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Manual IMPACT20 CANopen

1. 8 2 1 Power Supply ed ated 8 271 Contiguiration NOES bep kia 8 2 2 Galvanic Isolation tr re e nennen iden nennen innere nennen nnn 9 2 3 Recommended Power Supply Units n u 10 2 4 Wire 5 5 UU uuu 11 2 5 Electromagnetic Compatibility EMO enm eene memes 12 2 6 Connecting Sensors and Actuators menn enne 16 2 6 1 Sensor Power Supply nn enne 16 2 6 2 AGUO uuu ane ee ne ee 16 2 6 3 Overview of Channel Assignment sss u 17 3 Mountingand Installation iecit teen eee thee nnt booa nea Pra EE RE dena BL d den add id 19 Seem EET 19 3 1 1 DIMENSIONING nennen nnne inen nnne ennt nennen asan nnne nnns 19 SABE mM a aii A in 20 H IMPACT20 3 1 3 Installation Fosilon u uuu u uu E 20 3 1 4 Mounting IMPACT20 Modules on DIN Mounting Rails 21 3 1 5 Removing Terminals 5 21 3 2 Installation i c e de ee terr ade i RR sasay edie 22 3 2 1 Terminal uuu l
2. RM 88 7 2 Voltage Terminal BIGgK LLL uuu nq 88 ro NRI Teile 89 7 2 2 MOUNTING DIMENSIONS ead rne tr 90 7 2 3 Mounting Position Distances I eene nnne enne nnne 90 7 2 4 Mounting on DIN Mounting Rail and on Module seen 91 7 2 5 Installation ceret eit vtec vet dei e he vk ee Ra ed P e 92 Z Label Sheets eri P n ER E ER Pa p E Ea P ap obe Rp 95 7 4 Coding Elements for Terminals I I eene nnne 95 7 5 Fieldbus Cable eect tre ne nee eene nennen nennen eee ee enin nennen inen nennen nenne nennen nnn 95 TE Seo S 96 GIOSSALY d c XI A XIV VII 2 IMPACT20 Important Information Minimum Basic Knowledge Requirements This manual contains general information on the system and the product For more details refer to the bus manuals see Seite 111 To understand this manual you need to have knowledge about automation systems Symbols and Icons This manual contains information and instructions you must comply with in order to maintain safety and avoid personal injury or damage to property They are identified as follows Notes indicate important information Warnings contain information that if you ignore this information may cause damage
3. somm 1 97 in LLLI Fig 9 Distances 3 1 3 Installation Position o J 000000 000000 fole 0000006 000000 000000 mc Fig 10 Installation position 20 IMPACT20 CANopen 3 1 4 Mounting IMPACT20 Modules on DIN Mounting Rails Make sure that the DIN mounting rail on which the device is mounted has a low A impedance connection to ground NEP 9 9 4 C Co LLL Fig 11 Mounting IMPACT20 modules on DIN mounting rails 3 1 5 Removing Terminals S cuiii cos T J __ cum Er m Fig 12 Removing terminals 21 2 IMPACT20 CANopen 3 2 Installation 3 2 1 Terminal Connection 3 2 1 1 Labeling Terminals Terminal Overview DI16 DI8 DO8 DO16 Module power supply Power supply for actuators A Power supply for sensors Terminal rows 2 Function ground Digital channels Fig 13 Labeling terminals Ul Supply voltage for internal module power supply sensor
4. stay connected Manual IMPACT20 CANopen System Description Configuration Mounting and Installation LED Diagnostics CANopen Bus System Technical Data Manual Publisher s Note CANopen IMPACT20 DI16 Article Number 56 904 IMPACT20 C DI8 DO8 Article Number 56 905 IMPACT20 C DO16 Article Number 56 906 Version 1 1 Edition 04_10 EN Article Number 56932 Murrelektronik GmbH Falkenstrasse 3 D 71570 Oppenweiler Phone 49 0 71 91 47 0 49 0 71 91 47 130 info murrelektronik de IMPACT20 CANopen H IMPACT20 Service and Support Website www murrelektronik com In addition our Customer Service Center CSC will be glad to assist you Our Customer Service Center can support you throughout your project during planning and the con ception of customer applications configuration installation and startup We also offer competent con sulting or in more complex cases we even provide direct onsite support The Customer Service Center provides support tools They perform measurements for fieldbus sys tems such as PROFIBUS DP DeviceNet CANopen and AS interface as well as energy heat and EMC measurements Our coworkers at the Customer Service Center provide their competence know how and years of experience They are knowledgeable about hardware and software and compatibility with products made by various manufacturers
5. There are two switches for setting the Node ID x10 decades and x1 single digits Addresses 1 to 99 are permitted The Node ID is only taken over when the module power supply is applied by the IMPACT20 module As a result a power reset must always be made after the Node ID is changed N Make absolutely sure that the set Node ID is unique in the CANopen network Ad dress 0 is not allowed IMPACT20 CANopen Rotary switch to set baud rate DR The baud rate is set with a DR rotary switch Bit timing corresponds to the requirements of the CiA The following data rates can be set Switch Position Baud rate Kbit s 0 Automatic recognition 1 10 20 50 100 125 250 500 800 1000 OO ns ni a AJOJN Table 24 Setting the Baud Rate Messages e g SYNC telegrams must be transferred on the CAN Bus for automatic baud rate recog nition switch position 0 to take place The IMPACT20 module tries to recognize the baud rate used and accepts this as a default While the IMPACT20 module is searching for the baud rate the RUN and Err LEDs flash at a rate of 10 Hz When the baud rate is finally detected the IMPACT20 module reverts to Pre Operational state and can be used as a CANopen module The baud rate is searched again every time the module is started up The baud rate detected in not saved TO change the data rate restart the IMPACT20 module An
6. 09 09 09 09 92 IMPACT20 CANopen 7 2 5 2 Terminal Overview Art No 56082 U AC DC max 30 V 1 10 A 01 02 I gt 20 A x mn Federkraft klemmen spring clamps 0 4 x 2 5 x4 8 mm 9mm 0 08 4 X5 with partially insulated shaft AWG 28 12 mit teilisoliertem Schaft 00 01 E 05 06 07 08 m 11 12 13 EX emm mm 0 13 1 5 oa e Modulverbindung Module connection 9 Einspeiseklemmme Input terminal Q Art No 56082 XO gr n green 00 01 X1 schwarz black 00 07 13 X2 schwarz black 00 07 13 X3 schwarz black 00 07 13 X4 schwarz black 00 07 13 X5 schwarz black 00 07 13 Manual IMPACT20 CANopen 7 2 5 3 Technical Data The IMPACT20 voltage terminal block is an expansion module for all IMPACT20 modules It is fitted with 4 terminal rows that are electrically connected in various ways Art No x0 x1 x2 x3 56078 gray gray brown blue 56079 gray gray yellow blue 56080 yellow blue yellow blue 56081 brown blue brown blue 56109 brown brown blue blue 56110 blue blue yellow yellow 56111 blue yellow brown blue Table 77 20 voltage terminal blocks Tec
7. Delay time for signal change 2 ms Maximum length of input cable lt 30 m Input characteristics EN 61131 2 Type 3 Outputs Number of outputs 8 16 Switching frequency approx 50 Hz 50 duty ratio Actuator current load approx 2 per actuator Switching frequency in ductive load approx 10 Hz Lamp load max 40 W Maximum length of output cable with 0 75 mm2 max 10 m with 0 34 mm2 max 5 m Sensor power supply US Max current 0 7 Short circuit protection for Yes sensors with automatic restart Reverse polarity protection Yes Manual IMPACT20 CANopen 7 Accessories 7 1 I O Level O 2 Murrelektronik offers a wide product portfolio in the actuator sensor field This ranges from connectors cables and adapters through to special purpose requirements Refer to our catalog or visit our inline shop at www murrelektronik com 7 2 Voltage Terminal Block Article Number Description 56078 Voltage terminal block gray gray brown blue 56079 Voltage terminal block gray gray yellow blue 56080 Voltage terminal block yellow blue yellow blue 56081 Voltage terminal block brown blue brown blue 56109 Voltage terminal block brown brown blue blue 56110 Voltage terminal block blue blue yellow yellow 56111 Voltage terminal block blue yellow brown blue Table
8. You can contact the Customer Service Center at telephone number 49 0 71 91 47 424 or by email at csc murrelektronik de IMPACT20 CANopen About the User Manual and its Layout 02 Manual IMPACT20 CANopen The following links will provide you with more information on bus systems as well as the standards and specifications on which they are based N 2 2 gt gt gt www can cia or IMPACT20 Table of Contents Publisher s e t Service and SUPPO NEST About the User Manual and its Table of Contents eee V Important VIII 1 System i a aun uu 1 1 1 Description of IMPACT20 Systems u u u nennen enne nens 1 1 2 System Components U U U U U 2 12 1 Product Designation Ode piece rire ecce dece 2 USATE 3 1 3 The IMPACT20 System in the Bus Network u U 3 1 3 1 System Design Principles nii te Pe Pe e EE n Eee ie ET e Een E Re ne Fa Ru eh ES 4 1 3 2 Terminal Overviews of Impact20 Modules a 5 27
9. Channels 10 to 13 X1 object 3000 subindex 3 Table 73 Channel wise diagnostics 5 5 9 5 Manufacturer Status Register EMCY Byte 7 Structure of Byte 7 Bit Meaning Comments supplies 0 Undervoltage of module and sensor power UI 1 Reserved Undervoltage of Actuator Power Supply UA Reserved Sensor short circuit US Actuator short circuit O to 31 Reserved Table 74 Manufacturer status register EMCY Byte 7 3 only if outputs are prese nt Manual IMPACT20 CANopen 5 5 9 6 Diagnostics via 2nd Transmit PDO In addition to the emergency telegram it is also possible to transfer diagnostic data in the activated 2nd transmit PDO The 2nd transmit PDO is deactivated by default 5 5 9 7 Format of 2nd Transmit PDO The 2nd transmit PDO consists of 4 bytes The table below shows the structure of the 2nd transmit PDO Byte 0 Byte 1 Byte 2 Byte 3 Group diagnostic Channel diagnostics Manufacturer status register Reserved Actuator short circuit Actuator short circuit Object 1002h lower 8 bit 0x00 Channels 00 to 03 X0 Channels 20 to 23 X2 Object 3000 Subindex 1 Actuator short circuit Channels 10 to 13 X1 object 3000 subindex 3 Actuator short circuit Channels 30 to 33 X3 Object 3000 Subindex 4 Table 75 Structure of 2nd transmit PDO Manual IMPACT20 CANopen 6 Tec
10. Index Subindex Description 6000H o Number of entries here 2 _ Inputs 0 to 7 12 Inputs 10 to 17 Table 13 Use of index and subindex 31 IMPACT20 CANopen 5 3 2 General Description of the Communication Profile The communication profile is based on the services and protocols provided by the CAN Application Layer CAL It contains functions for distributed synchronous operation provides a common time base and defines a uniform error signal flow Application objects assignable to communication objects The communication profile also establishes system initialization The CANopen communication model differentiates between four different types of messages objects Administrational Messages They comprise management messages e Layer management LMT e Network management NMT e Identifier issuing DBT Implementation via CAL management services Service Data Messages Service Data Objects SDO are used for reading and writing entries service data in the device object directory SDOs are implemented by CAL application services Each CANopen device supports at least one SDO server Process Data Messages e High speed transmission of Process Data Objects PDO e Transmission without additional protocol e Difference between synchronous and asynchronous trans mission e Realization of PDOs by CAL application services Predefined Messages There are three predefined communication
11. The sensor power supply is protected by a self resetting short circuit proof transistor for each module The maximum current draw for the sensor power supply is 0 7 per module 2 6 2 Actuators The maximum current draw of Impact20 modules is 2 A per channel Please remember that the max total current of 8 A at the UA terminal must not be exceeded CAUTION The module may be damaged if the actuator power supply polarity is reversed In order to reactivate an output after a short circuit or overload has been rectified the e following procedure must be observed 1 Set output 1 to 0 2 Set output to 1 or 1 Switch off voltage at UA 2 Switch on voltage at UA IMPACT20 2 6 3 Overview of Channel Assignment Row 16 DI 00 DI 01 Dl 02 DI 03 DI CH 00 CH 01 CH 02 CH 03 x1 00 DI 01 DI 02 DI 03 DI CH 10 CH 11 CH 12 CH 13 2 00 DI 01 Dl 02 01 03 DI CH 20 CH 21 CH 22 CH 23 00 01 01 01 02 01 03 01 30 31 32 33 24 V current input characteristic 3 Table 5 Channel assignment for DI modules Row 16 DO 00 20 01 20 02 20 03 DO 00 01 02 03 x1 00 DO 01 DO 02 DO 03 DO CH 10 CH 11 CH 12 CH 13 2 00 DO 01 20 02 20 03 DO 20 CH 21 CH 22 CH 23 x3 00 DO 01 DO 02 DO 03 DO
