3 CONFIGURATION nennen nennen nnn n nnn n nnn n nnn nn 15 3 4 CAN Bus protocol 15 3 2 CANopen protocol description 16 3 3 CAN bus system dalta iret Gate 17 3 4 SCAN 5 1 e X 18 3 5 Information for the beginner 18 3 6 System cables eue eee uie 19 3 6 1 GAN Bus cable description eie Urat e et 19 3 6 2 Position of bus terminating resistors maximum bus
15. Client to Server 600H Node Id RA Server to Client 580H Node ID Table 7 26 Description of object 1200H Server SDO parameter 56 V1 1 MVK MC User s Manual FW MURR mh m ELEKTRONIK 7 4 17 Object 1400H and 1405H Receive PDO Communication parameters Communication parameters for Receive PDOs are stored in these objects The parameters are e COB D of the PDO and PDO transmission mode asynchronous cyclic synchronous and acyclic synchronous COB ID Bit MSB LSB 28 11 2 0A 01 0 000000000000000000 11 Bit Identifier Table 7 27 Structure of COB ID entry of the Receive PDO communication parameters The significance of individual bits is explained in table below i MsB 01 1 PDO otvalid 0 RTRalowed e 1 HrImRmtalwed _ 1 9 BILID CAN2 0B mnotsuppored B Pp XCF Bit 29 1 Bit 28 11 of 29 not supported 10 O LSB X Bit10 Ooftheidentiier Table 7 28 Description of PDO COB ID entries Bit 30 describes PDO access possibility via remote frames 9 Transmission mode The PDO transmission mode can be set as shown in following table below Asynchronous transmission 255 is set as standard for Receive PDOs The COB ID entries shall only be changed when the PDO is non active Bit 31 0 Transfer PDO transmission modes R
16. Standard value 160H 0 Number of assigned objects 1st Receive PDO wd 17 assigned object digital outputs 0 7 6200 01 08H 2 assigned object digital outputs 8 15 6200 08H 1605H Number of assigned subjects 2nd Receive PDO assigned object parameter input diagnostic at Pin2 2000 a 08H n assigned object Functionality input output pin 4 2001 01 08H hm 3 3 assigned object Functionality input output pin 2 2001 02 08H Table 7 36 Receive PDO mapping parameters for a DIO8 module 7 4 19 Object 1800H and 1805H Transmit PDO communication parameters Communication parameters for Transmit PDOs are stored in these objects The parameters are COB ID of the PDO PDO transmission mode asynchronous cyclic synchronous and acyclic synchronous e Inhibit time or an e Event timer Bit MSB 28 11 10 0 2 0A 0 1 0 000000000000000000 11 Bit Identifier Table 7 37 Structure of COB ID entry of the Receive PDO communication parameters COB ID The significance of individual bits is explained in table below Comments 1 MSB 09 PDOvaid 1 PDO notvalid 0 RHrTRalowed 1 RrTRnotalowed 0 11 Bit ID CAN 2 0A D 29 Bit ID CAN 2 0B not supported XP Bit 29 1 28 11 of 29 BitID supported Table 7 38 Description of PDO COB ID entries Bit 30 describes PDO access possibility via remote frames
17. Ae ELEKTRONIK Handbuch Manual Manuel MVK MC Art No 55304 Art No 55305 Art No 55306 ELEKTRONIK User s Manual MVK MC Series Article No 55 304 DI8 018 MVK MC DI8 8x Diagnosis DI Article No 55 305 MVK MC DIO8 DI8 MVK MC 0108 8x Diagnosis Dl Article No 55 306 MVK MC DIO8 DIO8 MVK MC DIO8 8x Diagnosis DI DO User s Manual Article No 55 388 Version 1 1 Murrelektronik GmbH Box 1165 71567 Oppenweiler Phone 49 0 7191 47 0 Falkenstrasse 3 71570 Oppenweiler Telefax 49 0 7191 47 130 Internet http www murrelektronik com User s Manual MURR B S ELEKTRONIK Table of contents 1 CONCERNING THIS MANUAL 9 1 1 A guide through the 9 2 SAFETY INFORMATION 10 2 1 Designated Use 10 2 2 lt Target groups terio ueteri 10 2 3 gt RegulallO ns 11 2 3 1 EU directives iode eth d teda Hoesen 11 2 9 2 Electrical Safety teet etia Cis panini 11 2 3 8 Gemeral information sss anan a 11 2 4 Information regarding standards 12 2 4 1 Equipment standards eana eN
18. The COB ID entries can only be changed when the PDO is non active Bit 31 0 60 Via MVK MC User s Manual FW MURR ELEKTRONIK Transmission mode The PDO transmission mode can be set as shown in following Table below Asynchronous transmission 255 is set as standard for Transmit PDOs Transfer PDO transmission modes Remark code Cyclica Synchro Asynchro RTR DOE us nous only 0 X X Send PDO on next Sync message after an event or an end of timer 1 240 X X Send PDO every x Sync message 241 251 reserved 252 X X Send PDO on Remote Request or on next Sync message 253 X Send PDO on Remote Request 254 X Send PDO on event or at end of timer 255 X Send PDO on event or at end of timer Table 7 39 Description of PDO transmission modes Under synchronous cyclical transmission the entry value 1 240 indicates the number of SYNC objects required for PDO transmission Q Objects 1005H and 1006H must be noted for synchronous mode operation Inhibit Time 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 transmitter of a PDO checks if 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 ov
19. FFH 3 Imhibttime 16 bi 0000H 5 Eventtimer fG bi 0000H Table 7 43 Transmit PDO communication parameters for a DIO8 module Q The MVK MC DIO8 module supports 2 Transmit PDOs It must be assured that each COB ID is unique in the entire CANopen network unless data is being exchanged between slaves 7 4 19 3 MVK MC DIO8 DIO8 Article No 55306 Following table shows the exact assignment of parameters for Transmit PDOs Index Sub index Description Standard value 1800H 0 Number of entries of 1st transmission PDO 5 COB ID of PDO 32 bit 180H Node Id 11 2 Transmission mode 8 bit FFH 1 3 160 0000H 5 Event timer 16 bit 0000H 1805H 0 Number of entries of 2nd Transmit PDO 5 1 COBIDofPDO 32bi 80000280H Node ld __ 2 Transmission mode 8 bit FFH 1 3 lnibitime 16 bi 0000H 1 5 16 bit 0000H Table 7 44 Transmit PDO communication parameters for a DIO8 module 5 The MVK MC DIO8 module supports 2 Transmit PDOs It must be assured that each COB ID is unique in the entire CANopen network unless data is being exchanged between slaves V1 1 63 FW MURR MVK MC User s Manual ELEKTRONIK 7 4 20 Object 1A00H 1A05H Transmission PDO mapping parameters The significance of these objects is analog to objects 1600H and 1605H except that these are Transmit
20. User s Manual MURR mh m ELEKTRONIK 7 5 8 Object 6302H Polarity Output 16 bit Polarity for output values with 16 outputs each Addressing takes place via index and sub index whereby sub index 0 contains the number of entries The polarity of 16 outputs each is influenced from sub index 1 onward A 0 means that the respective output remains unchanged when issued A 1 means that the output will be issued inverted Table below shows the output assignment For more details see chapter 7 5 1 Standard Description value Output 00 0 6 Change polarity if entry 1 Change polarity if entry 1 Change polarity if entry 1 Output 04 Change polarity if entry 1 Output 05 Change polarity if entry 1 Output 06 Change polarity if entry 1 a 0 MEE WEM Pin4 OututO3 0 Change polarity if enty 1 0 1 7 Pi4 OupitO7 8 Pina Oupu io0 Changepolartyifenty 1 9 Pina Oupui 0 Change polarity if enty1 10 Pina Outpui2 Changepolartyifenty 1 11 Pinza Outui3 O cChangepolartyifentry 1 12 Pind Outpui4 Changepolartyifenty 1 18 Pina _ 5 Changepolartyifenty 1 14 Pind Oupu i6 Changepolartyifenty 1 15 Pina Outpui7 o Changepolartyifenty 1 Table 7 57 Description of object 6302H Pola
21. mh m ELEKTRONIK 3 8 System configuration Following the initialisation phase all CAN Bus devices will have reported to the CAN Bus with one Boot Up Message each An appropriate setup tool can then start to read in the CANopen network and based on the data received assign each CAN Bus device the corresponding EDS file From the EDS file information the master creates an adequate periphery map of all recognized slaves in the PLC The user can assign the read in I O bytes to logical addresses in the PLC Fig 3 2 shows the schematic of a CANopen network layout PLC CANopen Master CANopen Slaves Module Consumer Producer Input Process Image Input Data MVK MC DI8 Input Data Diagnostic Data Parameter Data Output Data MVK MC DIO8 Input Data Output Data Diagnostic Data Parameter Data PLC Program Diagnostic Data MVK MC DIO8 Parameter Data Input Data Output Output Data Process Image Diagnostic Data Parameter Data Fig 3 2 Data transfer between the PLC Interface module CANopen Master and CANopen slaves V1 1 23 FW MURR MVK MC User s Manual mh m ELEKTRONIK 3 8 1 EDS files The EDS file is created explicitly for the device type I O Consequently each module of the MVK MC series has a separate EDS file eds plus an icon ico assigned to it The EDS file contains a lot
22. 84 9 DATA SHEETS dare FORE DULCE EE 85 9 1 noise immunity specifications for MVK MC 85 9 2 Tecmical ate 86 9 2 1 General information on MVK MC modules sss enne 86 9 3 Product specific data eeeeeeeeeeeeeeeeeeeeeee sees eee nennen nitri use nnmnnn nnmnnn inan nnn nau 87 9 3 1 DI8 018 Article No 55304 87 9 3 2 MVK MC 0108 018 Article No 55305 88 9 3 3 MVK MC DIO8 DIO8 Article No 55306 89 I0 ACCESSORIES tus cats ta iia ian aaa a RR ARA a eee RR RR ERR RR 90 10 1 General accessories ieiunium Eine terere 90 10 2 jer nc 91 11 ABBREVIATIONS qu CE o dE aC o VY i a 92 6 V1 1 User s Manual MURR mh m ELEKTRONIK 12 eec ies sa nrunaa ga ceed avanauE crux CES ns a a EH xv a x nenna 94 13 LIST TABLES i e aei Shu sid eS nie ide pesti 95 LEGAL PROVISIONS
23. Index Sub index Description 2 Standard value 1800H 0 Numberofentriesof 1st Transmit PDO 5 1 1 COBIDofPDO 32bi 180H __ 2 Transmission mode 8 bit FFH 1 3 16 0 0000H Event timer 16 bit 0000H Number of entries of 2nd Transmit PDO 5 COB ID of PDO 32 bit Transmission mode 8 bit Inhibit time 16 bit Event timer 16 bit Table 7 42 Transmit PDO communication parameters for a DI8 module 1805H 5 0 1 OCOBIDofPDO 32bi __ 2 Transmission mode 8 bit 3 Imhibttime f6 bi Lo 5 e The MVK MC DI8 module supports 2 Transmit PDOs It must be assured that each COB ID is unique in the entire CANopen network unless data is being exchanged between slaves 62 1 1 MVK MC User s Manual FW MURR ELEKTRONIK 7 4 19 2 MVK MC DIOS 018 Article No 55305 Table 7 43 shows the exact assignment of parameters for Transmit PDOs Index Sub index Descripion Standard value 1800H 0 Number of entries of 1st Transmit PDO 5 EK COB ID of PDO 32 bit 180H Node Id 2 Transmission mode 8 bit FFH 3 IMhibttime t6 bi 0000H 5 Event timer 16 bit 0000H 1805H 0 Number of entries of 2nd Transmit PDO 5 1 COB ID of PDO 82 bit 8000 0280H Node ID 2 Transmission mode 8 bit
24. PDOs 7 4 20 1 MVK MC DI8 DI8 Article No 55304 Index Sub index BDescripion Standard value 1A00H_ 0 Numberofassignedobjects ist Transmit PDO 2 1 dstassigned object digital inputs pn 4 60000108H 1A05H Number of assigned objects 2nd Transmit PDO E 1 2 p 7 x9 2nd assigned object Sensor short circuit 3000 02 08H 3rd assigned object Desina inputs 3000 07 08H Table 7 45 Transmit PDO mapping parameters for a DI8 module 7 4 20 2 MVK MC DIO8 DI8 Article No 55305 Index Sub index BDescripion Standard value 1A00H O Numberofassignedobjects ist Transmit PDO 2 1 dfstassigned object digital inputs pn 4 60000108H 1A05H Number of assigned 2nd Transmit PDO 13 1 2 2ndassigned object Sensor short circuit 30000208 Srassignedobject Desinainpts 3000 07 08H 3 4th assigned object Actuator shutdown pin 4 3000 03 08H ep o l 5th assigned object Actuator warning pin 4 3000 05 08H Table 7 46 Transmit PDO mapping parameters for a DIO8 module 7 4 20 3 MVK MC DIO8 0108 Article No 55306 Index Sub index Description Standard value 1A00H 0 Number of assigned objects 1st Transmit PDO DERE NUN gt 1st assigned object digital inputs pin 4 6000 01 08H 2nd assi
25. User s Manual MURR mh m ELEKTRONIK 8 1 2 Supported error codes EMCY Byte 0 1 The following table lists implemented error codes Error code 0x0000 ERROR RESET NO ERROR An error was corrected 0x1000 GENERIC ERROR 0x6101 SOFTWARE RX QUEUE OVERRUN Internal receiver buffer overflow 0x6102 SOFTWARE TX QUEUE OVERRUN Internal transmitter buffer overflow 0x8100 COMMUNICATION Synchronization transmission receive error counter gt 96 0x8120 CAN IN ERROR PAsSIVE Can controller in error passive mode transmission receive error counter gt 128 0x8130 LIFE GUARD ERROR Nade alate ste Heartbeat error Can controller in bus off mode 0 8140 BUS OFF transmission error counter gt 256 Error Device specific diagnostics Cause Table 8 2 Error Codes General field bus diagnostics Cause 8 1 3 Error Register 1001H EMCY Byte 2 The error Bits shown in Table 8 3 Signification Remark generic error Current Voltage Temperature communication error Reserved Reserved manufacturer specific Desina diagnosis Table 8 3 Error Register 1001H Moo som jo 77 ELEKTRONIK 8 1 4 Channel wise diagnosis EMCY Byte 5 6 The data returned in byte 5 and 6 are depending from EMCY byte 7 manufacturer status register Sensor actuator no or under voltage MVK MC User s Manual
26. mh m ELEKTRONIK COB ID 1792 Node ID Heardbeat Heardbeat Producer Consumer Request toggle bit Node state Heardbeat Producer Time Request Heardbeat Consumer Time Heartbeat Event Fig 7 2 The Heartbeat Time s the state of the Heartbeat producer 0 BOOTUP 4 STOPPED 5 OPERATIONAL 127 PRE OPERATIONAL If the Heartbeat Producer Time is configured on a device the Heartbeat Protocol begins immediately If a device starts with a value for the Heartbeat Producer Time unequal to 0 the Heartbeat Protocol starts on the state transition from INITIALISING to PRE OPERATIONAL In this case the Bootup Message is regarded as first heartbeat message The MSB Value is even zero Its not allowed to use Heartbeat and Node guarding at the same time If the heartbeat producer time is unequal 0 the heartbeat protocol is used V1 1 55 FW MURR MVK MC User s Manual ELEKTRONIK 7 4 15 Object 1018H Identity Object Object 1018H contains general information about the device The vendor ID manufacturer Id No from CiA is found in sub index 1 Sub index 2 contains the MVK MC article number Sub index 3 contains the revision number divided into main and sub revision numbers If CANopen functionality is expanded the main revision number is raised The sub revision number is raised during software changes that alter the device functionality but do not affect CANopen functionality Please always state the revision num
