CAN Peripherals User Manual
Contents
1. Host Computer KS EI SmartMove g k IE H IE N EA Less i LA CANT bus ep e SEE peter Hea RL Heal Ha aca I odds OOOO less eee ep g y ER EE veg e InputNode InputNode OutputNode OutputNode RelayNode KeypadNode 1 2 7 8 9 14 Figure 27 Example multi node network The nodes are daisy chained together with the controller at one end of the network and the KeypadNode at the other end of the network The controller is housed in a control cabinet located a short distance from the machine The CAN Peripherals are distributed over the machine locally to their respective actuators and sensors Each node is supplied with 24Vdc from a bus supplying the machine The CAN baud rate used is the default 125 Kbit s 1 Statically configure the two JnputNode 8 nodes with Node IDs 1 and 2 refer to Section 9 4 5 2 Statically configure the two OutputNode 8 nodes with Node IDs 7 and 8 refer to Section 9 4 5 3 Statically configure the RelayNode 8 node with Node ID 9 refer to Section 9 4 5 4 Statically configure the KeypadNode node with Node ID 14 refer to Section 9 4 5 5 Terminate the network Vu On SmartMove the terminator is selected by turning on switch 5 of the 5 pole DIP switch accessible on the front panel Mint MN1255 1 2000 59 CAN Peripherals Hardware Guide As the KeypadNode is at the end of2. D 2 B anaal EDD o OC if S Output LED Indicators D g H d o O O O O O O O J4 J5 LLILLILLLLUI OUOU Figure 7 RelayNode 8 18 MN1255 1 2000 Mint RelayNode 8 4 1 J 4 and J 5 Output Connectors The output relay connections are brought to the two 12 pin two part 3 5mm connectors found at the bottom of the RelayNode 8 module They are arranged as follows common 0 common 4 Normally Closed 0 Normally Closed 4 Normally Closed 2 Normally Closed 6 Normally Open 2 Normally Open 6 common 3 common 7 Normally Closed 3 Normally Closed 7 Normally Open 3 Normally Open 7 4 2 Output LED Indication The RelayNode 8 output module has a yellow LED for each output which is lit when the relay is energised Mint MN1255 1 2000 19 CAN Peripherals Hardware Guide 20 MN1255 1 2000 Mint OutputNode 8 OutputNode 8 Eight PNP Output Module This chapter provides details on OutputNode amp the 8 digital output node Technical Information Connection Information Mint MN1255 1 2000 21 CAN Peripherals Hardware Guide OutputNode 8 is an eight output expansion module The outputs are optically isolated and are protected against over current and over temperature Length 90mm 3 54 Width 86mm 3 38
3. CANT bus Ki oH OutputNode OutputNode InputNode InputNode 6 9 2 2 K Pa s Conflict Figure 22 Network with conflicting Node IDs The nodes do not have to have Node IDs that reflect the order in which they are connected on the network as can be seen in Figure 23 54 Getting Started with SmartMove SmartMove ee RK eee Host Computer CANT bus es LG DEAR e OutputNode OutputNode 6 9 Figure 23 Typical network InputNode InputNode 2 3 To set a Node ID the node must be statically configured as described in Section 9 4 5 9 4 4 Network Termination Termination
4. Depth 60mm 2 36 Weight 110g approx 3 3 40z Power consumption 110mA 12V approx 130mA 24V approx CAN status LED l ooooj js JAIO le Mee OO O OO n OOOOOOOOOO Output LED Indicators Figure 8 OutputNode 8 The outputs are driven by an octal PNP Darlington array Allegro UDN2987A Each output is capable of continually sourcing 50mA nominal on all channels A single channel can source up to 350mA However the total output for all channels in a bank of eight cannot exceed 500mA If the over current or over temperature protection is activated one or more of the outputs will switch off It will not be possible to switch that or any other output back on until the fault has been removed and the module reset 22 MN1255 1 2000 Mint OutputNode 8 Some loads such as tungsten filament lamps may draw only 50mA in the steady state but draw an inrush current at turn on which is large enough to overload the over current protection In such cases the use of LED lamps should be considered It is also possible to connect more than one output in parallel although there is no guarantee of the outputs sharing the load equally Number Of Outputs On Simultaneously 350 lt EE E 300 8 re 7 250 g salf 3
5. Refer to Section 7 2 1 for more details on KeypadNode 60 MN1255 1 2000 Mint Mint Support for SmartMove Mint Support for SmartMove This chapter provides details on the Mint keywords supporting the CAN Peripheral devices on SmartMove V Error handling V Keyword reference Mint MN1255 1 2000 61 CAN Peripherals Hardware Guide 10 1 Errors And Eror Handling CAN support introduces two new categories of error e Synchronous CAN errors e Asynchronous CAN events Synchronous CAN errors occur when keywords associated with CAN Bus communication are executed An example is when an attempt is made to set an output on an output node and the remote node fails to reply within a timeout period Asynchronous CAN events can occur at any time and are the result of usually unexpected conditions An example is where a remote node becomes disconnected from the CAN Bus due to faulty wiring There are three new Mint keywords associated with CAN error detection and handling e CANSTATUS e REMOTEERROR e STATUSNODE When asynchronous CAN errors and events occur the keyword CANSTATUS can be used to determine which errors and events have occurred If the error or event relates to a particular node the STATUSNODE keyword can be used to find the Node ID of that node If the event indicates that a remote node has experienced an error the REMOTEERROR keyword may be used to determine the cause of the error on the remote node
6. NOTE If a node or a controller is at the end of the network its terminator must be fitted 1 Host Controller Termination Termination jumper jumper fitted N fitted EERS KEES REES EIS ZET ioNode ioNode ioNode ioNode 6 7 1 2 Host Controller fa Termination Z jumper Z fitted Termination IL jumper fitted H E ET ioNode ioNode 1 2 CAN Peripherals Hardware Guide Terminator selection SmartMove The terminator is selected by turning on switch 5 of the 5 pole DIP switch accessible at the front panel ServoNode 50 The terminator is selected by fitting a jumper to JP1 and JP2 headers ServoNode 51 The terminator is selected by turning on switch 4 CAN Configuration 120R of the 4 pole DIP switch accessible at the top face of the product MintDrive The terminator is selected by turning on switch 2 CAN2 of the 3 pole DIP switch accessible at the front panel NextMove RK The terminator is selected by fitting a link to CAN jumper 2 located next to the RJ 45 connectors NextMove BX The terminator is selected by f
7. can be read using myActLevl REMOTEAL 2 0 REM Read first 8 bits for I O 0 to 7 myActLev2 REMOTEAL 2 1 REM Read next 8 bits for I O 8 to 15 myActLev3 REMOTEAL 2 2 REM Read remaining 8 bits for I O 16 to 24 Writing to REMOTEAL will selectively configure individual I O channels to be active when on or off Reading REMOTEAL will return the I O configuration currently used by lt nodeID gt The data passed to and from the remote node is a bit map in which each bit position corresponds to an I O channel A 1 in a bit position means that the I O channel is active when on A 0 in a bit position means that the I O channel is active when off Mint Support for SmartMove Errors CAN Node ID out of range nodeID lt nodeID gt is out of range for this type of node Wrong type of node lt nodeID gt the node whose ID is lt nodeID gt is nota CAN Peripheral CAN operation failed at node lt nodeID gt the controller was unable to send a message or the remote node reported an error CAN timeout at node lt nodeID gt the remote node failed to respond in time Example REMOTEAL 4 011110000 will set inputs 0 to 3 to be reported active when off and inputs 4 to 7 to be reported active when on This is configured on the input node whose Node ID is 4 See Also REMOTEIN REMOTEOUT REM O TEBA UD RB Purpose To set the CAN bit rate for a remote CAN node Format REMOTEBAUD lt expression g
8. 10 1 1 Eror Messages The following sections describe the error codes and associated error messages produced by the controllers 10 1 1 1 Synchronous CAN Eror Messages These are given in the format of error code number followed by error message Refer to the table in Section 10 1 1 3 63 CAN timeout at node lt nodeID gt A remote node did not respond to a CAN Bus message within a predefined timeout period e Faulty network wiring 62 MN1255 1 2000 Mint Mint Support for SmartMove e Failure to change baud rate properly Check that the network is intact CAN timeouts may be accompanied by spurious Live Dead asynchronous CAN events 67 Wrong type of node nodeID The remote node does not support the action requested e Trying to set an output on an input node e Trying to access the node if it is not on the bus not Live 68 Not in config mode at node lt nodeID gt The remote node is not able to accept configuration messages REMOTEBAUD REMOTENODE e There must be only one remote node on the bus e The remote node must be powered up with jumpers fitted to JP4 and JP5 e An error occurred while saving data on the remote node 69 CAN operation failed at node lt nodeID gt e Failed to set remote baud rate or remote Node ID 10 1 1 2 Asynchronous CAN Error Messages 70 Asynchronous CAN error event Asynchronous CAN bus errors and events can occur at any time not only when a Mint command is executed The e