12. ico assigned to it The EDS file contains a lot of information concerning the module e g device type manufacturer vendor ID article number software version hardware version etc A EDS files are module specific Only Murrelektronik technical personnel are allowed to perform application specific modifications EDS files are assigned as shown in the table below Module type Name of EDS file Name of icon IMPACT20 IMPACT20C_DI16_56904_E_1_0 eds IMPACT20C_DI16_56904_E_1_0 bmp C DI16 IMPACT20 IM IMPACT20C_DI8DO8_56905_E_1_0 bmp C DI8 DO8 PACT20C_DI8DO8_56905_E_1_0 eds IMPACT20 IMPACT20C 0016 56906 E 1 0 eds IMPACT20C_DO16_56906_E_1_0 bmp C DO16 Table 23 EDS files 48 The last character or D in the EDS file name stands for the EDS file language e g D Deutsch E English It is of no consequence to the function of the composite network what file is embed ded in the startup tool It only enhances the legibility of the variables The latest EDS files retrievable over the web from http www murrelektronik com Navigate to the download section under configura tion files IMPACT20 CANopen 5 5 4 Addressing x10 x1 BGA NA 1 99 90 7 DR 0 9 Fig 19 Assignment of rotary switches for addresses and baud rate DR Rotary switch to set the baud rates NA x 10 Node ID switch x10 x 1 Node ID switch 1 Permitted addresses 1 to 99
13. that must comply with the regulations for conventional industrial power supplies To optimize immunity from interference we advise you to tap sensor bus and actua tor power supply from a number of different power sources Primary switched mode or regulated power supplies should be used Power supply unit performance is dependent on the number and power requirements of the connected users In any case make sure that the system voltage measured at the most remote slave A does not drop below 18 VDC when viewed from the system power supplies System behavior becomes undefined is the sensor and bus power supply drops below 18 VDC Impact20 modules then generate an undervoltage diagnostic visually and over the fieldbus o Primary switched mode power supply units generally permit an increase in output voltage nominal voltage order to compensate for line losses Modules with digital inputs support the direct connection of commercially available sensors Depend ing on the total power requirements resulting from the number of slaves or the use of sensors with high power consumption a separate power supply may be required for the sensors 20 CANopen 2 2 Galvanic Isolation To optimize electromagnetic compatibility and increase bus stability the bus must be galvanically iso lated from the remaining electronics Slave Slave Slave un un BUS DI B
14. to equipment or other assets or if you fail to comply with safety precautions may constitute a danger to the user s health and life O Refer to our catalog or visit our inline shop at www murrelektronik com VIII 2 IMPACT20 Intended Before starting the devices read this manual carefully Keep it in a location that is accessible to all users at all times The products that are described in this manual were developed manufactured tested and docu mented in compliance with the relevant safety standards In normal cases these products do not con stitute any danger to persons or objects provided the handling specifications and safety instructions described in this manual are observed They meet the specifications of the European EMC Directive 2004 108 EC WARNING Devices from the IMPACT20 series are not safety devices conforming to the relevant standards Do not use the OFF state of the outputs to implement safety related requirements of the system machine The products are designed for industrial use An industrial environment is defined as one in which loads are not connected directly to the public low voltage power grid Additional measures must be taken if the products are used in private business or trade environments The safe troublefree functioning of the products requires proper transportation storage mounting and careful operation Operation of the de
15. 0001 81H FFH 129 255 0 1 PDO tx 0011 181H 1FFH 385 511 1 2 PDO rx 0100 201H 27FH 513 639 2 PDO tx 0101 281H 2FFH 641 767 2 3 PDO rx 0110 301H 37FH 769 895 3 4 SDO tx 1011 581H 5FFH 1409 1535 6 SDO rx 1100 601H 67FH 1537 1663 6 7 Node Guarding 1110 701H 77FH 1793 1919 Table 15 Objects of predefined master slave connection as seen from the slave IMPACT20 CANopen 5 3 5 CANopen Bootup In the minimal device equipment a short boot sequence takes place This process is illustrated in the figure below power on Initialisation Reset Communication Reset _ Node m EU indication Reset F a indication Pre Operational Enter Pre Operational gt lt indication Stopped p Start Remote Node A p indication Operational Fig 15 Status diagram for a CANopen device with minimal device equipment Manual IMPACT20 CANopen Reset Application Reset Communication INIT Pre Operational Stopped Operational After a device start or NMT service Reset node the device is in a Reset application state The device profile is initialized in this condi tion All device profile entries objects 6000H 9FFFH are then set to the default When initialization is completed the device automatically assumes Reset communication state This condition i
16. 29 28 11 10 0 2 0 0 0 0 000000000000000000 11 bit identifier Table 41 Structure of EMCY COB ID entry object 1014H 5 5 6 13 Object 1016H Consumer Heartbeat Time The Consumer Heartbeat Time defines the expected heartbeat cycle time and should be configured higher than the corresponding Producer Heartbeat Time of the device that sends the heartbeat Moni toring starts after the reception of the first heartbeat If the Consumer Heartbeat Time is zero it is not sent The time entered is multiplied by 1 ms Subindex PDO Mapping Access Default Value Description 0 No Ro 01h 1 No Rw 0 Consumer heartbeat time Table 42 Heartbeat Structure of Consumer Heartbeat Time entry 32 bit MSB LSB Bits 31 to 24 23 to 16 15 to 0 Value Reserved Node ID Heartbeat Timer Coded as Unsigned8 Unsigned16 Table 43 Consumer Heartbeat Time entry Manual IMPACT20 CANopen 5 5 6 14 Object 1017H Producer Heartbeat Time The Producer Heartbeat Time defines the cycle time of the heartbeat transmitted If the entry is 0 the Producer Heartbeat Time is not used and the node sends no heartbeat The time has to be a multiple of 1 ms Subindex PDO Mapping Access Default Value Description 0 No Rw 00H The heartbeat is generated in the bus module periodically the period is the Heartbeat Producer Time Table 44 Producer Heartbeat Time It is
17. 48 Server SDO Parameters 5 5 6 17 Objects 1400H and 1405H Receive PDO Communication Para meters Communication parameters for Receive PDOs are stored in these objects The parameters are COB ID in Subindex 1 PDO transmission mode asynchronous cyclic synchronous and acyclic synchronous in Subindex 2 Manual IMPACT20 CANopen Description of Subindex 1 32 bit Bit Number Value Meaning 31 MSB 0 PDO valid 1 PDO not valid 30 0 RTR allowed 1 RTR not allowed 29 0 11 Bit ID CAN 2 0A 28 to 11 0 0 since Bit 29 0 10 to 0 Bit 10 0 of the identifier Table 49 Receive PDO communication parameters Description of Subindex 2 8 bit Trans PDO transmission mode Comments mission Code Cyclical Acyclic Synchro Asynchro RTR nous nous only 0 X X Update data after the Sync mes sage following the receipt of PDO 1 to 240 X X Update data x Sync message fol lowing the receipt of PDO 241 to 251 reserved 252 not supported 253 not supported 254 X Output data taken over on receipt of PDO such as 255 255 X Update data taken over on receipt of PDO indicates the number of SYNC objects that are necessary to transfer the PDOs Table 50 Description of Subindex 2 67 Manual IMPACT20 CANopen 5 5 6 17 1 Receive PDO for Art No 56904 IMPACT20 0116 gt does not support receive
18. GND channels 00 to 03 and 10 to 00H 13 channel diagnostic only modules with outputs 4 Actuator short circuit to GND channels 20 to 23 and 30 to 00H 33 channel diagnostic gt only modules with outputs Table 66 Manufacturer specific diagnostic bytes IMPACT20 CANopen 5 5 8 Function of Bus Status LEDs Ade 10 Ed qp DR Fig 21 CANopen module Bus LEDs LED Status Description Auto Baud rate detection in progress RUN Device in STOPPED mode green Device in Pre Operational mode Device in Operational mode Device operating normally Device OK At least one of the error counters of the CAN controller has reached or exceeded the warn ing level too many error frames a Auto Baud rate detection in progress A guarding error or a heartbeat was detected SYNC signal not received within SYNC inter Triple flash Sync error yal CAN controller status Bus off Table 67 Function of Bus LEDs Manual IMPACT20 CANopen 5 5 8 1 Signal States of Bus Status LEDs The following states are displayed LED ON LED OFF LED flickering LED blinking LED single flash LED double flash LED triple flash Constant on Constant off off phase at a rate of approx 10 Hz ON approx 50 ms OFF approx 50 ms off phase at a rate of approx 2 5 Hz ON approx 200 ms OFF appro
19. Subindex Description Default value 1A00H 0 Number of assigned objects 1st Transmit PDO 1 1 1st assigned object digital inputs 6000 01 08H Channels XO 00 to 03 and X1 10 to 13 1A05H 0 Number of assigned objects 2nd Transmit PDO 4 1 1st assigned object group diagnostic 3000 01 08H 2 Reserved 0x00 3000 02 08H 3 Reserved 0x00 3000 03 08H 4 3rd assigned object actuator short circuit to GND 3000 04 08H Channels X2 20 to 23 and X3 30 to 33 Table 62 Transmit PDO mapping parameters Manual IMPACT20 CANopen 5 5 6 20 3 Art No 56906 IMPACT20 C DO16 Channels X2 20 to 23 and X3 30 to 33 Index Subindex Description Default value 1A05H 0 Number of assigned objects 1st Transmit PDO 4 1 1st assigned object group diagnostic 3000 01 08H 2 Reserved 0x00 3000 02 08H 3 2nd assigned object actuator short circuit to GND 3000 03 08H Channels 00 to 03 and X1 10 to 13 4 assigned object actuator short circuitto GND 3000 04 08H Table 63 Transmit PDO mapping parameters Manual IMPACT20 CANopen 5 5 7 Manufacturer Specific Device Profile of CanOpen Modules 5 5 7 1 Object 6000H Read Input 8 Bit Reading of an input value with 8 inputs to be stored in one byte Addresses are generated using index and subindex whereby the subindex 0 contains the number of entries The table below shows the assignment of subindices to inputs Subindex Bi
20. device functions and in turn on the system Therefore only carry out configuration changes in Pre Operational state IMPACT20 5 4 Bus Physics 5 4 1 CAN Bus System Data The table below illustrates the most important system data Transmission medium Twisted shielded three wire line Can H Can L Can GND Network topology Linear bus structure Baud rates Dependent on the cable length max 1000 Kbit s 1000 Kbit s 30 800 Kbit s 50 500 Kbit s 100 250 Kbit s 250 125 Kbit s 500 50 Kbit s 1000 Transfer duration 134 us for an 8 byte telegram at 1000 Kbit s Number of bus devices 127 Transmitter output current gt 25 mA Number of I O points Standard CAN 16384 bytes PDO data Addresses One specific address per device in the range from 0 to 128 Access Multi master messages with priorities User data 8 bytes per telegram Terminating resistors 120 Q always at each end of the data cable Error recognition Identification of faulty messages automatic repetition Spur line length Date rate 1000 Kbit s Max spur line length 0 3m Cumulative spur line length 1 5m Baud rate 500 Kbit s Max spur line length 6 0 m Cumulative spur line length 30 m Table 16 CAN Bus System Data Q To limit the influence of the reflected wave on signal quality spur lines should be limited to max 0 3 m at a baud rate of 1 Mbit s 1 Calculation of the
21. finger 0 No protection against inclusion International Standard Organization Light Emitting Diode Layer Management Enables the setting of layer related parame ters to a node Least significant bit Fiber optics optical fiber Module status Most significant bit Nickel Network Management NMT provides services for initializing and monitoring the nodes in a network Network status XII at Manual IMPACT20 CANopen OSI PAA PAE PDO PELV PNO Repeater RTR SDO SELV Simatic Manager PLC SYNC U U I UA UI US VDMA VZ ZVEI Open Systems Interconnection Process map of outputs Process map of inputs Process Data Object Object for process data exchange between various devices Protective Extra Low Voltage Profibus Nutzerorganisation e V German Profibus User Organization Coupling element to process signals between Profibus segments Remote Transmission Request Request for data using the same identifier as used for data transmission Service Data Object Objects for access and manipulation to data in the object directory Safety Extra Low Voltage Programming software for program logic controllers made by Siemens Program logic controller Synchronization object Voltage Voltage current Actuator power supply Module and sensor power supply Sensor power supply Verband Deutscher Maschinen und Anlagenbau e V Associa tion of German Machinery and Industria