27. 0 to 3 rated 24 V DC must always be connected Actuator supply M12 socket 4 to 7 rated voltage 24 V DC Operating voltage range 18 30 V DC Total current load of module power plug 8A Current consumption without sensor supply Approx 80 mA Sensor supply ea iin Max 200 mA at each M12 socket Short circuit protection for sensors Multi fuse M Up to 100 mA load automatic mE from 100 mA load a reset must follow Multi fuse reaction time Time to trip 1s at Ik gt 1 A und 23 C ambient temperature Core cross section max 1 5 Reverse polarity protection inputs Yes Reverse polarity protection outputs Yes Bus data Communication objects 2 TxPDOs 2 RxPDOs m TEE 1SDO SUA TEMA e ete EAE 1 Emergency object Functions inputs can be individually parameterized NUM DET 8 Input filter delay Approx 1 ms Input characteristics
28. 3 Indicator states and flash rates 82 V11 MVK MC User s Manual FW MURR mh m ELEKTRONIK 8 4 Sensor supply Power supply for the sensors is provided at the M12 sockets between pin 1 24V and Pin 0 This power supply is also available on the output modules because the diagnostic input can be configured as a function input via parameter 8 4 4 Short circuit or overload During a short circuit or overload of the sensor supply the following symptoms are observed at the MVK MC module e diagnosis LED at the corresponding M12 socket lights red e the respective diagnosis data are sent across the bus to the master e All other inputs still works correctly When an overload or short circuit has been corrected or the sensor supply connected the LED s and diagnosis data are reset 8 4 Undervoltage no voltage There are two levels of undervoltage detection Us 18 V In this case the module is still working but o the POWER DI LED lights red o the respective diagnosis data is sent across the bus to the master Us 12V Inthis case the I O doesn t work anymore but the bus communication still works o the POWER DI LED goes off o the respective diagnosis data is sent across the bus to the master e 5 lt 7 V inthis case the module shutdown FW MURR MVK MC User s Manual mh m ELEKTRONIK 8 5 Actuators 8 5 1 Short circuit or overload During a short circuit or overload of an output the followin
29. 4 17 2 MVK MC DIOS 018 Article No 55305 enne 58 7 4 17 3 MVK MC DIOS DIO8 Article No 55306 sse 58 7 4 18 Object 1600H and 1605H Receive PDO mapping parameters 59 7 4 18 1 MVK MC DI8 DI8 Art No 55304 59 7 4 18 2 MVK MC DIOS 018 Article No 55305 59 7 4 18 3 MVK MC DIOS DIO8 Article No 55306 sse 60 7 4 19 Object 1800H and 1805H Transmit PDO communication parameters 60 7 4 19 1 MVK MC DI8 DI8 Article No 55304 62 7 4 19 2 MVK MC DIOS 018 Article No 55305 63 7 4 19 3 MVK MC DIOS DIO8 Article No 55306 sse 63 7 4 20 Object and 1A05H Transmission PDO mapping parameters 64 7 4 20 1 MVK MC DI8 018 Article No 55304 64 7 4 20 2 MVK MC DIOS 018 Article No 55305 64 7 4 20 3 MVK MC DIOS DIO8 Article No 55306 sse 64 7 5 Device profile 05 401 V2 0 object description 65 7 5 1 Processing of I O data de
30. CAN Bus cable must be taken into consideration This factor lies in a range of 5ns m in the case of electrical two wire cables Q the case of electrical two wire cables the signal run time is 5ns m 3 6 2 Position of bus terminating resistors maximum bus length If the distance from a branch in the main cable to its furthest removed module is greater than the distance to the next terminator this spur line length Drop B is calculated into the total cable length The following is a network example k cl J 1 5m 50m 12m Node 1 Drop A Node 2 Drop Node 3 Drop C Fig 3 1 Position of terminating resistors max bus length Drop A does not appear in the max cable length 1 5m gt 1m Drop B is calculated into the max cable length 3m 5m Drop C does not appear in the max cable length 12m 6m Maximum bus length 5 50 m 12 67 m In the above example the bus terminating resistors have been installed at the end of Drop B and at the end of the 12m cable Q Attention must be paid to ensure that the CAN Bus between CAN_H and CAN L is correctly terminated 120 Q V1 1 21 FW MURR MVK MC User s Manual ELEKTRONIK 3 6 3 Power supply line Q Calculation of the required conductor cross sections is dependent on installation specific configuration data and is therefore not covered in this manual 3 7 System power supply Q We recommend the use of primary
31. Interconnection Process Data object Object for process data exchange between various devices Remote transmission request Request for data telegram with the same identifier used for data transmission Service Data object Objects for communication during configuration and when accessing entries in the object directory Speicher programmierbare Steuerung PLC Programmable logic control Synchronization object 93 FW MURR MVK MC User s Manual ELEKTRONIK 12 List of illustrations Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig 94 3 1 Position of terminating resistors max DUS 21 3 2 Data transfer between the PLC Interface module CANopen Master and CANopen slaves 23 3 3 Data rate and Node ID switches 25 5 1 MVK MC module connection overview ssssssssssseseeeeee enne 30 552 PE COE OTO dct e atta xt eb ed euet c d Pau 33 5 8 Pin assignment of M12 sockets ssessssssssssssseseeeeee eene nnne nnns 34 5 4 Pin assignment of M12 5 tenens nnn sins entree nens 34 6 1 Overview of PDO transmission 37 6 2 Synchronized PDO transmiSSiOn c ccccccceeeeeee
32. Part 410 HD 384 4 41 Installation of power systems and equipment with nominal voltages up to 1 000 V Part 4 Protective measures Chapter 41 Protection against electrical shocks MVK MC User s Manual FW MURR ELEKTRONIK 245 Mechanical ambient conditions EN 60068 2 6 Environment test sine shaped oscillation EN 60068 2 27 Environment test shocks 2 5 Explanation of symbols 2 5 1 Use of attention signs Notes containing important information are specially marked These are illustrated as follows Q 2 5 2 Use of danger signs Attention text Danger signs are additionally marked with an enclosing frame CAUTION Disregard of safety measures may result in damage to equipment and other serious consequences DANGER Non compliance with corresponding safety measures poses a danger to the health and life of the user 2 5 3 Use of numbering in illustrations Illustrations are numbered with white numbers on a black round field Example 1 The explanatory text follows tabular form under the same number in direct context to the preceding illustration 2 5 4 Use of handling information Handling information describes the sequence of steps during installation setup operation and maintenance that must be strictly observed The numbering black numerals in a white field is given in a sequential and ascending order Exa
33. constant Output 16 bit This object defines an additional configurable output filter mask for a group of 16 outputs Standard Description ee 0 Pi4 Output 00 Outputfiiter For more details see chapter 7 5 1 sore 5 2 Pin4 1 Otutputfiler Png 1 __ Output fiter Pin 4 Output 04 Output filter Ls outputs tbat iter 6 Pin4 Outputoo 1 Obutputfiler 8 Pin2 OutpuiO 1 Obutputfiler 9 Pin2 Odupuiii 1 Outputfiter Table 7 60 Description of object 6308H Filter constant output 16 bit V1 1 73 FW MURR MVK MC User s Manual mh m ELEKTRONIK 7 6 Manufacturer specific device profile 7 6 1 Object 2000H Parameter input diagnosis of pin2 Addressing takes place via index and sub index whereby sub index 0 contains the number of channels The channel parameters are found from sub index 1 onward Upon receipt of parameter information the current parameter setting is compared with the new data The MVK MC module is parametered again if the data had changed The MVK MC can be parametered again and again Table 7 61 shows the assignment to the M12 sockets Red 1 Pin 2 M12 socket 0 Diagnostic input 0 Pin2 M12 socket 0 Digital input Pin 2 M12 socket 1 Diagnostic input Red 0 Pin 2 M12 socket 1 Digital input Yellow Pin 2 M12 socket 2 Diagnostic input Red
34. initialisation The CANopen communication model differentiates between four different types of messages objects 1 Administrational Messages Management messages These encompass layer management LMT network management NMT and identifier distribution DBT Implementation is managed by CAL management services 2 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 36 V1 1 MVK MC User s Manual FW MURR ELEKTRONIK 3 Process Data Messages PDO Process Data Object transfer is the most rapid means 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 4 Pre defined Messages There are three pre defined communication objects SYNC Time Stamp and Emergency Object Support of these objects is not mandatory Implementation is via CAL application services 6 3 Process data PDO Description of transmission modes CANopen offers various possibilities of transferring process data Fig 6 1 offers an overview of possible CANopen operation modes consumer s Remote Frame producer n LL consumer s SYNC producer mr consumer s Fig 6 1 Overview of PDO trans
35. of information concerning the module e g Device type manufacturer Vendor ID article number software version hardware version etc EDS files module specific Only Murrelektronik personnel are allowed to undertake application specific modifications EDS files are assigned as shown in Table 3 7 Module type Name of EDS file Name of icon MVK MC DI8 DI8 MVKCDI8D eds MVKCDI8D ico MVK MC DIO8 DI8 MVKCDIO8D eds MVKCDIO8D ico MVK MC DI4D04 018 MVKCDI4D04D eds MVKCDIADOAD ico Table 3 7 EDS files The last character the EDS file name stands for the EDS file language e g D Deutsch E English For the function of the assembled network it does not matter which file is loaded into the setup tool Only the readability of the variables is improved The latest EDS files can be found in the Internet under http www murrelektronik com in the download area under configuration files 24 V1 1 MVK MC User s Manual FW MURR mh m ELEKTRONIK 3 8 2 Addressing The Node ID of the MVK MC module is set as a decimal number with the two rotary switches see Fig 3 3 Node ID switch x10 POWER IN POWER OUT Node Id switch x1 e Data rate switch 0 Ae eo NA YG BUS IN BUS OUT Fig 3 3 Data rate and Node ID switches Q There are two switches for setting the Node ID x10 decades and x1 single digits Permissible addresses are 1 to 99 The MV
36. or token method Despite the low bus transport capacity all pending transfer requests are processed in the sequence of importance for the total system according 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 recipients As the data transfer protocol does not stipulate any physical target addresses for individual components the concept of modular electronics is supported as well as the possibility of multi reception Broad multi cast and the synchronization of distributed processes 3 2 CANopen protocol description In the realization of CAN based distributed systems one is rapidly confronted with requirements not yet considered by layer 1 and layer 2 protocols The starting point for CAL CAN Application Layer specifications was to provide a communication capability suitable for distributed systems in the form of a user layer layer 7 based on layer 2 protocol expanded communication capability CANopen originated from a sub entity 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 wide acceptance shortly after its introduction In Europe CA
37. polarity if entry 1 10 Pin 2 Input 12 Diagnosis 12 0 Change polarity if entry 1 11 Pin 2 Input 13 Diagnosis 13 0 Change polarity if entry 1 12 Pin 2 Input 14 Diagnosis 14 0 Change polarity if entry 1 13 Pin 2 Input 15 Diagnosis 15 0 Change polarity if entry 1 14 Pin 2 Input 16 Diagnosis 16 0 Change polarity if entry 1 15 Pin 2 Input 17 Diagnosis 17 0 Change polarity if entry 1 Table 7 53 Description of object 6102H Polarity input 16 bit An entry is made in the object directory also when the polarity changes inverted input value 68 V1 1 User s Manual 7 5 5 Object 6103H Filter Constant Input 16 bit mh m ELEKTRONIK Filter for input values with 16 inputs each Addressing is effected via index and sub index whereby sub index 0 contains the number of entries Filter masks of 16 inputs each are found from sub index 1 onward A 1 means that the respective entry is accepted in the object directory A 0 means that the entry will not be accepted whereby a 0 is written in the object directory and no data is sent over the bus Table 7 54 shows the assignment of sub indices to the inputs For more details see chapter 7 5 1 Sub Bit No Pin Input Standard Description index value 0 Pin 4 Input 00 1 Accept input if entry 1 1 Pin 4 Input 01 1 Accept input if entry 1 2 Pin 4 Input 02 1 Accept input if entry 1 3 Pin 4 Input 03
38. standards layers 1 and 2 Not the least of arguments in its favour is the compactness of the controller chips e g in the area of low voltage switchgear In CAN data transfer no stations are addressed but messages These addresses also referred to as identifiers are marked by a network wide unique identifier In addition to marking the content 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 conditions at possibly low data rates the CAN protocol must implement a bus assignment method arbitration This method guarantees that simultaneous bus access by several stations always leads to defined bus assignment Through bit wise arbitration based on the identifiers of to be 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 FW MURR MVK MC User s Manual mh m ELEKTRONIK Linking bus access priority to message content has proven itself advantageous in bus overload situations as compared to the existing CSMA CD
39. stated in object 6306H 7 5 10 Object 6307H Error Value Output 16 bit Here one can define the state that the output is to assume if an error arises If the defined error state was enabled in object 6306H the output will assume the state defined here Following table shows the sub index assignment to the outputs For more details see chapter 7 5 1 value 0 Pin4 O Outputstatus in case of error 1 Pin4 OufuO O Outputstatus in case of error 2 Pina OufutO2 Outputstatus in case of error 3 Pi4 OufpuO3 O Outputstatus in case of error 4 Pina Outputo4 O Outputstatus in case of error 5 Pind Outputo5 O Outputstatus in case of error 6 Pin4 OutputO 0 Outputstatus in case of error 7 Pin4 OupuO7 O Outputstatus in case of error 8 Pin2 O Outputstatus in case of error 9 Pind Oupuii 0 i 10 Pin2 2 0 Output status in case of error Output status in case of error Output 15 0 Output status in case of error Output 16 0 Outputstatus in case of error Output 17 0 Outputstatus in case of error Table 7 59 Description of object 6307H Error value output 16 bit Output 13 0 Output status in case of error Output 14 0 Outputstatus in case of error 72 1 1 User s Manual MURR mh m ELEKTRONIK 7 5 11 Object 6308H Filter