9. 2 4 8 1 5 16 23 0 7 Figure 18 VO Mapping for JloNode 24 24 IoNode 24 24 is only supported with esMint v2 72 and above Mint MN1255 1 2000 49 CAN Peripherals Hardware Guide 9 3 Quick Start It is possible to get configured in a matter of minutes All CAN Peripherals have a default configuration which is compatible with SmartMove Default Values CAN baud rate Node ID CAN Peripheral Type InputNode 8 RelayNode 8 loNode 24 24 KeypadNode and KeypadNode 4 If multiple nodes of more than one type are to be added then the Node IDs will require configuration so that no two CAN nodes have the same Node ID This is covered in section 9 4 All that is required is to power both the controller and CAN Peripheral connect their CAN ports and start controlling remote I O SmartMove automatically adds to the network any CAN Peripherals which are present on the CAN Bus This following exercise using SmartMove as the host controller illustrates the ease of configuration This example uses a RelayNode 8 CAN Peripheral Refer to the configuration diagram represented in Figure 19 50 MN1255 1 2000 Mint Getting Started with SmartMove U Host TE
10. 70 DO status CANSTATUS IF status AND aberr THEN ABERR N IF status AND busoff THEN BUSOFF IF status AND over THEN OVERRUN N IF status AND _live dead error DO node STATUSNODE IF status AND dead THEN DEAD on node node IF status AND live THEN LIVE on node node IF status AND error DO ERROR on node node rError REMOTEERROR node IF rError 0 THEN No error IF rError 1 THEN EEPROM write timed out IF rError 2 THEN EEPROM didn t ACK IF rError 3 THEN Bit timing index out of range Mint MN1255 1 2000 65 CAN Peripherals Hardware Guide IF rError 4 THEN Debounce samples out of range IF rError 5 THEN CAN stuck in reset IF rError 6 THEN Node guarding timed out IF rError 7 THEN Illegal operation IF rError 8 THEN Bus off IF rError 9 THEN Error count IF rError 10 THEN Overrun IF rError 11 THEN Output error ENDIF ENDIF ENDIF RETURN NOTE once set ERR is not cleared down and retains a value equivalent to the last reported error 66 MN1255 1 2000 Mint Mint Support for SmartMove 10 2 Mint Keyword Summary Configuration Keywords CANEAUD set the controller CAN Bus baud rate MOTEAL REMOTEERROR returns error condition from remote node STATUSNODE Node ID of node that caused asynchronous CAN error Input Output Keywords REMOTEIN return state of i
11. Computer T d d AE 2 JE CAN d LE g af an do AE O_O 9 _9 o o o o nN N SmartMove RelayNode 8 Figure 19 SmartMove connected to one RelayNode 8 9 3 1 umper settings 1 Make sure that jumpers JP1 and JP2 on the RelayNode 8 are fitted in position 1 as shown in Figure 20 2 Make sure that jumper JP3 on the RelayNode 8 is fitted as shown in Figure 20 3 Make sure that jumpers JP4 and JP5 on the RelayNode 8 are not fitted Refer to Figure 20 JP1 JP2 JP3 JP4 IRS CAN Bus Channel m Configuration d CAN Terminator Figure 20 Jumper Settings Mint MN1255 1 2000 51 CAN Peripherals Hardware Guide 9 3 2 1 Connections and Configuration Connect the RelayNode 8 and SmartMove using a CAN cable Connect the RelayNode 8 to a 24V dc supply Connect the SmartMove to a suitable supply It is possible to use the same supply being used to power the RelayNode 8 Connect SmartMove to a PC via an RS232 cable and start cCTERM for Windows For details on using cTERM for Windows please refer to the SmartMove Installation Manual Make sure that the DIP switch numbered 5 on the SmartMove front panel is in the on position Switch on the power supplies to both SmartMove and the RelayNode 8 The order in which this is done is not important cTERM displays the Mint sign on message for example esMint v2 7e SMM1 P CK M Copyright The LED on the RelayNode 8 wil
12. ET MES E El DING if e GC CO IN 7 fae Ki 2 ae ES Ad gt pm TLP620 46B et Se 7 jay 3 E OO DING 11B 3 14 E a RES ISAK DIS del al E SES E M mm ok kt gt P gt DING Li UI 8 TT P620 46B E CHAS covo Figure 11 JoNode 24 24 input circuit 30 MN1255 1 2000 M II ioNODE 24 24 The input connections are summarised in the following table A green LED D10 flashes every time a change of input has been detected The inputs may be operated from 12V to 24V Operation above 30V may cause damage 6 4 Outputs The outputs are numbered Dout to Dout23 They are grouped into three banks of eight each has a distinct pair of supply rails usr V 0 usrgnd0 usr V 1 usrgnd1 and usrV 2 usrgnd2 A more detailed discussion of the outputs can be found in the section on OutputNode 8 The circuit for a bank is shown in Figure 12 Mint MN1255 1 2000 31 CAN Peripherals Hardware Guide zz ECKE y AIS d z 1 ma z 1 z i 1 J mu A 1 N ch 1 H i e P d H fp 1 e Fi 1 zI 1 S 1 2 E i 3 1 i b 1 2 o 2 1 2 EE i eet aot Li M lg sl Tt tt ttt os mmm d ES ioNODE 24 24 Note that each bank has its own feedback of a
13. damage including injury to any person or property caused by items of our manufacture or sale Some states do not allow exclusion or limitation of incidental or consequential damages so the above exclusion may not apply In any event BALDOR s total liability under all circumstances shall not exceed the full purchase price of the control Claims for purchase price refunds repairs or replacements must be referred to BALDOR with all pertinent data as to the defect the date purchased the task performed by the control and the problem encountered No liability is assumed for expendable items such as fuses Goods may be returned only with written notification including a BALDOR Return Authorization Number and any return shipments must be prepaid Baldor Optimised Control Ltd Baldor ASR GmbH 178 180 Hotwell Road Telephone 49 0 89 90508 0 Bristol Fax 49 0 89 90508 492 BS8 4RP U K Baldor ASR AG Telephone 44 0 117 987 3100 Telephone 41 0 52 647 4700 Fax 44 0 117 987 3101 Fax 41 0 52 659 2394 email sales baldor co uk Web site www baldor co uk Australian Baldor Pty Ltd Telephone 61 2 9674 5455 Baldor Electric Company Fax 61 2 9674 2495 Telephone 1 501 646 4711 Fax 1 501 648 5792 Baldor Electric F E Pte Ltd email sales baldor com Telephone 65 744 2572 web site www baldor com Fax 65 747 1708 Baldor Italia S R L Telephone 39 0 11 56 24 440 Fax 39 0 11 56 25 660 CAN Peripherals Hardwa
14. fault condition Thus an overheated output will shut down all the outputs in the same bank but will not affect the other banks An overloaded output can be traced to its bank of eight Each bank has its own error reset line which may be used to clear the fault in any output on that bank all of the outputs will be momentarily disabled while the fault is being cleared The output connections are summarised below A green LED D8 flashes every time a change of output command has been received The outputs may be operated from 12V to 24V Operation above 30V may cause damage As with the other CAN Peripherals the isolation provided is nominal Dout0 23 usrV 0 2 and usrgnd0 2 must all be within 42 4V of the machine s safety earth ground potential Mint MN1255 1 2000 33 CAN Peripherals Hardware Guide 34 MN1255 1 2000 Mint KeypadNode KeypadNode This chapter provides details on KeypadNode the family of CAN based operator panels Technical Information V Keyboard mapping for Mint Connection Information Mint MN1255 1 2000 35 CAN Peripherals Hardware Guide KeypadNode provides a CAN based operator panel with the following features e 4 line by 20 character back lit LCD display controlled by software e Audible buzzer which is controlled by software e Choice of 27 key or 41 key membrane numerical keypad function keys and jog keys Tactile feedback is provided on all keys e It can be fixed to
15. in Configuration mode and must be the only node in the network See Also CANBAUD REMOTENODE REM O TEERRO R RR Purpose To read the error status from a remote CAN node Format v REMOTEERROR lt nodeID gt Scaled Cee add ande ed ee ee kai The exact sequence of events that occurs as a result of a remote node experiencing an error will depend upon the type of remote node Typically though the node will take whatever action is appropriate to make its local system safe then report the error condition via CAN Many remote nodes will report a change in error When a remote node reports a change in error the ERROR bit will be set in CANSTATUS and the ID of the node that reported the error may be read using STATUSNODE The cause of the error event may be determined by reading REMOTEERROR The value returned is node specific lt nodeID gt is an expression that identifies the node on the bus This will be the Node ID that was stored in the node during its static configuration Mint Support for SmartMove Errors Wrong type of node lt nodeID gt the node whose ID is lt nodeID gt is not a CAN Peripheral Example Refer to the ONERROR example See Also CANSTATUS STATUSNODE REM O TEIN RI Purpose Read the state of digital inputs from a CAN based input node The keyword format is dependant on the type of CAN node that is being accessed Format for InputNode 8 OutputNode 8 and RelayNode 8 v REMOTE
16. motors when the operator holds a finger on a key The keys on the keypads are mapped as shown Mint MN1255 1 2000 39 CAN Peripherals Hardware Guide B66 BEBE hh ho DR 5 A a waa S BEE ep B OE Axis 1 Axis 2 Axis 3 Axis 4 DOD DN BWE BUD Figure 16 Keypad key mappings All the keys return a code that corresponds to a character from a pre defined string 9 87FED W4 Z56 X 0 VYU ABIC 23 K OLN P IMTQ JHR se In order to use the 4 axis keypad with SmartMove the following command must be placed in the Mint program or configuration file KEYS 9 87FED W4 Z56 X 0 VYU AB1C 23 K OLN P IMTQ JHR SG 40 MN1255 1 2000 Mint KeypadNode All the letters are returned in upper case For example F1 will return the capital letter A to Mint The keypad and display supports the following terminal I O keywords Sound the buzzer y yp TERM TERMINAL Direct output to LCD or serial port For more details on the terminal I O keywords in v3 Mint controllers please refer to the Mint Programming Manual For more details on the terminal I O keywords in v4 Mint controllers please refer to the Mint v4 CAN Programming Guide The keypad interface makes it easy to build a customised operator panel using push buttons and a display which is exactly suited to a specific application The operator panel incorporates six function keys placed above and below the