22. main cable to its furthest removed module is greater than the dis tance to the next terminator this spur line length Drop B is calculated in the total cable length A sample network is depicted in the table below 3m Node 1 Drop A Node 2 Drop Node 3 Drop Fig 16 Position of terminating resistors maximum bus length Drop A does not appear in the max cable length 1 5 m gt 1 Drop is calculated into the max cable length 3 m lt 5 m Drop C does not appear in the max cable length 12 m 6 m Maximum bus length 5 m 50 m 12 67 m In the above example the bus terminating resistors are installed at the end of Drop B and at the end of the 12 m cable o Terminate the CAN bus between CAN H and CAN L with 121 0 IMPACT20 CANopen 5 4 4 6 Connecting the CAN Bus Cable 5 4 4 7 Cables The CAN Bus network requires cables that conform to ISO 11898 and DR 303 1 standards We rec ommend the use of out preterminated CAB Bus cables which are simple and reliable to install O gt Please refer to the chapter Accessories on page 88 or our Catalog our Online Shop at Fehler Textmarke nicht definiert 5 4 4 8 Connecting the IMPACT20 CANopen 1 Connect function ground to FE terminal on housing 2 Connect incoming bus cables to the bus terminal Q Every bus segment must be installed with a terminating resistor at start and end 5 4 4 9 Pin assign
23. max spur line length is not part of the scope of this manual For further information see CiA DR303 1 IMPACT20 CANopen 5 4 2 CAN Bus Level In CAN bus levels are differentiated as dominant and recessive The dominant bus level overwrites the recessive one If various bus stations transmit both dominant and recessive bus levels simulta neously the dominant level establishes itself on the bus The recessive level can establish itself only if it is transmitted by all bus devices simultaneously The recessive level is logic 1 high and the domi nant level is logic 0 low When there is no bus transmission traffic the bus level is recessive Every CAN Bus device must be able to implement the output level variances Vdiff VCAN_H VCAN_L shown in the table below A transmission output current of gt 25 mA must be possible Dominant bus level gt 0 9 V Recessive bus level Vdiff 0 5 V to 0 5 V VCAN_H dominant nominal 3 5 V VCAN_L dominant nominal 1 5 V Bus idle operation VCAN_H VCAN_L 2 5 V Table 17 CAN Bus Level Manual IMPACT20 CANopen 5 4 3 Information for First Time Users is a Fieldbus system for industrial use Its advantages lie in its application In particular the various types of process data transmission permit a host of different applications To make the system even easier and safer for first time users to use
24. power supply NC Not connected UA Power supply for actuators US Power supply for sensors The US terminal obtains its energy from the UI terminal at a max current of 700 mA 0v 0 Volt potential A Function ground XO to X3 Designation of up to 4 terminal rows where the topmost starts with XO 00 to 03 Digital channels inputs and outputs The labeling also corresponds to the channel number and bit position Murrelektronik supplies label sheets Art 56113 the simple labe ling of terminals Refer to our catalog or visit our inline shop at www murrelektronik com IMPACT20 CANopen 3 2 1 2 Wiring Terminals gt Cos ae 90 Che Z L EU 0 6 x 2 5 8 9mm Federkraftklemmen 0 33in spring clamps gt 0 14 2 5 25 14 mit teilisoliertem Schaft with partially insulated shaft Fig 14 Wiring terminals Refer here to Table 4 Converting wire cross sections IMPACT20 CANopen 4 LED Diagnostics The fieldbus diagnostics and the function of the bus LED is described in the chapters relating to the field buses The following di
25. register when an error occurs in the LSW of the Error Code and in the MSW The last error occurring is in Subindex 1 Existing errors shift to Subindex 2 the error from Subindex 2 shifts to Subindex 3 etc Errors can only be deleted completely by writing data 0x00 in object 1003 00 See section 5 5 9 2 for a definition of the error codes Error correction does not delete the error Entry in the PEF An emergency telegram EMCY telegram is always transmitted when an error occurs When an error is rectified an EMCY telegram containing NO ERROR is sent Error Code 0x0000 Bit MSB LSB Additional Information Error Code 0000H 0000H Table 31 Structure of the predefined error field Index Subindex Additional Information Error Code Description 1003H 0 Number of errors 8 bit 1 Error 32 bit Max 10 Table 32 Structure of the predefined error field Manual IMPACT20 CANopen 5 5 6 5 Object 1005H COB ID SYNC Message The communication parameters for the synchronization telegram are stored in this 32 bit field Bit Number Value Meaning Remarks 31 MSB 0 Not relevant 30 0 Device creates no sync object 29 0 11 Bit ID CAN 2 0A 28 11 0 Not relevant 10 0 Identifier 5 5 6 6 Object 1006H Communication Cycle Period Table 33 Description of the SYNC COB ID entries This object describes the time interval between two SYN
26. under US indicate the status of the sensor power supply voltage LED Display US Response State imi off Power supply OK only if UI 18V Overload short circuit of sensor power supply Table 9 LED periphery power supply 4 1 3 Signal Logic Display and LED Behavior Each input and output is assigned a separate status display This is labeled 00 to 03 The label indi cates the channel number and bit position It is arranged under the associated terminal and assigns the status of the peripheral components Relationship of signal logic display and LED behavior at the input LED Display Logic Value Voltage at Input Signal off 0 lt 11V Input with NO contact function yellow 1 11 to 30 2 V dependent on US Table 10 LED at input of digital modules Manual IMPACT20 CANopen Relationship of signal logic display and LED behavior at the output LED Display Logic Value Voltage at output Signal off 0 OV Output yellow 1 12 to 30 2 V dependent red Table 11 LED at output of digital modules Output in overload short circuit case 4 2 Short Circuit or Overload of Sensor Power Supply US Reaction of IMPACT20 modules to short circuit or overload of sensor power supply e The diagnostic LEDs light
27. 20 CANopen 1 3 1 System Design Principle Slave IMPACT20 C CANopen Fig 2 System Design Principle IMPACT20 Manual 1 3 2 Terminal Overviews of Impact20 Modules 1 3 2 1 DI16 Modules X 5508 000 zx 22 0 HO 20 00 LX HO 0700 0 50 00 20 00 siQ zx ex Ao sn Lx LX AQ vu 0 0 o In Fig 3 Terminal Overview of Impact20 DI16 Modules IMPACT20 Manual 1 3 2 2 DI8 DO8 Modules In vn Lx gx T L 0L 000 55705 HO 000 zx zx zx Lx 0 0 5000 20 00 AO Sn gZ 0Z 0700 Aol vn In I Fig 4 Terminal Overview of Impact20 018008 Modules IMPACT20 Manual 1 3 2 3 DO16 Modules gx 22 02 0700 ez oz 000 LX 6701 0700 ex zx ox 9 Lx ou 000 0700 o vn 0 0 AO In Fig 5 Terminal Overview of Impact20 DO16 Modules IMPACT20 CANopen 2 Configuration This chapter contains information that is relevant during the electromechanical planning phase 2 1 Power Supply 2 1 1 Configuration Notes Bus modules require a DC voltage power supply of typically 24 VDC SELV PELV
28. 20 CANopen The number of CAN Bus devices must be taken into consideration when selecting the conduc tor cross section The table below lists the limits Number of Line Length Core Cross section Cable Resistance CAN Bus devices m mm 0 32 200 0 25 21 360 0 50 550 0 75 64 170 0 25 18 5 310 0 50 470 0 75 100 150 0 25 16 270 0 50 410 0 75 Table 19 Cable cross sections as a function of cable length and the number of bus devices e Repeaters must be used for more than 30 CAN Bus participants Manual IMPACT20 CANopen Further selection criteria are the DC parameters listed in the table below Line Length Specific Cable Core Cross section Maximum Baud Rate m Resistance mm Kbit s mQ m 0 to 40 70 0 25 to 0 34 1000 at 30 AWG23 AWG22 40 to 300 lt 60 0 34 to 0 6 500 at 100 m AWG22 AWG20 300 to 600 lt 40 0 5 to 0 6 100 at 500 m AWG20 600 to 1000 lt 26 0 75 to 0 8 50 at 1000 m AWG18 The parameters in Table 20 must be considered for networks compliant with 15011898 2 In order to minimize voltage drop in the cable a larger bus terminating resistor than those specified in 1 011898 2 should be selected for long cable lengths In the system configuration the DC connector parameters must also be taken into consideration For each connector 5 mQ to 20 mQ must be added to the ca ble resistance Table 20 DC Cabl
29. 56080 56081 56084 56109 56110 56111 Modulverbindung Module connection 56078 8 9mm 0 33in mm 0 14 2 5 AWG 25 12 Art No 56079 grau grey grau grey 00 X1 grau grey grau grey X1 iur 00 Us 24 V FE X2 braun brown gelb yellow x2 T 00 0 V n X3 blau blue blau blue 0 V X3 ee 00 Art No 56080 Art No 56081 56084 56111 FE Us 24 V 0 V gelb yellow braun brown grau grey blau blue 0 V 0 V FE X1 blau blue blau blue grau grey gelb yellow X1 FE Us 24 V Us 24 V X2 gelb yellow braun brown grau grey braun brown 2 0 V 0 V 0 V blau blue blau blue grau grey blau blue x3 Art No 56109 Art No 56110 M Us 24 V 0 V braun brown blau blue Ut 00 09 Us 24 V 0 V X1 braun brown blau blue X1 00 09 0 V FE n X2 blau blue gelb yellow 2 00 09 0 V FE X3 blau blue gelb yellow 00 09 Fig 26 Terminal Overview 00 00 00 00 Federkraft klemmen spring clamps k mit teilisoliertem Schaft with partially insulated shaft
30. 6461 6F6C must be written in the related subindex When the correct signature is received the device restores the parameters and confirms this process by transmitting an SDO initiate download response If the restore operation fails the device replies with an SDO Transfer Error Message 0606 0000h Signature MSB LSB ISO 8859 ASCII d a 64 61 6 Table 39 SDO If an incorrect signature was written the device does not restore the parameters and responds reporting an error in an SDO transmission 0800 002xh The default values are taken over after a device reset NMT Reset Node for Subindex 1h 4h NMT Reset Communication for Subindex 2h or after a power reset When read access to a subindex occurs the device sends back information via the supported re store function 32 bit as follows Bits Value Meaning 31 to 1 0 Reserved 0 0 The device does not restore the default parameters 1 The device restores the default parameters Table 40 Head access to a subindex IMPACT20 CANopen 5 5 6 12 Object 1014H COB ID Emergency Message The value entered in this object is used as a COB ID for emergency node messages When changing the COB ID no value may be used that is being used in the node or in the network as a COB ID for another message The structure of the EMCY COB ID is shown in the table below Bit MSB LSB 31 30
31. 76 Voltage Terminal Block Accessories 20 CANopen 7 2 1 Description Voltage terminal blocks are small aids that assist in the simple bridging or chaining of a required level or voltage Fig 23 Application information IMPACT20 CANopen 7 2 2 Mounting Dimensions 1 5 2 76 0 02 in 00 01 02 03 04 05 06 07 08 09 x I gt x 70 5 5 f 42 0 5 x 56 0 5 1 28 0 02 in 1 65 0 02 in 2 20 0 02 in Fig 24 Mounting Dimensions 7 2 3 Mounting Position Distances Einbaulage Mounting position beliebig any Abstand Distance beliebig any IMPACT20 CANopen 7 2 4 Mounting on DIN Mounting Rail and on Module 9 n lt o max 2 Blocks 8 MM N lt Cube20 Module e s _ o Oo 5 TERLI p DIN Rail TH35 7 5 DIN Rail TH35 1 Ay Fig 25 Mounting the voltage terminal block on DIN mounting rails and on IMPACT20 module 91 2 al IMPACT20 CANopen 7 2 5 Installation 7 2 5 1 Terminal Overview Art No 56078 56079
32. C 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 unused the field content is zero If a value between 10 000 and 10 000 000 is listed the node must receive a SYNC signal within this stated time or the node assumes pre operational state The time differential is max 1 of the set value Time monitoring begins with the receipt of the first SYNC sig nal Some of the values are entered in the table below Object 1006H Decimal Hexadecimal SYNC interval in ms Default value 0 OH Minimum value 10 000 0000 2710H 10 25 000 0000 61A8H 25 250 000 0003 DO90H 250 1 000 000 000F 4240H 1 000 5 000 000 004C 4B40H 5 000 Maximum value 10 000 000 0098 9680H 10 000 Table 34 Description of Object 1006H Communication Cycle Period IMPACT20 CANopen 5 5 6 7 Object 1008H Manufacturer Device Name MDN With the MDN device information can be stored in the form of an ASCII string The device name is IMPACT20 0116 or IMPACT20 018 008 or IMPACT20 0016 5 5 6 8 Object 100AH Manufacturer Software Version MSV The software version is entered as an ASCII string in the MSV The signal SWx xx is transferred when this object is requested SW1 00 stands for software version 1 00 5 5 6 9 Object 100CH Guard Time and Object 100DH Life Time Factor Description of Node and Life Guard