40. switched mode power supplies for application with the MVK MC modules and for supplying the sensors and actuators When using in phase regulated power supplies assure that the overload related power switch off takes place only after a bus telegram has been transmitted the MVK MC module reverts to Pre operational state after the power is switched off The power at 1 of the power supply connector must never be switched OFF during operation otherwise the MVK MC module can no longer participate in CAN Bus communication Q MVK MC modules require a DC power supply in the range of 18 30V System related limit values regarding system power supply must be strictly observed if maximum functional safety and fault free operation are to be ensured AN Always ensure that the system power measured at the device furthest away from the power supply does not drop below 18VDC A load current related voltage drop in the power supply cable occurs due to the central power supply of the MVK MC modules with all their connected sensors In critical cases voltage drop optimisation can be realized by changing the location of the power supply unit within the overall system and by using power supply cables of greater conductor cross section T Calculation of the required conductor cross sections is dependent on installation specific configuration data and is therefore not covered in this manual 22 V11 MVK MC User s Manual FW MURR
41. to Table 6 3 Data Command specifier length SDO Download SDO Download SDO Upload SDO Upload Request Response Request Response 8 Bit 2FH 60H 40H 4FH 16 Bit 2BH 60H 40H 4BH 32 Bit 23H 60H 40H 43H Table 6 3 SDO Command specifier Following are two examples of SDO access Example 1 Life Time Factor Object 100DH is read out The MVK MC module answers with value 2H Telegram structure in Hex Code Upload Request 40 OD 10 00 00 00 00 00 Upload Response 4F OD 10 00 02 00 00 00 Example 2 Life Time Factor Object 100DH is written with the value 1H Telegram structure in Hex Code Download Request 2F OD 10 00 01 00 00 00 Download Response 60 OD 10 00 00 00 00 00 The communication object identifiers COB Ids for SDO access are entered in object 1200H Sub index 1 and 2 ELEKTRONIK 6 4 1 MVK MC User s Manual Errors in SDO access SDO abort codes If an access error occurs the MVK module transmits a reply with the object that was the access target The value 80H is written in Byte 0 Command specification Bytes 4 7 of the SDO contain the abort code as shown in Table 6 4 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 t
42. to man and or material Only supplementary or extension devices that have been recommended by Murrelektronik may be employed in conjunction with products of the MVK MC series Any application or usage beyond and above this shall be regarded as non designated Warning Good chemical and oil resistance When using aggressive mediums material resistance based on application must be checked 2 2 Target groups This manual addresses itself exclusively to qualified and trained electricians knowledgeable in the safety standards of automation technology Only a qualified trained electrical tradesman knowledgeable in the safety standards of automation technology may perform configuration installation set up maintenance and testing of the equipment Only Murrelektronik technical personnel are allowed to undertake intervention in the hardware and software of our equipment insomuch as this is not described in this manual 10 V1 1 MVK MC User s Manual FW MURR mh m ELEKTRONIK 2 3 Regulations Current safety and accident prevention laws valid for a specific application must be observed in the configuration installation setup maintenance and testing of the equipment 2 3 4 EU directives This equipment fulfills the requirements of EC directive 89 336 EEC Electromagnetic compatibility There are no restrictions to applications in residential business and industrial areas including industrial facilities large and small 2 3
43. with the 8 bit ER field If a device error occurs the corresponding bit is set in the ER The following errors can be displayed Bit Significance Comments 0 geneicemor current y 2 voltage E e 3 temperature notsupported 4 communicationerror _ e reserved Table 7 11 Error register structure Object 1001H FW MURR MVK MC User s Manual ELEKTRONIK 7 4 3 Object 1002H Manufacturer Status Register Data of diagnosis are recorded in this field of 32 bits The lower 8 Bit of the register Manufacturer Status Register is contained in the EMCY message and it is transmitted at the same time in the event of defect The following table indicates the assignment of the bytes et Signification Remarque under voltage sensor no voltage sensor under voltage actuator no voltage actuator sensor short circuit at M12 actuator short circuit shut down actuator warning Desina diagnosis 8 31 reserved w Table 7 12 Description of object 1002H Manufacturer Status Register 7 4 4 Object 1003H Pre defined Error Field PEF In this 32 bit Error memory the Error code is entered in the LSB and Additional information in the MSB when an error occurs The last occurring error is found in sub index 1 The error that was already present shifts to sub index 2 the err
44. 0m Table 3 1 CAN Bus system data o To limit the influence of the reflected wave on the signal quality the spur line should be limited to max 0 3m for a data rate of 1Mbit s 1 Calculation of the max spur line length does not come under the scope of this manual For further information see CiA DR303 1 V1 1 17 mh m ELEKTRONIK 3 4 CAN bus level MVK MC User s Manual In CAN bus levels are differentiated as dominant and recessive The dominant bus level overwrites the recessive one If various bus stations simultaneously transmit both dominant and recessive bus levels the dominant level establishes itself on the bus The recessive level can establish itself only if it is being transmitted by all bus devices simultaneously The recessive level is 1 high 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 Vatt VCAN VCAN_L shown in Table 3 2 A transmission output current of gt 25mA must be possible Dominant bus level 2 0 9V Recessive bus level 0 5V 0 5V VCAN dominant nominal 3 5V VCAN_L dominant nominal 1 5V Bus ldle operation VCAN_H VCAN_L 2 5V Table 3 2 CAN bus level 3 5 Information for the beginner CANopen is a field bus system for industrial use whose advantages lie in its application In parti
45. 1 Accept input if entry 1 4 Pin 4 Input 04 1 Accept input if entry 1 5 Pin 4 Input 05 1 Accept input if entry 1 6 Pin 4 Input 06 1 Accept input if entry 1 1 7 Pin 4 Input 07 1 Accept input if entry 1 8 Pin 2 Input10 Diagnosis 10 1 Accept input if entry 1 9 Pin 2 Input11 Diagnosis 11 1 Accept input if entry 1 10 Pin 2 Input12 Diagnosis 12 1 Accept input if entry 1 11 Pin 2 Input13 Diagnosis 13 1 Accept input if entry 1 12 Pin 2 Input14 Diagnosis 14 1 Accept input if entry 1 13 Pin 2 Input15 Diagnosis 15 1 Accept input if entry 1 14 Pin 2 Input16 Diagnosis 16 1 Accept input if entry 1 15 Pin 2 Input1 7 Diagnosis 17 1 Accept input if entry 1 Table 7 54 Description of object 6103H Filter constant input 16 bit V1 1 Entry 0 means that no entry is made in the object directory When parameterizing filters and polarity the filters must be set before the polarity 69 ELEKTRONIK 7 5 6 Object 6200 Write Output 8 bit MVK MC User s Manual The output values for outputs can only be written byte wise Addressing is effected via index and sub index whereby sub index 0 contains the number of entries Table 7 55 shows the output assignment Description Bit No Output Standard value 0 Output 00 0 Output 01 Output 1 if status 1 Output 1 if status 1 Output 02 i 2 D 4 _ __ 5 Outputo5 0 k 6 Output 06 E 9 k Outpu
46. 2 Electrical safety All devices connected to this equipment must fulfill EN 61558 2 4 and EN 61558 2 6 requirements 233 General information a The designated function of this equipment is guaranteed only if the conditions for installation system extension operation and maintenance are complied with b Only system extensions and cables are allowed that meet the requirements and regulations for safety electromagnetic compatibility and where applicable telecommunications transmission equipment and specifications The installation of other extensions may violate these requirements and regulations or damage the equipment Information concerning the type of authorized system extensions and cables can be obtained from your Murrelektronik distributor or taken from this manual The designated operation of the equipment is guaranteed only with the housing fully installed d This product is designed and manufactured to assure protection against damage and hazards if designated usage and proper maintenance are observed FW MURR MVK MC User s Manual mh m ELEKTRONIK 2 4 Information regarding standards 2 4 4 Equipment standards EN 50325 1 Industrial communication sub system based on ISO 11898 CAN Part 1 General requirements EN 60 947 1 Low voltage switchgear Part1 General conventions EN 60 947 5 2 Low voltage switchgear Part 5 2 Control units and switch elements proximity switches IEC 62026 1 Low voltage s
47. 200 mA for each M12 socket Short circuit protection for sensors Multi fuse Up to 100 mA load automatic from 100 mA a reset must follow Multi fuse reaction time time to trip 1s at lk gt 1 A und 23 C ambient temperature COre CrOSS SCHON irc eet eee te Pd max 1 5 mm Reverse polarity protection inputs Yes Bus data Communication objects 2 TxPDOs 1 RxPDO n HT EE 1 SDO 1 Emergency object 8 Input filter delay time Approx 1 ms Input characteristics IEC 1131 2 Type2 Delay time for signal change Approx 3ms Diagnosis inputs Function inputs can be individually parameterized Ce OM 8 Input filter delay time Approx 1 ms Input characteristic IEC 1131 2 type 2 Delay time for signal change Approx 3ms FW MURR MVK MC User s Manual mh m ELEKTRONIK 9 3 2 MVK MC DIOS DI8 Article No 55305 Power supply Module sensor and actuator supply M12 socket
48. 4 Status 1 if input 1 Status 1 if diagnosis 13 Pin 2 Input 15 Diagnosis 15 Status 1 if input 1 Status 1 if diagnosis 14 Pin 2 Input 16 Diagnosis 16 Status 1 if input 1 Status 1 if diagnosis 15 Pin 2 Input 17 Diagnosis 17 Status 1 if input 1 Status 1 if diagnosis Table 52 Description of object 6100H Read Input 16 bit 7 5 4 Object 6102H Polarity Input 16 bit Polarity for input values with 16 inputs each Addressing is effected via index and sub index whereby the sub index 0 contains the number of entries The polarity of 16 inputs each is influenced from sub index 1 onward 0 means that the respective input is accepted in the object directory without any changes 1 means that the respective input will be accepted as inverted Table 7 53 shows the assignment of sub indices to the inputs For more details see chapter 7 5 1 Sub Bit No Pin Input Standard Description index value 0 Pin 4 Input 00 0 Change polarity if entry 1 1 Pin 4 Input 01 0 Change polarity if entry 1 2 Pin 4 Input 02 0 Change polarity if entry 1 3 Pin 4 Input 03 0 Change polarity if entry 1 4 Pin 4 Input 04 0 Change polarity if entry 1 5 Pin 4 Input 05 0 Change polarity if entry 1 6 Pin 4 Input 06 0 Change polarity if entry 1 1 7 Pin 4 Input 07 0 Change polarity if entry 1 8 Pin 2 Input 10 Diagnosis 10 0 Change polarity if entry 1 9 Pin 2 Input 11 Diagnosis 11 0 Change
49. K MC module receives the Node ID only when it is supplied with power As a result a power reset must always be made if the station address was changed Always assure that the Node ID of each device in the CANopen network is unique non duplicate The address 0 is not allowed V1 1 25 FW MURR MVK MC User s Manual mh m ELEKTRONIK 3 8 3 Data rate settings The data transfer rate is set with a rotary switch see item 3 in Fig 3 3 Bit timing is according to CiA directives The following data rates can be set Switch position Datarate 0 Automaticrecogniion 5 Bits O 250 kBit s 7 5B00KB s O 8 800KB s O 9 1 1000KBi s Table 3 8 Data rate setting with rotary switch NIO Messages e g SYNC telegrams must be transferred on the CAN Bus for automatic data rate recognition switch position 0 to take place The MVK MC module tries to recognize the data rate being used and accepts this as a standard value As long as the module is searching for the data rate the MS and NS LED s blink at 10Hz Only after the data rate has been successfully detected does the MVK MC module assume Pre operational state and can be used as a CANopen 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 is to be changed the module must be re started A NMT reset reset node or reset communication is not sufficie
50. M12 socket Short circuit protection for sensors Multi fuse ux Up to 100 mA load automatic Uc From 100 mA load a reset must follow Multi fuse reaction time Time to trip 1s at lk gt 1 A und 23 C ambient temperature Core cross S ClON iv 8 wave cin dei ain max 1 5 mm Reverse polarity protection inputs Yes Reverse polarity protection outputs Yes Bus data Communication objects 2 TxPDOs 2 RxPDOs Lu eed 1 SDO T PE 1 Emergency object Functions inputs can be individually parameterized eret oie max 16 Input filter delay time Approx 1 ms Input characteristics IEC 1131 2 Type2 Delay time for signal change Approx 3ms Outputs can be individually parameterized 16 Actuator current load 1 6 A per actuator gt max 8A Cable length sieniniai na nnns With 0 75 mm max 10 su DM DIM Ils LI A With 0 34 mm max 5 m Core cross section