17. the extended I O CAN based peripheral For example esMint v2 72 SMM3 P CK M 9 1 Network Possibilities CAN nodes are attached to SmartMove using a twisted pair cable such as CATS or cable with equivalent specification which is daisy chained to each node forming a network or bus CAN supports up to 63 nodes on the same network but SmartMove limits the number of nodes it can support in software The limitations are a maximum of 6 input nodes InputNode 8 6 output nodes a mix of RelayNodes and OutputNodes one KeypadNode and 4 loNode 24 24s Each node on the network is identified by a unique address called the Node ID The Node ID is set using software by linking the node to the SmartMove Instructions for setting the Node ID are covered in later sections The table below covers the nodes and Node IDs supported on SmartMove Node ID Node Type InputNode 8 Reserved KeypadNode 48 Getting Started with SmartMove 9 2 Support for loNode 24 24 SmartMove supports JoNode 24 24 but due to its lack of 24 bit numbers this is supported differently to other Mint based controllers When the node number is set the I O will be mapped across 3 consecutive node numbers as banks of 8 bits each For this reason the user must be careful not to add nodes to the network that will conflict with the 3 consecutive node numbers used by the JoNode 24 24 otherwise the relevant data may become corrupted i Inputs 2 4 Outputs
18. 200 n S 150 Eg 2 100 3 2 on 2 o Oo of 0 20 40 60 80 100 Duty Cycle The above diagram gives information about the current sourcing capabilities of the eight outputs Mint MN1255 1 2000 23 CAN Peripherals Hardware Guide 5 1 J 4 Output Connector The output connections are bought out to the 10 pin two part 3 5mm connector situated at the bottom of the OutputNode 8 module The outputs are supplied via the user V and user ground connections and should be in the range 12V to 24V The output connections are arranged as follows vec USER POWER o O ik 10k ST D w ON LJ PNP DARLINGON WITH OVER CURRENT PREE TION K I SN 10k 7 gt D Q A OUTPUT gt Ck TI FLYBACK DIODE S INDUCTIVE LOAD LATCH OPD ISOLAOR Z USER GND USER GND FIG1 Figure 9 Output Circuit simplified schematic 24 MN1255 1 2000 Mint OutputNode 8 5 2 Output LED Indication Yellow LEDs located below the output connector J4 indicate the state of each output They will be lit when an output is on Mint MN1255 1 2000 25 CAN Peripherals Hardware Guide 26 MN1255 1 2000 Mint ioNODE 24 24 loNode 24 24 This chapter provides details on loNode 24 24 the 24 digital input and output node Technical Information Connection Information Mint MN1255 1 2000 27 CAN Peripherals Hardware Guide IoNode 24 24 supports 24 input channels and 24 output channels
19. 91 Farnell part No 497 861 son CODNECCOF Cable Alcatel Cablenet 4 pair foil Farnell part No 296 788 Crimp Tool Molex 69008 1100 Farnell part No 473 250 CAN Peripherals Hardware Guide Standard good quality cables should be purchased from Baldor The order codes are CBLOO7 501 0 25m cable 0 8ft CBLOO7 502 0 5m cable 1 6ft CBLOO7 503 Im cable 3 3 CBLOO7 504 2m cable 6 6ft CBL007 505 3m cable 9 9ft CBL007 506 CBLOO7 508 25m cable 82 51 2 12 CANJumpers Setting up CAN communications for all six modules is covered by jumpers JP1 JP2 and JP3 The CAN communications can be connected to CAN channel 1 or CAN channel 2 CAN channel 1 is chosen by fitting the jumpers JP1 and JP2 to the lower positions Position 1 CAN channel 2 is chosen by fitting JP1 and JP2 to the upper positions Position 2 JP3 when fitted connects a 120Q terminating resistor across the CAN lines It should be omitted unless the CAN Peripheral is at the end of the system 2 ie y LEJ TL z amp S CG Z 8 E Figure 2 CAN Jumpers NOTE Jumpers JP4 and JP5 are used for configuration purposes 8 MN1255 1 2000 Mi II The CAN Peripherals 2 1 3 Network Termination Termination resistors must be fitted at the ends of the network to reduce signal reflection The controllers and CAN Peripherals are fitted with termination resistors specifically for this purpose
20. CAN Penpherals Hardware Guide MN1255 Issue 3 2 Mint MN1255 1 2000 0 2 Var wer HI Copyright and Safety Information BALDOR MOTORS AND DRIVES Copyright Baldor Optimised Control Ltd 2000 All rights reserved This manual is copyrighted and all rights are reserved This document may not in whole or in part be copied or reproduced in any form without the prior written consent of Baldor Optimised Control Baldor Optimised Control makes no representations or warranties with respect to the contents hereof and specifically disclaims any implied warranties of fitness for any particular purpose The information in this document is subject to change without notice Baldor Optimised Control assumes no responsibility for any errors that may appear in this document Mint is a registered trademark of Baldor Optimised Control Ltd Limited Warranty For a period of one 2 year from the date of original purchase BALDOR will repair or replace without charge controls which our examination proves to be defective in material or workmanship This warranty is valid if the unit has not been tampered with by unauthorized persons misused abused or improperly installed and has been used in accordance with the instructions and or ratings supplied This warranty is in lieu of any other warranty or guarantee expressed or implied BALDOR shall not be held responsible for any expense including installation and removal inconvenience or consequential
21. CAN jumpers gt gt gt gt CAN network termination CAN Peripherals Hardware Guide 2 1 Common Features The following features are common to the six Baldor CAN Peripherals JnputNode 8 RelayNode 8 OutputNode 8 loNode 24 24 KeypadNode and KeypadNode 4 e Remote operation over CAN e Operation over an ambient temperature range of 0 C 40 C 32 F 104 F e CAN status indication via a red green LED e Power supplied either via a four pin two part 3 5mm connector or through the RJ 45 CAN connector All nodes operate from 24V and some from as low as 12V All of the nodes except the KeypadNodes also feature e DIN rail mounting The Modules are designed for mounting on either 35mm symmetric DIN rail EN50 022 DIN 46277 3 or G profile DIN rail EN50 035 DIN 46277 1 2 1 1 R 45 CAN Connectors A pair of vertical shielded RJ 45 connectors J1 and J2 are situated at the top left of each module They provide connection to the CAN and a possible means of powering the CAN Peripheral The connections to both J1 and J2 are as follows CAN channel CAN channel 1 Not connected Signal Common CAN channel 2 A very low error rate of CAN communication can only be achieved with a suitable wiring scheme The CAN Peripherals Close attention should be paid to the following points 1 CAN must be connected via twisted pair cabling e g CATS or cable with equivalent specification The connection arran
22. EER KEER Res N bee RA ek Ne Ek 58 95 GESEIS 58 9 6 Using a KeypadNode esse EE Ge GEE 60 viii MN1255 1 2000 Mint Contents Mint Support for Sma tMove ees ee ee AA AA AA AA 61 10 1 Emors And Eror Handling esse see ee ee ee ee ee ee ee ee ee ee ee 62 10 1 1 Emor Messa dee n iss ss in SN in n SR AE SE GE be ER Ge ER Se be 62 10 2 Mint Keyword SUMMA sesse sesse ee ee ee Re ee ee ee ee ee ee 67 10 3 Mint Keyword Reference sesse ee RR ER ee ee 68 elle feet ER EE OR IE AR OE RE EE 81 CAN Peripherals Hardware Guide Introduction Introduction This chapter provides an introduction to the Baldor CAN peripherals and the Mint controllers which support the devices CAN Peripherals Hardware Guide Figure 1 CAN Peripheral Product Family Baldor CAN Peripherals are input and output expansion modules which communicate with the system controller via a CAN bus a 1 Mbit s serial link There are five devices in the family each of which are discussed in this manual 1ON001 503 JnputNode 8 8 input Mode mmm ION002 503 RelayNode 8 8 relay output node __I0N003 503 1 OutputNode 8 8 PNP Darlington driver output node md ON004 503 LoNode 24 24 24 inputs and 24 outputs un A PD002 502 KeypadNode Operator keypad and display 3 axes KPD002 505 KeypadNode 4 Operator keypad and display 4 axes Introduction CAN is a high speed noise immune serial bus which allows multiple de
23. GE Re 12 InputNode 8 Eight Input Node ss se se EE ER ER RR ee Ee 13 Sch PAIGE CONC EE 15 eI De 16 RelayNode 8 Eight Relay Output Module se se ese 17 41 J4and 5 Output ConnectO RRE 19 4 2 Output LED AIS egen 19 OutputNode 8 Eight PNP Output Module 21 SL J4 Output CONS e E 24 52 Output LED NCIC SON eerste ee 25 loNode E 27 6 1 Differences from Other CAN Peripheral Pmoducte eee 28 6 2 Mechafie ak ene EE ON ie de de EE Ee N ee 28 ate MR EE EE EE NO 30 BA OUES anina E T E 31 Mint MN1255 1 2000 vii CAN Peripherals Hardware Guide ee ele AE EE N 35 7 1 E Te alle E 37 12 IC CTC ale ieke ii ie ee Ee ie RE BG ER EG hee 39 7 2 1 Programming the Keypad and Display 39 Product HITO E 45 8 1 InputNode 8 OutputNode 8 RelayNode 8 46 Ba loNode 2 2 uses siunasi aaia 46 8 3 e NO TE 46 8 4 KeypadNode EE 46 Getting Started with SmartMOVE esse see 47 9 1 NetwotkPossbilti S sissies RR k nne beluet 48 92 Support for lONOde 24 24 see ee ee Re ee ee ee ee 49 93 EIERE OG ee ee Gee Ge 50 9 3 1 Ra ee ru Le REKE N See ERK AE ee Re ee 51 9 3 2 Connectionsand Configuration ee RR 52 94 SmartMove and CAN Peripherals AAA 53 9 4 1 Selection of CAN Channel eie ss 53 9 4 2 Selection of CAN Baud Rate ii ER RR 53 9 4 3 Selection of Node ID ER Ge 54 944 Network lerminatiON sesse sesse EER AA EE Re ee 55 9 4 5 Static COMO UTC OR ss BEER SEE ER oi ie EE 56 946 NotmalOpearatioN se