33. CH 30 CH 31 CH 32 CH 33 24 V 2 Table 6 Channel assignment for DO modules Manual IMPACT20 CANopen Row DI8 DO8 00 DI 01 DI 02 DI 03 DI CH 00 CH 01 CH 02 CH 03 x1 00 DI 01 DI 02 DI 03 DI CH 10 CH 11 CH 12 CH 13 x2 00 DO 01 DO 02 DO 03 DO CH 20 CH 21 CH 22 CH 23 x3 00 DO 01 DO 02 DO 03 DO CH 30 CH 31 CH 32 CH 33 DI 24 V current as per input characteristic Type DO 24 V max 2 Table 7 Channel assignment for DIDO modules 18 IMPACT20 CANopen 3 Mounting and Installation 3 1 Mounting 3 1 1 Dimensioning T 46 5 0 59 In 29 1 14 In 2 2 In c 1 75 o BB 0 295 In ed c oooooQ EE i glg om o 000000 Fig 8 Dimensioning t The dimensions of all IMPACT20 modules are identical Manual IMPACT20 CANopen 3 1 2 Distances L 250mm 1 97 in 20 gt 50mm 1 97 in L gt 50mm 1 97 in 20 20 mm 8 mm max 2 St pcs 3333333333
34. E TO LOW Module and sensor power supply undervoltage 18V 0x3320 OUTPUT VOLTAGE TO LOW Actuator power supply undervoltage 18 V Table 69 Supported Error Codes EMCY Bytes 0 1 81 Manual IMPACT20 CANopen 5 5 9 3 Error Register 1001H EMCY Byte 2 Bit Meaning Comments 0 Generic error Generic error 1 Current Current 2 Voltage voltage 3 Not used Not used 4 Communication error Communication error 5 Not used Not used 6 Not used Not used 7 Manufacturer specific Not used Table 70 Error Register 1001H EMCY Byte 2 5 5 9 4 Channel wise Diagnostics EMCY Bytes 5 6 The data displayed in Bytes 5 and 6 are described by the fault cause described in Byte 7 manufacturer status register Undervoltage or failure of module sensor power supply Byte 5 6 7 Content 00H 00H Ox1H Table 71 Channel wise diagnostics Undervoltage or failure of actuator power supply Byte 5 6 7 Content 00H 00H Ox4H Manual IMPACT20 CANopen Sensor short circuit Byte 5 6 7 Content 00H 00H 10H Table 72 Channel wise diagnostics Actuator short circuit with GND Byte 5 6 7 Content Actuator short circuit Actuator short circuit 20H Channels 20 to 23 X2 Actuator short circuit Channels 30 to 33 X3 Object 3000 Subindex 4 Channels 00 to 03 X0 Actuator short circuit
35. H COB ID emergency read only 80H Node ID 1016H Consumer heartbeat time read only 1017 Producer heartbeat time read only 1018H Identity Object read only 1200H Server SDO parameter read only 1400H Receive PDO Communication Parameter read only i 1405H Receive PDO Communication Parameter read only 1600H Receive PDO Mapping Parameter read only 1605 Receive PDO Mapping Parameter read only d 1800H Transmit PDO Communication Parameter read only 1805 Communication Parameter read only 1A00H Transmit PDO Mapping Parameter read only 1A05H Transmit PDO Mapping Parameter read only 7 If no entry is configured under default the object index has other subindices whose contents are described in detail in the following sections Table 27 Communication Profile of CANopen Modules Art No 56906 IMPACT20 C DO16 IMPACT20 CANopen 5 5 6 Object Description of Communication Profile 5 5 6 1 Object 1000H Device Type DT This object describes the device type and its functionality The device description comprises two 16 bit fields One field contains the Device Profile Number and the other the Additional Information Bit MSW LSW Additional Information Device Profile Number 000XH 0191H Table 28 Structure of Device Type Object 1000H Device Profile Number 4010 191H The device profile number 4010 equals the number of the CIA standard for
36. I O devices Additional Information 1st bit set Digital inputs available 2nd bit set Digital outputs available 5 5 6 2 Object 1001H Error Register ER The device can display internal errors with the 8 bit ER field If a device error occurs the correspond ing bit is set in the ER The following errors can be displayed Bit Meaning Comments 0 Generic error 1 Current Voltage Temperature not supported Communication error Reserved Reserved N Manufacturer specific not supported Table 29 Error register structure Object 1001H Manual IMPACT20 CANopen 5 5 6 3 Object 1002H Manufacturer Status Register Diagnostic data are recorded in a 32 bit field The lower 8 Bit of the Manufacturer Status Register is contained in the EMCY message and is transmitted at the same time when the diagnostic event oc curs The following table indicates the assignment of the bytes Bit Meaning Comments Module power supply undervoltage Reserved Actuator undervoltage Reserved Sensor short circuit Actuator short circuit O O N to 31 Reserved Table 30 Description of object 1002H Manufacturer Status Register only if outputs are present IMPACT20 CANopen 5 5 6 4 Object 1003H Predefined Error Field PEF Additional Information is entered in this 32 bit error
37. ICS PL 38 5 4 1 CAN Bus System Data I erties seen 38 2 4 2 Loveline d ieee Gai ol date uma naa 39 5 4 3 Information for First Time Users 40 5 4 4 Connection of CAN Bus nennen nennen nennen nnne nnns 41 5 5 Starting Up the PieldbiuiSsu Ul l l l t ohne RERO ERR adha 48 5 5 1 Terminating DeviceNet Bus Segments sss eene nemen 48 H IMPACT20 5 5 2 Mapping l O 48 5 5 3 EDSIFIGS E 49 554 gt 50 5 5 5 Object Directory Communication Profile CanOpen Modules 52 5 5 6 Object Description of Communication Profile 55 5 5 7 Manufacturer Specific Device Profile of CanOpen 75 5 5 8 Function of Bus Status LEDS u I 78 5 5 9 Diagnostics via the Fieldbus 80 6 Technical eee tee ee eR e hA EE 85 6 1 CANopen IP20 Modules 85 AMEN Cen MEME 88
38. NMT reset reset node or reset communication is not suffi cient to change the baud rate o A search for the baud rate is only carried out when the module power supply UI is applied The baud rate setting is accepted only when the power supply is applied A power reset is required to change the baud rate An NMT reset reset node or reset communication is not sufficient to change the baud rate 51 IMPACT20 CANopen 5 5 5 Object Directory Communication Profile CanOpen Modules 5 5 5 1 Art No 56904 IMPACT20 C DI16 Index Name Access Standard value 1000H Device Type read only 00010191H 1001H Error Register read only 0 1002H Manufacturer Status Register read only 0 1003H Predefined Error Field read only d 1005H COB ID SYNC Message read only 80H 1006H Communication Cycle Period read only 0 1008H Manufacturer Device Name read only IMPACT20 C DI16 100AH Manufacturer Software Version read only SW1 00 100CH Guard time read only 0 100DH Life time factor read only 0 1010H Store parameters read only 1011H Restore default parameters read only io 1014H COB ID emergency read only 80H Node ID 1016H Consumer heartbeat time read only i 1017H Producer heartbeat time read only li 1018H Identity Object read only 1200H Server SDO parameter read only 1400H Receive PDO Communication Parameter read only 1405H Receive PDO Communication Parame
39. Number of entries of 1st transmission PDO 5 1 COB ID of PDO 32 bit 180H Node ID 2 Transmission mode FFh 3 Inhibit time or an 0x00 5 Event timer 0x00 1805H 0 Number of entries of 2nd Transmit PDO 5 1 COB ID of PDO 32 bit 80000280H Node ID 2 Transmission mode FFh 3 Inhibit time or an 0x00 5 Event timer 0x00 Table 59 Transmit PDO Communication Parameters 5 5 6 19 3 Art No 56906 IMPACT20 C DO16 Index Subindex Description Default value 1805H 0 Number of entries of 1st transmission PDO 5 1 COB ID of PDO 32 bit 80000280H Node ID 2 Transmission mode FFh 3 Inhibit time or an 0x00 5 Event timer 0x00 Table 60 Transmit PDO Communication Parameters IMPACT20 CANopen 5 5 6 20 Objects 1A00H and 1A05H Transmit PDO Mapping Parameters 5 5 6 20 1 Art No 56904 IMPACT20 C DI16 Index Subindex Description Default value 1A00H 0 Number of assigned objects 1st Transmit PDO 2 1 1st assigned object digital inputs 6000 01 08H Channels 00 to 03 and X1 10 to 13 2 2nd assigned object digital inputs 6000 02 08H Channels X2 20 to 23 and X3 30 to 33 1A05H 0 Number of assigned objects 2nd Transmit PDO 2 1 1st assigned object group diagnostic 3000 01 08H 2 Reserved 0x00 3000 02 08H 5 5 6 20 2 Art No Table 61 Transmit PDO mapping parameters 56905 IMPACT20 C DI8 DO8 Index
40. PDO therefore there are no communication parameters 5 5 6 17 2 Receive PDO for Art No 56905 IMPACT20 C DI8 DO8 gt supports 1 receive PDO Index Subindex Description Default 1400h 0 Number of entries of the 1st Receive PDO 2 1 COB ID of PDO 32 bit 200H Node ID 2 Transmission mode 8 bit FFH Table 51 Receive PDO 5 5 6 17 3 Receive PDO for Art No 56906 IMPACT20 C DO16 gt supports 2 receive PDOs the second PDO is deactivated Index Subindex Description Default 1400h 0 Number of entries of the 1st Receive PDO 2 1 COB ID of PDO 32 bit 200H Node ID 2 Transmission mode 8 bit FFH Table 52 Receive PDO Manual IMPACT20 CANopen 5 5 6 18 Objects 1600H and 1605H Receive PDO Mapping Parameters This Object assigns the received data to the inputs in the object folder and enters the parameters in a subindex The value is entered in a 32 bit field This field is divided into one 16 bit and two 8 bit areas The index of the assigned object is found in the 16 bit field and the first 8 bit field is in the subindex The second 8 bit field states the length of the assigned entry The table below depicts the relationship as an ex ample MSB LSB Index 16 bit Subindex 8 bit Object length 8 bit 6200h 01h 08h Table 53 Receive mapping parameters 5 5 6 18 1 Art No 56904 IMPACT20 C 0116 does not rec
41. US DO F Galvanic 1 Isolation Fig 6 Impact20 Modules Galvanic Isolation Manual IMPACT20 CANopen 2 3 Recommended Power Supply Units Primary switched mode power supply units from Murrelektronik are specially designed to power auto mation systems For this reason we recommend this system type to power modules Phases Output power Input voltage Input voltage 95 to 132 VAC 185 to 265 1 240W 10A 85086 85085 1 480 20 85088 85087 Table 2 Recommended Power Supply Units MCSPower Single Phase Phases Output power Input voltage 3 x 340 to 460 VAC 3 240W 10A 85095 3 480 W 20A 85097 3 960 W 40A 85099 Table 3 Recommended Power Supply Units MCSPower Three Phase 9 Murrelektronik offers a comprehensive selection of primary switched mode power supply units Refer to our catalog or visit our inline shop at www murrelektronik com Manual IMPACT20 CANopen 2 4 Wire Cross Sections AWG mm2 25 0 14 24 0 25 22 0 34 21 0 5 20 0 75 19 0 75 18 1 16 1 5 14 2 5 Table 4 Converting wire cross sections Q Refer here to Fig 14 Wiring terminals 11 IMPACT20 CANopen 2 5 Electromagnetic Compatibility EMC The units comply with the requirements of EC Directive 2004 108 EC Electromag netic Compatibility Th
42. a collection of profiles for CAN based systems with the following characteristics open e real time data transfer without protocol overhead e modular e scalable e devices are interoperable and exchangeable e supported by many international manufacturers e standardized network configuration e access to all device parameters synchronizable e cyclical and or event oriented process data traffic short system reaction time possible 5 3 General Information on CANopen 5 3 1 Object Directory Structure CANopen assigns a basic functionality to each device It is possible to assign further functions that however must conform to the specifications in the device and communication profile The device cha racteristics are specified in the object directory The object directory is created in the device s range of application The object directory structure is depicted in the table below Communication profile data is located in the range between 1000H and 1FFFH and the device profile data between 6000H and 9FFFH The two sections are highlighted in gray in the table IMPACT20 CANopen Index Table 12 Object directory structure Use the index to access entries in the object directory The index addresses the entire data format A given element can be selected from the data structure by means of the subindex An example of the addressing structure is illustrated in the table below
43. agnostics are displayed visually and signaled over the fieldbus Sensor short circuit as group signal Actuator short circuit by channel and group signal Module power supply undervoltage UI module power supply is less than 18 V Actuator power supply undervoltage UA actuator power supply is less than 18 V 4 1 LED Indicators All IMPACT20 modules have separate well arranged LEDs to indicate device and I O status These displays are located on the front of the device Manual IMPACT20 CANopen 4 1 1 LED for Module and Actuator Power Supply An LED is provided for each of the module power supply terminals UI and actuator power supply terminals UA They light up red for undervoltage 18 V and green in normal state 18 V The LEDs under UI indicate the status of the power supply voltage for the internal power supply Please note that the sensor power supply voltage US terminal is connected in ternally to the module power supply voltage UI terminal This ensures that the two terminals have the same voltage e The LEDs under UA indicate the status of the actuator power supply voltage LED display Response State Ul and UA im B green Power supply OK 2 18 V ISI red Undervoltage lt 18 V im off Voltage lt approx 12 V Table 8 LED module power supply IMPACT20 CANopen 4 1 2 LED for Sensor Power Supply e The LEDs