51. MVK MC DIOS DI8 Art No 55305 Index Name Access Standardvalue 1006H Communication Cycle Period read amp write OS 1008H 100AH 100CH 1 1 Qvuadtim amp read amp wrte 0 100DH Lifetimefactor read amp wrte 0 1010H 1011H Table 7 2 Overview of supported objects in the communication profile of the DIO8 module If there is no Entry under standard values the object index has further sub indices the contents of which are described in detail in the following sections 44 V1 1 User s Manual MURR mh m ELEKTRONIK 7 1 3 0108 0108 Art No 55306 Index Access Standard value Poco rr x id 1006H Communication Cycle Period 1008H Manufacturer Device Name DIO8 DIO8 100AH Manufacturer Software Version SW1 04 n up 100CH 100DH Life time factor read amp write 0O 1010H 1011H Restore default parameters ce PRI 1014H COB ID emergency 80H Node Id 1016H Consumer heartbeat time Table 7 3 Overview of supported objects in the communication profile of the DIO16 module If there is no Entry under standard values the object index has further sub indices the contents of which are described in detail in the following sections 7 2 Device profile overviews 7 21 MVK MC DIG 018 Art No 55304 Index Name Access __ Sta
52. Nopen can be regarded as the decisive standard for realization of CAN based industrial system solutions The CANopen profile family is based on a so called Communication profile which specifies the underlying 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 CANopen is a collection of profiles for CAN based systems with the following characteristics Open Real time data transfer without protocol overhead Modular and scalable Devices are inter operable and interchangeable Supported by many international manufacturers Standardized network configuration Access to all device parameters Synchronization and 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 make source codes for master and slave devices available All manufacturers with certified CANopen prod
53. ON Respect a distance bigger than 3 mm between 2 modules MVK MC User s Manual FW MURR ELEKTRONIK 4 2 4 21 CAN Bus cables The CAN Bus network requires cables conforming to ISO 11898 and DR 303 1 standards Ready cable harnesses of various lengths are also available to guard against wiring errors 4 2 2 Power supply cables Module supply cables must have VDE approval and a maximum core cross section of 1 5 All further power supply characteristics depend on individual applications and are not covered in this manual 9 Maximum allowable core cross section 1 5mm 4 2 3 Cable routing Cable routing is a very important criterion for interference free operation of the equipment When routing cables be sure to observe the following Do not route bus cables parallel to high voltage cables where applicable route in separate bundles or cable troughs or channels The PE cable connection must be star shaped Prevent potential differences by laying equipotential bonding conductors CAN Bus cable screens must be attached to the connectors All analog signals should be carried by screened cable Signal and power supply cables to the terminal block should be sufficiently long to prevent pull stress on the terminals 4 2 4 Prevention of interference voltage The following points must be observed in order to reduce or prevent voltage interference when setting up a system Screening of devic
54. Structure of the SYNC COB ID entry object 1005H The significance of individual bits is explained in Table 7 16 31 MSB 0 XA Donmtcae 5 30 0 Device creates no sync objects 1 Device creates sync objects notsupported o ee 1 29btID CAN 2 0B notsupported _ 10 0 LSB X Bit10 Oofidentifier Table 7 16 Description of the SYNC COB ID entries Q The reset value is 80H This means that the device can receive SYNC telegrams with COB ID 80H 7 4 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 in mind when selecting SYNC intervals The entry is made in a 32 bit field If not used 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 1 of the set value Time monitoring begins with the receipt of the first SYNC signal The time limit values are listed in Table 7 17 below Object 1006H Decima Hexadecima _SYNC interval in ms Standard vane OO 10 UT 000081A6H 25 25000 0003D090H 250 1000000 000F4240H 1000 po _ 5000000 004C4B40H 5 000 10 000 Table 7 17 Description of objec
55. ber in case of questions concerning the MVK MC Sub index 1 and 2 can be read out to establish the manufacturer and article number 7 4 15 1 MVK MC DI8 DI8 Article No 55304 Index Sub index Standard value 1018H 0 Number of entries ee CINNEER p qnoa Vendor ID 32 Bit d 2 32 D8 08H En Revision Number 32 Bit 00010001H Table 7 23 Description of object 1018H for a DI8 module 7 4 15 2 MVK MC DIO8 DI8 Article No 55305 Index Sub index 2 Standard value a 1 328 34FH __ 2 ProdutCode 32Bi D809H 3 ReviionNumber 32Bi 00010001H Table 7 24 Description of object 1018H for a DIO8 module 7 4 15 3 MVK MC DIO8 DIO8 Art No 55306 Index Sub index Standard value a _ 1 328 FH __ 2 ProdutCode 32Bi D80AH 3 ReviionNumber 32Bi 00010001H Table 7 25 Description of object 1018H for a DIO8 module 7 4 16 Object 1200H Server SDO Parameter In sub index 1 this object contains the COB ID for communication from client to server Sub index 2 contains the COB ID for the opposite direction see Table 7 26 below Index Sub index Descripion Standard value 1200H 0 Number of entries NERA
56. can also be performed via PLC software Table 3 3 Planning and configuration procedure Article No 55805 DIN supply 55825 PS2 supply 18 V1 1 MVK MC User s Manual FW MURR mh m ELEKTRONIK 3 6 System cables The selection of CAN Bus cables and the respective data transfer rate takes place in three steps Determine the required cable core cross section according to Table 3 4 depending on the number of CAN Bus devices and the cable length With reference to Table 3 5 establish the specific conductor resistance and or core cross section in the AWG Select the permissible data transfer rates from Table 3 6 In exceptionally difficult situations it may not be possible to establish cable parameters and permissible data transfer rates with the procedure described In such cases please refer to the ISO 11898 CiA DS102 und CiA DR303 1 standards The following sections are excerpts from these standards 3 6 1 CAN Bus cable description The 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 the spur lines at a data transfer rate of 1000kBits s is 0 3m The bus cable
57. can be either twisted or screened Cable screening is required because of the transmission technology For spur lines a cross section of 0 25mm 0 34mm is usually sufficient Further CIA specified cables and connectors are indicated in DR303 1 The maximum length of the spur lines at a data transfer rate of 1000kBit s is only 0 3 meters The number of CAN Bus devices must be taken into consideration when selecting the conductor cross section The limit values are shown in Table 3 4 below Number of CAN Bus Cable length Core cross Cable resistance devices inm section inQ in mm 100 0 25 32 250 0 34 21 500 0 75 100 0 25 64 250 0 50 18 5 500 0 75 100 0 25 100 250 0 50 16 500 1 00 Table 3 4 Cable cross sections in dependence of cable length and number of bus devices m Repeaters must be used for more than 30 CAN Bus participants mh m ELEKTRONIK MVK MC User s Manual Additional selection criteria include the DC parameters according to Table 3 5 Specific cable Core cross Maximum Cable length resistance section data rate in m in in mm in kBits s 0 25 0 34 0 40 70 AWG23 AWG22 1000 at 40m 0 34 0 6 40 300 lt 60 AWG22 AWG20 500 ati00m 0 5 0 6 300 600 lt 40 AWG20 100 at 500m 0 75 0 8 600 1000 lt 26 AWG18 50 at 1000m Table 3 5 DC cable parameters The parameters listed in Table 3 5 ar
58. ce to assume the Stopped state The device cannot be configured in this condition No services for reading and writing of device data SDO are available Only the slave monitoring Node Guarding function remains active 6 6 6 Operational The 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 and via SDOs as well Configuration changes during Operational state can have unforeseen effects should therefore be made only in the Pre operational state 42 1 1 User s Manual MURR mh m ELEKTRONIK 7 Object overview 7 1 Communication profile Overviews 7 1 1 MVK MC DIG 018 Art No 55304 Index Access Standardvalue 1006 Communication Cycle Period read amp write 0 100CH Guadtim read amp w te 0O 100DH Lifetimefactor read amp wrte 0 Restore default parameters nigel wtonsumerhemtesHUmGE 11 1017H Producer heartbeat time readony Table 7 1 Overview of supported objects in the communication profile of the DI8 module If there is no Entry under standard values the object index has further sub indices the contents of which are described in detail in the following sections FW MURR MVK MC User s Manual mh m ELEKTRONIK 7 1 2
59. cular the various types of process data transmission permit a host of different applications To make the system even easier and safer for beginners to use we recommend proceeding as outlined in Table 3 3 below Work phase Question Note Planning How l O s are required This determines if one or more CANopen in total networks are required Planning How great is the system Important for the selection of a suitable system power requirement power supply unit Planning How large is the entire Important for selecting the Can Bus cable and scope of the system data rate How are the NODE Ids of To avoid addressing errors create an Configuration the modules to be assignment scheme and carefully label all assigned addressed modules accordingly Depends on the module enclosure type Either Where will the modules be in a switch cabinet or terminal box Place Installation installed modules of enclosure type IP 67 close to sensors and actuators for the sake of greater efficiency Setup How will the system The modules can be configured with a suitable configuration be executed software via the imported EDS file PAM E E When all CAN Bus devices have reported following Power ON slave configuration can begin Setup Quick and straightforward with special easy to H use setup tools such as the CANopen Master ow can a simple I O simulator Janet entes De penonned Alternatively the I O test
60. d in the 16 bit field The first 8 bit field carries the sub index while the second 8 bit field states the length of the assigned entry Table 7 33 shows the structure Bit MSB LSB Index 16 bit Sub index 8 bit Object length 8 bit ES 01H Table 7 33 Structure of PDO assignment entry 7 4 18 1 MVK MC DI8 DI8 Art No 55304 Table 7 34 shows mapping entries for a DIB module Index Sub index 1 1 Description Standard value 1605H 0 Number of assigned objects 1st Receive PDO 1 assigned object parameter input diagnostic 2 2000 01 08H Table 7 34 Receive PDO mapping parameters for a DI8 module 7 4 18 2 DIO8 DI8 Article No 55305 Following table shows mapping entries for a DIO8 module Index Sub index Description Cs Standard value 1600H 0 Number of assigned objects 1st Receive PDO O ___ 1 17 assigned object digital outputs 0 7 6200 01 08H 1605H 0 Number of assigned objects 2nd Receive PDO ia Sa assigned object parameter input diagnostic at Pin2 2000 08H 2 Ei assigned object Functionality input output pin 4 2001 01 08H Table 7 35 Receive PDO mapping parameter for a DIO8 module V1 1 59 FW MURR MVK MC User s Manual mh m ELEKTRONIK 7 4 18 3 MVK MC DIO8 DIO8 Article No 55306 Following table shows mapping entries for a DIO16 module Index Sub index Description
61. e 0800 002xh On read access to the appropriate Sub Index the device provides information about its storage functionality with the following format 50 Via MVK MC User s Manual FW MURR ELEKTRONIK UNSIGNED32 MSB LSB reserved 0 Device does not save parameters autonomously Device saves parameters autonomously Device does not save parameters on command Device saves parameters on command Warning During this operation the led s aren t updated this will take 1 or 2 s 7 4 10 Object 1011H Restore default parameters With this object the default parameters hard coded in firmware can be restore via CAN Sub Index PDO Access Default Description Mapping Value 0 NO ro 4 Largest subindex supported 1 NO rw Resiore all parameter 2 NO rw Restore communication parameter 1000H 1FFFH 3 NO rw Restore application parameter 6000H 9FFFH 4 NO rw Restore application parameter 2000H 5FFFH On reception of the correct signature in the appropriate sub index the device restores the default parameters and then confirms the SDO transmission initiate download response If the restoring failed the device responds with an Abort SDO Transfer abort code 0606 0000h If a wrong signature is written the device refuses to restore the defaults and responds with an Abort SDO Transfer abort code 0800 002xh Signature MSB LSB aso a a J 7 hex Ch The default values are se
62. e Actuator supply not available DO POWER Green Normal function Actuator supply OK Red Undervoltage Undervoltage Actuator power supply Table 8 7 Function of bus and device status LEDs at the device FW MURR MVK MC User s Manual ELEKTRONIK The following Indicator states distinguished e LEDon constantly on e LED off constantly off LED flickering iso phase on and off with a frequency of approximately 10 Hz on for approximately 50 ms and off for approximately 50 ms e LED blinking iso phase on and off with a frequency of approximately 2 5 Hz on for approximately 200 ms followed by off for approximately 200 ms LED single flash one short flash approximately 200ms followed by a long off phase approximately 1000 ms e LED double flash a sequence of two short flashes approximately 200ms separated by an off phase approximately 200ms The sequence is finished by a long off phase approximately 1000 ms LED triple flash a sequence of three short flashes approximately 200ms separated by an off phase approximately 200ms The sequence is finished by a long off phase approximately 1000 ms on flickenng red off 50 ms on flickening green off green off blinking 200 200 pw single m flash red off on 200 1000 flash green 9 off double flash p o cm on triple 200 200 E Fig 8