24. Host Computer CANT bus connection AT g Node to be configured Figure 25 Node Configuration To statically configure a CAN Peripheral refer to Figure 26 N sa DA A 5 ka B 2 H An e ka 2 0 S mo E g Z e SU S C Zi lt O am N Pa S S amp S Configuration Figure 26 Static Configuration Jumper Position 1 Make sure that jumpers JP1 and JP2 CAN Bus channel on the CAN Peripheral are fitted in position 1 CAN1 as shown in Figure 26 2 Make sure that jumper JP3 CAN terminator on the CAN Peripheral is fitted as shown in Figure 26 3 Make sure that jumpers JP4 and JP5 Configuration on the CAN Peripheral are fitted as shown in Figure 26 57 CAN Peripherals Hardware Guide 4 Usea CAN cable to make a CAN connection between SmartMove and the CAN Peripheral 5 Start cCTERM for Windows and open the Terminal Window refer to the SmartMove Intallation Manual 6 Power up SmartMove and break any program which may be running by typing ctr1 E from the terminal window 7 Power up the CAN Peripheral The LED on the node will flash red approximately every half a second 8 At the Mint command line type CANBAUD 125 REMOTENODE lt nodeID gt where lt nodeID gt is the number that will be used to reference the node in future 9 Ifnot using
25. IN lt nodeId gt lt channel gt Abbr Read Write Command Scaled Default Range ka ae ea ee lt nodeID gt is an expression that identifies the node on the bus This is the Node ID that was stored in the node during its static configuration If the optional specifier channel is omitted the value returned is a bit map of the remote inputs that are currently active An active input is reported as a 1 in the corresponding bit position If the optional specifier lt channe1 gt is given the value returned is the state of the individual input channel 1 indicates that the input is active The active state of each input may be configured using the keyword REMOTEAL Example PAUSE REMOTEIN 4 3 will wait for input 3 on node 4 to become active Format for loNode 24 24 v REMOTEIN lt nodeId gt lt block gt Read Scaled s Jol EE Ed es oes Mee sees MN1255 1 2000 75 CAN Peripherals Hardware Guide lt nodeID gt is an expression that identifies the node on the bus This is the Node ID that was stored in the node during its static configuration The JoNode 24 24 s VO data is stored internally in SmartMove as 8 bit blocks over 3 consecutive node numbers although only the first node number is used to access the data in Mint lt block gt is an expression that identifies the block of VO data that is required The active state of each input may be configured using the keyword REMOTEAL Ex
26. Output LED Indicators Figure 5 InputNode 8 14 MN1255 1 2000 Mint InputNode 8 3 1 J 4 Input Connector The input connector J4 is the 10 pin two part 3 5mm connector situated towards the bottom of the module The connections are as follows usr common The input impedance is 2K2 Connections are made as follows oO Input 1 O O Input 2 Power Supply 12V to 24V Figure 6 Input connection example usr common NOTE Either PNP or NPN inputs may be used Mint MN1255 1 2000 15 CAN Peripherals Hardware Guide 3 2 Input LEDs The eight input LEDs found under the input connector J4 indicate when voltage is presented to an input The LEDs will light green if a positive input PNP is applied and yellow if a negative input NPN is applied 16 MN1255 1 2000 Mint RelayNode 8 RelayNode 8 Eight Relay Output Module This chapter provides details on RelayNode 8 the 8 relay output node Technical Information Connection Information Mint MN1255 1 2000 17 CAN Peripherals Hardware Guide RelayNode 8 is an eight relay output expansion module Length 125mm 4 92 Width 86mm 3 38 Depth 60mm 2 36 Weight 190g approx 6 3 4 oz Power consumption 215 mA 24V approx RelayNode 8 requires a power supply of 24V dc to make sure of correct operation of the relay coils CAN status LED
27. The inputs are optically isolated and are organised into three banks of eight each having its own common The outputs are also opto isolated and again are organised into three banks of eight Thus loNode 24 24 is electrically equivalent to 3 x InputNode 8 plus 3 x OutputNode 8 The pin numbering of connectors and the functions of the jumpers the CAN LEDs and so on have been made as similar as possible across these products 6 1 Differences from Other CAN Peripheral Products The differences can be summarised as follows e The PCB width is 100mm 3 9 rather than 68mm 2 67 for the other DIN rail mounting units e Unlike the other nodes JoNode 24 24 uses a switching power supply The operating range is 12 30V and the unit typically draws 79mA 12V and 59mA 24V with all inputs and outputs off It draws 369mA 12V and 267mMA 24V with all inputs and outputs on e For reasons of space the inputs do not have individual LEDs indicating the presence and direction of input current Instead there is one LED D10 which flashes in response to a detected change of input e For reasons of space the outputs do not have individual LEDs Instead there is one LED D8 which flashes in response to a new output command e When JP7 is fitted it is normally omitted the OV supply rail is tied to the potential of the chassis connection points and the screen on the RJ 45 connector This offers the user some additional options when designing an ea
28. a plain metal surface such as a control cabinet or alternatively into a 3U rack Refer to Section 7 1 In addition to these features CAN has inherent EMC benefits and the option of placing the keypad a considerable distance away from the host controller The pin numbering of connectors and the functions of the jumpers and for example the CAN LED have been made similar to other CAN Peripheral family products BEBE WE DEBE el ee BREE HE WEI Axis 1 Axis 2 Axis 3 Axis 4 BRD Er Er Aa Figure 13 Keypad layout 36 MN1255 1 2000 Mint KeypadNode 7 1 Mechanical The circuitry is housed on a 100mm x 93mm 3 9 x 3 7 PCB It weighs 75g 2 6507 and when fitted to the keypad unit itself weighs 405g 0 891b overall The clearance behind the keypad front plate should be 50mm 1 95 to allow an adequate cable bend radius The operating temperature range is 0 40 C 32 104 F A back view of the unit is shown in Figure 15 The studs used for panel mounting are M3 and the studs which hold the PCB are M2 5 When fitting to a 3U rack the oval holes in the membrane must be cut out to admit the fixing screws provided Dpopppnppppppppnpppppp Dopppoppppopppppppppo d amp n n n n Figure 14 KeypadNode PCB There is a rear cover plate which is
29. ample For example if the node number for JoNode 24 24 was set to 2 the inputs can be read using myInl REMOTEIN 2 0 REM Read first 8 bits inputs 0 to 7 myIn2 REMOTEIN 2 1 REM Read next 8 bits inputs 8 to 15 myIn3 REMOTEIN 2 2 REM Read remaining 8 bits inputs 16 to 24 Errors CAN Node ID out of range nodeID lt nodeID gt is out of range for this type of node Wrong type of node lt nodeID gt the node whose ID is lt nodeID gt is not an input node Invalid I O channel channel lt channel gt is not valid for the node referenced See Also REMOTEAL REMOTENODE RN Purpose Set the Node ID of a remote CAN node Format REMOTENODE lt expression gt Command pow TT co Pitt Mint references individual nodes on the CAN Bus using a unique number called the Node ID The node must be told what its Node ID is in order to receive messages sent to it This is a once only configuration task Mint Support for SmartMove REMOTENODE is used to set the Node ID of a single remote CAN based node to the number specified by lt expression gt Ifthe remote node is successfully configured it will store the new Node ID in non volatile memory for use on subsequent power ups Because of the CAN messaging involved there must be exactly one other node in the CAN network in addition to the controller The remote node must have been powered up in Configuration mode and at a known bit rate With JoNode 24 24
30. ble to read the currently pressed key using READKEY This is unlike INKEY which returns the next keypress in the serial input buffer READKEY is useful for jogging motors while a key is pressed Mint Example LOOP IF READKEY X THEN JOG 0 10 IF READKEY U THEN JOG 0 10 IF READKEY 0 THEN JOG 0 0 ENDL Using the X left and right keys on the keypad the motor will be jogged left or right while the key is pressed When either of the keys are released READKEY 0 the motor will come to a stop For embedded C applications on NextMove and MintDrive a set of functions are provided please refer to the Mint v4 Function Reference Guidel for more details on the terminal I O functions tcls Clears the screen of the desired KeypadNode tGetChar Reads the next available character from the desired KeypadNode tPutChar Transmits a character to the desired KeypadNode tPutString Transmits an unformatted string to the desired KeypadNode Mint MN1255 1 2000 43 CAN Peripherals Hardware Guide Product History Product History This chapter provides a history of the different products InputNode 8 OutputNode 8 RelayNode 8 IoNode 24 24 KeypadNode KeypadNode 4 gt gt gt gt gt gt 45 CAN Peripherals Hardware Guide 8 1 InputNode 8 OutputNode 8 RelayNode 8 Introduction of InputNode 8 RelayNode 8 and OutputNode 8 Tidy up and opportunity to improve immunity to co
31. des are regularly sent a CAN message This procedure is seen on the CAN Peripheral as a e Fitting JP4 forces the green LED on The LED shows constant green if there is a continuous stream of A fault condition is present such as the node guarding message is lost e Fitting JP5 forces the red LED on The LED will show constant red if the node experiences a problem in initializing its CAN controller or EPROM In this case the node will not respond to any CAN messages 12 InputNode 8 InputNode 8 Eight Input Node This chapter provides details on InputNode 8 the 8 digital input node Technical Information Connection Information Mint MN1255 1 2000 13 CAN Peripherals Hardware Guide InputNode amp is an eight input expansion module Length 83mm 3 26 Width 86mm 3 86 Depth 60mm 2 36 Weight 105g approx 3 3 40z Power consumption 45mA 12V 90mA 24V InputNode amp has eight inputs which are optically isolated and can be positive or negative common for use with NPN or PNP transistors The inputs are guaranteed to be active in the range 12V to 24V and inactive between and 2V CAN status LED Jl J2 A D O Ha J4 n On n Aa n An n n n a OOOGOOOOOO y