44. annot be transferred or stored to the application because of the present device state 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 accom plished by means of SDO services which permit entries to be read or written IMPACT20 CANopen Implemented Minimal Device Configuration The following device configuration is available after the device internal initialization 1 Minimal device configuration without dynamic ID distribution ID assignment is illustrated in the tables below 2 Static mapping of application objects to PDOs 3 Synchronous asynchronous cyclic and acyclic PDO trans mission with master monitoring during synchronous PDO transmission 4 Emergency telegrams when an error occurs 5 CANopen Bootup procedure per NMT services and Node guarding and heartbeat Object Function code Resulting COB ID CMS Priority Binary Hex Dec NMT 0000 0 0 0 SYNC 0001 80H 128 0 Table 14 Broadcast object of predefined master slave connections Object Function code Resulting COB ID CMS Priority Binary Hex Dec EMERGENCY
45. d only 1018H Identity Object read only 1200H Server SDO parameter read only 1400H Receive PDO Communication Parameter read only 1405H Receive PDO Communication Parameter read only 1600H Receive PDO Mapping Parameter read only 1605 Receive PDO Mapping Parameter read only T 1800H Transmit PDO Communication Parameter read only 1805 Communication Parameter read only 1A00H Transmit PDO Mapping Parameter read only 1A05H Transmit PDO Mapping Parameter read only 7 If no entry is configured under default the object index has other subindices whose contents are described in detail in the following sections Table 26 Communication Profile of CANopen Modules Art No 56905 IMPACT20 DI8 008 Manual IMPACT20 CANopen 5 5 5 3 Art No 56906 IMPACT20 C DO16 Index Name Access Standard value 1000H Device Type read only 00020191H 1001H Error Register read only 0 1002H Manufacturer Status Register read only 0 1003H Predefined Error Field read only 1005 COB ID SYNC Message read only 80H 1006H Communication Cycle Period read only 0 1008H Manufacturer Device Name read only IMPACT20 0016 100AH Manufacturer Software Version read only SW1 00 100CH Guard time read only 0 100DH Life time factor read only 0 1010H Store parameters read only 1011H Restore default parameters read only i 1014
46. dance connection is required between the grounding point and reference ground to discharge interference voltages that act between the device and reference ground IMPACT20 CANopen The inductance of standard FE lines represents a high impedance for high frequency interference voltages Make sure that the DIN mounting rail on which the device is mounted has a low A impedance connection to ground Wiring Arrangement Avoid EMC problems by keeping to the following basic rules of wiring arrangement e Route the data wiring at the greatest possible distance from the power lines Keep a minimum distance of 10 cm e Only cross data and power lines at right angles e Route data wires and power cables in separate shielded ducts e Take into consideration the potential interference of other devices or wires when arranging wires e Keep the greatest possible distance from frequency converters motor cables and other de vices and from cables that emit high frequency interference Power Failures and Dips Transient power failures and dips lt 10 ms do not normally impair operation since the power supply to the electronics is buffered by integrated capacitors However this does not apply to the power supply of sensors and actuators connected to the module Their high power demand can not be met by capa citors integrated in the device For this reason short term interruptions in actuator voltage may cause undesir
47. e Parameters The ground potential difference at CAN GND terminals of all CAN Bus devices should not exceed 2 V D Plug connectors have a typical DC resistance of 5 m Q to 20 mQ In approximation the following is valid for bus termination Terminate the CAN bus between CAN_H and CAN_L with 121 Manual IMPACT20 CANopen The max permitted line length as a factor of baud rate is listed in the table below Baud Rate Line Length Nominal Bit Time Kbit s m 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 21 Max permissible cable length as a function of baud rate Installation is greatly simplified through the use of preterminated lines Wiring errors are avoided and setup is more rapidly successful 9 gt The product portfolio of Murrelektronik GmbH covers fieldbus cables power cords and sensor cables as well as accessories such as ter minating resistors and T fittings Freely terminatable connectors and cables are also available Refer to our catalog or visit our inline shop at www murrelektronik com Also consider the specific signal delay time of the CAN bus line a In the case of electrical two wire cables the signal run time is 5 ns m IMPACT20 CANopen 5 4 4 5 Maximum Bus Length and Position of Bus Terminating Resistors If the distance from a branch in the
48. e applications that it makes sense to synchronize Transmission reading the incoming information with setting the outputs CANopen supplies the SYNC object for this purpose This is a high priority CAN telegram with no user data When it is received it is used by the syn chronized nodes as a trigger to read inputs or set outputs Manual IMPACT20 CANopen 5 3 4 Access to the Object Directory via SDO Access Errors in SDO Access SDO Abort Codes Ifan access error occurs the IMPACT20 C module transmits a reply with the object to which an access attempt was made Byte 0 command specification contains the value 80H Bytes 4 to 7 in the SDO comprise the Abort Code as described in the table below This is an excerpt from CiA DS301 Abort Code Description 0503 0000h Toggle bit not alternated 0601 0000h 0601 0002h Unsupported access to an object Attempt to write a read only object 0602 0000h Object does not exist in the object dictionary 0604 0041h Object cannot be mapped to the PDO 0604 0043h General parameter incompatibility reason 0604 0047h 0607 0010h General internal incompatibility in the device Data type does not match length of service parameter does not match 0609 0011h Subindex does not exist 0609 0030h Value range of parameter exceeded only for write access 0609 0031h Value of parameter written too high 0800 0022h Data c
49. e steps 1 Determine the required cable core cross section depending on the number of CAN Bus devices and cable length 2 Then read off the specific conductor resistance and or core cross section in the AWG 3 Read off the permitted baud rate o For these 3 steps use the tables in Section 5 4 4 4 In exceptionally difficult situations it may not be possible to establish cable parameters and permissi ble data transfer rates with the procedure described In such cases please refer to the ISO 11898 CiA DS102 and CiA DR303 1 standards The following sections are excerpts from these standards 5 4 4 4 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 spur lines at a baud rate of 1000 Kbit s is 0 3 m The bus line used must be twisted and shielded Cable shielding is required because of the transmission technology For spur lines a cross section of 0 25 mm to 0 34 mm is usually sufficient Further CiA specified cables and connec tors are listed in DR303 1 Drop lines may only have a maximum length of 0 3 m at a baud rate of 1000 Kbit s IMPACT
50. ed switching operations If the input signal of less than 1 ms changes integrated input filters prevent any change to the input state reported to the controller Longer interruptions to sensor power supply may lead to an input sig nal change Separate Powers Supplies Sensors and actuators can be powered by a separate power supply unit A separate power supply improves the electromagnetic compatibility of the overall system IMPACT20 CANopen Suppression of Inductive Loads The outputs of the devices described in this manual have an integrated protection circuit against high energy interference voltages e g that occur when inductive loads are switched Inductive load U e g solenoid valve Varistor or bipolar supressor diode Fig 7 Suppression of Inductive Loads A supressor diode guarantees a rapid reduction in the energy stored in the magnetic field of an induc tive load However with inductive loads in particular loads within the maximum current carrying ca pacity range of a channel and at switching frequencies gt 1 Hz we advise the use of commercially available protection circuits that are capable of reducing the energy stored in the connected induc tances The high voltages when inductive loads are switched off generate strong fields in the wiring and this may lead to interference in adjacent circuits or devices O 2 Murrelektronik offers a comprehensive selection of suppressor prod
51. eive PDO 5 5 6 18 2 Art No 56905 IMPACT20 C 018 DO8 Index Subindex Description Default value 1600H 0 Number of assigned objects 1st receive PDO 1 1 1st assigned object digital outputs Channels X2 20 to 23 and X3 30 to 33 6200 01 08h Table 54 Receive mapping parameters IMPACT20 CANopen 5 5 6 18 3 Art No 56906 IMPACT20 C DO16 Index Subindex Description Default value 1600H 0 Number of assigned objects 1st receive PDO 1 1 1st assigned object digital outputs Channels 6200 01 08h 00 to 03 and X1 10 to 13 2 2nd assigned object digital outputs Channels 6200 02 08h X2 20 to 23 and X3 30 to 33 Table 55 Receive PDO Mapping Parameters 5 5 6 19 Objects 1800H and 1805H Transmit PDO Communication Para meters Communication parameters for Transmit PDOs are stored in these objects The parameters are e COB ID of the PDO e PDO transmission mode asynchronous cyclic synchronous and acyclic synchronous Every parameter is entered in a subindex o In the presetting the COB ID of the PDO is deactivated with Index 1805H i e the PDO is not sent Description of Subindex 1 32 bit Bit Number Value Meaning 31 MSB 0 PDO valid 1 PDO not valid 30 0 RTR allowed 1 RTR not allowed 29 0 11 Bit ID CAN 2 0A 28 to 11 0 0 since Bit 29 0 10 to 0 Bit 10 0 of the identifi
52. er Table 56 Description of Subindex 1 Manual IMPACT20 CANopen Description of Subindex 2 8 bit Trans PDO transmission mode Comments mission Code Cyclical Acyclic Synchro Asynchro RTR nous nous only 0 Update data after the sage following the receipt of PDO 110 240 Update data x message following the receipt of PDO 241 to 251 reserved 252 not supported 253 not supported 254 Output taken over receipt of PDO such as 255 255 Update data taken over receipt of PDO indicates the number of SYNC objects that are necessary to transfer the PDOs Table 57 Description of Subindex 2 5 5 6 19 1 Art No 56904 IMPACT20 C DI16 Index Subindex Description Default value 1800H 0 Number of entries of 1st transmission PDO 5 1 COB ID of PDO 32 bit 180H Node ID 2 Transmission mode FFh 3 Inhibit time or an 0x00 5 Event timer 0x00 1805H 0 Number of entries of 2nd Transmit PDO 5 1 COB ID of PDO 32 bit 80000280H Node ID 2 Transmission mode FFh 3 Inhibit time or an 0x00 5 Event timer 0x00 Table 58 Transmit PDO Communication Parameters 71 Manual IMPACT20 CANopen 5 5 6 19 2 Art No Art No 56905 IMPACT20 C DI8 DO8 Index Subindex Description Default value 1800H 0
53. er Description 56115 Coding Elements for Terminals Table 80 Accessories Coding Elements for Terminals 7 5 Fieldbus Cable Article Number Description 7000 00000 8039999 Bus cable for CANopen 100 m multicolored Table 81 BUS cable Manual IMPACT20 CANopen 7 6 MICO e Fire protection EN 60950 1 e Operating voltage protection EN 61131 2 Operating state memory device EN 61131 1 Article Number Description Nominal operating branch circuit cur rent full load 9000 41034 0100400 MICO 4 4 4 chan each4 A nels 9000 41034 0100600 MICO 4 6 4 chan each 6 A nels 819 8 9000 41034 0401000 MICO 4 10 4 each 10 nels 9000 41042 0100400 MICO 2 4 2 chan each 4 nels 9000 41042 0100600 MICO 2 6 2 chan each 6 A nels 9000 41042 0401000 MICO 2 10 2 chan each 10 A nels Table 82 Overview of MICO variants Manual IMPACT20 CANopen Glossary Actuator short circuit BN P Bus Run LED Bus segment Byte CAL CAN CiA CiA Draft Standard 102 CiA Draft Standard 301 CiA Draft Standard 401 CMS CO COB COB ID CSMA CA DBT DI DIN DIN TH35 DO DP EDS Short circuit or overload at an output results in output switchoff Bus Node Profibus bus node Profibus LED to signal bus status Due to the electrical specification of the RS 485 i