63. e for networks according to ISO11898 2 In order to minimize voltage drop in the cable a larger bus terminating resistor should be selected for long cable lengths than specified in ISO11898 2 In system configuration the DC connector parameters must also be taken into consideration For each connector 5mQ 20mQ must be added to the cable resistance The ground potential difference at CAN_GND connections of all CAN Bus participants should not exceed 2V In approximation the following is valid for bus termination Plug connectors have a typical DC resistance of 5mQ 20mQ Q Attention must be paid to ensure that the CAN bus between CAN and L is correctly terminated with 120 Q The maximum permissible data rate is shown in Table 3 6 Data rate Cable length Nominal bit time in kBits s inm in us 1000 30 1 800 50 1 25 500 100 2 250 250 4 125 350 8 100 500 10 50 1000 20 20 2500 50 10 5000 100 Table 3 6 Max permissible cable length dependent on the data rate 20 Via MVK MC User s Manual FW MURR ELEKTRONIK Installation is greatly simplified through the use of cable harnesses Wiring errors are avoided and setup is more rapidly successful Murrelektronik offers field bus cables power supply cables sensor cables and accessories such as terminating resistors and T fittings Field assembled plugs and cables are also available In addition the specific signal run time of the
64. e g if a monitor or diagnostics unit being is implanted in the network during run time The MVK MC modules do not support this transmission method 6 3 3 Synchronous PDO transmission It is not only in drive applications that it makes sense to synchronize reading the incoming information with setting the outputs CANopen offers the SYNC object for this purpose This is a high priority CAN telegram without user data the receipt of which is used by the synchronized nodes as a trigger to read the inputs or to set the outputs Fig 6 2 illustrates the time response in synchronized PDO transmission SYNC Communication cycle period SYNC SYNC Synchronous A time window A A LLL Synchronous window length Establish inputs Set outputs with SYNC during next SYNC Fig 6 2 Synchronized PDO transmission 38 V1 1 User s Manual 6 4 Fig 6 3 illustrates the SDO telegram structure mh m ELEKTRONIK Access to the object directory through SDO access Byte 0 Byte 1 3 Byte 4 7 Start of 3 bytes object identification a pyles object telegram telegram frame specification data trame 8 bit 16 bit 8 bit 32 bit s Table 6 3 Index Sub index Data type Data type UNSIGNED UNSIGNED 8 16 Fig 6 3 SDO structure Values must be entered in Byte 0 Command Specification according
65. emark code Cyclica Synchro Asynchro RTR nous only 0 X X Update data after the Sync message following the receipt of PDO Update data x Sync message following pedo the receipt of PDO 241 251 reserved 252 reserved 253 reserved 254 X Update data on receipt of PDO like 255 255 X Update data on receipt of PDO Table 7 29 Description of PDO transmission modes Under synchronous cyclical transmission the entry value 1 240 indicates the number of SYNC objects required for PDO transmission V1 1 57 FW MURR MVK MC User s Manual mh m ELEKTRONIK 7 4 17 1 MVK MC DI8 DI8 Article No 55304 Table 7 30 shows the exact parameter assignment for the Receive PDOs Standard value 2 PDO COB ID 32 bit 08000300H Node ID 2 Transmission mode 8 bit Table 7 30 Receive PDO communication parameters for a DI8 module Objects 1005H and 1006H must be noted for synchronous mode operation Index Sub index Description 1405H 0 Number of entries of the 1st Receive PDO t Q The MVK MC DI8 module supports 1 Receive PDO It must be assured that each COB ID is unique in the entire network unless data is being exchanged between slaves 7 4 17 2 MVK MC DIOS DI8 Article No 55305 Table 7 31 shows the exact assignment of parameters for Receive PDOs _Index_ Sub index Description o Standard value _ 1400H O Number of entries ofthe i
66. eneeceeeeeceeeeeeaaeseeeeecaeeesaaesseaeeseaeeeesaaeeeeaeeseneeeeaees 38 6 3 DOSU ee dle eee aee dd Eoo de pur eel 39 6 4 Status diagram for a CANopen device with minimal device 41 7 1 Node and Life Guarding nnns sn nrne ines 53 7 2 The Heartbeat Mime nis ret eet e ERE da Ee e te ra d nri de e PIER 55 7 2 Structure of input data processing ssssssssssssssssseeee eee nnne nnns enne 65 7 3 Structure of output data processing 66 8 1 I O status LEDs at the M12 sockets sssssssssssssssseee ener nnne nennen 80 8 2 Bus and device status LEDs on the module 81 8 3 Indicator states and flash rates 2 2 82 V1 1 MVK MC User s Manual mh m ELEKTRONIK 13 List of tables Table 3 1 Table 3 2 Table 3 3 Table 3 4 Table 3 5 Table 3 6 Table 3 7 Table 3 8 Table 5 1 Table 5 2 Table 6 1 Table 6 2 Table 6 3 Table 6 4 Table 6 5 Table 6 6 Table 7 1 Table 7 2 Table 7 3 Table 7 4 Table 7 5 Table 7 6 Table 7 7 CAN Bus system data tae tie lan ethan diluit bate tere ee a 17 CAN etn e eene e Ie 18 Planning and configuration procedure sse
67. enne enne 18 Cable cross sections in dependence of cable length and number of bus devices 19 DG cable parameters e toa nteger eade ad e e 20 Max permissible cable length dependent on the data rate 20 EDS THES tro bt tette e obtiene eoe ee tute idus Male a dte Laus taste dA 24 Data rate setting with rotary switch mener nnne nnns 26 M12 socketlabelling IMPUS ese i e ro eee ede s 33 M12 socket labelling 34 Object directory SIrucltUle 36 Use of index and sub index 36 SDO Command Specifier 39 Abort codes during SDO access errors 40 Broadcast object of pre defined master slave CONNECTIONS 40 Objects of pre defined master slave connection as seen from the 5 41 Overview of supported objects in the communication profile of the DI8 module 43 Overview of supported objects in the communication profile of the DIO8 module 44 Overview of supported objects in the communication profile of the DIO16 module 45 Ove
68. erloads The inhibit time is a multiple of 100us of object 1800 03 1805 03 The table shows some calculated inhibit times Inhibit Time in ms 0 10 100 500 1000 6553 Table 7 40 Inhibit time examples Q After a data change the TxPDO is transmitted again only when the inhibit time has expired even if synchronous operation is set V1 1 61 FW MURR MVK MC User s Manual ELEKTRONIK The event timer functions only in asynchronous transmission transmission mode 255 If data changes 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 expires 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 0000h 000Ah 0064h Table 7 41 Event timer examples Q The event timer functions only in asynchronous transfer transmission mode 255 o 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 The Receive PDO communication parameters of the individual MVK MC modules are listed in the following 7 4 19 1 MVK MC DI8 DI8 Article No 55304 Table 7 42 shows the exact assignment of Transmit PDO parameters
69. es and cables where stipulated VDE 0113 and VDE 0829 etc Suitable location of the devices and cables appropriate interference suppression measures for devices emitting interference e g frequency transformers valves contactors etc Massive and comprehensive device and screen grounding methods V1 1 29 FW MURR MVK MC User s Manual mh m ELEKTRONIK 5 MVK MC module connection technique 5 1 Connection overview Fig 5 1 MVK MC module connection overview Mounting holes M12 round sockets for inputs and outputs Identification label Display elements Power supply connection Outgoing power supply connection Incoming bus interface Outgoing bus interface PE connection Address switch Baud rate switch eoooo ogococeQ User s Manual MURR mh m ELEKTRONIK 5 2 Bus connection 5 2 4 Contact assignments of bus connection M12 A encoded Plug Socket BUS IN BUS OUT Signal 1 Screen Bus screen 2 NC Not connected 3 NC Not connected 4 CAN_H CAN_HIGH 5 CAN_L CAN LOW Fig 5 1 Bus contact assignments 5 3 Power supply connection 5 3 1 Contact assignments of power connector 7 8 Mini Style Plug Socket POWER IN POWER OUT 1 1 rae JOD 3 0v OV Sensor supply Actuator supply Fig 5 2 Contact assignments of power connector 7 8 Mini Style The max permissible sectional area of the line 1 5 It is l
70. fication Display is achieved through static illumination or flashing of the LED s Following table shows the location of the LEDs RUN ERR DO DI POWER Fig 8 2 Bus and device status LEDs on the module face The LED display for the bus communication corresponds to the standard DRP303 3 Name LED STATE Description Off no error The Device is in working condition Warning limit At least one of the error counters of the CAN Single flash 9 controller has reached or exceeded the warning level reached too many error frames Auto Baud rate detection in progress pug AmoBaug Alternately flickering with RUN led A guard event NMT Slave or NMT master or a PAST Event heartbeat event heartbeat consumer has occurred The SYNC message has not been received within the Triple flash Sync error n configured communication cycle period time out On Bus Off The CAN controller is bus off Auto Baud rate detection in progress Alternately flickering with ERROR led RUN Single flash STOPPED The device is in STOPPED state green Blinking Pre Operational The device is in PRE OPERATIONAL state On Operational The device is in OPERATIONAL state Off No voltage Sensor and module supply not available DI POWER Green Normal function Sensor and module supply Red Undervoltage Undervoltage sensor and module power supply Off No voltag
71. field 50 Hz 30 A m EN 50081 1 Interference field strength QP 30 dBuV m 30 230 MHz QP 37 dBuV m 230 1000 MHz Insulation DIN VDE 0160 Full compliance FW MURR MVK MC User s Manual ELEKTRONIK 9 2 Technical data 9 2 1 General information on MVK MC modules Ambient conditions Operating temperature 0 C 55 C Storage temperature 25 C 70 C Enclosure type according to DIN 40050 IEC 529 IP 67 Warning Good chemical and oil resistance When using aggressive mediums material resistance based on application must be checked Mechanical ambient conditions Oscillation according to DIN EN 60068 2 6 10 58 Hz const amplitude 0 35 mm 58 150 Hz const acceleration 5 g Shock according to DIN EN 680068 2 27 Amplitude 30 g 11 ms duration Bus data Transfer protocol sse CANopen according to DS 301 V4 01 Type of Generic I O module Device profile DS401V2 0 Data 5 EUER 10 20 50 100 1 25 250 500 800 1000 kBit s Automatic recognition Electrical isolation
72. g symptoms are observed at the MVK MC e The diagnosis LED at the corresponding M12 socket also lights red e output status LED extinguishes e The respective diagnosis data are transferred across the bus to the master In order to reactivate an output after a short circuit or overload has been corrected the following procedure must be observed 1 The output must first be set to 0 2 and then to 1 again The LEDs 01 07 at the M12 sockets indicate the status of the respective outputs 8 5 2 Undervoltage There are two levels of undervoltage detection Ua lt 18V In this case the module is still working but o the POWER DO LED lights red o the respective diagnosis data is sent across the bus to the master Ua lt 12V In this case inputs and bus communication still works o the POWER DO LED goes off o all outputs are set to 0 the respective diagnosis data is sent across the bus to the master 84 V1 User s Manual MURR mh m ELEKTRONIK 9 Data sheets 9 1 EMC noise immunity specifications for MVK MC modules EN 61000 4 3 RF Field see 10 V m ENV 50204 RF Field GSM 10 V m EN 61000 4 4 Burst sse 2kV EN 61000 4 5 SURGE serene Asymmetric sym 500 V Asymmetric 1 kV EN 61000 4 6 RF asymmetric 10V EN 61000 4 8 Magnetic
73. gned object digital inputs pin 2 6000 08H Number of assigned objects 2nd Transmit PDO 151 assigned oe Common diagnosis 3000 08H 2 2ndassigned object Sensor short circuit 30000208 3 rd assigned object Desina inputs 300007 08H_ 4 d4thassigned object Actuator shutdown pin4 30000308H 5 Sth assigned object Actuator wamingpin4 30000508H 6 ethassigned object Actuator shutdown pin2 3000 04 08H 7 Tthassigned object Actuator warningpin2 30000608H Table 7 47 Transmit PDO mapping parameters for DIO8 module 64 1 1 User s Manual MURR mh m ELEKTRONIK 7 5 Device profile DS 401 V2 0 object description 7 5 1 Processing of I O data description All device supported functions are described in the following according to their entries in the object directory Only some of the possible device functions as described in device profile DS 401 V2 0 are supported Input data is processed according to Fig 7 3 before being filed in the object directory Hardware Software Input Filter Polarity Read Input Object 6000H Input Fig 7 3 Structure of input data processing Table 7 48 below shows the processing of input data The standard setting is highlighted in gray Polarity Object 6102H Filter Object 6103H Read Input Object 6000H Read ae Object 6100H Table 7 48 Input data processi
74. h model type IP 67 specifications 5 6 Actuator connections consumers Actuators are addressed via pin 4 of the M12 sockets DO modules Pin 2 is the diagnosis input For Art No 55306 Pin 2 can also be an output Table 5 2 shows the correlation between M12 socket and I O labelling M12 socket Output Pin 4 Output Pin2 Diagnosis input Pin2 only Art No 55306 0 00 10 10 1 01 11 11 2 02 12 12 3 03 13 13 4 04 14 14 5 05 15 15 6 06 16 16 7 07 17 17 Pint 24V Pin2 10 to 17 diagnosis or function input Pin3 OV Pin4 00 to 07 output Pind PE Fig 5 4 Pin assignment of M12 sockets 34 1 1 MVK MC User s Manual FW MURR ELEKTRONIK Q Modules of the MVK MC series may be loaded with max 1 6 A per output actuator current total of max 8A possible If an M12 socket l O channel is not used it must be fitted with an M12 cap in compliance with IP 67 specifications 5 7 Unused connections Unused sockets must be fitted with a blind cap Otherwise the IP 67 protection class is not assured 55 468 M12 blind cap black 4 pcs 55 390 7 8 blind cap thread 35 V1 1 FW MURR MVK MC User s Manual ELEKTRONIK 6 CANopen 6 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 profi
75. he 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 Sub index does not exist 0609 0030h Value range of parameter exceeded only for write access 0609 0031h Value of parameter written too high 0800 0022h Data cannot be transferred or stored to the application because of the present device state Table 6 4 Abort codes during SDO access errors 6 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 device functionality Entries in the object directory are identified through the index Access to entries is accomplished by means of SDO services which enable entries to be read or written 6 5 1 Implemented minimal device configuration The following device configuration is available after the device internal initialisation 1 Minimal device configuration without dynamic ID distribution ID assignment as shown in Table 6 5 and Table 6 6 2 Static mapping of application objects to PDOs 3 Synchronous asynchronous cyclic and acyclic PDO transmission with master monitoring during synchronous PDO transmission 4 Emergency telegrams when an error occurs 5 CANopen B