32. display so that the function of each key can be indicated by printing a legend on the top and bottom lines of the display This allows menu driven operator interfaces to be readily written enabling the function of each key to change depending on the menu The middle two lines are used for messages or operator prompts Mint MN1255 1 2000 41 CAN Peripherals Hardware Guide A N N Z N F4 F5 F6 EXIT Main Menu Select Function SETUP START MANUAL H EE N Ger Figure 17 Operator Panel NOTE Care must be taken when writing to the LCD display since the display does not scroll If the last character of the display is followed by a carriage return the entire display will be cleared Use a comma at the end of a print statement to suppress line feeding Mint Example LOOP LINE 1 EXIT LINE 2 Sample keypad LINE 3 Program LINE 4 SETUP START MANUAL key 0 REPEAT key INKEY IF key A THEN BEEP GOSUB setup IF key B THEN BEEP GOSUB start IF key C THEN BEEP GOSUB manual IF key F THEN BEEP END UNTIL key lt gt 0 ENDL setup REM Code here RETURN start REM Code here RETURN manual REM Code here RETURN 42 MN1255 1 2000 Mint KeypadNode Note the use of BEEP to provide audible feedback to the operator Also note the comma at the end of LINE 4 statement This is used to suppress line feeding and clearing the screen Using the keypad interface it is possi
33. f an asynchronous CAN error or event on the host controller Format v CANSTATUS a EE EES EEN CANSTATUS is a bit map that indicates the cause of an asynchronous CAN error or event The meanings of the bits are as follows Z de 5 H 3 AE ME EO ERROR GUARD LIVE DEAD OVER BUSOFF ABERR ABERR Abnormal bus errors The CAN controller is experiencing an abnormal rate of failed transmissions and receptions BUSOFF Bus off The CAN controller has gone into the bus off state because of a high rate of failed transmissions and receptions OVER Receive overrun CAN bus messages are arriving more frequently than they can be serviced DEAD Node has died This error can only occur on the CAN Bus Administrator The node guarding services on the CBA have detected that a remote node that was previously present on the CAN Bus is no longer present Node has become live This event can only occur on the CAN Bus Administrator The node guarding services on the CBA have detected that a remote node has appeared on the CAN Bus Guarding failed This error can only occur on the CAN Bus Administrator The CBA has been unable to operate the node guarding services Node has experienced an error This event can only occur on the CAN Bus Administrator The CBA has detected that a remote node has experienced an error Mint MN1255 1 2000 69 CAN Peripherals Hardware Guide More than one of the above errors and events can be simultaneo
34. gement is normally a simple multi point drop The CAN cables should have a characteristic impedance of 120Q and a delay of Sns m 1 72ns ft Other characteristics depend upon the length of the cabling Cable length Maximum bit Specific Conductor area rate resistance 0 40m 0 13 1ft 1 Mbit s Et 22 131 984 ft 200 kb za 1 300m 600m 684 1968 ft 1 ua 240m9 0 50 0 60mm 600m 1000m 1968 3280 ft 50 kbit s 0 75 0 80mm 2 Terminators should be fitted at both ends of the network and nowhere else 3 To reduce RF emissions and more importantly to provide immunity to conducted interference shielded twisted pair cabling should be used If two CAN channels are bundled in a cable then each needs a twisted pair NOTE Cable screens shields should not be connected to 0V on connectors J1 and J2 as this will inject conducted interference into the 0V plane on the processor board 4 The OV rails of all of the nodes on the network must be tied together One way of achieving this is by arranging for the CAN cabling to provide continuity of the 0V on connector J1 or J2 to the OV on connector J1 or J2 of the adjacent CAN Peripherals This makes sure that the CAN signal levels transmitted by a CAN Peripheral are within the common mode range of the receiver circuitry of other nodes on the network The following are examples of suitable connectors and cabling Connector Description Part Number RJ 45 Molex 95043 28
35. intended to provide a measure of protection to the PCB Mint MN1255 1 2000 37 CAN Peripherals Hardware Guide 128 15 mm 5 106 51 mm 4 2 L 10 68 mm 0 4 pe pa SI c S e OD o al D QS S gt j D EU ee al A rl CH AJ a 11 e STI o gS 8 Si z 4F Z Te 3 amp E Ei 2 sd D mM ge cl amp oo pe eil amp A SF LE in el ol SI E of Ol El eye Ba 2 Gi 8 A al ma a BEE IB 3 a a pe Lo CH S 2 w Ne ga RI TE e S Do TT fe Figure 15 KeypadNode Mechanical Layout 38 MN1255 1 2000 Mint KeypadNode 7 2 Electrical The unit draws typically 135mA the supply voltage range is 15 V 24Vdc Operation above 30Vdc may cause damage Operation below 15V will cause the internal 12V rail to drift out of tolerance However the unit will still function although the buzzer will be quieter The PCB may be purchased without the keypad in which case fixing holes for M2 5 screws and pillar are provided All four corner holes should be used to make sure that the PCB is adequately supported Connection to the keypad is via the 34 pin header P1 which has an identical pin out to EuroSyste
36. itting a link to CAN jumper 2 located next to the RJ 45 connectors d g Jump NextMove PCI The terminator is selected by fitting a jumper to J17 CO Term on the Breakout baord Please refer to the appropriate Installation manuals ID for more details on selecting the termination resistors 2 1 4 Power Supply The eight input module nputNode 8 and the eight PNP output module OutputNode 8 can be powered by 12V to 24V DC whereas the JoNode 24 24 operates with a supply voltage of 12 to 30V DC The KeypadNode supply voltage range is 15V to 24V DC operation above 30V DC may cause damage and operation below 15V DC will cause the internal 12V rail to go out of tolerance but the unit will still function only the buzzer will be quieter The relay output module RelayNode 8 must be powered by 24V DC Relay Properties Load Resistive load cos 1 Rated Load 0 5 A at 125V AC 2 A at 30 V DC Max switching voltage 125 V AC 125 V DC Max switching current 2A Max switching capacity 62 5 VA 60 W Min permissible load 0 01mA at 10 mV DC 10 MN1255 1 2000 Mint The CAN Peripherals Contact resistance 50 mQ max Operate time 7 ms max Release time 3 ms max Bounce time Operate approx 0 3 ms Release approx 1 5 ms Max operating frequency Mechanical 36 000 operations h Electrical 1 800 operations hr under rated load Insulation resistance 1 000MQ min at 500 V DC Life expectancy Mechanical 15 000 000 operati
37. l start to flash green approximately once every half second Each flash indicates that the RelayNode 8 is participating in CAN activity Each time a CAN Peripheral is added a node live event occurs Type the following at the Mint command line CANSTATUS This will monitor the CAN Bus reporting any events or errors Reading the CAN event will clear the buffer Refer to section 10 1 1 4 To confirm that SmartMove is able to communicate with the RelayNode 8 At the Mint command line type NODELIVE 7 SmartMove replies with the value 3 which indicates that the node with ID 7 is a RelayNode 8 It is now possible to freely control the outputs For example to turn output 3 on enter the command REMOTEOUT 7 3 1 Refer to Section 10 of this manual for a full description of the SmartMove Mint keywords which support CAN Peripherals 52 Getting Started with SmartMove 9 4 SmartMove and CAN Peripherals 9 4 1 Selection of CAN Channel SmartMove supports CAN Peripherals on CAN Bus channel 1 When connecting CAN Peripherals to a SmartMove controller CAN Bus channel 1 must be selected on the CAN Peripheral by fitting jumpers JP1 and JP2 to position 1 as shown in Figure 21 JP1 JP2 JP3 JP4 H 2 I a LEJ n wees H Z S ss lt 0 k fe a O Q Figure 21 CAN Channel Jumper Selection 9 4 2 Selection of CAN Baud Rate The CAN Baud rate is the rate at which data is transferred over the netw
38. m products The buzzer on the target keypad should be disconnected The header JP6 selects 5V to 5V or OV to 5V bias voltage range for the display Fitting a jumper to the right selects 5 V to 5V and this is standard For maximum noise immunity it is recommended to connect the chassis connection on the PCB to the system star point using a low impedance conductor In many cases the most convenient way to achieve this is by direct connection to nearby metalwork There are two methods e By fitting an un insulated offset pillar in an appropriate corner fixing position and bolting the unit down e By fitting an earthing ground strap to the 1 8 spade terminal J6 When JP7 is fitted it is normally omitted the OV supply rail is tied to the potential of the chassis connection points and the screen shield on the RJ 45 connector This offers the user some additional options when devising an earthing grounding scheme 7 2 1 Programming the Keypad and Display Mint software supports the keypad and display as if it were a standard serial terminal Mint statements PRINT INPUT CLS LOCATE and so on can be used with the display BEEP activates the buzzer Key presses cause characters to be placed in the serial port buffer so that they can be read as normal by INKEY and INPUT The READKEY function returns the value of the key that is currently pressed This is an enhancement not normally available on serial terminals and can be used for jogging
39. nce number MN1280 Mint MN1255 1 2000 81 CAN Peripherals Hardware Guide 82 MN1255 1 2000 Mint Notes Mint MN1255 1 2000 83 CAN Peripherals Hardware Guide 84 MN1255 1 2000 Mint Notes Mint MN1255 1 2000 85