54. ese are units conformant with Class A devices They may cause radio interference A in residential areas In this case the operator may be required to implement suitable countermeasures The devices described in this manual meet the relevant standards for electromagnetic compatibility in themselves However this does not assume that their electromagnetic compatibility is also guaranteed when built into a system For this reason the user is urgently advised to observe the instructions below concerning installation in accordance with EMC requirements Protection against Electrostatic Discharge The products described in this manual contain complete semiconductor components that may be de stroyed or damaged by electrostatic discharge ESD Damage does not necessarily lead to an immediately detectable failure or malfunction However it may become evident with a delayed reaction or sporadically When handling these devices make sure that the safety precautions for ESD sensitive devices that are well known in general practice are maintained In particular note the following items Do not disconnect connect plugs connectors live The person handling the devices must discharge themselves electrostatically before they come in direct contact with the devices e g by touching a grounded part of the system or by wearing an ESD antistatic wrist strap connected to ground Grounding A short as short as possible low impe
55. ets device description file for CANopen De viceNet and Ethernet IP devices Equivalent to the GSD file for XI Manual IMPACT20 CANopen EC Directive 2004 108 EC EMC EN ESD EEC FE Freeze Command DDBF ID number IEC IEC 61158 IP20 ISO LED LMT LSB FO MS MSB NMT NS Profibus devices EMC Directive Electromagnetic Compatibility European Standard Electrostatic Discharge European Economic Community Function ground earth The slave input data are frozen The Device Data Base File describes the technical features of a Profibus product This file is required to configure a Profibus sys tem and is supplied by the device manufacturer Current Input Output A 16 bit number that identifies a Profibus product uniquely It represents a reference for the DDB file Several devices may also have the same ID number provided they are describable in a common DDB file This number is issues by the Profibus Nutze rorganisation e V German Profibus User Organization International Electrotechnical Commission Profibus DP and FMS standard valid worldwide Successor of international standard EN 50 170 Volume 2 Ingress Protection Protection type as per DIN EN 60529 1st digit protection against contact and foreign bodies 2nd digit protection against water 2 Protection against the ingress of solid foreign bodies above a diameter of 12 5 mm protection against access by
56. free collision resolving method guarantees that bus capacity is only required when user information is transferred This also applied to bus overload High system and configuration flexibility is achieved thanks to the above described content related method of addressing Further stations receiver can be easily added to the existing CAN network without changing the software or hardware on the existing stations As the data transfer protocol does not stipulate any physical target addresses for individual components the concept of modular elec tronics is supported as well as the possibility of multi reception broadcast multicast and the synchro nization of distributed processes 5 2 Description of CANopen Protocol The CANopen profile family is based on a so called Communication profile which specifies the un derlying communication mechanisms and their description DS301 The most important device types being used in industrial automation technology such as digital and analog I O modules DS401 drives 05402 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 IMPACT20 CANopen CANopen is
57. h 8 inputs and 8 outputs e Module with 16 outputs Functions e Easy to recognize directly assigned status and diagnostic LEDs e Clear unmistakable slot designation e Signal identification on the module e Terminal specific disconnection in the event of an error e Group diagnostic and single channel short circuit diagnostic over the bus Manual IMPACT20 CANopen 1 2 System Components 1 2 1 Product Designation Code The designation format of IMPACT20 system components explains their function Examples Name Description IMPACT20 DI8 DO8 Channels D Digital Input O Output Fieldbus System P PROFIBUS C CANopen DN DeviceNet EC EtherCat E EtherNet IP PN ProfiNet Product Family Fig 1 Example of product designation Manual IMPACT20 CANopen 1 2 2 Bus Slaves The function of the IMPACT20 System is to group I O level signals decentrally and supply this informa tion over a fieldbus network e g CANopen Article Number Description 56 904 IMPACT20 DI16 56 905 IMPACT20 C DI8 DO8 56 906 IMPACT20 C DO16 Table 1 CANopen fieldbus module 1 3 The IMPACT20 System in the Bus Network The IMPACT20 System is an I O system for use in switch cabinets IP20 for the decentralized capture and control of digital process units It comprises fieldbus specific slaves with I O functions IMPACT
58. hnical Data 6 1 CANopen IP20 Modules Impact20 DI16 Impact20 018 DO8 Impact20 0016 Art No 56904 Art No 56905 Art No 56906 General Terminals X0 and X1 8 inputs 16 inputs 16 outputs Terminals X2 and X3 8 outputs EMC EN 61131 2 Product standard EN 61000 4 2 ESD Contact 4 kV air 8 kV EN 61000 4 3 RF Field amp GSM 10 V m EN 61000 4 4 Burst 2 kV DC inputs 1 kV signal lines Asym symm 500 V EN 61000 4 5 Surge Magnetic field 50 Hz EN 55011 Emission Asym 1 kV EN 61000 4 6 10V HF asymmetric EN 61000 4 8 30 A m QP 40 dByV m 30 230 MHz 47 dByV m 230 1000 MHz Class Ambient Conditions EN 60529 Operating temperature 0 55 Storage temperature 20 C 70 Enclosure type according to IP 20 Mechanical Ambient Conditions Oscillation according to EN 60068 Part 2 6 5 60 Hz constant amplitude 0 35 mm 60 150 Hz constant acceleration 5 g Shock according to EN 60068 Part 2 27 Amplitude 15 g 11 ms duration Miscellaneous Dimensions LxWxH 117 x 56 x 47 mm Mounting dimension L xW 117 x 56 mm Weight Approx 170 g 85 Manual IMPACT20 CANopen Impact20 C 0116 20 018 008 Impact20 0016 Art No 56904 Art No 56905 Art No 56906 Bus Data Transfer protocol CAN Layer 7 CANopen T
59. hnische Daten Technical data Spannung voltage max 30 V Strom current max 10A Umgebungsbedingungen Ambient conditions Arbeitstemperatur Operating temperature 0 to 55 Lagertemperatur Storage temperature 40 C to 85 C Schutzart nach EN 60529 IP20 Enclosure type according to IEC 60529 Mechanische Beanspruchung Mechanical ambient conditions EN 60068 Part 2 6 Schwingpr fung 5g Oscillation according to DIN IEC 60068 Part 2 6 EN 60068 Part 2 27 Schockpr fung 15g 11ms Shock according to DIN IEC 60068 Part 2 27 Manual IMPACT20 CANopen Technische Daten Technical data Anschlussmoglichkeiten Connection possibilities Federkraftklemmen Spring loaded terminals Bet tigungswerkzeug Operation tool Wago No 210 619 mit teilisoliertem Schaft with partly insulated shaft Klinge blade 2 5 x 0 4 mm Anschlussquerschnitt Terminal cross section 0 14 mm to 2 5 mm AWG 25 AWG 12 Abisolierlange Stripping length 8 mm to 9 mm 0 33 in Sonstiges Miscellaneous Gewicht Weight 709 L x B x H Dimensions L x W x H Table 78 Technical Data of IMPACT20 Voltage Terminal Blocks 7 3 Label Sheets Article Number Description 56113 Label Sheets Table 79 Accessories Label Sheets 7 4 Coding Elements for Terminals Article Numb
60. ing Principle Object 100CH contains the Guard Time in milliseconds Object 100DH contains the Life Time Factor Life Time is calculated as follows Life Time Guard Time x Life Time Factor If one of the two parameters is O default there is no master monitoring no life guarding In order to activate time monitoring set at least value 1 in Object 100DH and enter a time in ms in Object 100CH To guarantee reliable operation enter a life time factor of at least 2 otherwise the node will switch to pre operational state without the existence of an error in the event of a delay e g caused by high priority messages or internal processing of the Node Guarding Master In the guarding process the Master Remote Frame remote transmit request message request tele grams transmits to the guarding identifier of the monitored slaves The slaves respond with the guard ing message The message contains the slave status code and a toggle bit which must change after every message If the status or toggle bit fails to match the status expected by the NMT master or if there is no response the master assumes there is a slave error If the master requests guarding messages in a strict cycle the slave may detect the failure of the mas ter In this case the slave receives no message request from the master within the set life time guarding error and assumes that the master has failed watchdog function Then the slave sets its outputs to er
61. l Equipment Manufactur ers Sign or Zentralverband Elektrotechnik und Elektronikindustrie e V Ger man Electrical and Electronic Manufacturers Association XIII 2 IMPACT20 CANopen Legal Provisions Exclusion of Liability Murrelektronik GmbH has checked the contents of this technical documentation for conformity with the hardware and software described therein Deviations can not be excluded in individual cases For this reason Murrelektronik excludes the warranty for the correctness of its contents and any liability for errors in particular full conformity The limitation of liability shall not apply if the cause for damage is attributable to willful intent and or gross negligence or for all claims arising from the Product Liability Law Should a major contractual obligation be violated by criminal negligence the liability of Murrelek tronik GmbH shall be limited to damages that typically arise Subject to technical changes and alterations 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 Murrelektro
62. l outputs are reset to 0 IMPACT20 CANopen 5 CANopen Bus System 5 1 Description of the CAN Bus Protocol In the CAN system Controller Area Network equal rights users control devices sensors and actua tors are interconnected by means of a serial bus The bus cable itself is a symmetrical or asymme trical two wire cable that is either shielded or unshielded depending on the requirements The elec trical parameters of physical transmission are defined in ISO 11898 In CAN data transfer it is not the stations that are addressed but messages These addresses also referred to as identifiers are marked by a network wide unique identifier In addition to identifying con tent the identifier also establishes message priority This is essential for bus assignment when several stations compete for access rights To be able to process all transmission requests in a CAN network while complying with latency condi tions at possibly low baud rates the CAN protocol must implement a bus assignment method arbitra tion This method guarantees that simultaneous bus access by several stations always leads to de fined bus assignment Through bit wise bus assignment CSMA CA process based on the identifiers of transferred messages collision between several transmission ready stations is clearly resolved at the latest after 13 standard format or 33 bit times expanded format of any random time bus access This destruction
63. mber is increased The secondary revision number is incremented in the event of a software change that changes the device functionality but has no impact on CANopen functionality 5 5 6 15 1 Identity Object for Art No 56904 IMPACT20 C DI16 Index Subindex Description Default value 1018H 0 Number of entries 3 1 Vendor ID 32 bit 4F 2 Product Code 32 bit DE48H 3 Revision Number 32 bit 00010001H Table 45 Identity Object 5 5 6 15 2 Identity Object for Art No 56905 IMPACT20 018 DO8 Index Subindex Description Default value 1018H 0 Number of entries 3 1 Vendor ID 32 bit 4F 2 Product Code 32 bit DE49H 3 Revision Number 32 bit 00010001H Table 46 Identity Object IMPACT20 CANopen 5 5 6 15 3 Identity Object for Art No 56906 IMPACT20 C DO16 Index Subindex Description Default value 1018H 0 Number of entries 3 1 Vendor ID 32 bit 4F 2 Product Code 32 bit DE4AH 3 Revision Number 32 bit 00010001H Table 47 Identity Object 5 5 6 16 Object 1200H Server SDO Parameter This object contains the COB ID for the communication between client and server in Subindex 1 and the COB ID in the opposite direction in Subindex 2 Index Subindex Description Default value 1200h 0 Number of entries 2 1 Client to Server 600H Node ID 2 Server to Client 580H Node ID Table