76. he guarding message The message contains the slave status code and a toggle bit that must change after each message exchange f the status or toggle bit do not correspond to the status expected by the NMT master or if no reply is made the master assumes a slave error The slave recognizes the loss of the master when the master requests guarding messages in a strict cyclical form If the slave in this case does not receive a message request guarding error from the master within the set Lifetime it assumes that the master has failed Watchdog function It then sets its outputs to error state and reverts to Pre operational state Both of these monitoring mechanisms are particularly important in CANopen as the modules do not report regularly in the event controlled mode Q The remote query by the master is answered even without entries in the Guard Time and Life Time Factor objects Time monitoring is not activated until a value greater than 0 is entered in both objects A typical guard time value lies somewhere between 250ms and 2 seconds 52 V11 MVK MC User s Manual FW MURR mh m ELEKTRONIK Fig 7 1 shows node guarding and life guarding sequences Node Life Guarding NMTMaser COBID 0x700 NodelD NMT Jave 4 Remote transit request request request Indication 0 1 1 P CE i response 5 os 2 1 COBID g Remote transmit request gt gt gt 2a request Indication 4
77. imited by the 7 8 connector A The chief determining factor in selecting a suitable transmission cable in regard to energy transfer is the DC resistance Auxiliary power supply is needed to supply the actuators and sensors V1 1 31 FW MURR MVK MC User s Manual mh m ELEKTRONIK CAUTION Wrong poling of the power supply can damage the module Always ensure that the sensors and actuators power supply voltage measured at the module furthest away from the power supply does not drop below 18 V DC CAUTION Please note that the 7 8 connector is designed for max 9 A per pin This must be taken into account for downstream power supply 5 3 2 Connecting the power supply cable to the MVK MC module The following procedure is recommended Install the MVK MC module Attach the cable to the MVK MC module Establish CAN bus connection Connect the power supply Pin 3 of the power supply connector is active only for DO modules MVK MC DIO8 DI8 and MVK MC DIO8 DIO8 24V actuator power supply This actuator voltage can be configured to switch off for EMERGENCY STOP circuits As a general rule connected consumers are supplied by an auxiliary power supply Q On MVK MC modules the power supply at pin 1 of the power supply connector may not be conducted through EMERGENCY STOP circuits as this power supplies the entire I O portion and the sensors with energy The actuator power supply the c
78. internal bus system to interconnect sensors and actuators Such manufacturers 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 their 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 volume 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 actuators are connected to each other by means of a serial bus The bus cable itself is a symmetric or asymmetric two wire cable that is either screened or non screened depending on the requirements The electrical parameters of physical transmission are defined in ISO 11898 CAN is distinctive for its immunity to high temperatures and interference fields Another of its distinguishing features is its highly robust network performance hamming distance 6 Low device connection costs in addition to high transmission speeds are often a decisive argument in favour 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
79. ject allow user to know the diagnostic state of each channel Sub index Description Standard value 0 QNumberofenries PH 6 JjAcuatorwamigpn2 00H Table 7 63 Description of object 3000H Manufacturer specific diagnosis bytes V1 1 75 FW MURR MVK MC User s Manual mh m ELEKTRONIK 8 Diagnostics Diagnostic information is an important basis for easy setup and quick troubleshooting Errors can be quickly identified through clear information from the I O module and attached peripheral components such as sensors and actuators to the field bus system This minimizes downtimes 8 1 Diagnostics through EMCY telegram 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 8 1 1 EMCY telegram structure The EMCY telegram consists of 8 bytes of data The channel diagnoses are displayed in the manufacturer specific part Byte 4 7 Fig 8 1 shows the EMCY telegram structure Byte 0 1 2 3 4 5 6 7 Error Code channel channel Manufacturer Error register diagnosis pin2 diagnosis pin4 status register MONIENI S object 1001h from object from object object 1002h 3000h 3000h 8 lowest bits reserved Table 8 1 Emergency telegram structure 76 Via
80. le 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 shown in table 6 1 below Communication profile data is located in the range between 1000H and 1FFFH highlighted grey below and the device profile data between 6000H and 9FFFH 0060 OFFF Reserved for further use 1000 1FFF Communication Profile Area 2000 5FFF Manufacturer Specific Profile Area 6000 9FFF Standardized Device Profile Area A000 FFFF Reserved for further use Table 6 1 Object directory structure Object directory entries are accessed by means of an index with which the entire data structure is addressed A given element can be selected from the data structure by means of the sub index An example of the addressing structure is illustrated in Table 6 2 below Index Sub index BDescripion 6000H 0 Number of entries here 2 p peo Inputs 1 to 8 E er Inputs 9 to 16 Table 6 2 Use of index and sub index 6 2 Communication profile General description The communication profile is based on the services and protocols provided by CAL It contains functions for distributed synchronous operation provides a common time base and defines a uniform error signal flow Application objects can be assigned to communication objects The communication profile also establishes system
81. mentation 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 indefinite 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 produced 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
82. mission modes A more detailed description of PDO transmission modes is provided below 6 3 1 Change of state PDO 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 modifications 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 circumstances 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 V1 1 37 FW MURR MVK MC User s Manual mh m ELEKTRONIK 6 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
83. mple Instruction 1 Instruction 2 Instruction Instruction 4 FW MURR MVK MC User s Manual mh m ELEKTRONIK 2 5 5 Use of foot notes Supplementary information is marked with superscripted numerals example Text Text Text Text These are explained in the form of footnotes beneath tables or text at the end of the page 14 V1 1 MVK MC User s Manual FW MURR mh m ELEKTRONIK 3 Configuration information 3 1 CAN Bus protocol description CAN Controller Area Network was originally developed only for information exchange within a motor vehicle The gear change operation for example was to be improved by having the transmission inform the engine management of a gear change request via CAN The CAN system was therefore conceived to transmit short messages under real time conditions This is also a typical task of machine controls in automation technology The textile machine industry was amongst the CAN pioneers Back in 1990 already a manufacturer equipped his weaving machines with modular control systems that communicate through the CAN network Since then numerous textile machine manufacturers have joined in a CAN Textfile Users Group This group in turn is a member of the international CAN in Automation CiA user and manufacturers association In the USA a number of corporations employ CAN in their production systems and machine tools as a System internal or machine
84. n parameters for a DIO8 63 Transmit PDO communication parameters for a DIO8 63 Transmit PDO mapping parameters for a DI8 64 Transmit PDO mapping parameters for a DIO8 module 64 Transmit PDO mapping parameters for a DIO8 module 64 Iriput data Proces SIOE esi i eee pep vetet cn e 65 Table 7 46 Output data processing in error free 66 Table 7 47 Output data processing in error condition 66 Table 48 Description of object 6000H Read Input 8 67 Table 49 Description of object 6100H Read Input 16 68 Table 7 50 Description of object 6102H Polarity input 16 bit 68 Table 7 51 Table 7 52 Table 7 53 Table 7 54 Table 7 55 Table 7 56 Table 7 57 Table 7 58 Table 7 59 Table 7 60 Table 8 1 Table 8 2 Table 8 3 Table 8 4 Table 8 5 Table 8 6 Table 8 7 96 Description of object 6103H Filter constant input 16 bit sess 69 Description
85. ndard value 6000H Read Input 8 bit readonly 6100H Read Input 16 bit 6102H Polarity Input 16 bit 0000H 6103H Filter Constant Input 16 bit 0000H Table 7 4 Overview of supported objects in the DI8 module device profile 45 FW MURR MVK MC User s Manual mh m ELEKTRONIK 7 2 2 DIOS DI8 Art No 55305 Index 1 Name Access Standard value 6000H Readinpu amp bit readony 6100H Readinputi6bit readony Table 7 5 Overview of supported objects in the DIO8 module device profile 7 2 5 MVK MC 0108 DIOS Art No 55306 Index 1 Name Access Standard value 6000H Readinpu amp bit readony 6100H Readinputi6bit readony Table 7 6 Overview of supported objects in the DIO16 module device profile 7 3 Manufacturer specific device profile Overview 7 3 1 MVK MC DIG DI8 Art No 55304 Index Access 2000H Parameter Input Diagnostic Pin2 3000H Manufacturer specific diagnostic Table 7 7 Overview of supported objects in the DI8 module manufacturer specific device profile 7 3 2 MVK MC DIOS DI8 Art No 55305 Index Access 2000H Parameter Input Diagnostic Pin2 2001H Input Output parameter 3000H Manufacturer specific diagnostic Table 7 8 Overview of supported objects in
86. ng FW MURR User s Manual ELEKTRONIK Output data are processed as shown Fig 7 4 before being routed to the outputs an error is detected by the MVK MC module the outputs are switched according to the defined error values objects 6206H und 6207H Write Output Object 6200H or 6300H Polarity Output Error Mode Error Value Fig 7 4 Structure of output data processing The data flow from the object directory to the outputs is illustrated in Table 7 49 error free condition and Table 7 50 error condition The standard settings are highlighted in grey Write Output Object 6200H Write Output Object 6300H Polarity Object 6302H Filter Object 6308H Output po 0 qp Non error condition Error condition Write Output object 6200H Write Output object 6300H os pc up Io wp __ 24 Sd et Table 7 50 Output data processing in error condition 66 V1 4 User s Manual MURR mh m ELEKTRONIK 7 5 2 Object 6000H Read Input 8 bit Reading of an input value with 8 inputs to be stored in one byte Addressing is effected via index and sub index whereby the sub index 0 contains the number of entries Table 52 shows the assignment of sub indices to the inputs Sub index Bit No Input Description 0 Input 00 Status 1 if input 1 1 Status 1 if input 1 2 Status 1 if input 1 6 I
87. nnns 80 Function of bus and device status LEDs at the device 81 V1 1 MVK MC User s Manual FW MURR mh m ELEKTRONIK Legal Provisions Exclusion of Liability Murrelektronik GmbH has checked the contents of this technical documentation for conformity with the hardware and software described therein Changes on an individual case basis cannot be excluded For this reason Murrelektronik gives no warranty for the correctness of the contents and refuses any liability for errors in particular for complete conformance For this reason Murrelektronik excludes the warranty for the correctness of its contents and any liability for errors in particular full conformity Should a major contractual obligation be violated by criminal negligence 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 GimbH or in conjunction with the production of docu
88. nptO6 Statustifinput 7 Input 07 Status 1 if input 1 0 Diagnosis 10 Status 1 if diagnosis pdt object 2000 01 OxFF Standard setting 6 Diagnosis 16 Stausiifdiagnoss 7 Diagnosis 17 Status 1 if diagnosis 0 Input 10 Status 1 if input 1 2 Pin 2 Digital input object 2000 01 0x00 6 inpute Statustifinput Table 51 Description of object 6000H Read Input 8 bit User s Manual mh m ELEKTRONIK 7 5 8 Object 6100H Read Input 16 bit Reading of an input value with 16 inputs to be stored in one byte Addressing is effected via index and sub index whereby the sub index 0 contains the number of entries Table 52 shows the assignment of sub indices to the inputs Bit No Pin Input Description 0 Pin 4 Input 00 Status 1 if input 1 1 Pin 4 Input 01 Status 1 if input 1 2 Pin 4 Input 02 Status 1 if input 1 3 Pin 4 Input 03 Status 1 if input 1 4 Pin 4 Input 04 Status 1 if input 1 5 Pin 4 Input 05 Status 1 if input 1 6 Pin 4 Input 06 Status 1 if input 1 7 Pin 4 Input 07 Status 1 if input 1 8 Pin 2 Input 10 Diagnosis 10 Status 1 if input 1 Status 1 if diagnosis 9 Pin 2 Input 11 Diagnosis 11 Status 1 if input 1 Status 1 if diagnosis 10 Pin 2 Input 12 Diagnosis 12 Status 1 if input 1 Status 1 if diagnosis 11 Pin 2 Input 13 Diagnosis 13 Status 1 if input 1 Status 1 if diagnosis 12 Pin 2 Input 14 Diagnosis 1
89. nsumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured on the device producing this heartbeat Monitoring starts after the reception of the first heartbeat If the consumer heartbeat time is 0 the corresponding entry is not used The time has to be a multiple of 1ms 4 PDO Default Description Mapping Value 0 NO ro 01H Table 7 20 Consumer Heartbeat Time object 1016H At an attempt to configure several consumer heartbeat times unequal 0 for the same Node ID the device aborts the SDO download with abort code 0604 0043h Structure of consumer heartbeat time entry UNSIGNED32 MSB SB Bits Value Encoded as UNSIGNED8 UNSIGNED16 Table 7 21 Structure of Consumer Heartbeat Time object 1016H 7 4 14 Object 1017H Producer Heartbeat Time The producer heartbeat time defines the cycle time of the heartbeat The producer heartbeat time is 0 if it not used The time has to be a multiple of 1ms Sub Index PDO Access Default Description Mapping Value 0 NO rw 00H Table 7 22 Structure of Producer Heartbeat Time object 1017H Heartbeat is generated periodically the period is Heartbeat Producer Time by a Node The heartbeat is send without received a RTR Remote Transmission Request Definition of the boot up message 54 V1 1 MVK MC User s Manual FW MURR