40. nducted interference Some early production used 4MHz crystals and issue OFFB of the processor denoted by a yellow label on the underside of the PCB these devices can not be operated above 125kbit 8 2 loNode 24 24 8 3 KeypadNode Revision Date Description of Changes Feb 97 8 4 KeypadNode 4 Jul 98 46 MN1255 1 2000 Mint Getting Started with SmartMove Getting Started with SmartMove This chapter provides details on using the IoNodes with SmartMove the I to 3 axis servo controller Details for the other Mint controllers can be found in the respective Installation Manuals Configuring a node Selecting CAN bus channels node numbers and baud rates Mint MN1255 1 2000 47 CAN Peripherals Hardware Guide Full details of the CAN Peripheral supported Mint keywords can be found in Section 10 Before starting it is important to make sure that SmartMove is CAN Peripheral ready This can be found by typing VER at the Mint command line C gt VER The Mint version number will be displayed esMint v2 7e SMM2 P C M Copyright If C is in the version number string then SmartMove will support the CAN Peripheral products If CK is in the version number string then SmartMove will also support KeypadNode the CAN based operator panel For example esMint v2 7e SMM1 P CK M If CK is in the version number string and the version is v2 72 or higher then SmartMove will also support JoNode 24 24
41. nputs from a remote node REMOTEOUT set or return the state of outputs on a remote node Mint MN1255 1 2000 67 CAN Peripherals Hardware Guide 10 3 Mint Keyword Reference CANBAUD CB Purpose To set or return the CAN bit rate on the host controller Format CANBAUD lt expression gt v CANBAUD CB 125 10 20 50 125 250 500 800 1000 All devices communicating on the CAN network must be configured to use the same bit rate The bit rate is specified in Kbit s The default bit rate is 125Kbit s The CAN bit rate is also called CAN bus speed or CAN baud rate Writing to CANBAUD configures the local CAN controller to operate at the bit rate specified in lt expression gt Reading CANBAUD returns the bit rate currently in use The bit rate used by other CAN devices should be the same as that used by the controller The way in which individual CAN devices may be configured will vary Consult the support documentation for the particular device being used Baldor Optimised Control s CAN based I O nodes may be remotely configured by the controller using the keywords REMOTEBAUD and REMOTENODE Errors Out of range lt expression gt does not evaluate to one of the values in the list Example CANBAUD 1000 will set the local CAN interface to operate at 1000 Kbit s See Also REMOTEBAUD REMOTENODE 68 MN1255 1 2000 Mint Mint Support for SmartMove CANSTATUS CST Purpose To read the cause s o
42. odeID gt is out of range for this type of node Wrong type of node lt nodeIDs gt the node whose ID is lt nodeID gt is not an output node Invalid I O channel channel lt channel gt is not valid for the node referenced See Also REMOTEAL REM O TERESET Purpose To force an JoNode 24 24 CAN node into it s reset state Keyword is only supported in esMint v2 72 and above Format REMOTERESET lt nodeID gt lt expression gt so EEGEN lt nodeID gt is an expression that identifies the node on the bus This will be the Node ID that was stored in the node during its static configuration The REMOTERESET keyword can be used to cause an JoNode 24 24 to perform a complete software reset This has the effect of turning off all digital outputs and clearing any errors Once reset the node will generate two event messages with the _ error bit set Errors CAN Node ID out of range nodeID lt nodeID gt is out of range for this type of node Wrong type of node lt nodeID gt the node whose ID is lt nodeID gt is not an loNode 24 24 Example REMOTERESET 1 1 CAN Peripherals Hardware Guide will force the JoNode 24 24 at node 1 into reset See Also CANSTATUS STATUSNODE REMOTEERROR STATUSNO DE SN Purpose To read the Node ID of the node that caused an asynchronous CAN error or event Format v STATUSNODE Keelen cl The CANSTATUS keyword allows the cause of an asynchronous CAN error
43. ons min at 36 000 ops h Electrical 100 000 operations min at 1 800 ops h The voltage supply can be distributed around a system of CAN nodes via pins 4 and 5 of the RJ 45 CAN connector However it must be connected to at least one node via the four position two part 3 5mm connector J3 NOTE If there is one or more RelayNode 8 module in the system the supply must be 24V de The J3 power connectors are all reverse bias protected so if different power supplies are connected to more than one CAN node the system will be powered by the highest voltage with no damage to the other power supplies NOTE The maximum current that can be passed through the RJ 45 connectors is 1A if this is likely to be exceeded power must be connected via the J3 connector of each CAN Peripheral The following table shows the power supply connections to the four pin connector J3 which is situated towards the top right of all the CAN nodes Power does not have to be connected to both pairs of pins as the CAN nodes can be daisy chained Mint MN1255 1 2000 11 CAN Peripherals Hardware Guide 2 1 5 CAN Status LED The red green LED located near the top centre of each module is the CAN Status LED with the following operation Flashing Green Constant Green Flashing Red Constant Red When involved in CAN communication The LEDs on the CAN Peripherals will flash green The controllers operate a node guarding procedure in which all no
44. ork The controller and CAN Peripherals use a default CAN transmission rate of 125 kbit s Although it is possible to alter this it is unlikely to be necessary At this baud rate the network can be up to 500m 1640ft long Refer to Section 2 1 1 for maximum bit rates vs cable lengths If it is found necessary to change from the default baud rate the CAN Peripherals must be statically configured Mint MN1255 1 2000 53 CAN Peripherals Hardware Guide 9 4 3 Selection of Node ID Each CAN Peripheral must be given a unique Node ID within the network The Node ID is used to filter out CAN messages that are directed at other nodes and is simply designated by a number The Node ID is assigned to the node using SmartMove by a means called Static Configuration Refer to section 9 4 5 The rules that govern how Node IDs should be assigned for a SmartMove host are InputNode 8 nodes may have a Node ID of between 1 and 6 OutputNode 8 and RelayNode 8 nodes may have a Node ID of between 7 and 12 KeypadNode must have a Node ID of 14 default loNode 24 24 nodes may have a Node ID of between 1 and 10 No two nodes may have the same Node ID in the same network as shown below This will result in spurious activity on the bus resulting in the bus going down Refer to Figure 22 i m mi SmartMove seed Eed Pat es EE Rm Im mem e Be BI er ini F Host Computer
45. orted are Mint Support for SmartMove Type value Node type Not present dead 8 relay output node 24 24 IO Node KeypadNode When a node becomes live or dies the event error is reported by the LIVE or DEAD bits being set in CANSTATUS Keeping track of which nodes are live or dead can result in unwieldy code and therefore the NODELIVE keyword provides a quick and easy means of checking that a node is ive and the type of node that occupies that Node ID Errors CAN Node ID out of range nodelD lt nodeID gt is out of range Example PAUSE NODELIVE 5 will wait for a remote CAN node with Node ID 5 to come onto the bus See Also CANSTATUS STATUSNODE REM OTEAL RL Purpose To set or return the state for remote active I O channels CAN based I O nodes that have digital inputs and or outputs may have these I O configured to be active when on or active when off In this context on means that the VO channel is conducting off means that the I O channel is non conducting Normally inputs and outputs are considered active when ON In some circumstances it may be more appropriate that the sense of the I O channel is inverted This is more often applied to inputs than to outputs Note that the power off and error state of outputs is always off The format of the keyword is dependant on the type of CAN node that is being accessed Mint MN1255 1 2000 71 CAN Peripherals Hardware Guide Format for In
46. put Bank 0 Input Bank 1 Input Bank 2 SC Input Activity LED Red Green f CAN Status LED f er er See e noob ES glo o ojo J20 J21 J22 J3 o r hr J2 i 0 J30 J31 J32 J Output Bank 0 Output Bank 1 Output Bank 2 Figure 10 JoNode 24 24 For maximum noise immunity it is recommended to connect the chassis connection on the PCB to the system star point using a low impedance conductor In many cases the most convenient way to achieve this is by direct connection to nearby metalwork There are two methods e By fitting an un insulated offset pillar in an appropriate corner fixing position and bolting the unit down e By fitting an earthing ground strap to the 1 8 spade terminal J6 Mint MN1255 1 2000 29 CAN Peripherals Hardware Guide 6 3 Inputs The inputs are numbered din0 din23 They are grouped into three banks of eight each has a distinct common com0 com2 The use of AC opto isolators allows a given bank to be connected for all PNP or all NPN use It also provides reverse bias protection To configure a bank s inputs all for PNP use tie comx to the more negative rail of the machine control supply Conversely to configure a bank s inputs all for NPN use tie comx to the more positive rail of the machine control supply The circuit for a bank is Cee E D BY 247 mm RIOB 3 14