64. ment of fieldbus connection Bus IN Pin 1 n c Pin 2 CAN_L Pin 3 CAN_GND Pin 4 n c Pin 5 CAN_SHLD Pin 6 GND Pin 7 CAN_H Pin 8 n c Pin 9 n c Thread Fig 17 Bus terminal Table 22 pin assignment 20 CANopen 5 5 Starting Up the Fieldbus 5 5 1 Terminating DeviceNet Bus Segments Each segment must be terminated with a terminating resistor of 120 Q at the start and end 5 5 2 Mapping I O Data After the initialization phase of all CAN Bus devices they have reported to the CAN Bus with one Boot Up Message each Based on the configuration the master creates a complete periphery map of the slaves in the PLC The user can assign the read in I O bytes to logical addresses in the controller This shows the schematic diagram of an CANopen network Impact20 DI16 Input Process Image Input Data sng NVO Output Data Impact20 DO16 PLC Program Diagnostic Data sng Impact20 018008 Parameter Data Output Process Image Fig 18 Data transfer PLC with interface module CANopen Master and CANopen slaves Manual IMPACT20 CANopen 5 5 3 EDS Files The EDS file is created explicitly for the device type I O Consequently each module of the IM PACT20 series has a separate EDS file with the extension eds plus an icon in the form of a bitmap with the extension
65. nik GmbH or in conjunction with the production of documentation for third party products that contain products made by Murrelek tronik 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 inde finite 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 application
66. nterface the number of users on the RS485 network is restricted to 32 users If more than 32 Profibus users are connected the network must be divided into segments by means of repeaters Equivalent to 8 bits CAN Application Layer Application Layer ISO OSI Layer 7 spe cified by the CiA Controller Area Network CAN in Automation e V Organization of CAN bus device manu facturers and users Description of the physical CAN communication Layer 2 for in dustrial applications Description of application and communication profile for industrial systems Description of device profile for generic input and output modules CAN based Message Specification A service element available to the application layer for the manipulation of objects CANopen Communication Object Messages are transmitted in the network in COBs and viewed as communication objects COB Identifier Each communication object is unambiguously defined by the COB ID The COB ID marks the communication object s priority Carrier Sense Multiple Access Collision Avoidance COB ID Distributor service element of the application layer it assigns the COB IDs to the communication objects of the CMS services Digital Input Deutsches Institut f r Normung German Standards Institute Standardized DIN mounting 35 15 mm 35x7 5 mm Digital Output Decentral Periphery Profibus protocol for the high speed cyclic data exchange Electronic Data She
67. objects e SYNC e Time Stamp e Emergency Object Support of these objects is not mandatory Implementation is via CAL application services IMPACT20 CANopen 5 3 3 Process Data PDO Description of Transmission Modes CANopen offers various possibilities for transferring process data The following transmission types are supported by Impact20 modules Change of State PDO Change of state refers to the event controlled changing of an input Transmission Asyn value The data is transmitted on the bus immediately after having chronous been modified The bus bandwidth is optimally used by the event con trol method as the entire process image is not constantly being trans mitted 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 re member 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 ac cording to CANopen specifications as a default condition and must be activated with object 0x6421 Synchronous PDO It is not only in driv
68. ransfer rates 10 20 50 100 125 250 500 800 1000 Kbit s and automatic recognition Potential disconnected ness 500 V between bus and internal logic with optical coupler and DC DC converter Modes cyclic and acyclic synchronous PDOs asynchronous PDOs Communication objects 2 TxPDOs 1 SDO 1 Emergency Object Addressing 1 to 99 with two rotary switches adjustable CiA e V Vendor ID 79Dec 4FHex Connection Possibilities Sensor supply US Cage clamp 2 5 mm Actuator supply UA Bus connection Cage clamp 2 5 mm Sub D 9 pin Inputs 4 x 4 terminal block 2 x 4 terminal block con connectors nectors Outputs 2 x 4 terminal block con 4 x 4 terminal block nectors connectors Power Supply Operating voltage range 18 30 2 V DC Current consumption only lt 60 mA UI without I O Actuator current consump 8 A tion over UA cage clamp Reverse voltage protection Yes module electronics Ul Reverse voltage protection Yes Yes actuator supply UA Reverse voltage protection Yes sensor supply US Overvoltage protection Yes suppressor diode Core cross section 2 5 mm 86 IMPACT20 CANopen Impact20 DI16 Impact20 018 208 20 0016 Art 56904 Art 56905 Art 56906 Inputs Number of inputs
69. re IMPACT20 CANopen 5 4 4 Connection of CAN Bus Lines 5 4 4 1 General Line Routing Cable routing is a very important criterion for interference free operation of the equipment When routing cables be sure to observe the following 1 Do not route bus cables parallel to high voltage cables where applicable route in separate bun dles or cable troughs or channels 2 PE cable connection must be star shaped 3 Prevent potential differences by connecting equipotential bonding conductors 4 CAN Bus cable shields must be attached to the connectors 5 All analog signals should be carried by shielded cable 6 Signal and power supply cables to the terminal block should be sufficiently long to prevent pull stresses on the terminals 5 4 4 2 Avoiding Interference Voltage The following points must be observed in order to reduce or prevent voltage interference when setting up a system 1 Shielding devices and cables where stipulated VDE 0113 and VDE 0829 etc 2 Suitable location of the devices and cables 3 Take appropriate interference suppression measures for devices emitting interference e g fre quency transformers valves contactors etc 4 Make sure that device and shield grounding methods are massive and comprehensive 41 IMPACT20 CANopen 5 4 4 3 Connecting the CAN Bus The selection of CAN Bus cables and the respective data transfer rate takes place in thre
70. rms this process by sending an SDO transmission initiate download response If the save operation fails the device replies with an SDO Transfer Error Message 06 0000h Signature MSB LSB ISO 8859 ASCII E s Hex 65 76 61 73 Table 36 SDO If an incorrect signature was written the device does not save the parameters and replies with an SDO Transfer Error Message 0800 002xh In the event of a read access to a subindex the device return information via the supported memory function 32 bit as follows Bits Value Meaning 31 to 2 0 Reserved 1 0 The device does not save the parameters automatically 1 The device saves the parameters automatically 0 0 The device does not save the parameters on command 1 The device saves the parameters on command Table 37 Read access to a subindex 5 5 6 11 Object 1011H Restore Default Parameters uses this object to restore default parameters stored in the firmware Subindex Default Value Description 0 4 Largest subindex supported 1 Restore all parameters 2 Restore communication parameters 1000H 1FFFH 3 Restore application parameters 6000H 9FFFH 4 Restore application parameters in manufacturer specific object area 2000 5 Table 38 Restore default parameters 61 IMPACT20 CANopen To save the default parameters load
71. ror state and reverts to pre operational state These two monitoring mechanisms are of special importance in CANopen since the modules do not report in event controlled mode at regular intervals IMPACT20 CANopen master remote request also generates reply without entries the Time e or Life Time Factor objects Time monitoring is only activated if values greater than 0 are entered in the two objects Typical Guard Time values range from 250 ms to 2 seconds 5 5 6 10 Object 1010H Save Parameters Using this object module parameters can be saved in a nonvolatile memory flash and reloaded automatically from there after a voltage reset Subindex Default Value Description 0 4 Largest subindex supported 1 Save all parameters 2 Save communication parameters 1000H 1FFFH 3 Save application parameters 6000H 9FFFH 4 Save application parameters in manufacturer specific object area 2000H 5FFFH Table 35 Save Parameters To save the parameters save 6576 6173 must be written in the related subindex Please remember that no outputs are set for Save all parameters Subindex 1 or Save application parameters Subindex 3 Saving is not permitted in this state and the device replies with an SDO Transfer Error Message 0800 0022h IMPACT20 CANopen When the correct signature is received the device saves the parameters and then confi
72. rro Pereira 22 A ILEDIDIAQGMOSUCSS 24 4 1 LED Indicators err rte Re nera e a eee ER Rn 24 4 1 1 LED for Module and Actuator Power Supply a 25 4 1 2 LED for Sensor Power Supply nnne tnnt nnns 26 4 1 3 Signal Logic Display and LED U L em emm ens 26 4 2 Short Circuit or Overload of Sensor Power Supply US 27 4 3 Threshold Values of Module Power Supply n eene 27 4 4 Short Circuit or Overload of Actuators u U 28 4 5 Undervoltage of Actuator Power Supply UA eene emen 28 5 CANopen BUS SyStelm 29 5 1 Description of the CAN Bus Protocol a 29 5 2 Description of CANopen Protocol 29 5 3 General Information on CANopen nn 30 5 3 1 Object Directory Structure erm ee pu EG o 30 5 3 2 General Description of the Communication Profile sss 32 5 3 3 Process Data PDO Description of Transmission 33 5 3 4 Access to the Object Directory SDO Access emen 34 5 3 5 BOOtUp it ere reser E 36 9 4 BUS PINYS
73. s assumed through NMT service Reset communica tion or after Reset Application All parameters default according to device configuration of the supported communication objects 1000H 1FFFH are written to the object directory After this the device auto matically assumes the Init state All necessary communication objects SDO PDO SYNC Emergency are defined during the Init state The assigned CAL services are set up and the CAN controller is configured accordingly while in this state With this device initialization is complete and the device assumes Pre Operational state The device assumes Pre Operational state after a Reset or through NMT Service Enter Pre Operational In this state the device can be reconfigured according to its equipment Only the SDOs however are available to read and write device data The device waits for a network start after the configuration is complete NMT service Node stop causes the device to assume the Stopped state The device cannot be configured in this condition No services are available to read and write device data SDO Only the slave mon itoring Node Guarding function remains active Full device functionality can be used if the CANopen network is brought into Operational state by NMT service Node start Commu nication can take place via PDOs and via SDOs as well Configuration changes in Operational state may have unpredictable impacts on
74. s of the technical documentation and even minor changes to the starting product or deviations in the intended applications may render incorrect the specifications con tained in the technical documentation For this reason the customer is obliged to identify the technical documentation originating from Murrelektronik GmbH if and inasmuch as the documentation is changed by the customer The customer shall be obliged to release Murrelektronik from the damage claims of third parties if the latter are attributable to any deficits in the documentation This shall not apply to damages to the rights of third parties caused by deliberate or criminal intent The customer shall be entitled to use the company brands of Murrelektronik GmbH exclusively for his product advertising but only inasmuch as the products of Murrelektronik GmbH are integrated in the products marketed by the customer The customer shall refer to the brands of Murrelektronik GmbH in an adequate manner if the brands of Murrelektronik GmbH were used S neon stay connected Murrelektronik GmbH Falkenstrafe 3 D 71570 Oppenweiler PO 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