90. nt for changing the data rate Q The data rate search is performed only when module power supply UB is switched ON The data rate setting is accepted only when the power supply is turned ON A power reset is required for changing the data rate 26 Via MVK MC User s Manual FW MURR ELEKTRONIK 3 9 Set up The CANopen network including the master must be started for this purpose The network is read in with the aid of a software tool incl hardware Prior to this the EDS files of the MVK MC modules must be incorporated into the software The CANopen devices are recognized in the sequence in which they where addressed When the entire system has been configured and the bus communication is active additional modules may join the CAN bus any time providing the Node ID and the data rate are correctly set Typical errors during setup include Damage to the bus cable incorrect data rate Node ID duplicity CAN H and CAN L swapped on the bus cable power supply not available bus not correctly terminated and EDS files incorrectly or not at all integrated Devices with identical Node IDs cannot be configured on the CAN Bus Each device type possesses an EDS file eds and an icon ico Prior to set up a competent system structure check of the field bus must be assured 3 9 1 Setup example The following presents one possible setup procedure Connect or more CANopen devices to the CAN bus assure p
91. of object 6200H Write output 8 70 Description of object 6300H Write output 16 70 Description of object 6302H Polarity output 16 71 Description of object 6306H Error mode output 16 0 72 Description of object 6307H Error value output 16 0 72 Description of object 6308H Filter constant output 16 0 73 Description of object 2000H Parameter input diagnosis of pin 2 74 Description of object 2001H input output parameter 75 Description of object 3000H Manufacturer specific diagnosis 75 Emergency telegram structure rirse anisina rikani iar aunean kapasa Enka atiu AATA akaa n Pe AASA ETA 76 e Ep 77 Error Register tr nte Per RR RR RR ER ERR ERU Har es 77 Manufacturer Status Register 1002H or 3000H Sub Index 78 Structure of the 2nd transmit PDO 79 Function of LEDs at the M12 sockets sssssssssssssssseeeeeeene nennen nennen nnns
92. on parameters for a DIO8 module 58 Table 7 29 Receive PDO communication parameters for a DIO8 module 58 Table 7 30 Structure of PDO assignment entry 59 Table 7 31 Receive PDO mapping parameters for 018 module 59 Table 7 32 Receive PDO mapping parameter for DIO8 module 59 Table 7 33 Receive PDO mapping parameters for a DIO8 60 Table 7 34 Structure of COB ID entry of the Receive PDO communication parameters 60 Table 7 35 Description of PDO COB ID 60 Via is FW MURR MVK MC User s Manual ELEKTRONIK Table 7 36 Table 7 37 Table 7 38 Table 7 39 Table 7 40 Table 7 41 Table 7 42 Table 7 43 Table 7 44 Table 7 45 Description of PDO transmission 61 Inhibit time 61 Event timerexampleS ssas earnet iie A EA tene enitn nennen nennt nnne nnne 62 Transmit PDO communication parameters for a 018 module 62 Transmit PDO communicatio
93. ontrary be configured to switch off for EMERGENCY STOP circuits DO modules only 32 V11 MVK MC User s Manual FW MURR mh m ELEKTRONIK 5 4 Connecting the PE cable to the MVK MC module The PE connection is found at the lower side of the MVK MC module housing The screw to fasten the cable is located under the label see Fig 5 2 Pa E e Labels PE connection screw Fig 5 2 PE connection Connect the PE line at the MVK MC housing low resistance grounding manner with the ground cable of the system 5 5 Connections for sensors encoders Sensors are supplied directly via pins 1 24V and 3 OV of the M12 sockets Pin 4 of the M12 socket is the function input DI modules Pin 2 is the diagnosis input Table 5 1 shows the correlation between M12 socket and I O labelling M12 socket Function input Pin 4 Diagnosis input Pin2 0 00 1 1 01 11 2 02 12 3 03 13 4 04 14 5 05 15 6 06 16 7 07 17 Table 5 1 M12 socket labelling inputs V1 1 33 FW MURR MVK MC User s Manual mh m ELEKTRONIK 4 Pint 24V Pin2 10 to 17 diagnosis or function input Pin3 OV Pin4 00 to 07 function input Pind PE Fig 5 3 Pin assignment of M12 sockets Modules of the series may be loaded with max 200mA per M12 socket sensor current If an M12 socket I O channel is not in use it must be fitted with an M12 cap in compliance wit
94. oot Up procedure per NMT services and 6 Node guarding and Life guarding Object Function code Resulting COB ID CMS Priority Binary Hex Dec NMT 0000 0 0 0 SYNC 0001 80H 128 0 Table 6 5 Broadcast object of pre defined master slave connections 40 V1 1 MVK MC User s Manual FW MURR mh m ELEKTRONIK Object Function code Resulting COB ID CMS 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 1409 1535 6 SDO rx 1100 601H 67FH 1537 1663 6 7 Node Guarding 1110 701H 77FH 1793 1919 Table 6 6 Objects of pre defined master slave connection as seen from the slave 6 6 CANopen Boot Up In the minimal device equipment a short boot sequence takes place This process is shown in Fig 6 4 power on Initialilsation A cec _ Reset Communication Reset Node Eu indication Reset D cc TORRES RN n T juu 28 Y ize indication 4 Pre Operational p gt Enter Pre Operational a x indication Stopped gt Start Remote Node indication AC N 4 Operational p gt Fig 6 4 Status diagram for a CANopen device with minimal device equipment V1 1 41 FW MURR MVK MC Use
95. or from sub index 2 shifts to sub index 3 and so on Errors can only be deleted as a group by writing 0x00 in object 1003 00 Error correction does not delete the error Entry in the PEF An emergency telegram EMCY telegram is issued each time an error occurs When the error has been corrected an EMCY telegram with the content NO ERROR is issued error code 0x0000 Error message processing is time offset in order to optimise the internal program run time of the MVK MC module An error description consists of two 16 bit fields The one field contains the error code the other has the additional information The structure of entries is shown in Table 7 13 and Table 7 14 Bit MSB LSB Additional Information 0000H 0000H Table 7 13 Structure of pre defined error field object 1003H Error x ES Number of errors 8 bit Error 32 bit Table 7 14 PEF structure object 1003H The number of registered errors is found in sub index 0 of the PEF The other indices contain the errors as entered in the sequence of their occurrence only if output paramized only if output paramized 48 Via MVK MC User s Manual FW MURR mh m ELEKTRONIK 7 4 5 Object 1005H COB ID SYNC message The communication parameters for the synchronization telegram are stored in this 32 bit field The structure is shown in Table 7 15 below Bit MSB LSB CAN 2 0A O 0 0 000000000000000000 _11 Bit Identifier Table 7 15
96. ponent specifications This chapter addresses itself to the system planner and offers information on important details relevant to successful configuration The Installation information section provides details regarding installation in both mechanical and electrical contexts This chapter addresses itself in particular to qualified and trained electricians responsible for the assembly and installation of system components The Diagnosis and Set up sections direct themselves to the set up personnel This section offers important information with regard to the rapid and uncomplicated set up of individual modules as well as the complete system FW MURR MVK MC User s Manual mh m ELEKTRONIK 2 Safety information 2 1 Designated use The input and output modules of the MVK MC series are designated for use only in those areas as described in this manual Strict adherence to the data specified in this manual must be ensured The products have been developed manufactured tested and documented in compliance with currently valid safety codes The equipment poses no danger to operating personnel or material if configuration assembly and operation are performed in compliance with the stated handling and safety regulations Unqualified intervention in the hardware and software of our equipment disregard of warning labels found on the equipment or non observance of the information in this manual can result in injury or serious damage
97. r s Manual mh m ELEKTRONIK 6 6 1 Reset Application Following a device start or NMT service Reset node the device is in a Reset application state The device profile is initialised in this condition Following this all device profile entries are set to default values When initialisation is completed the device automatically assumes Reset communication state 6 6 2 Reset Communication This condition is assumed through NMT service Reset communication or after Reset Application All parameters standard value according to device configuration of the supported communication objects 1000H 1FFFH are written to the object directory Following this the device automatically assumes the Init state 6 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 initialisation is complete and the device assumes Pre operational state 6 6 4 Pre Operational The device assumes Pre operational state following 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 for reading and writing of device data The device waits for a network start once the configuration is complete 6 6 5 Stopped NMT service Node stop causes the devi
98. rity output 16 bit 7 5 9 Object 6306H Error Mode Output 16 bit If an output is to assume a certain state during an error this must be entered in this object In this context errors refer to SYNC and Guarding errors If a 1 is entered for the respective output the output assumes the state defined in object 6307H when an error occurs If a 0 is entered the last received output value is retained Each output corresponds to one bit Following table shows the output assignment For more details see chapter 7 5 1 Duo ee value 0 Pin4 Outputoo 1 hResponseofoutputOO 2 Pi4 2 1 Response ofoutputo2 3 Pi4 OutpuO3 1 ResponseofoutputO3 4 Pind Outputo4 1 Response ofoutput0o4 5 Pind Outputo5 1 ResponseofoutputO5 6 Pina Outputoe 1 ResponseofoutputO6 8 Pind Outputio 9 i i h Output 11 Response of output 11 0 Output 12 Response of output 12 Response of output 13 Output 13 FW MURR MVK MC User s Manual mh m ELEKTRONIK Sub Bit Pin Output Standard Description index No value Output 17 Response of output 17 Table 7 58 Description of object 6306H Error mode output 16 bit Q A 0 means Retain the output value in case of an error A 1 means Use the output value from object 6307H During SYNC and Guarding errors the outputs respond as
99. rofessional setup of the field bus Turn all the power supplies for the bus modules ON check voltages before supplying participating bus devices etc The master will first perform a self test master amp PLC power must be ON The MVK MC modules now also display their status via the LEDs at the bus portion MS green blinking Pre operational and NS off The master reads in the CANopen network and displays all connected bus devices The master executes the slave configurations in succession The master starts all CAN Bus devices with the NMT command Operational all Nodes The slaves are now ready to exchange PDO data Before proceeding with the setup please be sure to read the operating instructions for all installed CANopen modules and their software This manual illustrates the setup procedure by way of an example V1 1 27 FW MURR MVK MC User s Manual ELEKTRONIK 4 Installation information 4 1 MVK MC installation The modules of the MVK MC series can be mounted directly on an installation panel or on a machine The module features two mounting holes for this purpose It must be assured that the mounting surface is smooth and flat to prevent mechanical stress in the module housing The module is affixed with two screws 6 mm in diameter and two lock washers DIN 433 The required torque is 9 Nm Sch ma 4 1 C tes de fixation N ATTENTI
100. rview of supported objects in the DI8 module device profile 45 Overview of supported objects in the DIO8 module device profile 46 Overview of supported objects in the DIO16 module device profile 46 Overview of supported objects in the DI8 module manufacturer specific device profile 46 Table 7 8 Overview of supported objects in the DIO8 module manufacturer specific device profile 46 Table 7 9 Overview of supported objects in the DIO16 module manufacturer specific device profile 47 Table 7 10 Structure of device type Object 1000 47 Table 7 11 Error register structure Object 1001 47 Table 7 12 Description of object 1002H Manufacturer Status Register 48 Table 7 13 Structure of pre defined error field object 1003 48 Table 7 14 PEF structure object 1003H sssssssssssssssseseseeeenee nennen nnne nennen sitne en nene 48 Table 7 15 Structure of the SYNC COB ID entry object 1005H 49 Table 7 16 Description of the SYNC COB ID entries enne 49 Table 7 17 Description of object 1006H
101. scription 65 7 5 2 Object 6000H Read Input 8 67 7 5 8 Object 6100H Read Input 16 bit ee area e 68 7 5 4 Object 6102H Polarity Input 16 2 nnne nenne 68 V1 1 5 User s Manual mh m ELEKTRONIK 7 5 5 Object 6103H Filter Constant Input 16 bit 0 69 7 5 6 Object 6200H Write Output 8 Dit 70 7 5 7 Object 6300H Write Output 16 70 7 5 8 Object 6302H Polarity Output 16 71 7 5 9 Object 6306H Error Mode Output 16 71 7 5 10 Object 6307H Error Value Output 16 72 7 5 11 Object 6308H Filter constant Output 16 73 7 6 Manufacturer specific device profile 74 7 6 1 Object 2000H Parameter input diagnosis of 2 74 7 6 2 Object 2001H Input Output parameter 75 7 6 3 Object 3000H Manufacturer specific diagnosis bytes