47. putNode 8 OutputNode 8 and RelayNode 8 REMOTEAL lt nodeId gt lt expression gt v REMOTEAL lt nodeID gt Abbr w olal L LA L lt nodeID gt is an expression that identifies the node on the bus This is the Node ID that was stored in the node during its static configuration Writing to REMOTEAL will selectively configure individual I O channels to be active when on or off Ifthe operation is valid the remote node will save this configuration in non volatile memory for use on subsequent power ups Reading REMOTEAL will return the I O configuration currently used by lt nodeID gt The data passed to and from the remote node is a bit map in which each bit position corresponds to an I O channel A 1 in a bit position means that the I O channel is active when on A 0 in a bit position means that the I O channel is active when off Format for loNode 24 24 REMOTEAL lt nodeId gt lt bank gt lt expression gt v REMOTEAL lt nodeID gt lt bank gt Abbr a o o 0s lt nodeID gt is an expression that identifies the node on the bus This is the Node ID that was stored in the node during its static configuration The loNode 24 24 s VO data is stored as 8 bit blocks over 3 consecutive node numbers lt block gt is an expression that identifies the block of VO data that is required For example if the node number for JoNode 24 24 was set to 2 the active level for both inputs and outputs
48. re Guide Copyright and Safety Information Safety Notice PRECAUTIONS Only qualified personnel should attempt the start up procedure ortroubleshoot this equipment This equipment may be connected to other machines that have rotating partsorpartsthat are controlled by thisequipment Improper use can cause serious or fatal injury Only qualified personnel should attempt to start up program or troubleshoot this equipment A Waming A Warning Do not touch any circuit board power device or electrical connection before you first make sure that no high voltage present at this equipment or other equipment to which it is connected Electrical shock can Cause serious or fatal injury Only qualified personnel should attempt to start up program or troubleshoot this equipment Be sure that you are completely familiar with the safe operation of this equipment This equipment may be connected to other machines that have rotating parts or parts that are controlled by this equipment Improper use Can Cause serious or fatal injury Only qualified personnel should attempt to program start up or troubleshoot this equipment CAN Peripherals Hardware Guide A Warning A Waming A Caution A Caution A Caution Be sure that you are completely familiar with the safe programming of this equipment This equipment may be connected to other machines that have rotating parts or parts that are controlled by this equipmen
49. resistors must be fitted at the ends of the network to reduce signal reflection The controllers and CAN Peripherals are fitted with termination resistors specifically for this purpose Refer to Section 2 1 3 for full details On SmartMove the terminator is selected by turning on switch 5 of the 5 position DIP switch accessible at the front panel On the CAN Peripherals the terminator is selected by fitting a jumper to JP3 as shown in Figure 24 55 CAN Peripherals Hardware Guide JP1 JP2 JP3 JP4 JP5 CAN Bus Channel os Configuration 1 We R CAN Terminator Figure 24 Network Termination Jumper settings 94 5 Static Configuration A CAN Peripheral possesses two attributes that may be altered e CAN communication baud rate default 125 Kbit s e Node ID The defaults are shown Node Default Node ID InputNode 8 1 OutputNode 8 7 RelayNode 8 7 IoNode 24 24 8 KeypadNode and 14 KeypadNode 4 These attributes are altered via the CAN Bus There must be only two devices in the network the node to be configured and a CAN based configuration tool in this case SmartMove Because this configuration has to take place with the node removed from the full network it is called Static Configuration Refer to Figure 25 56 MN1255 1 2000 Mint Getting Started with SmartMove ITU Uy DI SmartMove H l r Serial H n Cable OA Sa Ed E CI I EE ER
50. rrors and events are as follows e Abnormal bus errors The CAN controller is experiencing an abnormal rate of failed transmissions and receptions e Bus off The CAN controller has gone into the bus off state because of a high rate of failed transmissions and receptions e Receive overrun CAN Bus messages are arriving more frequently than they can be serviced e Remote node has died The node guarding services on the controller have detected that a remote node that was previously present on the network is no longer present 1 These states are defined in the CAN standard Mint MN1255 1 2000 63 CAN Peripherals Hardware Guide e Remote node has become live The node guarding services on the controller have detected that a remote node has appeared on the network e Remote node error A remote node has experienced an error condition More than one of the above errors and events can be simultaneously reported The CANSTATUS keyword returns a bit map which indicates which of the above errors events have occurred In the case of the remote node bits the STATUSNODE keyword can be used to determine the Node ID of the node in question 10 1 1 3 Categories Of Eror CAN errors can be trapped by the Mint HONERROR routine The types of errors that can be trapped are e CAN timeout e Illegal operations on CAN Peripherals e CAN Peripheral errors e Network errors events Extensions to the ERR error codes are as follows S
51. rthing grounding scheme e loNode 24 24 operates differently on SmartMove See section 9 for details 6 2 Mechanical The circuitry is housed on a 100mm x 220mm 3 9 x 8 66 PCB It weighs 265g 9 350z and when housed on the DIN rail raft weighs 425g 150z overall The clearance above the PCB should be 50mm 2 approx or 90mm 3 1 2 above the base of the DIN rail to allow for adequate bending radius for the cabling The operating temperature range is 0 C to 40 C 32 F to 104 F operation at up to 50 C 122 F is possible but subject to limitations on the current drawn from the output drivers A view of the unit is shown in Figure 10 28 MN1255 1 2000 Mint ioNODE 24 24 The unit may be purchased as a stand alone board not contained within a rail mountable raft module In this case fixing holes for M3 diameter screws and an offset pillar to raise the board from a carrier PCB are provided All four corner holes and at least one of the central holes must be used to make sure that the PCB is adequately supported Any of the corner fixing holes except that near the processor U9 provides a means of making electrical contact to the chassis screen shield on the PCB In
52. t 125 10 20 50 125 250 500 800 1000 All devices that communicate using the CAN network must be configured to use the same bit rate The bit rate is specified in Kbit s The default bit rate is 125Kbit s The CAN bit rate is also called CAN bus speed or CAN baud rate REMOTEBAUD is used to configure a single remote CAN based node to operate at the bit rate specified in lt expression gt Ifthe remote node is successfully configured the local bit rate is changed to match and the remote node will store the new bit rate in non volatile memory for use on subsequent power ups Note that the host controller will always power up with the default bit rate Because of the CAN messaging involved there must be exactly one other node in the CAN network in addition to the controller The remote node must have been powered up in Configuration mode at a known bit rate refer to section 9 4 5 Mint MN1255 1 2000 73 CAN Peripherals Hardware Guide Errors Out of range lt expression gt does not evaluate to one of the values in the list CAN operation failed the controller was unable to send a message or the remote node reported an error Failed to save config the remote node failed to save the configuration to non volatile memory CAN Timeout the remote node is not in Configuration mode Example REMOTEBAUD 1000 will set the remote CAN I O node and controller to communicate at 1000Kbit s The remote I O node must be
53. t Improper programming of this equipment can cause serious or fatal injury Only qualified personnel should attempt to program start up or troubleshoot this equipment Be sure all wiring complies with the National Electrical Code and all regional and local codes Improper wiring may result in unsafe conditions To prevent equipment damage be certain that the input power has correctly sized protective devices installed To prevent equipment damage be certain that input and output signals are powered and referenced correctly To make sure reliable performance of this equipment be certain that all signals to from the controller are shielded correctly Manual Revision History Manual Revision History 18 11 95 MN00200 000 18 10 96 MN00200 001 13 03 98 MN00200 002 Sept 98 MN00200 003 Feb 99 UM00531 000 Jan 2000 UM00531 001 Ist draft Now includes 241 O and keypad Re formatted and updated e Includes details for SmartMove e KeypadNode 4 included Draft changes to sections 9 and 10 with Updated for NextMove PCI release CAN Peripherals Hardware Guide vi MN1255 1 2000 Mint Contents DORAN US OG E 1 The CAN PeripheralS EE KEER ERENS eke REG NN gee ge ee eek ie 5 21 Common E 6 2 1 1 Rlad CAN Ree lu d 6 21 2 MEAN MODE siese ee ee eer 8 213 Network TeminatON ss EER R KERR REKE SEER See ORR EE EE 9 2 1 4 e OT e e E 10 21 5 GAM SETS LEDs sesse Ne ae es Ese EE see EE BR EER GE
54. the I O data is stored in 3 consecutive node numbers For example given a node number of 3 the I O data is stored as 8 bit blocks to node numbers 3 4 and 5 Errors Out of range lt expression gt does not evaluate to a valid Node ID CAN operation failed the controller was unable to send a message or the remote node reported an error CAN timeout the remote node is not in Configuration mode Failed to save config the remote node failed to save the configuration to non volatile memory Example REMOTENODE 3 will set the remote input node s Node ID to 3 The remote I O node must be in Configuration mode and must be the only node in the network See Also CANBAUD REMOTEBAUD REM O TEO UT RO Purpose Read or set the state of digital outputs on a remote CAN I O node The keyword format is dependant on the type of CAN node that is being accessed Format for InputNode 8 OutputNode 8 and RelayNode 8 REMOTEOUT lt nodeId gt lt channel gt lt expression gt v REMOTEOUT lt nodelId gt lt channel gt Mint MN1255 1 2000 77 CAN Peripherals Hardware Guide Abbr po o fot T S o DE lt nodeID gt is an expression that identifies the node on the bus This will be the Node ID that was stored in the node during its static configuration If the optional specifier lt channel gt is omitted the value returned written is a bit map of the remote outputs that are should be currently acti