75. sent without receiving Remote Transmission Request S Status of the Heartbeat Producer 0 BOOTUP 4 STOPPED 5 Operational Heardbeat Producer Request Heardbeat Producer Time Request toggle bit 1792 Node ID Node state Fig 20 Definition of the Bootup Message 127 Pre Operational Heardbeat Consumer Heardbeat Consumer Time Heartbeat Event IMPACT20 CANopen When the Heartbeat Producer Time is configured on a device the Heartbeat protocol starts imme diately When a device starts with a Heartbeat Producer Time value that is unequal to zero the Heart beat protocol starts form the initialization status after Pre Operational In this case the bootup mes sage is the first heartbeat message The MSB value is always zero It is not permitted to use the heartbeat and node guarding simultaneously When the Heartbeat Pro ducer Time input is unequal to zero the Heartbeat protocol is used 5 5 6 15 Object 1018H Identity Object Object 1018H contains general information about the device The Vendor ID manufacturer identifica tion number issued by the is entered in Subindex 1 the Article Number of the IMPACT20 is con tained in Subindex 2 and the revision number that is combined from the main revision number and the secondary revision number is contained in Subindex 3 If the CANopen functionality is expanded the main revision nu
76. t No Input Channel Description 1 Channels 00 to 03 and 10 to 13 00 01 02 03 10 11 12 13 Status 1 if input 1 2 Channels 20 to 23 and 30 to 33 N 20 21 22 23 30 31 32 NF 33 Status 1 if input 1 Table 64 Read Input 8 bit IMPACT20 CANopen 5 5 7 2 Object 6200H Write Output 8 Bit The output values for outputs can only be written byte wise Addresses are generated using index and subindex whereby subindex 0 contains the number of entries The table below shows the assignment to outputs Subindex Bit Output Default value Description No Channel 0 00 0 1 01 0 2 02 0 1 3 03 0 i Output 1 if status 1 an 4 10 0 13 5 11 0 6 12 0 7 13 0 0 20 0 1 21 0 2 22 0 3 23 0 Channels 20 to Output 1 if status 1 23 and 30 to 4 30 0 33 5 31 0 6 32 0 7 33 0 Table 65 Write Output 8 Bit Manual IMPACT20 CANopen 5 5 7 3 Object 3000H Manufacturer Specific Diagnostic Bytes The function of this object is to request the diagnostic of each channel Subindex Description Default value 0 Number of entries 05H 1 Group diagnostics manufacturer status register lower 8 bit 00H gt modules 2 Reserved 0 00 00H 3 Actuator short circuit to
77. ter read only 1600H Receive PDO Mapping Parameter read only 1605 Receive PDO Mapping Parameter read only i 1800H Transmit PDO Communication Parameter read only 1805H Transmit PDO Communication Parameter read only i 1A00H Transmit PDO Mapping Parameter read only 1A05H Transmit PDO Mapping Parameter read only If no entry is configured under default the object index has other subindices whose contents are described in detail in the following sections Table 25 Communication Profile of CANopen Modules Art No 56904 IMPACT20 C DI16 Q Note The correct defaults are contained in the EDS Manual IMPACT20 CANopen 5 5 5 2 Art No 56905 IMPACT20 C DI8 DO8 Index Name Access Standard value 1000H Device Type read only 0x30191H 1001H Error Register read only 0 1002H Manufacturer Status Register read only 0 1003H Predefined Error Field read only 1005 COB ID SYNC Message read only 80H 1006H Communication Cycle Period read only 0 1008H Manufacturer Device Name read only IMPACT20 DI8 DO8 100AH Manufacturer Software Version read only SW1 00 100CH Guard time read only 0 100DH Life time factor read only 0 1010H Store parameters read only 1011H Restore default parameters read only i 1014H COB ID emergency read only 80H Node ID 1016H Consumer heartbeat time read only 1017H Producer heartbeat time rea
78. ucts Refer to our catalog or visit our inline shop at www murrelektronik com IMPACT20 CANopen Other Measures and Limits In specific system configurations the requirements for interference emission and immunity from inter ference can only be met with additional measures since the EMC within a system is dependent on the individual components made by other manufacturers Mains filters are a suitable measure to reduce cable bound interference Various manufacturers offers optical fiber converters This type of data transmission is basically immune to EMC interference How ever it does not apply to the converter electronics Therefore use of fiber optics does not eliminate all EMC problems Our accredited test center will answer any further queries you may have concerning EMC There you will receive advice on certain methods to conform with the EMC Di rective for the systems you have built Murrelektronik Pr fzentrum Test Center Grabenstrasse 27 D 71570 Phone 49 7191 47 334 Fax 49 7191 47 323 pruefzentrum murrelektronik de IMPACT20 CANopen 2 6 Connecting Sensors and Actuators 0 WARNING Devices from the IMPACT20 series are not safety devices conforming to the relevant standards Do not use the OFF state of the outputs to implement safety related requirements of the system machine 2 6 1 Sensor Power Supply Sensor can be powered by the IMPACT20 module
79. up red on the associated terminal e The bus transmits the diagnostic data to the Master After rectification of the overload or short circuit the sensor power supply is immediately available again 4 3 Threshold Values of Module Power Supply There are three thresholds for undervoltage detection 12 V lt UI lt 18V 7V UI 12V 6V UI 7V The device continues to function but e TheUI LED lights up red Therespective diagnostic was transferred to the Master The bus communication still functions but All outputs are reset to 0 The device performs a power reset IMPACT20 CANopen 4 4 Short Circuit or Overload of Actuators Reaction of IMPACT20 modules to short circuit or overload e The diagnostic LEDs light up red on the associated terminal e The respective diagnostic data are transferred over the bus to the Master In order to reactivate an output after a short circuit or overload has been rectified the o following procedure must be observed 1 Set output 1 to 0 2 Set output to 1 or 1 Switch off voltage at UA 2 Switch on voltage at UA 4 5 Undervoltage of Actuator Power Supply UA There are two thresholds of undervoltage detection 12V lt lt 18V The device continues to function but e The UA LED lights up red e Therespective diagnostic was transferred to the Master OV UA 12V The bus communication still functions but e The UA LED goes out e Al
80. ure is described in greater detail below Manual IMPACT20 CANopen 5 5 9 1 EMCY Telegram Structure The EMCY telegram consists of 8 bytes of data The channel diagnostics are displayed in the manu facturer specific section bytes 5 to 7 Byte 0 1 2 3 4 5 6 7 Con For Error Error Re Actuator short circuit Actuator short Group di tent Code Register served Channels 20 to 23 circuit channels 00 agnostic see the Object X2 to 03 Manufac table 1001h Actuator short circuit Actuator short turer status below Channels 30 to 33 circuit register X3 Channels 10 to 13 Object Object 3000h X1 1002h low Object 3000h er 8 bit Table 68 EMCY telegram structure 5 5 9 2 Supported Error Codes EMCY Bytes 0 1 Error General Fieldbus Diagnostics Cause Code 0x0000 ERROR_RESET_OR_NO_ERROR An error was corrected 0x1000 GENERIC_ERROR Generic error 0x6101 SOFTWARE RX QUEUE OVERRUN Internal overflow in Rx software buffer 0 6102 SOFTWARE TX QUEUE OVERRUN Internal overflow in Tx software buffer 0x8100 COMMUNICATION Synchronization CAN Controller in warning level error counter gt 128 0x8130 LIFE GUARD ERROR Node guard error Heartbeat error Error Device specific diagnostics _ Code 0x2100 CURRENT_DEVICE_INPUT_SIDE Sensor short circuit 0 2320 SHORT CIRCUIT AT OUTPUTS Actuator short circuit with GND 0x3120 INPUT VOLTAG
81. uted and any possible dangers aris ing from this due to their professional training knowledge experience and their knowledge of the pertinent standards or who have a level of knowledge equivalent to professional training due to their many years of activity in a comparable field Only Murrelektronik technical personnel are allowed to execute work on the hardware and software of our devices if they are devices not described in this manual Unqualified tampering with the hardware or software or failure to observe the warn A ings cited in this manual may result in severe personal injury or damage to property H IMPACT20 CANopen 1 System Description 1 1 Description of IMPACT20 Systems Impact20 is a compact Murrelektronik fieldbus I O station It combines 16 inputs or outputs in a very confined space Due to its small dimensions the Impact20 is ideal for use in switch cabinets terminal boxes and control panels An Impact20 device comprises a bus interface and a fixed number of I O slots The I O functions are module dependent and are not modifiable All connections are imple mented using spring loaded clamping terminals They are clearly arranged so that functional relation ships are logically recognizable Fieldbus Protocols Impact20 is supplied for the following fieldbus protocols e PROFIBUS e CANopen e DeviceNet e EtherCAT e Ethernet IP ProfiNet Module variants e Module with 16 inputs e Module wit
82. vices for their intended purposes is only guaranteed when the devices are fully mounted Current safety and accident prevention laws valid for a specific application must be observed for the configuration installation setup maintenance and testing of the devices The power supply must comply with SELV or PELV Power sources in accordance with EN 61558 2 6 transformer or EN 60950 1 switched mode power supply meet these requirements Only use cables that meet the requirements and regulations for safety electromagnetic compatibility and if necessary telecommunications terminal equipment specifications o Information on cables and accessories made by Murrelektronik GmbH for this prod uct is contained in Chapter Accessories IMPACT20 Qualified Only qualified trained electricians knowledgeable in the safety standards of automation systems may configure install set up maintain and test the devices The requirements concerning qualified per sonnel are dependent on the requirements profiles described in ZVEI and VDMA For this reason electricians must know the contents of the manual Weiterbildung in der Automatisierung Further Training in Automation Systems issued by ZVEI and VDMA and published by Maschinenbau Verlag Post Box 710864 60498 Frankfurt Germany before installing and maintaining the devices They are therefore electricians who are capable of assessing the work exec
83. we recommend proceeding as outlined in the table below Work Phase Question Note Planning How many I Os are required From this you can derive whether you require in total one or more CANOpen networks for implementa tion Planning How high is the system pow Important for the selection of a suitable system er requirement power supply unit Planning How large is the entire scope Important for selecting the CAN Bus cable and of the system baud rate Configuration How are the NODE 10 of the To avoid assignment errors you should make modules to be assigned plan Carefully label all addressed modules cordingly Mounting Where will the modules be Depends on the module enclosure type Either in installed a switch cabinet or terminal box Place modules with IP 67 protection close to sensors and actua tors to achieve greater efficiency Startup How will the system configu The modules can be configured with a suitable ration be executed software via the imported EDS file Startup Have all CAN Bus devices on When all CAN Bus devices have reported slave the bus reported after Power configuration can begin ON Startup How can a simple I O func Quick and straightforward with special easy to tion test be performed use setup tools such as the CANopen Master Simulator Alternatively the I O test can also be performed via PLC software Table 18 Planning and configuration procedu
84. x 200 ms A single flash approx 200 ms followed by a long off phase approx 1000 ms A sequence of two short flashes approx 200 ms the pause between two plashes is approx 200 ms This sequence ends with a long OFF pause ap prox 1000 ms A sequence of three short flashes approx 200 ms the interval between the three flashes is approx 200 ms This sequence ends with a long off phase approx 1000 ms IMPACT20 CANopen on flickering red 50 ms on flickering green off on blinking 200 200 green ms ms off single on flash 1008 ms red off single 200 200 1000 flash green off ui on ae 200 200 1000 ied ae ms ms ms ms o triple on 200 200 200 200 200 1000 Fig 22 Status of bus displays and flash rates 5 5 9 Diagnostics via the Fieldbus The following diagnostics are reported e Sensor short circuit as group signal e Actuator short circuit by channel and group signal e Module power supply undervoltage UI module power supply is less than 18 V e Actuator power supply undervoltage UA actuator power supply is less than 18 V With CANopen the diagnostics are sent in separate diagnostic telegrams An emergency telegram EMCY telegram is always transmitted when an error occurs When an error is rectified an EMCY telegram with NO ERROR content is transmitted The EMCY telegram struct

Manual IMPACT20 CANopen

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