102. stReceivePDO 2 DO COBTD s Z00H Nadel a __ 1405 Number of entries of the ia Footie PDO COBB oF PDO Seb 08000800H NodeiD 1 2 Transmissionmode 8 bi FFH Table 7 31 Receive PDO communication parameters for a DIO8 module Q The MVK MC DIO8 module supports two Receive PDOs It must be assured that each COB ID is unique in the entire CANopen network unless data is being exchanged between slaves 7 4 17 3 MVK MC DIO8 DIO8 Article No 55306 Table below shows the exact assignment of parameters for Receive PDOs Index Sub index Description 2 Standard value 1400H 0 Numberofentriesofthe 1st Receive 2 he es COB ID of PDO 32 bit 200H Node Id 1405H Number of entries of o MN PDO 2 Transmission mode 800 1 Table 7 32 Receive PDO communication parameters for a DIO8 module 58 Via MVK MC User s Manual FW MURR mh m ELEKTRONIK The MVK MC DIO8 module supports 2 Receive PDOs It must be assured that each COB ID is unique in the entire CANopen network unless data is being exchanged between slaves 7 4 18 Object 1600H 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 sub index 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 foun
103. t 07 a Table 7 55 Description of object 6200H Write output 8 bit 7 5 7 Object 6300H Write Output 16 bit Outputs can only be written byte wise Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 The output values for outputs can only be written byte wise Addressing is effected via index and sub index whereby sub index 0 contains the number of entries Table 7 55 shows the output assignment EJ Pa value oe m 2 Pina OduptO2 0 3 Pina 0 4 0 5 0 6 Pin4 Outputoe 0 1 7 Pi4 0 8 Pin2 Odupuio 0 9 Pi2 0 10 Pin2 Odupui2 0 11 Pin2 Oupui3 0 i2 Pi2 Outpui4 0 13 Pi2 Odupui5b 0 14 Pin2 Ouputie 0 15 Pi2 Ouputiz7z 0 Table 7 56 Description of object 6300H Write output 16 bit e Outputs can only be written byte wise Description Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 Output 1 if status 1 V1 1
104. t 1006H Communication Cycle Period V1 1 49 FW MURR MVK MC User s Manual ELEKTRONIK 747 Object 1008H Manufacturer Device With the MDN device information can be stored in the form of an ASCII string Dxx8 Dxx8 has been entered as device identification or 7 4 8 Object 100AH Manufacturer Software Version MSV The software version is entered as an ASCII string in the MSV SWx xx is transferred when this object is queried SW1 04 stands for software version 1 04 7 4 9 Object 1010H Store parameters With this object some parameters can be save non volatile in flash and recall after power cycle from non volatile memory Sub Index PDO Access Default Description Mapping Value 0 NO ro 4 Largest sub index supported 1 NO rw Store all parameter 2 NO rw Store communication parameter 1000H 1FFFH 3 NO rw Store application parameter 6000H 9FFFH 4 NO rw Store application parameter 2000H 5FFFH On reception of the correct signature in the appropriate sub index the device stores the parameter and then confirms the SDO transmission initiate download response If the storing failed the device responds with an Abort SDO Transfer abort code 0606 0000h Signature MSB LSB ISO 8859 e v 5 ASCII hex 76h 61h 73h If a wrong signature is written the device refuses to store and responds with Abort SDO Transfer abort cod
105. t valid after the device is reset reset node for sub index 1h 7Fh reset communication for sub index 2h or power cycled V1 1 51 FW MURR MVK MC User s Manual mh m ELEKTRONIK On read access to the appropriate sub index the device provides information about its default parameter restoring capability with the following format UNSIGNED32 MSB LSB bits 31 1 reserved 20 0 0 Device does not restore default parameters Device restores parameters 7 4 11 Object 100CH Guard Time und object 100DH Life Time Factor Description of node and life guarding principle Object 100CH contains the guard time in milliseconds Object 100DH contains the lifetime factor Lifetime is calculated as follows Lifetime Guard time x Lifetime factor If either of these parameters is set to O default setting there is no monitoring of the master no life guarding For time monitoring to be active a value of at least 1 must be stated in object 100DH and a time entry in milliseconds in object 100CH To guarantee dependable operation a minimum Life Time factor of 2 must be entered as the node will otherwise switch itself to the Pre operational state without indication of an error In the event of a delay caused e g by a high priority message or internal master node guarding When guarding the master sets remote frames remote transmit request to the guarding identifiers of the slaves to be monitored The slaves respond with t
106. the starting product or deviations in the intended applications may render incorrect the specifications contained 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 marketed by the customer The customer shall refer to the brands of Murrelektronik GimbH in an adequate manner if the brands of Murrelektronik GmbH were used S neon stay connected Murrelektronik GmbH Falkenstrafe 3 D 71570 Oppenweiler 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
107. the DIO8 module manufacturer specific device profile 46 Via MVK MC User s Manual FW MURR mh m ELEKTRONIK 7 3 53 DIOS DIOS Art No 55306 Index 2 Access 2000H Parameter Input Diagnostic Pin2 2001H Input Output parameter 3000H Manufacturer specific diagnostic Table 7 9 Overview of supported objects in the DIO16 module manufacturer specific device profile 7 4 Communication profile DS 301 V4 01 object description All communication objects supported by the device are described below according to their entries in the object directory With these objects all necessary settings for communication and for general functions I O independent functions can be made or the device status can be requested 7 4 4 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 Byte MSB LSB Additional Information Device Profile Number 000XH 0191H Table 7 10 Structure of device type Object 1000H Device Profile Number 4010 191H The device profile number equals the number of the standard for I O devices Additional Information 1st bit set Digital inputs available 2nd bit set Digital outputs available 7 4 2 Object 1001H Error Register ER The device can display internal errors
108. the diagnosis data 8 21 Structure of the 2nd transmit PDO The 2 transmit PDO contains 7 Bytes Table 8 5 shows the structure of the 2 transmit PDO Channel diagnosis Manufacturer OUS I short circuit diagnosis short circuit Warning short circuit Warning AER ES Pin 4 Pin 4 Pin 2 Pin 2 Object 3000 Object 3000 Object 3000 Object 3000 Object 3000 Object 3000 Object 3000 Sub index 1 Sub index 2 Sub index 7 Sub index 3 Sub index 5 Sub index 4 Sub index 6 Table 8 5 Structure of the 2nd transmit PDO Sensor supply Desina Actuator Actuator Actuator Actuator FW MURR MVK MC User s Manual ELEKTRONIK 8 3 Diagnostic displays All modules of the MVK MC series have separate and clearly arranged displays for bus status device status and I O status These displays are located on the front of the device The EMCY telegram structure is described in greater detail in the sections below 8 3 1 status LEDs at the M12 sockets Each input and output is allocated a separate status display which is labeled 00 07 These displays are located next to the corresponding M12 socket this makes it easy to identify the status of peripheral components such as sensors and actuators Each M12 socket is assigned a second LED which depending on how the input was parameterized displays the diagnosis status red illuminated default or the additional function input status yellow illuminated These displa
109. tion layer 2 for industrial application CiA Draft Standard 302 Description of communications profile for industrial systems 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 Deutsches Institut f r Normung German standards institute DO Digital Output EN Europ ische Norm European standard EWG EEC Europ ische Wirtschaftsgemeinschaft European economic community 32 V1 MVK MC User s Manual FW MURR IEC ISO LED LMT MVK NMT MNS OSI PDO RTR SDO SPS SYNC mh m ELEKTRONIK International electro technical commission International standard organization Light emitting diode Layer Management Enables the setting of layer related parameters to a node Murrelektronik compact sized distributor Network Management NMT provides services for initialising and monitoring the nodes in a network Module network status Open Systems
110. to the object directory through SDO access 39 6 4 1 Errors in SDO access SDO abort codes 40 6 5 Device profile General description 40 6 5 1 Implemented minimal device configuration 40 6 6 CANopen BOooEbUp 5 cna aad es uade Exec ct 41 6 6 1 Reset ApplICatlOl erre tig hitting see Ea a 42 6 6 2 Reset Communication esses eene nnne nennen enne 42 ARMES Hm 42 564 Pre Operatiorial ondes t e 42 66 55 mere 42 0 55 90 Operational saraaa 42 MVK MC User s Manual TFW MURR mh m ELEKTRONIK f OVERVIEW 2 ccsnccsccctscctccctscetceresceteerescutcouescuteouucetecuescuteouewcutecuescetecudstuaeduent 43 7 1 Communication profile Overviews 43 7 1 1 MVK MC DI8 018 Art No 55304 sess nennen enne en 43 7 1 2 MVK MC DIO8 DI8 Art No 55305 en nennen 44 71 3 MVK MC DIO8 0108 Art No 55306 45 7 2 Device profile
111. ucts on the market are normally members of the CiA As a result of our active membership in the CiA Murrelektronik possesses profound CANopen know how for the development of components for this bus system You will find us and the CiA at www can cia com und www murrelektronik com User s Manual mh m ELEKTRONIK 3 3 CAN bus system data The following Table 3 1 illustrates the most important system data Transmission medium Twisted screened two wire cable Network topology Bus structure Dependent on the cable length max 1000 kBit s 1000 kbit s 40m 800 kbit s 50m Data rates 500 kbit s 100m 250 kbit s 250m 125 kbit s 500m 50 kbit s 1000m Transfer duration 134us for an 8 byte telegram at 1000 kBits s Number of bus devices Max 30 without repeater over 200 with repeater Transmitter output current gt 25mA Number of I O points Standard CAN 16384 Bytes PDO data One specific address per device in a range between Addresses 0 128 Access Multi master messages with priorities User data 8 bytes per telegram Terminating resistors 120 Q always at the ends of the data cable Error recognition Identification of faulty messages automatic repetition Spur line length Data rate 1000kBit s Max spur line length 0 3m Cumulative spur line length 1 5m 500kBit s Max spur line length 6 0m Cumulative spur line length 3
112. ve circuit for valves 3513858 Yellow green LED for pushbutton 3513855 Yellow LED protective circuit for valves 3513859 Yellow green LED for pushbutton 55 319 Terminating plug connector c 0 V1 MVK MC User s Manual FW MURR ELEKTRONIK Contact gap 18 mm A Operating voltage 24 V AC DC operating current 4 A 3611130 100 mm 3611150 M12 connection upwards 150 mm 3611170 200 mm 3613130 100 mm 3613150 M12 connection to the rear 150 mm 3613170 200 mm Other system accessories on request 10 2 Cables CANopen 7 8 power cable Socket Length straight type Plug Socket Length straight type straight type 42 34520 0 3m 42 34521 0 6m 4234522 1 0m 14 558 1 5m 4234523 2 0m 42 34524 3 0m 14 559 3 0 EM type N 14 562 5 0 m 14 563 10 0 m 42 34 525 5 0m CANopen 7 8 power cable straight type 14 624 0 3 14 625 0 6 14 626 1 0m angle type angle type 42 34 670 0 3m 42 34 671 0 6m 4234672 1 0 14 628 2 0 42 34 673 2 0 42 34 674 3 0m 42 34 675 5 0m EM iypo z V1 1 91 FW MURR MVK MC User s Manual ELEKTRONIK 11 Abbreviations CAL CAN Application Layer User layer ISO OSI layer 7 specified by the CiA CAN Controller area network CiA CAN in Automation e V Organization of CAN Bus device manufacturers and users CiA Draft Standard 102 Description of physical CAN communica
113. witchgear and control devices Controller device interfaces Part1 General conventions 242 CiA standards 05301 V4 01 CANopen Application Layer Communication Profile DS401 V2 0 CANopen Device Profile for Generic I O Modules 05102 V2 0 CAN Physical Layer for Industrial Applications DR303 1 V1 0 CANopen Cabling and Connector Pin Assignment DRP303 3 V0 1 CANopen Indicator Specification DSP306 V1 0 CANopen Electronic Data Sheet Specification for CANopen 243 EMC standards EN 55 011 Industrial scientific and medical high frequency equipment Radio interference Limit values and sensing methods EN 50081 1 EMC Part1 Residential areas business and industrial areas including large and small facilities Main section 1 EN 61 000 4 2 EMC Part 4 Testing and sensing methods Main section 2 Test of immunity to static electrical discharge EMC basic standards EN 61 000 4 3 EMC Part 4 Testing and sensing methods Main section 3 Test of immunity to RF electromagnetic fields EN 61 000 4 4 EMC Part 4 Testing and sensing methods Main section 4 Test of immunity to rapid transient disturbances burst EMC basic standard EN 61 000 4 6 EMC Part 4 Testing and sensing methods Main section 6 Test of immunity to asymmetric RF input EMC basic standard 2 4 4 Safety standards EN 60 947 1 Low voltage switchgear Part 1 General conventions EN 60 529 Type of housing protection IP Code VDE 0100
114. ys can also be configured as output via the 2001H object There are labeled 10 17 Input output yellow Diagnosis red or input output yellow Fig 8 1 I O status LEDs at the M12 sockets Following table shows a functions overview of the LEDs at the M12 sockets Pin Pin function LED Status Description Diagnosis input object 2000 01h OxFF Red If no signal at Pin 2 object 2001 02h 0x00 Standard setting Off If there is a signal at Pin 2 LED 10 17 Digital input Yellow If there is a signal at Pin 2 object 2000 01h 0x00 2 object 2001 02 0x00 Red In case of sensor supply short circuit LED 10 17 Off If no signal at Pin 2 Yellow If output activated signal at Pin 2 Digital output object 2001 02h OxFF Red In case of sensor supply short circuit LED 10 17 Off If output not activated no signal at Pin 2 utet Yellow If there is a signal at Pin 4 Digital input object 2001 01h 0x00 Red In case of sensor supply short circuit LED 00 07 4 Off If no signal at Pin 4 Digital output Yellow If output activated signal at Pin 4 object 2001 01h OxFF LED 00 07 Off If output not activated no signal at Pin 4 Table 8 6 Function of LEDs at the M12 sockets 80 Via User s Manual mh m ELEKTRONIK 8 3 2 Bus and device status LEDs on the module The LED s on the face of the module are clearly marked for identi

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