55. the default baud rate at the Mint command line type REMOTEBAUD lt baud gt where lt baud gt is the CAN baud rate intended to be used 10 Power down the CAN Peripheral 11 Remove jumpers from JP3 JP4 and JP5 on the CAN Peripheral 9 4 6 Normal Operation When involved in CAN communication the status LEDs on the CAN Peripherals flash green The controller operates a node guarding procedure in which all nodes are regularly sent a CAN message This procedure is seen on the CAN Peripheral as a flash of the green LED approximately once every half second For further details on the operation of the CAN status LED refer to Section 2 1 5 9 5 An Example Network To illustrate the steps required in putting a CAN network together a network comprising the following elements can be considered e 1 SmartMove 3 controller e 2 InputNode 8 nodes e 2 OutputNode 8 nodes 58 MN1255 1 2000 Mint Getting Started with SmartMove e RelayNode 8 node e 1 KeypadNode node
56. the network its terminator should be selected by fitting a jumper to JP3 The remaining nodes should have their terminator switched out by removing the jumper on JP3 6 Position the CAN Peripherals and controller on the machine 7 Power up the system 9 6 Using a KeypadNode Before connecting a KeypadNode to SmartMove it is important to check that Mint supports the KeypadNode This can be done by checking the version number From the command line type VER The version will be printed to the screen esMint v2 7e SMM1 P CK If CK is in the version number then SmartMove is ready to support KeypadNode If not then a local supplier should be contacted for a firmware upgrade When connecting a KeypadNode to the CANT bus the node is added automatically to the network Once the KeypadNode has been configured onto the bus the Mint terminal keywords such as PRINT INKEY LOCATE and CLS can be used For example the following command sequence can be tried CLS Hello Hello appears at the top left hand corner of the LCD display The keyword TERM is used to set the default terminal input and output channels for SmartMove By default it is assigned to communicate with all supported terminal devices therefore allowing all terminal keywords to be used with the KeypadNode Also any key presses on the KeypadNode will be echoed to the host display and vice versa The TERM keyword can be used to suppress communications with KeypadNode
57. to be determined If CANSTATUS has any of the LIVE DEAD or ERROR bits set STATUSNODE can be read to determine the ID of the node to whom the error or event applies Reading STATUSNODE allows it to be updated along with the LIVE DEAD and ERROR bits of CANSTATUS Thus if several nodes have experienced errors or events successive reads of CANSTATUS and STATUSNODE will yield the IDs of all of the nodes involved Errors STATUSNODE does not return any errors Example Refer to the example ONERROR routine See Also CANSTATUS 80 MN1255 1 2000 Mint Bibliography Bibliography 1 1 Bibliography SmartMove Installation Manual Baldor document reference number MN1250 MintDrive Installation Manual Baldor document reference number MN1274 NextMove PC Installation Manual Baldor document reference number MN1257 oe DIE NextMove PCI Installation Manual Baldor document reference number MNI1277 For v3 Mint the following manuals are applicable 5 Mint Programming Manual Baldor document reference number MN1260 6 Mint for NextMove Programming Manual Baldor document reference number MN1261 7 Mint for ServoNode Programming Manual Baldor Optimised Control For v4 Mint the following manuals are applicable 8 Mint v4 Programming Guide Baldor document reference number MN1262 9 Mint v4 CAN Programming Guide Baldor document reference number MN1262 10 Mint v4 Function Reference Guide Baldor document refere
58. usly reported The CANSTATUS keyword returns a bit map which indicates which of the above errors events have occurred Furthermore in the case of the DEAD error and the LIVE and ERROR events the STATUSNODE keyword can be used to find out the ID of the node in question Reading CANSTATUS clears it The GUARD OVER BUSOFF and ABERR bits may become set again immediately if the associated error condition persists The LIVE DEAD and ERROR bits remain at 0 until STATUSNODE is read STATUSNODE gives the ID of the node that became live died or experienced an error If a similar event occurs on a second node in the meantime reading STATUSNODE will immediately cause the DEAD LIVE or ERROR bit in CANSTATUS to become set again Reading STATUSNODE for a second time will then give the ID of the second node Errors CANSTATUS does not return any errors Example Refer to the example ONERROR routine See Also ERR STATUSNODE NODELIVE NL Purpose Returns the type of node detected at a given Node ID on the CAN Bus Format v NODELIVE lt nodeId gt EC de EC lt nodeID gt is an expression that evaluates to the Node ID on the CAN Bus of the node whose type is to be returned When a remote node is detected on the CAN Bus the controller considers it to be Jive If no node has been found the controller considers the node to be dead This function indicates that a node is Jive by returning its type number The type codes currently supp
59. ve An active output is reported as a 1 in the corresponding bit position If the optional specifier lt channe1 gt is given the value returned written is the current desired state of the individual output channel 1 indicates that the output is active The active state of each output may be configured using the keyword REMOTEAL Example REMOTEOUT 7 3 1 will turn on output 3 on node 7 Format for loNode 24 24 REMOTEOUT lt nodeId gt lt block gt lt expression gt v REMOTEOUT lt nodelId gt lt block gt Abbr poo oo 7 Tt 255 lt nodeID gt is an expression that identifies the node on the bus This will be the Node ID that was stored in the node during its static configuration The JoNode 24 24 s VO data is stored internally in SmartMove as 8 bit blocks over 3 consecutive node numbers although only the first node number is used to access the data in Mint lt block gt is an expression that identifies the block of VO data that is required The active state of each output may be configured using the keyword REMOTEAL Example For example if the node number for JoNode 24 24 was set to 2 the outputs can be set using REMOTEOUT 2 0 REMOTEOUT 2 1 REMOTEOUT 2 2 0 REM Clear first 8 bits outputs 0 to 7 REM Clear Next 8 bits outputs 8 to 15 0 REM Clear Remaining 8 bits outputs 16 to 24 tou ou CO Mint Support for SmartMove Errors CAN Node ID out of range nodeID lt n
60. vices to communicate over a single twisted pair line the bus or network Several Baldor CAN Peripheral devices can be attached to the CAN network A host device such as a MintDrive or NextMove can communicate with the node by sending messages over the bus The node will take this message and interpret its contents For example an OutputNode 8 may receive a message to turn one of its outputs on In order that a node can accept the correct message it is identified by a unique address In theory CAN supports up to a maximum of 63 devices on the network SmartMove though limits the maximum number of nodes in software It only provides support for 7 devices in total on the network see Section 9 For more details on CAN configurations on v3 Mint controllers other than SmartMove 1 fi 5 please refer to the Mint Programming Manual For more details on CAN configurations on v4 Mint controllers please refer to the Mint v4 CAN Programming Guide The following table shows the controllers currently able to support Baldor CAN Peripherals Controller Product Channels supported Supported on CAN channel SmartMove 1 2 and 3 ServoNode 50 NextMove BX NextMove RK NextMove PC NextMove PCI CAN Peripherals Hardware Guide The CAN Peripherals The CAN Penpherals This chapter provides basic physical details about CAN and the common features shared by the Baldor CAN peripherals Common features RJ45 CAN connector
61. ynchronous CAN errors These errors may occur during a CAN read write command reserved CAN timeout reserved Invalid CAN device CAN node configuration CAN operation failed Asynchronous CAN errors and events These errors events may occur at any time The error condition may be further investigated by reading CANSTATUS and STATUSNODE Asynchronous CAN error event Please consult Section 11 of the Mint Programming Manual for full details on error messages Mint Support for SmartMove 10 1 1 4 Example ONERROR routine REM Example ONERROR skeleton routine showing enhancements to the Mint REM language ONERROR REM Synchronous or system errors IF ERR gt 0 AND ERR lt 9 DO System error PAUSE INKEY RUN ENDIF REM Asynchronous or motion errors IF ERR gt 10 AND ERR lt 19 DO IF ERROR 0 limit OR ERROR 1 limit DO DISLIMIT 0 1 SERVOFF 0 1 PAUSE LIMIT 0 AND LIMIT 1 SERVON 0 1 ENLIMIT 0 1 ENDIF ENDIF REM Motion keyword interpretation errors IF ERR gt 20 AND ERR lt 24 DO ENDIF REM Errors 25 to 34 are compiler errors which cannot be trapped REM Interpreter errors IF ERR gt 35 AND ERR lt 49 DO ENDIF REM CAN Synchronous errors IF ERR gt 55 AND ERR lt 69 DO IF ERR 63 THEN CAN timeout IF ERR 67 THEN Invalid CAN device IF ERR 68 THEN Node not in config mode EEPROM failed IF ERR 69 THEN CAN operation failed ENDIF REM CAN Asynchronous errors events IF ERR
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